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全软体动物运动控制对仿生机器人设计的启发

中国科学：生命科学 2024年第2期54卷 308-324页

作者：龚哲峰郑能干陆豪健浙江大学脑科学与脑医学学院杭州310058 浙江大学医学院附属第四医院神经内科义乌322000 浙江大学求是高等研究院杭州310007 浙江大学控制学院杭州310007

如何实现灵活准确的运动控制是仿生软体机器人研究中的一个重要难题.但对全软体动物而言,经过长期进化选择,其神经系统运动控制功能和骨骼肌肉系统的运动执行功能之间的优越配合,可以产生灵活多样、收放自如的运动,且具有良好的环境适应... 详细信息

如何实现灵活准确的运动控制是仿生软体机器人研究中的一个重要难题.但对全软体动物而言,经过长期进化选择,其神经系统运动控制功能和骨骼肌肉系统的运动执行功能之间的优越配合,可以产生灵活多样、收放自如的运动,且具有良好的环境适应性.因此,对软体动物的运动控制机制进行深度仿生研究可以为提升软体机器人的性能提供新的思路.本文选择水母、水蛭、线虫、果蝇幼虫等无脊椎全软体动物作为分析对象,介绍其运动行为的神经肌肉基础,并结合相关神经力学模型介绍全软体动物运动神经控制机制的特性.通过对比不同的仿生机器人与全软体动物原型,提出了借鉴神经力学模型对仿生机器人设计进行改进的思路.最后,分析了现有全软体动物运动的神经力学模型的不足,提出了系统性研究全软体动物运动控制机制和神经力学建模的思路,并展望了软体机器人进行运动控制仿生的方式以及高性能软体机器人的潜在应用场景.

关键词：全软体动物运动控制神经力学模型仿生软体机器人

Automatic Navigation for Rat-Robots with Modeling of the Human Guidance

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Journal of Bionic Engineering 2013年第1期10卷 46-56页

作者： Chao Sun nenggan zheng Xinlu Zhang Weidong Chen Xiaoxiang zheng Qiushi Academy for Advanced Studies (QAAS) Zhejiang University Hangzhou 310027 P. R. China College of Computer Science and Technology Zhejiang University Hangzhou 310027 P. R. China Department of Biomedical Engineering Zhejiang University Hangzhou 310027 P. R. China

A bio-robot system refers to an animal equipped with Brain-Computer Interface （BCI）, through which the outer stimulation is delivered directly into the animal＇s brain to control its behaviors. The development ofbio-robots suffers from the dependency on real-time guidance by human operators. Because of its inherent difficulties, there is no feasible method for automatic con- trolling of bio-robots yet. In this paper, we propose a new method to realize the automatic navigation for bio-robots. A General Regression Neural Network （GRNN） is adopted to analyze and model the controlling procedure of human operations. Com- paring to the traditional approaches with explicit controlling rules, our algorithm learns the controlling process and imitates the decision-making of human-beings to steer the rat-robot automatically. In real-time navigation experiments, our method suc- cessfully controls bio-robots to follow given paths automatically and precisely. This work would be significant for future ap- plications of bio-robots and provide a new way to realize hybrid intelligent systems with artificial intelligence and natural biological intelligence combined together.

关键词： bio-robot rat-robots brain-computer interface automatic navigation

A Simplified Computational Model of Mushroom Body for Tethered Bees' Abdominal Swing Behavior Induced by Optic Flow

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Chinese Journal of Electronics 2021年第2期30卷 296-302页

作者： zheng nenggan MA Qian WANG Xuefei ZHAO Lei GONG Zhefeng Qiushi Academy for Advanced Studies Zhejiang University College of Computer Science and Technology Zhejiang University Department of Neurobiology Zhejiang University School of Medicine Zhejiang Lab

Understanding sensorimotor neural circuits plays an important role in the study of behavioral mechanisms. By virtue of a relatively simple brain structure and sophisticated locomotion behaviors, insects are selected as comparative research subjects to discover the basic principles of neural science. Specific abdominal swing behaviors of tethered bees induced by optomotor response are realized. To model functionality of mushroom body in the optic-flow induced swing behaviors, a simplified 3-layer Spiking neural network(SNN) is proposed. Spike response model is used as the single neuron model in the proposed SNN, which is trained by supervised learning method. The computational model can accurately simulate and predict the bees’ abdominal swing behaviors exhibiting ipsilateral direction and proportional frequencies with optic flow stimulus.

