Abstract:
:This paper describes the aspects involved in modelling a multi-robot system from a human motor control perspective. The human motor control system has a hierarchical and decentralised structure, and building a control system for a multi-robot system that attains human features would require a decomposable model. Decomposition of a complex robotic system is difficult due to the interactions between the subsystems, so these have to be first separated before the system is modelled. The proposed method of separating the interconnections is applied with the aid of fuzzy modelling to derive a fully decomposable model of two manipulator robots handling a common object.
journal_name
Biol Cybernjournal_title
Biological cyberneticsauthors
Kambhampati C,Rajasekharan Sdoi
10.1007/s00422-003-0427-5keywords:
subject
Has Abstractpub_date
2003-10-01 00:00:00pages
254-63issue
4eissn
0340-1200issn
1432-0770journal_volume
89pub_type
杂志文章abstract::Since the seminal works of Bernstein (The coordination and regulation of movements. Pergamon Press, Oxford, 1967) several authors have supported the idea that, to produce a goal-oriented movement in general, and a movement of the organs responsible for the production of speech sounds in particular, individuals activat...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-018-0749-y
更新日期:2018-06-01 00:00:00
abstract::A system of coupled bistable Hopf oscillators with an external periodic input source was used to model the ability of interacting neural populations to synchronize and desynchronize in response to variations of the input signal. We propose that, in biological systems, the settings of internal and external coupling str...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s004220050023
更新日期:2000-03-01 00:00:00
abstract::A central pattern generator (CPG) is built to control a mechanical device (plant) inspired by the pyloric chamber of the lobster. Conductance-based models are used to construct the neurons of the CPG. The plant has an associated function that measures the amount of food flowing through it per unit of time. We search f...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/PL00007963
更新日期:2000-01-01 00:00:00
abstract::Fast as possible (time optimal) single joint movements throughout the body are characterized by the triphasic (3 pulse) pattern of activation in the agonist and antagonist muscles. Simulation studies using a sixth order, non-linear model were undertaken to determine the relationship between time optimal movement and t...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00338824
更新日期:1987-01-01 00:00:00
abstract::This work proposes a model of visual bottom-up attention for dynamic scene analysis. Our work adds motion saliency calculations to a neural network model with realistic temporal dynamics [(e.g., building motion salience on top of De Brecht and Saiki Neural Networks 19:1467-1474, (2006)]. The resulting network elicits ...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-012-0542-2
更新日期:2013-04-01 00:00:00
abstract::Motion control of musculoskeletal systems for functional electrical stimulation (FES) is a challenging problem due to the inherent complexity of the systems. These include being highly nonlinear, strongly coupled, time-varying, time-delayed, and redundant. The redundancy in particular makes it difficult to find an inv...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-008-0258-5
更新日期:2008-12-01 00:00:00
abstract::David Marr and others have hypothesized that the visual system processes complex scene information in stages, the first of which involves the detection of light intensity edges or "zero-crossings" (Marr, 1982). Ideal zero-crossing detector mechanisms have been described and modeled in terms of their possible physiolog...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00346140
更新日期:1984-01-01 00:00:00
abstract::Nonlinear oscillators are usually utilized by bionic scientists for establishing central pattern generator models for imitating rhythmic motions by bionic scientists. In the natural word, many rhythmic motions possess asymmetric time ratios, which means that the forward and the backward motions of an oscillating proce...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-018-0746-1
更新日期:2018-06-01 00:00:00
abstract::The aim of this paper is to summarize and to compare some known mathematical models of orientation perception in random dot patterns and to propose new solutions of this question. The model adequacy is judged from the previously obtained experimental results. Apart from the models based on some simple function of the ...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00202455
更新日期:1990-01-01 00:00:00
abstract::Temporal information processing was studied in humans attempting to tap a key in synchrony with a metronome whose base period was subjected to subliminal random changes. Statistical measures of the sequential timing of metronome and key-tap events were compared with similar time series generated by computer-simulated ...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00319511
更新日期:1987-01-01 00:00:00
abstract::We employ an optimal solution to both the "shape from motion problem" and the related problem of the estimation of self-movement on a purely optical basis to deduce practical rules of thumb for the limits of the optic flow information content in the presence of perturbation of the motion parallax field. The results ar...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00365219
更新日期:1987-01-01 00:00:00
abstract::This paper deals with characterization and modelling of human handwriting motion from two forearm muscle activity signals, called electromyography signals (EMG). In this work, an experimental approach was used to record the coordinates of a pen tip moving on the (x, y) plane and EMG signals during the handwriting act....
