A new development on ANN in China - Biomimetic pattern recognition and multi weight vector neurons

A new model of pattern recognition principles-Biomimetic Pattern Recognition, which is based on "matter cognition" instead of "matter classification", has been proposed. As a important means realizing Biomimetic Pattern Recognition, the mathematical model and analyzing method of ANN get breakthrough: a novel all-purpose mathematical model has been advanced, which can simulate all kinds of neuron architecture, including RBF and BP models. As the same time this model has been realized using hardware; the high-dimension space geometry method, a new means to analyzing ANN, has been researched.

用于加速器控制的神经元网络的研究与设计

随着HIRFL-CSR工程的进展，前端控制系统的改造在实时性、可靠性和成本等方面提出了更高的要求。而且HIRFL-CSR系统工作坏境非常复杂，各种干扰难以预测，使用传统方法很难达到稳定的控制效果。针对这些问题，本论文利用LonWorks现场总线技术与智能控制相结合的方法，研究和设计了用于HIRFL-CSR端控制的神经元网络系统。本文首先阐述了智能控制的产生与发展，分析了智能控制的结构理论和智能控制的主要技术，深入研究了神经网络算法及一些典型的用于控制的神经元网络模型。并从HIRFL-CSR控制角度出发，设计了用于加速器控制的神经网络控制模型，该神经网络利用一种全局寻优的自适应快速即算法来弥补基本B尸算法的缺陷，使其更加符合HIRFL-CSR控制系统的要求。其次，结合HIRFI-CSR工程的控制要求，采用Lonworks现场总线技术，把传统的集中与分散相结合的集散控制结构，变成新型的全分布式结构，把控制功能、彻底下放到现场，依靠现场智能设备本身实现基本控制功能，形成一个低成本，高可靠性的前端现场智能控制系统。采用神经元芯片实现了智能控制器和网络适配器，结合神经网络控制技术设计和实现了HIRFL-CSR控制网络的试验平台。该神经元网络的整体构架符合现代控制技术的网络化，智能化，分散化和开放化的发展趋势。最后，总结了神经元网络的研究与设计，并提出神多兄网络柞加谏器智能神不课题对HIRFL-CSR控制的完瞥迸行了有益的探索，提出了可行的实现方案，该研究对于HIRFL-CSR控制系给的改造具有重要的工程意义。

1.老年猴视皮层神经元对图形对比度的反应及其潜伏期特征; 2. 极低频磁场对脑功能的影响及眶额叶认知功能的研究

1.老年猴视皮层神经元对图形对比度的反应及潜伏期特征: 在正常衰老过程中人类的视觉功能受到严重影响，例如空间和时间对比度敏感性下降以及信息处理时间的延长。虽然部分视觉功能的退化与眼睛的光学系统老化有关，但是它并不能解释所有视觉功能的下降。此外，我们以前的研究和别人的研究结果都表明衰老过程中视觉中枢系统功能的改变可能是视觉功能下降的主要原因。因此，利用单位放电记录技术（single-unit recording technique），我们比较了年轻猕猴和老年猕猴的初级视觉皮层（primary visual cortex，又称V1）神经元对比度反应之间的差异，以及V1和内侧颞叶（medial temporal cortex，MT）视觉区神经元反应潜伏期及其变异性之间的差异。结果显示，与年轻猴相比，老年猴V1区神经元对比度敏感性降低，同时伴随着神经元活动信噪比下降；老年猴V1区和MT区神经元反应潜伏期及其变异性显著增加。然而，两个年龄组MT区神经元平均潜伏期之间差异小于V1区神经元平均潜伏期之间的差异，说明MT区神经元能够自我调整老化带来的影响。另外，两个年龄组V1区神经元潜伏期和变异性都具有正相关关系，但是MT区神经元则没有这种相关性。这些结果表明，在老化过程中皮层神经元的对比度和潜伏期反应特性发生了改变。我们推测这种改变可能与视觉皮层内抑制系统功能的降低有关，但是具体的分子机制和神经环路还不清楚。总之，本实验的研究结果为更好的理解老年人在视觉信息处理中时间和空间对比度敏感性及处理速度下降提供了新线索。2.极低频磁场对脑功能的影响及眶额叶认知功能的研究: 实验目的：（1）研究极低频磁场(20 Hz, 14 mT)照射对长期吗啡处理引起的大鼠背侧海马神经元多巴胺D2密度降低的影响；（2）小鼠青春期长期极低频磁场(50 Hz, 2 mT)照射对空间学习记忆的影响；（3）初步探讨了眶额叶在大鼠新异性探索行为中的作用。实验1，我们用免疫组化的方法检测了大鼠背侧海马神经元多巴胺D2受体密度的变化。结果显示，在长期吗啡处理后戒断早期背侧海马神经元多巴胺D2受体密度相对于对照组减少，磁场和吗啡共同作用会强化这种适应，但是这种变化很快恢复正常。这些结果表明长期吗啡处理会引起海马多巴胺系统产生适应；磁场强化了长期吗啡处理对背侧海马多巴胺系统的影响,这为我们先前发现磁场照射延缓了大鼠条件位置偏好消退的研究结果提供了一个内在神经基础。实验2，我们分别用Y-迷宫（two-trial Y-maze）和Morris水迷宫两种行为装置研究了青春期早期磁场暴露对小鼠短时空间识别记忆和长时空间参考记忆的影响。结果显示，磁场暴露并没有影响小鼠Y-迷宫作业，但是提高了水迷宫任务的学习以及记忆保持。这些结果表明磁场对空间记忆的影响是任务依赖性的。实验3，我们用旷场和Y-迷宫两种行为装置研究了眶额叶电损伤对大鼠新异性探索行为的影响。结果显示，眶额叶受损并没有影响大鼠的神经运动能力，但是降低了大鼠在旷场中的行走距离和直立次数以及降低了在Y-迷宫新异臂中的探索时间和穿梭次数。这些结果表明，眶额叶的完整性对大鼠探索新异环境行为是必要的，这可能与眶额叶参与记忆或行为决策功能有关。