关键词： Electrical activity in neurophysiological processes Optical, image and video signal processing Mobile robots Computer vision and image processing techniques Biology and medical computing Computational model Optomotor response Optic flow stimuli Abdominal swing Spiking neural network

An HSR Data Model for Cyborg Insect Research Experiments

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Chinese Journal of Electronics 2018年第4期27卷 680-686页

作者： HONG Hui WANG Xiaoyu ZHU zhengfei MA Qian GUAN Nan zheng nenggan Key Laboratory of Radio Frequency Circuit and System Hangzhou Dianzi University Qiushi Academy for Advanced Studies Zhejiang University College of Computer Science and Technology Zhejiang University Department of Computing Hong Kong Polytechnic University

Research on cyborg intelligent insects requires the experiment platform to collect data from the distributed sensing models and process the multi-modal signals in real-time. To overcome these issues, we present a novel data model, naming as the Hybrid-synchronizedrealtime(HSR) data model, which can synchronize the hybrid raw data channels by a meta data integration method and process them with a fixed priority scheduling algorithm. Real animal experiments show that the insect-machine experiment platform based on the HSR data model can fully satisfy the requirements of cyborg intelligent insect research, especially in dealing with the technical challenges of data synchronization, real-time processing and hybrid data integration. It provides an efficient approach to implement the experiment platform and thus aid the frontier research on cyborg insects.

关键词： Cyborg intelligent insects Data model Hybrid-synchronized-realtime(HSR)

Path guided motion synthesis for Drosophila larvae

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Frontiers of Information Technology & Electronic Engineering 2023年第10期24卷 1482-1496页

作者： Junjun CHEN Yijun WANG Yixuan SUN Yifei YU Zi’ao LIU Zhefeng GONG nenggan zheng Research Institute of Basic Theories Zhejiang LabHangzhou 311121China School of Rehabilitation Sciences and Engineering University of Health and Rehabilitation SciencesQingdao 266114China Qiushi Academy for Advanced Studies Zhejiang UniversityHangzhou 310007China Department of Neurobiology and Department of Neurology of Second Affiliated Hospital Affiliated Mental Health CenterZhejiang University School of MedicineHangzhou 310058China NHC and CAMS Key Laboratory of Medical Neurobiology MOE Frontier Science Center for Brain Research and Brain-Machine IntegrationSchool of Brain Science and Brain MedicineZhejiang UniversityHangzhou 310058China

The deformability and high degree of freedom of mollusks bring challenges in mathematical modeling and synthesis of *** analytical and statistical models are limited by either rigid skeleton assumptions or model capacity,and have difficulty in generating realistic and multi-pattern mollusk *** this work,we present a large-scale dynamic pose dataset of Drosophila larvae and propose a motion synthesis model named Path2Pose to generate a pose sequence given the initial poses and the subsequent guiding *** Path2Pose model is further used to synthesize long pose sequences of various motion patterns through a recursive generation *** analysis results demonstrate that our novel model synthesizes highly realistic mollusk motions and achieves state-of-the-art *** work proves high performance of deep neural networks for mollusk motion synthesis and the feasibility of long pose sequence synthesis based on the customized body shape and guiding path.

关键词： Motion synthesis of mollusks Dynamic pose dataset Morphological analysis Long pose sequence generation

A Neuronal Pathway that Commands Deceleration in Drosophila Larval Light-Avoidance

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Neuroscience Bulletin 2019年第6期35卷 959-968页

作者： Caixia Gong Zhenhuan Ouyang Weiqiao Zhao Jie Wang Kun Li Peipei Zhou Ting Zhao nenggan zheng Zhefeng Gong Department of Neurobiology Key Laboratory of Medical Neurobiology of the Ministry of Health of ChinaKey Laboratory of NeurobiologyZhejiang University School of MedicineHangzhou 310058China Qiushi Academy for Advanced Studies Zhejiang UniversityHangzhou 310007China Janelia Research Campus Howard Hughes Medical InstituteAshburnVA 22011USA

When facing a sudden danger or aversive condition while engaged in on-going forward motion,animals transiently slow down and make a turn to *** neural mechanisms underlying stimulation-induced deceleration in avoidance behavior are largely ***, we report that in Drosophila larvae, light-induced deceleration was commanded by a continuous neural pathway that included prothoracicotropic hormone neurons, eclosion hormone neurons, and tyrosine decarboxylase 2 motor neurons(the PET pathway). Inhibiting neurons in the PET pathway led to defects in lightavoidance due to insufficient deceleration and head *** the other hand, activation of PET pathway neurons specifically caused immediate deceleration in larval locomotion. Our findings reveal a neural substrate for the emergent deceleration response and provide a new understanding of the relationship between behavioral modules in animal avoidance responses.

