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Structural and functional neural correlates of sensorimotor deficits in progression of hepatic encephalopathy
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作者 Guanchen Sha Yuefan Liu +5 位作者 Yutong Cao Qi Zhang Yining Zhang Yuanyuan Chen Qiuyun Fan Yue Cheng 《Magnetic Resonance Letters》 2025年第2期1-10,共10页
Hepatic encephalopathy(HE)is a neurological condition that occurs as a complication of liver dysfunction that involves sensorimotor symptoms in addition to cognitive and behavioral changes,particularly in cases of sev... Hepatic encephalopathy(HE)is a neurological condition that occurs as a complication of liver dysfunction that involves sensorimotor symptoms in addition to cognitive and behavioral changes,particularly in cases of severe liver disease or cirrhosis.Previous studies have reported spatially distributed structural and functional abnormalities related to HE,but the exact relationship between the structural and functional alterations with respect to disease progression remains unclear.In this study,we performed surface-based cortical thickness comparisons and functional connectivity(FC)analyses between three cross-sectional groups:healthy controls(HC,N¼51),patients with minimal hepatic en-cephalopathy(MHE,N¼50),patients with overt hepatic encephalopathy(OHE,N¼51).In addition to the distributed cortical thinning that is extensively thought to be associated with cognitive decline in HE,we found significant cortical thickening in the left para-hippocampal gyrus cortex in the OHE group(p<0.001,p¼0.009)as compared to the HC and MHE group respectively,which is further corroborated by the significant correlation between the cortical thickness and digit symbol test(DST)scores.Furthermore,the decreased FC between the right postcentral gyrus and several sensory regions(bilateral somatosensory and visual cortices)was found to be significant in MHE patients as compared to the HC group.Our results revealed cross-sectional structural and functional variations concerning disease progression across different subsystems(e.g.,visual,motor and sensory),providing evidence that can potentially explain the mechanisms underlying the sensorimotor and cognitive deficits related to HE. 展开更多
关键词 Hepatic encephalopathy Surface-based morphometry(SBM) Cortical thickness sensorimotor
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New insights into the pain of knee osteoarthritis:the characteristics of deep pain and abnormal central processing 被引量:1
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作者 CHEN Mu-Lan DU Yu-Qing +4 位作者 XU Bo-Yang ZHAO Feng HU Xiao-Qing WANG Yun ZHANG Ying 《生理学报》 北大核心 2026年第1期47-56,共10页
Knee osteoarthritis(KOA)represents one of the most common causes of chronic pain.The high prevalence and disability rates of KOA impose a severe burden on both individuals and society.In contrast to cutaneous pain,KOA... Knee osteoarthritis(KOA)represents one of the most common causes of chronic pain.The high prevalence and disability rates of KOA impose a severe burden on both individuals and society.In contrast to cutaneous pain,KOA-induced joint pain is characterized as a deep tissue pain that potentially involves distinct subgroups of peripheral sensory neurons and central processing mechanisms.Furthermore,KOA pain is closely related to locomotion activity.Impaired sensorimotor integration and pain mutually reinforce each other in KOA,forming a vicious cycle that exacerbates disease progression.In this review,we highlight the key differences between KOA pain and cutaneous pain,and the latter has been extensively studied in the pain field.We hope to offer new insights into the central mechanisms and development of new treatment strategies for KOA based on the interactions between impaired sensorimotor integration and chronic joint pain. 展开更多
关键词 chronic pain joint pain sensorimotor integration INTEROCEPTION NEUROPLASTICITY
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Virtual reality systems for rodents 被引量:8
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作者 Kay THURLEY AsLl AYAZ 《Current Zoology》 SCIE CAS CSCD 2017年第1期109-119,共11页
Over the last decade virtual reality (VR) setups for rodents have been developed and utilized to in-vestigate the neural foundations of behavior. Such VR systems became very popular since theyallow the use of state-... Over the last decade virtual reality (VR) setups for rodents have been developed and utilized to in-vestigate the neural foundations of behavior. Such VR systems became very popular since theyallow the use of state-of-the-art techniques to measure neural activity in behaving rodents that can-not be easily used with classical behavior setups. Here, we provide an overview of rodent VR tech-nologies and review recent results from related research. We discuss commonalities and differ-ences as well as merits and issues of different approaches. A special focus is given to experimental(behavioral) paradigms in use. Finally we comment on possible use cases that may further exploitthe potential of VR in rodent research and hence inspire future studies. 展开更多
关键词 BEHAVIORAL neuroscience closed loop MULTISENSORY stimulation neural coding sensorimotor integration spatialnavigation.