基于神经网络的永磁同步电机矢量控制

采用单神经元自适应PID控制器对永磁同步电机进行了调速控制。详细介绍了PMSM(PermanentMagnetSynchronousMotor)的矢量控制原理。最后给出PMSM单神经元自适应PID控制的仿真结果和硬件实现方法。仿真结果表明,该系统具有良好的动态性能。

基于自调整神经元的无人直升机航向控制方法

直升机航向动力学包含输入非线性、时变参数和主-尾旋翼之间的强耦合,传统的比例积分微分(Proportional integral differential,PID)方法很难达到良好的控制性能。基于以上原因,通过把自调整神经元与滑模控制相结合,提出一种能够解决带有输入非线性的航向自适应控制方法。与常规自适应控制相比,用滑模条件代替误差函数作为目标函数,使控制器在保证闭环稳定性的同时,能够进一步使跟踪误差满足期望精度。证明了该方法的稳定性,针对实际模型直升机试验平台航向动力学模型的仿真结果,以及与传统PID方法的比较都表明了该方法的有效性。

基于评价选择策略的Internet多机器人协作控制研究

针对Internet多机器人系统中存在的操作指令延迟、工作效率低、协作能力差等问题,提出了多机器人神经元群网络控制模型。在学习过程中,来自不同功能区域的多类型神经元连接形成动态神经元群集,来描述各机器人的运动行为与外部条件、内部状态之间复杂的映射关系,通过对内部权值连接的评价选择,以实现最佳的多机器人运动行为协调。以互联网足球机器人系统为实验平台,给出了学习算法描述。仿真结果表明,己方机器人成功实现了配合射门的任务要求,所提模型和方法提高了多机器人的协作能力,并满足系统稳定性和实时性要求。

基于循环抑制CPG模型控制的蛇形机器人三维运动

具有三维运动能力和独特的节律运动方式,使生物蛇能在复杂的地形环境中生存.大多数动物节律运动是由中央模式发生器(Centralpatterngenerator,CPG)控制的.以此为理论依据,首次以循环抑制建模机理构建蛇形机器人组合关节运动控制的CPG模型.证明该模型是节律输出型CPG中微分方程维数最少的.采用单向激励方式连接该类CPG构建蛇形机器人三维运动神经网络控制体系,给出该CPG网络产生振荡输出的必要条件.应用蛇形机器人动力学模型仿真得到控制三维运动的CPG神经网络参数,利用该CPG网络的输出使“勘查者”成功实现三维运动.该结果为建立未探明的生物蛇神经网络模型提供了一种全新的方法.

基于循环抑制CPG模型的蛇形机器人控制器

依据生物利用中央模式发生器(Central pattern generator,CPG)的自激行为产生有节律的协调运动适应多种环境,基于循环抑制CPG建模理论设计了蛇形机器人CPG控制器模型,分析了单个神经元、循环抑制CPG以及该控制器模型的稳定性,并把该控制器应用到一个结合蛇形机器人“勘查者-Ⅰ”动力学特性的仿真模型,得到了实现蜿蜒运动的CPG控制器参数,进而研究了调节S波个数、身体构形曲率、蜿蜒运动速度以及运动轨迹曲率的CPG控制器参数设定策略。此外,“勘查者-Ⅰ”应用该CPG控制器的输出成功实现了蜿蜒运动。该研究结果为设计人工CPG控制器提供了一个可行的方法。

