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在机器人子中通过Locus Coeruleus神经刺激通过动态控制的飞行高度
Ke Fang1,2, Zhouyi Wang1, Yezhong Tang1,3
1Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
研究人员精确地控制了机器人的飞行高度,使用电气刺激的位置 coeruleus (LoC). 不同的刺激频率和周期使得有针对性的上升和下降成为可能,这对于现实世界的机器人动物应用至关重要.
科学领域:
- 机器人和神经科学 机器人和神经科学
- 生物混合系统 生物混合系统
- 大脑与计算机的接口
背景情况:
- 机器人子,混合机器人系统,在搜救方面表现有前途.
- 目前的限制包括精确的户外飞行控制,特别是高度调节.
- 脑计算机接口技术是推动这些系统发展的关键.
研究的目的:
- 为了克服机器人子在户外飞行控制方面的局限性.
- 为了研究高度调节,电刺激的位置 coeruleus (LoC).
- 为了建立精确的,对机器人飞行高度的定量控制.
主要方法:
- 研究了机器人子中LoC核的电刺激.
- 多种刺激参数:频率 (SF),刺激间隔 (ISI) 和刺激周期 (SC).
- 对户外飞行高度和稳定性的测量影响.
主要成果:
- 刺激频率 (SF) 作为上升 (60 Hz) 和下降 (80 Hz) 飞行模式的开关.
- 特定的SF值引发了显著的高度变化,成功率高 (87.72%的上升,90.52%的下降).
- 刺激周期 (SC) 的数量与高度变化大小相关;超过100Hz的SF导致不稳定. LoC刺激没有影响飞行方向.
结论:
- 对LoC核的有针对性的电刺激使机器人子能够精确控制高度.
- 这项研究为在现实世界中进行飞行动物机器人系统的先进控制提供了基础.
- 展示了大脑-计算机接口在实际机器人应用中的潜力.
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