Name: designing and implementing nervous system simulations on lego robots
Uploaded: 2013-05-25T14:00:00
Description: Watch this Scientific Journal Video about Designing and Implementing Nervous System Simulations on LEGO Robots at JoVE.com

我们感谢克里斯·罗杰斯博士（美国塔夫茨大学）用于编程和手稿建议。我们感谢亚历克斯朱利亚诺和德博拉·李支持视频制作。 提供的资金由美国国家科学基金会研究生研究奖学金在合成生物学和ONR穆里。

1。构建机器人模型<ol><li>选择一种模式生物来研究神经行为学文献中得到很好的体现。无脊椎动物通常做出很好的候选人，由于其相对简单的神经系统得到很好的研究，主要是由先天的反射。我们将证明这种方法使用美国龙虾， 龙虾美洲 。 </li><li>选择研究自反行为建模的目的。我们选择了龙虾的反应，触角弯曲到爪凹凸检测作为动物本能反应触角弯曲，引起rheotaxis（水流方向），而爪?...

<ol>
	<li>Braitenberg, V. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Taxis,+kinesis+and+decussation.">Taxis, kinesis and decussation.</a> Prog. in Brain Res. 17, 210-222 (1965).</li><li>Schregardus, D. S., Pieneman, A. W., Ter Maat, A., Jansen, R. F., Brouwer, F., Gahr, M. L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+lightweight+telemetry+system+for+recording+neuronal+activity+in+freely+behaving+small+animals.">A lightweight telemetry system for recording neuronal activity in freely behaving small animals.</a> Journal of Neuroscience Methods. 155 (1), 62-71 (2006).</li><li>Kagaya, K., Takahata, M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Readiness+discharge+for+spontaneous+initiation+of+walking+in+crayfish.">Readiness discharge for spontaneous initiation of walking in crayfish.</a> Journal of Neuroscience. 30 (4), 1348-1362 (2010).</li><li>Schrameck, J. E. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Crayfish+Swimming:+Alternating+Motor+Output+and+Giant+Fiber+Activity.">Crayfish Swimming: Alternating Motor Output and Giant Fiber Activity.</a> Science. 169 (3946), 698-700 (1970).</li><li>Kanz, J. E., Eberly, L. B., Cobbs, J. S., Pinsker, H. M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Neuronal+correlates+of+siphon+withdrawal+in+freely+behaving+Aplysia.">Neuronal correlates of siphon withdrawal in freely behaving Aplysia.</a> J. Neurophysiol. 42 (6), 1538-1556 (1979).</li><li>Webb, B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Validating+biorobotic+models.">Validating biorobotic models.</a> Journal of Neural Engineering. 3, 1-20 (2006).</li><li>Wessnitzer, J., Asthenidis, A., Petrou, G., Webb, B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+cricket-controlled+robot+orienting+towards+a+sound+source.">A cricket-controlled robot orienting towards a sound source.</a> Proceedings of the 12th Annual conference on Towards autonomous robotic systems. , 1-12 (2011).</li><li>Grasso, F., Atema, J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Integration+of+flow+and+chemical+sensing+for+guidance+of+autonomous+marine+robots+in+turbulent+flows.">Integration of flow and chemical sensing for guidance of autonomous marine robots in turbulent flows.</a> Environ. Fluid Mech. 2 (1), 95-114 (2002).</li><li>Westphal, A., Rulkov, N. F., Ayers, J., Brady, D., Hunt, M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Controlling+a+lamprey-based+robot+with+an+electronic+nervous+system.">Controlling a lamprey-based robot with an electronic nervous system.</a> Smart Struct. and Systems. 8 (1), 39-52 (2011).</li><li>Chao, Z. C., Bakkum, D. J., Potter, S. M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Shaping+embodied+neural+networks+for+adaptive+goal-directed+behavior.">Shaping embodied neural networks for adaptive goal-directed behavior.</a> PLoS Computational Biology. 4 (3), e1000042 (2008).</li><li>Blustein, D., Schultheis, K., Ayers, J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Building+nervous+systems+for+robots:+an+interactive+and+collaborative+neuroscience+curriculum.">Building nervous systems for robots: an interactive and collaborative neuroscience curriculum.</a> , (2011).</li><li>Ayers, J., Blustein, D., Westphal, A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+Conserved+Biomimetic+Control+Architecture+for+Walking,+Swimming+and+Flying+Robots.">A Conserved Biomimetic Control Architecture for Walking, Swimming and Flying Robots.</a> Lect. Notes on Artif. Intelli. 7375, 1-12 (2012).</li><li>Cowan, N., Ma, E., Cutkosky, M., Full, R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+Biologically+Inspired+Passive+Antenna+for+Steering+Control+of+a+Running+Robot.">A Biologically Inspired Passive Antenna for Steering Control of a Running Robot.</a> , 541-550 (2003).</li><li>Gasperi, M., Hurbain, P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> Extreme NXT: Extending the LEGO MINDSTORMS NXT to the Next Level. , (2007).</li><li>Gasperi, M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> LabVIEW for LEGO MINDSTORMS NXT. , (2008).</li><li>Kennedy, D., Davis, W. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Chapter+27+Organization+of+invertebrate+motor+systems.">Chapter 27 Organization of invertebrate motor systems.</a> Handbook of Physiology. 1, 1023-1088 (1977).</li><li>Buchanan, J., Grillner, S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Newly+identified+"glutamate+interneurons"+and+their+role+in+locomotion+in+the+lamprey+spinal+cord.">Newly identified "glutamate interneurons" and their role in locomotion in the lamprey spinal cord.</a> Science. 236 (4799), 312-314 (1987).</li><li>Rulkov, N. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Modeling+of+spiking-bursting+neural+behavior+using+two-dimensional+map.">Modeling of spiking-bursting neural behavior using two-dimensional map.</a> Physical Review E. 65, (2002).</li><li>Derby, C. D., Atema, J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Narrow-spectrum+chemoreceptor+cells+in+the+walking+legs+of+the+lobster,+Homarus+americanus:+Taste+specialists.">Narrow-spectrum chemoreceptor cells in the walking legs of the lobster, Homarus americanus: Taste specialists.</a> Journal of Comparative Physiology A. 146 (2), 181-189 (1982).</li><li>Tort, A. B. L., Neto, W. P., Amaral, O. B., Kazlauckas, V., Souza, D. O., Lara, D. R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+simple+webcam-based+approach+for+the+measurement+of+rodent+locomotion+and+other+behavioural+parameters.">A simple webcam-based approach for the measurement of rodent locomotion and other behavioural parameters.</a> Journal of Neuroscience Methods. 157 (1), 91-97 (2006).</li><li>Huxley, T. H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> The Crayfish, An Introduction to the Study of Zoology. , (1880).</li><li>Blustein, D., Ayers, J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+conserved+network+for+control+of+arthropod+exteroceptive+optical+flow+reflexes+during+locomotion.">A conserved network for control of arthropod exteroceptive optical flow reflexes during locomotion.</a> Lect. Notes on Artif. Intelli. 6226, 72-81 (2010).</li><li>Webb, B., Scutt, T. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+simple+latency-dependent+spiking-neuron+model+of+cricket+phonotaxis.">A simple latency-dependent spiking-neuron model of cricket phonotaxis.</a> Biological Cybernetics. 82 (3), 247-269 (2000).</li><li>Demarse, T. B., Wagenaar, D. A., Blau, A. W., Potter, S. M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=The+Neurally+Controlled+Animat:+Biological+Brains+Acting+with+Simulated+Bodies.">The Neurally Controlled Animat: Biological Brains Acting with Simulated Bodies.</a> Autonomous Robots. 11 (3), 305-310 (2001).</li><li>Novellino, A., D'Angelo, P., Cozzi, L., Chiappalone, M., Sanguineti, V., Martinoia, S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Connecting+neurons+to+a+mobile+robot:+an+in+vitro+bidirectional+neural+interface.">Connecting neurons to a mobile robot: an in vitro bidirectional neural interface.</a> Computational Intelligence and Neuroscience. , 12725 (2007).</li></ol>

