路径积分被认为是哺乳动物实现空间导航的关键神经机制之一,为此,文中提出鼠脑内嗅-海马结构启发的移动机器人仿生路径积分模型(Bionic Path Integration Model for Mobile Robots Inspired by Entorhinal-Hippocampal Structure of Rat...路径积分被认为是哺乳动物实现空间导航的关键神经机制之一,为此,文中提出鼠脑内嗅-海马结构启发的移动机器人仿生路径积分模型(Bionic Path Integration Model for Mobile Robots Inspired by Entorhinal-Hippocampal Structure of Rat Brain,EHPI),为移动机器人在无外部基准定位环境下的自主定位提供一种高效且具有生物学可解释性的解决方案.EHPI以自运动线索为输入,完整模拟Theta细胞、网格细胞、位置细胞与边界细胞等空间细胞的层级信息处理过程.首先,将机器人实时速度、方向与海马Theta细胞耦合,产生连续的动态积分信号.然后,构建多层网格神经板,模拟不同尺度与方向的网格细胞群,采用在线竞争性Hebb学习实时调整连接权重,动态筛选并输出当前相位一致的网格信号.最后,位置细胞同步融合上述动态积分信号与网格信号,形成稳定的单峰放电野,并利用边界细胞检测当前编码区域边界以触发周期性重置,实现任意尺度空间中的稳定位置表征.实验表明,EHPI在生理学轨迹仿真实验和室外机器人长距离实验中平均绝对误差较小,定位性能较优.展开更多
A cellular automata model to simulate penicillin fed-batch fermentation process(CAPFM)was established in this study,based on a morphologically structured dynamic penicillin production model,that is in turn based on th...A cellular automata model to simulate penicillin fed-batch fermentation process(CAPFM)was established in this study,based on a morphologically structured dynamic penicillin production model,that is in turn based on the growth mechanism of penicillin producing microorganisms and the characteristics of penicillin fed-batch fermentation.CAPFM uses the three-dimensional cellular automata as a growth space,and a Moore-type neighborhood as the cellular neighborhood.The transition rules of CAPFM are designed based on mechanical and structural kinetic models of penicillin batch-fed fermentation processes.Every cell of CAPFM represents a single or specific number of penicillin producing microorganisms,and has various state.The simulation experimental results show that CAPFM replicates the evolutionary behavior of penicillin batch-fed fermentation processes described by the structured penicillin production kinetic model accordingly.展开更多
文摘路径积分被认为是哺乳动物实现空间导航的关键神经机制之一,为此,文中提出鼠脑内嗅-海马结构启发的移动机器人仿生路径积分模型(Bionic Path Integration Model for Mobile Robots Inspired by Entorhinal-Hippocampal Structure of Rat Brain,EHPI),为移动机器人在无外部基准定位环境下的自主定位提供一种高效且具有生物学可解释性的解决方案.EHPI以自运动线索为输入,完整模拟Theta细胞、网格细胞、位置细胞与边界细胞等空间细胞的层级信息处理过程.首先,将机器人实时速度、方向与海马Theta细胞耦合,产生连续的动态积分信号.然后,构建多层网格神经板,模拟不同尺度与方向的网格细胞群,采用在线竞争性Hebb学习实时调整连接权重,动态筛选并输出当前相位一致的网格信号.最后,位置细胞同步融合上述动态积分信号与网格信号,形成稳定的单峰放电野,并利用边界细胞检测当前编码区域边界以触发周期性重置,实现任意尺度空间中的稳定位置表征.实验表明,EHPI在生理学轨迹仿真实验和室外机器人长距离实验中平均绝对误差较小,定位性能较优.
基金supported by the National Natural Science Foundation of China (No.60274060,60375017)the Key Project of Chinese Ministry of Education (No.203002)Scientific Research Common Program of Beijing Municipal Commission of Education (NO.KM200510005026).
文摘A cellular automata model to simulate penicillin fed-batch fermentation process(CAPFM)was established in this study,based on a morphologically structured dynamic penicillin production model,that is in turn based on the growth mechanism of penicillin producing microorganisms and the characteristics of penicillin fed-batch fermentation.CAPFM uses the three-dimensional cellular automata as a growth space,and a Moore-type neighborhood as the cellular neighborhood.The transition rules of CAPFM are designed based on mechanical and structural kinetic models of penicillin batch-fed fermentation processes.Every cell of CAPFM represents a single or specific number of penicillin producing microorganisms,and has various state.The simulation experimental results show that CAPFM replicates the evolutionary behavior of penicillin batch-fed fermentation processes described by the structured penicillin production kinetic model accordingly.