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Structural changes in pyramidal cell dendrites and synapses in the unaffected side of the sensorimotor cortex following transcranial magnetic stimulation and rehabilitation training in a rat model of focal cerebral infarct 被引量:2
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作者 Chuanyu Liu Surong Zhou +3 位作者 Xuwen Sun Zhuli Liu Hongliang Wu Yuanwu Mei 《Neural Regeneration Research》 SCIE CAS CSCD 2011年第9期676-680,共5页
Very little is known about the effects of transcranial magnetic stimulation and rehabilitation training on pyramidal cell dendrites and synapses of the contralateral, unaffected sensorimotor cortex in a rat model of f... Very little is known about the effects of transcranial magnetic stimulation and rehabilitation training on pyramidal cell dendrites and synapses of the contralateral, unaffected sensorimotor cortex in a rat model of focal cerebral infarct. The present study was designed to explore the mechanisms underlying improved motor function via transcranial magnetic stimulation and rehabilitation training following cerebral infarction. Results showed that rehabilitation training or transcranial magnetic stimulation alone reduced neurological impairment in rats following cerebral infarction, as well as significantly increased synaptic curvatures and post-synaptic density in the non-injured cerebral hemisphere sensorimotor cortex and narrowed the synapse cleft width. In addition, the percentage of perforated synapses increased. The combination of transcranial magnetic stimulation and rehabilitation resulted in significantly increased total dendritic length, dendritic branching points, and dendritic density in layer V pyramidal cells of the non-injured cerebral hemisphere motor cortex. These results demonstrated that transcranial magnetic stimulation and rehabilitation training altered structural parameters of pyramidal cell dendrites and synapses in the non-injured cerebral hemisphere sensorimotor cortex, thereby improving the ability to compensate for neurological functions in rats following cerebral infarction. 展开更多
关键词 cerebral infarction transcranial magnetic stimulation rehabilitation training sensorimotor cortex pyramidal cell dendrites SYNAPSE neural regeneration
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Ventromedial Thalamus-Projecting DCN Neurons Modulate Associative Sensorimotor Responses in Mice 被引量:2
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作者 Jie Zhang Hao Chen +7 位作者 Li-Bin Zhang Rong-Rong Li Bin Wang Qian-Hui Zhang Liu-Xia Tong Wei-Wei Zhang Zhong-Xiang Yao Bo Hu 《Neuroscience Bulletin》 SCIE CAS CSCD 2022年第5期459-473,共15页
The deep cerebellar nuclei(DCN)integrate various inputs to the cerebellum and form the final cerebellar outputs critical for associative sensorimotor learning.However,the functional relevance of distinct neuronal subp... The deep cerebellar nuclei(DCN)integrate various inputs to the cerebellum and form the final cerebellar outputs critical for associative sensorimotor learning.However,the functional relevance of distinct neuronal subpopulations within the DCN remains poorly understood.Here,we examined a subpopulation of mouse DCN neurons whose axons specifically project to the ventromedial(Vm)thalamus(DCNVm neurons),and found that these neurons represent a specific subset of DCN units whose activity varies with trace eyeblink conditioning(tEBC),a classical associative sensorimotor learning task.Upon conditioning,the activity of DCNVm neurons signaled the performance of conditioned eyeblink responses(CRs).Optogenetic activation and inhibition of the DCNVm neurons in well-trained mice amplified and diminished the CRs,respectively.Chemogenetic manipulation of the DCNVm neurons had no effects on non-associative motor coordination.Furthermore,optogenetic activation of the DCNVm neurons caused rapid elevated firing activity in the cingulate cortex,a brain area critical for bridging the time gap between sensory stimuli and motor execution during tEBC.Together,our data highlights DCNVm neurons’function and delineates their kinematic parameters that modulate the strength of associative sensorimotor responses. 展开更多