当启动仿生机器人神经系统仿真实验，有几个重要遵循的准则。选择正确的模式生物是至关重要的：挑一个有机体，是很容易获得和维持。无脊椎动物是理想的，因为他们通常不要求实验机构批准，其畜牧业的需求往往比脊椎动物的要求不高。从科学的角度来看，它是有利于选一种动物，有一个既定的神经行为学文献记载，从中可以得出的假设进行测试21。 选择一个?...

神经生理学研究过去100年里已经极大地拓宽我们的知识，神经系统的结构和功能。然而，大多数的神经系统的研究迄今一直依赖于孤立的制剂或内敛科目使用。虽然已经有许多成功的努力，记录神经活动，自由活动动物2-5，仿生机器人的方法提供了一个宝贵的工具，让神经系统操作，以测试系统级神经科学假说6。模拟操作机器人的神经系统可以通过实验操作，并允许软件建模到物理世界的延伸。这种方法已在学术界7,8实施，但假设检验的过程中，建立一个仿生机器人可以是昂贵和费时。我们提出一个方法来执行的仿生机器人的方法，使用市售的机器人K表（LEGO MINDSTORMS NXT 2.0）。这种方法的目的是，机器人9或生物杂交10体现了神经网络模拟测试系统级神经科学假说提供了快速和有效的方式。加快从假设到实验的过程，提高研究效率。简单的LEGO MINDSTORMS平台提供我们演示如何使用美国龙虾（ 美洲龙虾 ）作为模式生物的仿生传感器和神经网络的试验床。该方法还提供了强大的教育工具，在课堂上，学生可以设计和操纵神经系统，为自己的机器人11。