基于网络直角坐标机器人视觉伺服系统研究

为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。

SARV光纤收放装置的控制系统设计与实现

根据小型自治遥控水下机器人SARV的运动特性,研制了光纤微缆收放的控制系统。设计使用了嵌入式QNX软件开发技术,系统稳定可靠。采用系统辨识的方法,获得被控对象的等效数学模型。采用单神经元自适应PID控制器对控制参数进行在线自调节,实现了SARV在水中运动时光纤收放的恒张力控制,满足光纤收放装置的设计要求。

VTA-NAc内orexin A在吗啡和性奖赏相关行为中作用的研究

There are a lot of differences in the neural mechanisms underlying between drug reward and natural reward despite the common neual basis. Undoubtedly, revealing the common and the different mechanisms underlying drug reward and natural reward will promote the development of research on drug addiction. Among diversified natural rewards, sex is often compared to drug because sexual reward has more similarities to drug. The mesolimbic dopamine system (VTA-NAc pathway) is a common pathway activated by natural reinforcers and addictive drugs, mediating reward, emotion and motivation under physiological conditions. The neuroadaptations taking place in the central nervous system including the mesolimbic dopamine system after repeatedly drug taking leads to persistent drug craving, Orexin, a neuropeptide produced in the lateral hypothalamus, plays an important role in reward-associated, motivated behaviors. Orexin neurons have extensive projections to the mesolimbic dopamine system. In order to further investigate the roles of orexin A in drug reward, this study examined the regulatory roles of orexin A in the VTA and NAcSh on drug reinforcement (acqusition of morphine CPP) and drug-seeking behavior (expression of morphine CPP). Moreover, the roles of orexin A on drug reward were compared with sexual reward. The main results are as follows: 1. The expression of morphine CPP was inhibited by intracerebroventricularly (i.c.v.) administered OX1R antagonist SB334867; 2. The male unconditioned sexual motivation was not affected by i.c.v. administered SB334867. However, i.c.v. given orexin A inhibited unconditioned sexual motivation in sexually high-motivated rats but did not affect sexual motivation in low-motivated rats; 3. The acquisition and expression of morphine CPP was inhibited by SB334867 microinjected into the VTA. SB334867 or orexin A injected into the NAcSh did not influence the acquisition of morphine CPP, but orexin A increased the locomotor activity in rats treated with morphine (3mg/kg); 4. SB334867 microinjected into the VTA did not affect male copulatory behavior, neither affect the acqusition of copulatory CPP; 5. The expression of copulatory CPP was associated with increased Fos protein expression in hypothalamic orexin A neurons, and SB334867 microinjected into the VTA inhibited expression of copulatory CPP. These results suggest that, (1) endogenous orexin A is not involved in male unconditioned sexual motivation, but involved in drug craving; (2) orexin A in the VTA instead of in the NAc is involved in drug reinforcement; (3) orexin A in the VTA is critical for drug-seeking behavior, but it is still unclear for the role of orexin A in the NAcSh; (4) in contrast to drug reinforcement, orexin A in the VTA is not involved in reinforcing effect of sexual reward. Orexin A plays a role both in drug-seeking behavior and in sexual reward-seeking behavior, but the different orexin A neuron populations may be responsible for the roles of orexin A in two types of reward. In a word, the differential roles of orexin A in drug and sexual reward are found in the present study, which provides some evidence for further research on the mechanisms of drug addiction.

Spatial Reference Frames for Object Recognition: Tuning for Rotations in Depth

The inferior temporal cortex (IT) of monkeys is thought to play an essential role in visual object recognition. Inferotemporal neurons are known to respond to complex visual stimuli, including patterns like faces, hands, or other body parts. What is the role of such neurons in object recognition? The present study examines this question in combined psychophysical and electrophysiological experiments, in which monkeys learned to classify and recognize novel visual 3D objects. A population of neurons in IT were found to respond selectively to such objects that the monkeys had recently learned to recognize. A large majority of these cells discharged maximally for one view of the object, while their response fell off gradually as the object was rotated away from the neuron"s preferred view. Most neurons exhibited orientation-dependent responses also during view-plane rotations. Some neurons were found tuned around two views of the same object, while a very small number of cells responded in a view- invariant manner. For five different objects that were extensively used during the training of the animals, and for which behavioral performance became view-independent, multiple cells were found that were tuned around different views of the same object. No selective responses were ever encountered for views that the animal systematically failed to recognize. The results of our experiments suggest that neurons in this area can develop a complex receptive field organization as a consequence of extensive training in the discrimination and recognition of objects. Simple geometric features did not appear to account for the neurons" selective responses. These findings support the idea that a population of neurons -- each tuned to a different object aspect, and each showing a certain degree of invariance to image transformations -- may, as an assembly, encode complex 3D objects. In such a system, several neurons may be active for any given vantage point, with a single unit acting like a blurred template for a limited neighborhood of a single view.

