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作者： perovic gojko 上海交通大学

学位级别：硕士

在实际应用中,运动规划（Motion Planning,MP）是集成机器人系统在动态、非结构化环境中需要面临的主要挑战。而在环境中引入其他动态智能体会增加环境的不确定性,机器人在这样不确定性较高的环境中完成复杂任务的同时,还需要保障不发... 详细信息

在实际应用中,运动规划（Motion Planning,MP）是集成机器人系统在动态、非结构化环境中需要面临的主要挑战。而在环境中引入其他动态智能体会增加环境的不确定性,机器人在这样不确定性较高的环境中完成复杂任务的同时,还需要保障不发生碰撞,此时运动规划问题的复杂性将大大增加。解决这类问题,通常会使用启发式设计策略,但这需要对系统有先验知识;而且,对于非结构化环境,这种方法耗时过长,可行性不高。因此本文主要研究并提出了一种在动态环境下,面向连续控制和运动规划的深度强化学习（Deep Reinforcement Learning,DRL）的方法:首先,本文概述了深度强化学习框架在连续控制和运动规划应用中面临的挑战,针对避障控制问题,本文定义了一种通用奖励机制,并利用以受控对象为中心的状态空间信息来训练受控对象;其次,针对运动规划问题,本文设计并实现了“好奇心驱动”模块,进一步改进通用奖励机制,提升了模型对复杂任务的探索能力;最后,本文通过加入卷积神经网络,将模型的适用范围扩展到视觉学习领域,验证了模型的有效性。为了验证本文方法在避障、多目标路径规划和多智能体协作等多个问题上的有效性,本文搭建了模拟动态多智能体仿真环境,将本文提出的模型与基本的强化学习模型进行了对比实验,结果表明,本文提出的模型在上述问题上均有更好的表现效果;并在模型中加入了卷积层,与不加卷积层的模型相对比,加入卷积层的模型在视觉任务的处理上有更好的表现。

关键词：自主智能体自我调节学习运动规划强化学习视觉学习

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BPC-157,一种胃十五肽的抗焦虑作用:休克探查/埋藏试验和明暗试验(英文)

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Acta Pharmacologica Sinica 2001年第3期22卷 35-40页

作者： Predrag SIKIRIC,Nikola JELOVAC,Andjelka JELOVAC-GJELDUM,Goran DODIG,Mario STARESINIC,Tomislav ANIC,Ivan ZORICIC,Darko perovic,Gorana ARALICA,gojko BULJAT,Ingrid PRKACIN,Martina LOVRIC-BENCIC,Jadranka SEPAROVIC,Sven SEIWERTH,Rudolf RUCMAN,Marijan PETEK,Branko TURKOVIC,Tihomil ZIGER Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Medical Faculty University of Zagreb Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Salata 11 Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia 10000 Zagreb Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Croatia Department of Pharmacology Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Medical Faculty University of Zagreb Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Salata 11 Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia POB 916 Department of Pharmacology Medical Faculty University of Zagreb Salata 11 10000 Zagreb Croatia Croatia

AIM: To study anxiolytic effect of a gastric pentade-capeptide, BPC-157. METHODS: In shock probe/burying test, pentadecapeptide BPC-157 (10 μg/kg, 10ng/kg, ip), diazepam (0.075, 0.0375 mg/kg, ip),and an equivolume of saline (5 mL/kg, ip) were givenat 30 min prior test. In light/dark test, the same dosageof diazepam, BPC-157, and saline were given at 45 minPrior procedure. RESULTS: Shock probe/buryingtest: rats treated with either diazepam or pentadecapeptideBPC-157 were much less afraid after the shock: almost

关键词： BPC-157 地西泮焦虑探究行为运动活动

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十五肽BPC157减弱慢性苯丙胺诱导的行为障碍(英文)

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Acta Pharmacologica Sinica 2002年第5期23卷 30-40页

作者： Predrag SIKIRIC, Nikola JELOVAC, Andjelka JELOVAC-GJELDUM, Goran DODIG, Mario STARESINIC, Tornislav ANIC, Ivan ZORICIC, Davor RAK, Darko perovic, Gorana ARALICA, gojko BULJAT, Ingrid PRKACEV, Martina LOVRIC-BENCIC, Jadranka SEPAROVIC, Sven SEIWERTH, Rudolf RUCMAN, Marijan PETEK, Branko TURKOVIC, Tihomil ZIGER, AJenka BOBAN-BLAGAIC, Vlado BEDEKOVIC, Ante TONKIC, Slaven BABIC ( Department of Pharmacology, Medical Faculty University of Zagreb, Croatia) Croatia AJenka BOBAN-BLAGAIC Croatia Ante TONKIC Croatia Branko TURKOVIC Croatia Darko perovic Croatia Davor RAK Croatia Gorana ARALICA Croatia Ingrid PRKACEV Croatia Ivan ZORICIC Croatia Jadranka SEPAROVIC Croatia Marijan PETEK Croatia Martina LOVRIC-BENCIC Croatia Rudolf RUCMAN Croatia Slaven BABIC Croatia Sven SEIWERTH Croatia Tihomil ZIGER Croatia Tornislav ANIC Croatia Andjelka JELOVAC-GJELDUM Croatia gojko BULJAT Croatia Goran DODIG Croatia Mario STARESINIC Croatia Nikola JELOVAC Croatia Vlado BEDEKOVIC Department of Pharmacology Medical Faculty University of Zagreb

AIM: To investigate the effect of pentadecapeptide BPC 157 on chronic exposure to amphetamine in rats, particularly the changes commonly referred in chronic amphetamine studies as tolerance ( lesser grade of stereotyped behavior, without increased excitability) and reverse tolerance (ie, prominent stereotyped behavior and heightened startle response upon late amphetamine challenges). METHODS: After initial application (initial single dose-regimen), amphetamine (10 mg/kg, ip) was given once daily till d 5 ( continuous administration-regimen), and thereafter on d 8, 16, and 46 (intermittent administration regimen). For stereotyped behavior and heightened startle response the observation period was 120 min after amphetamine application, and each animal was observed for 10 s in 5 min intervals. Pentadecapeptide BPC 157 (10 μg/kg or 10 ng/kg, ip) or saline (5.0 mL/kg, ip) were given only at the beginning of the experiment, simultaneously with the initial dose of amphetamine. RESULTS: In relation to applied

关键词： BPC 157 苯丙胺刻板行为

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