关键词 Deep cerebellar nuclei Ventromedial thalamus Trace eyeblink conditioning sensorimotor learning
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Non-concomitant cortical structural and functional alterations in sensorimotor areas following incomplete spinal cord injury 被引量:2
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作者 Yu Pan Wei-bei Dou +9 位作者 Yue-heng Wang Hui-wen Luo Yun-xiang Ge Shu-yu Yan Quan Xu Yuan-yuan Tu Yan-qing Xiao Qiong Wu Zhuo-zhao Zheng Hong-liang Zhao 《Neural Regeneration Research》 SCIE CAS CSCD 2017年第12期2059-2066,共8页
Brain plasticity, including anatomical changes and functional reorganization, is the physiological basis of functional recovery after spinal cord injury(SCI). The correlation between brain anatomical changes and fun... Brain plasticity, including anatomical changes and functional reorganization, is the physiological basis of functional recovery after spinal cord injury(SCI). The correlation between brain anatomical changes and functional reorganization after SCI is unclear. This study aimed to explore whether alterations of cortical structure and network function are concomitant in sensorimotor areas after incomplete SCI. Eighteen patients with incomplete SCI(mean age 40.94 ± 14.10 years old; male:female, 7:11) and 18 healthy subjects(37.33 ± 11.79 years old; male:female, 7:11) were studied by resting state functional magnetic resonance imaging. Gray matter volume(GMV) and functional connectivity were used to evaluate cortical structure and network function, respectively. There was no significant alteration of GMV in sensorimotor areas in patients with incomplete SCI compared with healthy subjects. Intra-hemispheric functional connectivity between left primary somatosensory cortex(BA1) and left primary motor cortex(BA4), and left BA1 and left somatosensory association cortex(BA5) was decreased, as well as inter-hemispheric functional connectivity between left BA1 and right BA4, left BA1 and right BA5, and left BA4 and right BA5 in patients with SCI. Functional connectivity between both BA4 areas was also decreased. The decreased functional connectivity between the left BA1 and the right BA4 positively correlated with American Spinal Injury Association sensory score in SCI patients. The results indicate that alterations of cortical anatomical structure and network functional connectivity in sensorimotor areas were non-concomitant in patients with incomplete SCI, indicating the network functional changes in sensorimotor areas may not be dependent on anatomic structure. The strength of functional connectivity within sensorimotor areas could serve as a potential imaging biomarker for assessment and prediction of sensory function in patients with incomplete SCI. This trial was registered with the Chinese Clinical Trial Registry(registration number: Chi CTR-ROC-17013566). 展开更多
关键词 nerve regeneration incomplete spinal cord injury gray matter volume functional connectivity sensorimotor areas functionalmagnetic resonance imaging brain plasticity non-concomitant anatomical structure network imaging biomarker neural regeneration
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Detection of Ca^(2+)-dependent acid phosphatase activity identifies neuronal integrity in damaged rat central nervous system after application of bacterial melanin 被引量:1
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作者 Tigran R. Petrosyan Anna S. Ter-Markosyan Anna S. Hovsepyan 《Neural Regeneration Research》 SCIE CAS CSCD 2016年第7期1147-1152,共6页
The study aims to confirm the neuroregenerative effects of bacterial melanin (BM) on central nervous system injury using a special staining method based on the detection of Ca^2+-dependent acid phosphatase activity... The study aims to confirm the neuroregenerative effects of bacterial melanin (BM) on central nervous system injury using a special staining method based on the detection of Ca^2+-dependent acid phosphatase activity. Twenty-four rats were randomly assigned to undergo either unilateral destruction of sensorimotor cortex (group I; n = 12) or unilateral rubrospinal tract transection at the cervical level (C3-4) (group II; n = 12). In each group, six rats were randomly selected after surgery to undergo intramuscular injection of BM solution (BM