發(fā)布時(shí)間：2018-01-24 20:13

  本文關(guān)鍵詞： 大壁虎 前庭 前庭腹外側(cè)核 多通道同步記錄 轉(zhuǎn)角同步測(cè)量系統(tǒng) 神經(jīng)元 聚類分析 特征分析　出處：《南京航空航天大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：大壁虎運(yùn)動(dòng)靈活,環(huán)境適應(yīng)性強(qiáng),具有卓越的三維空間的無(wú)障礙運(yùn)動(dòng)能力,成為理想的生物機(jī)器人和仿壁虎器人研究模型。探索不同傾角位置下大壁虎前庭核團(tuán)的空間響應(yīng)規(guī)律,將推進(jìn)對(duì)大壁虎運(yùn)動(dòng)姿態(tài)神經(jīng)調(diào)控機(jī)理的認(rèn)識(shí),為仿壁虎機(jī)器人姿態(tài)控制策略提供仿生啟示。為定量分析大壁虎在不同空間下的前庭核區(qū)域神經(jīng)元的放電響應(yīng)特征,本文首先對(duì)大壁虎平衡感知實(shí)驗(yàn)平臺(tái)進(jìn)行了改進(jìn):增加轉(zhuǎn)角同步測(cè)量系統(tǒng),設(shè)計(jì)了角度傳感器支架和聯(lián)軸器;通過(guò)Matlab和Plexon集成程序設(shè)計(jì),實(shí)現(xiàn)了轉(zhuǎn)角信號(hào)與神經(jīng)元信號(hào)的同步記錄與顯示。其次,本文利用四通道微絲陣列電極對(duì)大壁虎在不同傾角條件下前庭腹外側(cè)核(Nucleus Vestibularis Ventrolateralis,Vevl)區(qū)域的神經(jīng)元放電響應(yīng)信號(hào)進(jìn)行了在體記錄。利用聚類分析和特征分析對(duì)所采集神經(jīng)元放電響應(yīng)信號(hào)進(jìn)行詳細(xì)分析,結(jié)果發(fā)現(xiàn)四類方向敏感性神經(jīng)元:Roll同側(cè)興奮,Roll對(duì)側(cè)興奮,Pitch nose-up興奮以及Pitch nose-down興奮。Roll同側(cè)旋轉(zhuǎn)興奮神經(jīng)元?jiǎng)×曳烹婍憫?yīng)的區(qū)域集中在同側(cè)0°-120°,Roll對(duì)側(cè)旋轉(zhuǎn)興奮神經(jīng)元?jiǎng)×曳烹婍憫?yīng)區(qū)域集中在0°-210°。Nose-up旋轉(zhuǎn)興奮神經(jīng)元?jiǎng)×曳烹婍憫?yīng)區(qū)域集中在nose-up 120°-180°、210°、240°。Nose-down旋轉(zhuǎn)興奮神經(jīng)元,除nose-down 240°外,其余nose-down角度神經(jīng)元放電響應(yīng)均較為劇烈。大壁虎前庭神經(jīng)元復(fù)雜的響應(yīng)模式可能源于不同前庭輸入神經(jīng)元的共同作用。不同的Roll、Pitch傾斜角度下,大壁虎Vevl神經(jīng)元很可能通過(guò)短暫的相關(guān)性活動(dòng)與其他神經(jīng)元進(jìn)行相互協(xié)調(diào)或者相互之間的興奮性和抑制性輸入達(dá)到動(dòng)態(tài)平衡來(lái)實(shí)現(xiàn)姿態(tài)的平衡控制。此外,本文還探索了平衡感知實(shí)驗(yàn)平臺(tái)轉(zhuǎn)動(dòng)的電動(dòng)控制。采用伺服電機(jī)和同步齒形帶系統(tǒng)驅(qū)動(dòng)轉(zhuǎn)臺(tái)旋轉(zhuǎn),運(yùn)用Arduino mega2560編寫(xiě)了驅(qū)動(dòng)轉(zhuǎn)臺(tái)旋轉(zhuǎn)的程序,初步實(shí)現(xiàn)了轉(zhuǎn)臺(tái)旋轉(zhuǎn)的自動(dòng)控制。
[Abstract]:Large gecko is flexible in sports, strong in environmental adaptability, and has excellent three-dimensional space barrier-free ability. It is an ideal research model for biologic robot and gecko simulation. Exploring the spatial response law of vestibular nucleus of Gecko in different inclination position will advance the understanding of the neural regulation mechanism of Gecko's motion posture. To provide bionic inspiration for attitude control strategy of Gecko robot and to quantitatively analyze the firing response characteristics of neurons in vestibular nucleus region of Gecko gecko in different space. In this paper, the experimental platform of gecko balance sensing is improved: the angle sensor bracket and coupling are designed by adding the synchronous measuring system of rotation angle; The integrated program of Matlab and Plexon is used to realize the synchronous recording and display of corner signal and neuron signal. Secondly. A four-channel microfilament array electrode was used to pair Nucleus Vestibularis Ventrolateralis in the ventrolateral vestibular nucleus of Gecko gecko at different dip angles. The response signals of neuron discharge in Vevl region were recorded in vivo. Cluster analysis and characteristic analysis were used to analyze the response signals of neuron discharge in detail. The results showed that four kinds of direction-sensitive neurons: roll ipsilateral excitatory neurons were found to be contralateral excitatory neurons. The regions of intense firing response of Pitch nose-up excited neurons and Pitch nose-down excitatory neurons were concentrated in the ipsilateral 0 擄-120 擄. The response region of Roll contralateral rotational excited neurons to intense discharge is concentrated in 0 擄-210 擄.Nose-up rotative excited neurons. The response area is concentrated in nose-up. 120 擄-180 擄. The excited neurons were rotated at 210 擄, 240 擄. Nose-down, except for nose-down 240 擄. The other nose-down angle neurons discharge response is more intense. The complex response pattern of large gecko vestibular neurons may be due to the common action of different vestibular input neurons. Different Roll. Pitch slanting angle. It is very likely that the Vevl neurons of the gecko coordinate with other neurons or achieve a dynamic balance between excitability and inhibition input. In addition, the control of posture balance is realized. . This paper also explores the electric control of the rotation of the balance sensing experimental platform. The servo motor and the synchronous toothed belt system are used to drive the rotary table. The program of driving turntable rotation is written by Arduino mega2560, and the automatic control of turntable rotation is preliminarily realized.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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