关键词： Drosophila Larva Deceleration Light avoidance EH neurons PTTH neurons Tdc2 motor neurons

Scalable Electrophysiology of Millimeter-Scale Animals with Electrode Devices

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Biomedical Engineering Frontiers 2023年第1期4卷 3-20页

作者： Kairu Dong Wen-Che Liu Yuyan Su Yidan Lyu Hao Huang nenggan zheng John A.Rogers Kewang Nan College of Pharmaceutical Sciences Zhejiang UniversityHangzhou 310058China National Key Laboratory of Advanced Drug Delivery and Release Systems Zhejiang UniversityHangzhou 310058China College of Biomedical Engineering&Instrument Science Zhejiang UniversityHangzhou310027China Department of Gastroenterology Brigham and Women’s HospitalHarvard Medical SchoolBostonMA 02115USA College of Chemical and Biological Engineering Zhejiang UniversityHangzhou 310058China Qiushi Academy for Advanced Studies Zhejiang UniversityHangzhou 310027China College of Computer Science and Technology Zhejiang UniversityHangzhou 310027China State Key Lab of Brain-Machine Intelligence Zhejiang UniversityHangzhou 310058China CCAI by MOE and Zhejiang Provincial Government(ZJU) Hangzhou 310027China Querrey Simpson Institute for Bioelectronics Northwestern UniversityEvanstonIL 60208USA Department of Biomedical Engineering Northwestern UniversityEvanstonIL 60208USA Department of Materials Science and Engineering Northwestern UniversityEvanstonIL 60208USA Department of Mechanical Engineering Northwestern UniversityEvanstonIL 60208USA Jinhua Institute of Zhejiang University Jinhua 321299China

Millimeter-scale animals such as Caenorhabditis elegans,Drosophila larvae,zebrafish,and bees serve as powerful model organisms in the fields of neurobiology and *** methods exist for recording large-scale electrophysiological signals from these *** approaches often lack,however,real-time,uninterrupted investigations due to their rigid constructs,geometric constraints,and mechanical mismatch in integration with soft *** recent research establishes the foundations for 3-dimensional flexible bioelectronic interfaces that incorporate microfabricated components and nanoelectronic function with adjustable mechanical properties and multidimensional variability,offering unique capabilities for chronic,stable interrogation and stimulation of millimeter-scale animals and miniature tissue *** review summarizes the most advanced technologies for electrophysiological studies,based on methods of 3-dimensional flexible bioelectronics.A concluding section addresses the challenges of these devices in achieving freestanding,robust,and multifunctional biointerfaces.

关键词： offering recording millimeter

昆虫机器混合系统:从自由状态控制到自主智能调控

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科学通报 2023年第23期68卷 3077-3094页

作者：马倩王泓宇洪慧潘纲郑能干浙江大学求是高等研究院杭州310027 浙江大学计算机科学与技术学院杭州310027 脑机智能全国重点实验室杭州310058 杭州电子科技大学射频电路与系统教育部重点实验室杭州310018 人工智能省部共建协同创新中心(浙江大学) 杭州310027

以昆虫作为载体,采用光/电等外部调控手段对其运动行为进行干预或控制,实现可静态预设或动态控制的昆虫机器混合系统,也被称作昆虫机器人.这类微型动物机器人在运动稳定性、环境适应性、隐蔽性等方面拥有天然的优势,在搜救侦查、科学研... 详细信息

以昆虫作为载体,采用光/电等外部调控手段对其运动行为进行干预或控制,实现可静态预设或动态控制的昆虫机器混合系统,也被称作昆虫机器人.这类微型动物机器人在运动稳定性、环境适应性、隐蔽性等方面拥有天然的优势,在搜救侦查、科学研究等众多领域具有重要的应用价值.随着神经科学、微机电系统、人工智能等研究领域的快速发展,昆虫机器混合系统研究正从自由状态控制发展至自主智能调控阶段.本文回顾了昆虫机器人在受控运动模式、可控动作类型、达成控制任务等方面的研究现状,总结了昆虫机器混合系统研究框架,评述了基于不同调控原理实现的典型昆虫机器混合系统研究进展.在此基础上,分析了昆虫机器混合系统在神经调控机制、微型控制系统、刺激技术及方法、智能控制系统等研究中面临的困难、存在的问题,预测了未来的发展趋势.

关键词：昆虫机器人昆虫机器混合系统神经调控原理刺激系统控制策略