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-015-0670-6
更新日期:2016-02-01 00:00:00
abstract::We have attempted to reconcile the different patterns of distribution of interspike intervals that are found in motoneurones made to discharge by intracellular injection of constant current in reduced animal preparations and by voluntary control in human subjects. We recorded long spike trains from single motor units ...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00204057
更新日期:1995-07-01 00:00:00
abstract::The response of a healthy lateral eye of Limulus to constant, uniform and sufficiently intense light stimulation, consists of a sustained oscillatory discharge, all ommatidia firing synchronously in bursts, at intervals of about 0.2s (Barlow and Fraioli, 1978). This response has been analysed by a computer simulation,...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00336944
更新日期:1980-01-01 00:00:00
abstract::The size of a pair of cortical ocular dominance columns determines a basic anatomical module of V-1 which Hubel and Wiesel have termed the hypercolumn. Does this correspond to a basic functional, or psychophysically measurable, module as well? This is the basic question addressed in the present paper. Since the ocular...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s004220050510
更新日期:1999-02-01 00:00:00
abstract::It is shown that a convolution with certain reasonable receptive field (RF) profiles yields the exact partial derivatives of the retinal illuminance blurred to a specified degree. Arbitrary concatenations of such RF profiles yield again similar ones of higher order and for a greater degree of blurring. By replacing th...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00318371
更新日期:1987-01-01 00:00:00
abstract::We have developed two algorithms that construct a simultaneous functional order in a collection of neural elements using purely functional relations. The input of the first algorithm is a matrix describing the total of covariances of signals carried by the members of the neural collection. The second algorithm proceed...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00318721
更新日期:1987-01-01 00:00:00
abstract::The availability of a simple-to-use, automatic measurement system for noninvasive flow estimation is imperative, given the clinical demand for an acceptable noninvasive procedure rather than the standard invasive procedure of thermodilution. A method for calculating cardiac output from noninvasively derived pressure p...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s004220050372
更新日期:1997-08-01 00:00:00
abstract::The membrane excitability changes as well as the underlying mechanisms of these changes in a normal and in a systematically paranodally demyelinated nerve fibre have been investigated by paired stimulation during the first 30 ms of the recovery cycle. The ionic current kinetics determining the observed changes in the ...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00217663
更新日期:1989-01-01 00:00:00
abstract::1. Results from the companion paper were incorporated into a physiologically realistic computer model of the three principal cell types (PD/AB, LP, PY) of the pyloric network in the stomatogastric ganglion. Parameters for the model were mostly calculated (sometimes estimated) from experimental data rather than fitting...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00337411
更新日期:1979-08-01 00:00:00
abstract::Neuromuscular systems are stabilized and controlled by both feedforward and feedback signals. Feedforward pathways driven by central pattern generators (CPGs), in conjunction with preflexive mechanical reaction forces and nonlinear muscle properties, can produce stable stereotypical gaits. Feedback is nonetheless pres...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-010-0383-9
更新日期:2010-06-01 00:00:00
abstract::In the context of the models of structure from motion visual processing, we propose that the optic-flow field is a source of information for the perception of the curvature of a smooth surface in motion. In particular, it is shown how the spin variation (SV), a second spatial derivative of the retinal velocity field, ...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00198096
更新日期:1990-01-01 00:00:00
abstract::We propose a new multilayered neural network model which has the ability of rapid self-organization. This model is a modified version of the cognitron (Fukushima, 1975). It has modifiable inhibitory feedback connections, as well as conventional modifiable excitatory feedforward connections, between the cells of adjoin...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00336963
更新日期:1984-01-01 00:00:00
abstract::The response of a population of neurons to time-varying synaptic inputs can show a rich phenomenology, hardly predictable from the dynamical properties of the membrane's inherent time constants. For example, a network of neurons in a state of spontaneous activity can respond significantly more rapidly than each single...
journal_title:Biological cybernetics
pub_type: 杂志文章,评审
doi:10.1007/s00422-008-0270-9
更新日期:2008-11-01 00:00:00
abstract::Estimating the behavior of a network of neurons requires accurate models of the individual neurons along with accurate characterizations of the connections among them. Whereas for a single cell, measurements of the intracellular voltage are technically feasible and sufficient to characterize a useful model of its beha...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-014-0601-y
更新日期:2014-06-01 00:00:00
abstract::Two-dimensional scalar fields (e. g. pictures) are often described by way of a linear superposition of simple base functions. It is argued that such decompositions are often unnatural in the sense that the decomposition takes no regard of the structure of the field and it may happen that the parts are more complicated...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00337293
更新日期:1979-08-01 00:00:00
abstract::It is well known that the human postural control system responds to motion of the visual scene, but the implicit assumptions it makes about the visual environment and what quantities, if any, it estimates about the visual environment are unknown. This study compares the behavior of four models of the human postural co...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-004-0535-x
更新日期:2005-03-01 00:00:00
abstract::We propose an approach for desynchronization in an ensemble of globally coupled neural oscillators. The impact of washout filter aided mean field feedback on population synchronization process is investigated. By blocking the Hopf bifurcation of the mean field, the controller desynchronizes the ensemble. The technique...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-009-0334-5
更新日期:2009-09-01 00:00:00
abstract::We discuss a biophysical model of synaptic plasticity that provides a unified view of the outcomes of synaptic modification protocols, including: (1) prescribed time courses of postsynaptic intracellular Ca(2+) release, (2) postsynaptic voltage clamping with presentation of presynaptic spike trains at various frequenc...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/s00422-003-0422-x
更新日期:2003-09-01 00:00:00
abstract::The local extraction of motion information from brightness patterns by individual movement detectors of the correlation-type is considered in the first part of the paper. A two-dimensional field theory of movement detection is developed by treating the distance between two adjacent photoreceptors as a differential. In...
journal_title:Biological cybernetics
pub_type: 杂志文章
doi:10.1007/BF00205969
更新日期:1988-01-01 00:00:00