designing and implementing nervous system simulations on lego robots

我们提出一个方法，使用市售的LEGO MINDSTORMS NXT机器人平台测试系统级神经科学假设。第一步的方法是开发一个合适的模型有机体的具体自反行为神经系统模拟;这里我们使用美国龙虾。外感受性反射通过decussating（渡）神经连接介导可以解释动物的出租车朝着或远离刺激作为描述由Braitenberg和调查采用NXT平台特别适合。1的神经系统仿真LEGO使用LabVIEW软件编程头脑风暴的平台。一旦神经系统的正确调谐，运行在机器人上，在相同的环境条件下，对​​动物行为的实验。通过控制试样所经历的感觉周围环境，可以观察到不同的行为输出。这些差异可能指向特定deficienc指神经系统中的模型和服务告知迭代模型下的特定行为研究。这种方法允许实验操作的电子神经系统，并作为一种方式来探索神经科学假说，特别是关于神经生理学基础简单的先天自反行为。 LEGO MINDSTORMS NXT套件提供负担得起的和高效率的平台上测试初步仿生机器人控制计划的。该方法也适用于高中教室作为基础的动手探究为基础的生物机器人课程。

从龙虾的爪子输入到它的神经系统调解障碍，谈判在一种新的环境。 图1显示了一个乐高机器人（ 图1A）和测试领域的一个龙虾（ 图1B）的行为进行分析的视频截图。除的的被掏空水从水箱的机器人的试验，未改性的动物和机器人测试之间的测试领域。 视频跟踪结果显示在图2。在MATLAB中自动跟踪使用MouseLabTracker 20，?...

Watch this Scientific Journal Video about Designing and Implementing Nervous System Simulations on LEGO Robots at JoVE.com

Designing and Implementing Nervous System Simulations on LEGO Robots

LEGO MINDSTORMS机器人平台上的神经网络建模方法。该方法提供了一个模拟工具，无脊椎动物神经科学的研究在研究实验室和课堂。这项技术使调查仿生机器人控制原则。

LEGO机器人神经系统仿真设计和实现

We present a method to use the commercially available LEGO Mindstorms NXT robotics platform to test systems level neuroscience hypotheses. The first step ...

Research

JoVE Journal

Neuroscience

Visualization of the Embryonic Nervous System in Whole-mount Drosophila Embryos

Visualization of the Embryonic Nervous System in Whole-mount Drosophila Embryos

在全安装的胚胎神经系统的可视化果蝇胚胎

The Drosophila embryo is an attractive model system for investigating the cellular and molecular basis of neuronal development. Here we describe the ...

科研

神经科学

Production of Lentiviral Vectors for Transducing Cells from the Central Nervous System

从中枢神经系统转导细胞的慢病毒载体生产

Efficient gene delivery in the central nervous system (CNS) is important in studying gene functions, modeling neurological diseases and developing ...

Labeling of Single Cells in the Central Nervous System of Drosophila melanogaster

Labeling of Single Cells in the Central Nervous System of Drosophila melanogaster

标记的单细胞在中枢神经系统<em&gt;果蝇</em

In this  article we describe how to individually label neurons in the embryonic CNS of Drosophila melanogaster by juxtacellular injection of the ...

An Injury Paradigm to Investigate Central Nervous System Repair in Drosophila

An Injury Paradigm to Investigate Central Nervous System Repair in Drosophila

调查中枢神经系统修复中受伤范式<em&gt;果蝇</em

An experimental method has been developed to investigate the cellular responses to central nervous system (CNS) injury using the fruit-fly Drosophila. ...

Neural Circuit Recording from an Intact Cockroach Nervous System

神经电路记录从一个完整的蟑螂神经系统

The cockroach ventral nerve cord preparation is a tractable system for neuroethology experiments, neural network modeling, and testing the physiological ...

In vivo Optogenetic Stimulation of the Rodent Central Nervous System

In vivo Optogenetic Stimulation of the Rodent Central Nervous System

在啮齿动物中枢神经系统的体内光遗传学刺激

The ability to probe defined neural circuits in awake, freely-moving animals with cell-type specificity, spatial precision, and high temporal resolution ...

Using Insect Electroantennogram Sensors on Autonomous Robots for Olfactory Searches

在自主机器人以昆虫触角电位传感器的嗅觉搜索

Robots designed to track chemical leaks in hazardous industrial facilities1 or explosive traces in landmine fields2 face the same problem as insects ...

In Situ Ca2+ Imaging of the Enteric Nervous System

In Situ Ca2+ Imaging of the Enteric Nervous System

在肠神经系统的原位 钙成像

Reflex behaviors of the intestine are controlled by the enteric nervous system (ENS). The ENS is an integrative network of neurons and glia in two ...

Optical Clearing of the Mouse Central Nervous System Using Passive CLARITY

鼠标中枢神经系统的光透明使用被动CLARITY

Traditionally, tissue visualization has required that the tissue of interest be serially sectioned and imaged, subjecting each tissue section to unique ...

Generation of 3-D Collagen-based Hydrogels to Analyze Axonal Growth and Behavior During Nervous System Development

生成基于3-D胶原蛋白的水凝胶,分析神经系统发育过程中的Axonal生长和行为

This protocol uses natural type I collagen to generate three-dimensional (3-D) hydrogel for monitoring and analyzing the axonal growth. The protocol is ...