subgroup) and the remaining six rats were intramuscularly in)ected with saline (saline subgroup). Neurological testing confirmed that BM accelerated the recovery of motor function in rats from both BM and saline subgroups. Two months after surgery, Ca^2+-dependent acid phosphatase activity detection in combination with Chilingarian's calcium adenoside triphosphate method revealed that BM stimulated the sprouting of fibers and dilated the capillaries in the brain and spinal cord. These results suggest that BM can promote the recovery of motor function of rats with central nervous system injury; and detection of Ca^2+-dependent acid phosphatase activity is a fast and easy method used to study the regeneration-promoting effects of BM on the injured central nervous system. 展开更多
关键词 nerve regeneration bacterial melanin histochemical analysis rubrospinal tract sensorimotor cortex Ca^2+-dependent acid phosphatase activity rats neural regeneration
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Sensorimotor Self-Learning Model Based on Operant Conditioning for Two-Wheeled Robot 被引量:1
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作者 张晓平 阮晓钢 +1 位作者 肖尧 黄静 《Journal of Shanghai Jiaotong university(Science)》 EI 2017年第2期148-155,共8页
Traditional control methods of two-wheeled robot are usually model-based and require the robot’s precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this pa... Traditional control methods of two-wheeled robot are usually model-based and require the robot’s precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this paper to handle these problems. The model consists of seven elements: the discrete learning time set, the sensory state set, the motion set, the sensorimotor mapping, the state orientation unit, the learning mechanism and the model’s entropy. The learning mechanism for SMM TWR is designed based on the theory of operant conditioning (OC), and it adjusts the sensorimotor mapping at every learning step. This helps the robot to choose motions. The leaning direction of the mechanism is decided by the state orientation unit. Simulation results show that with the sensorimotor model designed, the robot is endowed the abilities of self-learning and self-organizing, and it can learn the skills to keep itself balance through interacting with the environment. © 2017, Shanghai Jiaotong University and Springer-Verlag Berlin Heidelberg. 展开更多
关键词 two-wheeled robot sensorimotor model SELF-LEARNING operant conditioning(OC)
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Changes in sensorimotor regions of the cerebral cortex in congenital amusia:a case-control study 被引量:1
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作者 Jun-Jie Sun Xue-Qun Pan +4 位作者 Ru Yang Zhi-Shuai Jin Yi-Hui Li Jun Liu Da-Xing Wu 《Neural Regeneration Research》 SCIE CAS CSCD 2021年第3期531-536,共6页
Perceiving pitch is a central function of the human auditory system;congenital amusia is a disorder of pitch perception.The underlying neural mechanisms of congenital amusia have been actively discussed.However,little... Perceiving pitch is a central function of the human auditory system;congenital amusia is a disorder of pitch perception.The underlying neural mechanisms of congenital amusia have been actively discussed.However,little attention has been paid to the changes in the motor rain within congenital amusia.In this case-control study,17 participants with congenital amusia and 14 healthy controls underwent functional magnetic resonance imaging while resting with their eyes closed.A voxel-based degree centrality method was used to identify abnormal functional network centrality by comparing degree centrality values between the congenital amusia group and the healthy control group.We found decreased degree centrality values in the right primary sensorimotor areas in participants with congenital amusia relative to controls,indicating potentially decreased centrality of the corresponding brain regions in the auditory-sensory motor feedback network.We found a significant positive correlation between the degree centrality values and the Montreal Battery of Evaluation of Amusia scores.In conclusion,our study identified novel,hitherto undiscussed candidate brain regions that may partly contribute to or be modulated by congenital amusia.Our evidence supports the view that sensorimotor coupling plays an important role in memory and musical discrimination.The study was approved by the Ethics Committee of the Second Xiangya Hospital,Central South University,China(No.WDX20180101GZ01)on February 9,2019. 展开更多