Influence of different neuroprotective drugs on dopamine neurotoxicity induced by 3,4-methylenedioxymethamphetamine and MPTP in mice

Introduction: Parkinson‟s disease (PD) is characterized by a chronic progressive loss of nigrostriatal dopaminergic neurons that is associated with chronic neuroinflammation. Current treatments for PD can significantly improve symptoms but do not cure the disease or slow its progression. An approach used in existing therapies is based on the inhibition of monoamine oxidase (MAO), enzyme involved in the metabolic degradation of dopamine. Although, preclinical studies showed that MAO-B inhibitors have neuroprotective activity in cellular and animal models of PD, clinical trials did not completely confirm this result. Therefore a large number of new molecules, with more potent MAO-B inhibitory activity and a possible neuroprotective effect, have been proposed to replace the pre-existing MAO-B inhibitors. The profile of the recent MAO inhibitor, SZV558, appears to be particularly interesting because of its pharmacodynamic, favorable for disease-modifying properties and its irreversible MAO-B enzyme bind. The enhancement of adult neurogenesis could be of great clinical interest in the management of neurodegenerative disorders. In line with this, the metformin, a well-known antidiabetic drug, has recently been proposed to promote neurogenesis and to have a neuroprotective effect on the neurodegenerative processes induced by the dopaminergic neurotoxin 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP) in a mice PD model. Although, PD has multiple origins, one hypothesis is that amphetamine-related drugs may be part of the wide array of factors leading to the dopaminergic neuron degeneration that causes the disease. These hypothesis are supported by different results that showed a persistent, long-term dopaminergic toxicity induced by 3,4-methylenedioxymethamphetamine (MDMA) in mice. Moreover, the MDMA, altering the dopaminergic transmission, may affect neurogenesis and synaptogenesis. On these basis, considering that the young brain is particularly sensitive to drug-induced neurotoxicity, the consumption of MDMA during the adolescence might increase the vulnerability of dopaminergic neurons. However, the use of amphetamine-related drugs by adolescent and young people is often combined with caffeinated energy drinks in order to amplify their stimulant actions. Although caffeine use is safe, the combined treatment of caffeine and MDMA increases not only the DA release but also the microglia and astroglia activation. Aims: During my Ph.D. I studied the influence of neuroprotective drugs, such as MAO inhibitors and metformin, or substances, such as caffeine, on the neurodegenerative effects of two dopaminergic toxins, MDMA and MPTP, in mice. 1. In the first phase of my study, I evaluated the neuroprotective activity of the new MAO-B inhibitor SZV558, compared with well-known rasagiline, in a chronic mouse model of MPTP plus probenecid (MPTPp), which induces a progressive loss of nigrostriatal dopaminergic neurons. 2. Previous results showed that when MDMA is associated with caffeine, a more pronounced degeneration in adolescent compared with adult mice was observed. To better clarify the molecular mechanism at the base of the different neurotoxic effect of this drug association at different ages, I evaluated the neuronal nitric oxide synthase (nNOS) expression, which plays a critical role in the integration of dopaminergic and glutamatergic transmissions, in the CPu of adolescent or adult mice treated with MDMA, alone or in combination with caffeine. 3. Finally, I investigated the neuroprotective effect of metformin against dopaminergic neurotoxicity induced by MDMA in the CPu and SNc of adult mice. Conclusions: These results demonstrated that the dopaminergic neurodegenerative process may be induced or conditioned by environment stressors or substances which influence, through different ways, the development of neurodegenerative mechanisms. In the present study I evaluated the effects of 3 substances, known as potentially neuroprotective, in combination with two different neurotoxins that affect the nigrostriatal dopaminergic system. The SZV558 MAO-B inhibitor and the metformin protected the nigrostriatal pathway, usually affected in PD, by MPTP- and MDMA- induced neurotoxicity, respectively. On the other hand, caffeine, administrated with MDMA, showed a neurotoxic potential depending on the age of consumers, confirming the vulnerability of adolescent brain to consumption of drug and substances that affected the dopaminergic system. In conclusion, the study of neurodegenerative processes may be relevant to understand the human pharmacology, the origin and development of neurodegenerative disease and to predict the neurotoxic effect of drug abuse.

Construction of Robot Intra-modal and Inter-modal Coordination Skills by Developmental Learning

Q. Meng and M. H. Lee, 'Construction of Robot Intra-modal and Inter-modal Coordination Skills by Developmental Learning', Journal of Intelligent and Robotic Systems, 48(1), pp 97-114, 2007.