关键词 congenital amusia degree centrality lifelong impairment local functional connectivity music discrimination primary motor area primary sensorimotor area primary sensory area resting-state functional magnetic resonance imaging voxel-based analysis
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Aberrant Light-Induced Depression is Associated with Impaired Sensorimotor Gating in Mice
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作者 Toshiaki Haga Junichi Toei +4 位作者 Kenichi Mitsui Mareki Ohtsuji Yo Kodera Kenichi Osada Hiroyuki Nishimura 《World Journal of Neuroscience》 2018年第1期1-9,共9页
Mice subjected to an irregular light-dark cycle are known to lose their capacity to synchronize their behavioral rhythm to environmental light, and to show endophenotypes related to depressive disorders. Here we obser... Mice subjected to an irregular light-dark cycle are known to lose their capacity to synchronize their behavioral rhythm to environmental light, and to show endophenotypes related to depressive disorders. Here we observed that a susceptible strain of mice (C3H/HeJ) subjected to an irregular 3.5 hr:3.5 hr light-dark cycle showed an enhanced acoustic startle reflex and deficits in prepulse inhibition. As impaired sensorimotor gating is associated with the onset of a variety of mental disorders such as schizophrenia and major depressive disorder, irregular environmental light without circadian photo-entrainment may cause stress that has the potential to be involved in humans’ susceptibility to neuropsychiatric abnormalities. 展开更多
关键词 DEPRESSION sensorimotor Gating C3H/HeJ PREPULSE Inhibition CIRCADIAN Rhythm
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Warm-needle acupuncture for limb spasticity post-stroke:a systematic review
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作者 Qiong-Shuai Zhang Yu Zhang +6 位作者 Guang-Cheng Ji Jian-Nan Li Xun Qi Shan Xu Jia-Zhen Cao Xiao-Hong Xu Bai-Lin Song 《TMR Non-Drug Therapy》 2020年第3期88-100,共13页
Background:Warm acupuncture,or warm-needle acupuncture,is a traditional external treatment widely used in China for thousands of years.However,the effects of different treatment times on limb spasticity post-stroke ha... Background:Warm acupuncture,or warm-needle acupuncture,is a traditional external treatment widely used in China for thousands of years.However,the effects of different treatment times on limb spasticity post-stroke have not been evaluated.Methods:We searched PubMed,Embase,the Cochrane Library,the Web of Science,the China National Knowledge Infrastructure,the Chinese Scientific and Journal Database,the Wanfang database,and the Chinese Biomedical Literature Database from inception to May 21st,2020,to seek information regarding randomized controlled trials studying warm-needle acupuncture for limb spasticity post-stroke.Two authors selected 24 studies fitting the eligibility criteria and developed this systematic review and meta-analysis.Results:Warm-needle acupuncture is shown to be more effective than other treatments used in the control groups(odds ratio(OR)=3.61,95%confidence intervals(CI)(2.51,5.19),P<0.001).This treatment decreased limb spasticity as assessed with the Modified Ashworth Scale(mean differences(MD)=−0.78,95%CI(−1.00,−0.56),P<0.001)and the Clinic Spasticity Index(MD=1.06,95%CI(0.51,1.60),P=0.0002),improved sensorimotor impairments according to the Fugl-Meyer Assessment(MD=9.51,95%CI(6.99,12.03),P<0.001),and improved activities of daily living according to the Barthel Index(MD=9.70,95%CI(6.27,13.12),P<0.001).Subgroup analysis based on the length of the treatment using the Modified Ashworth Scale,Fugl-Meyer Assessment,and Barthel Index showed better outcomes for patients who received more than 20 days of treatments(P<0.001).Conclusion:Warm-needle acupuncture is an effective treatment for limb spasticity post-stroke.A treatment frequency of more than 20 days appears to have better effectiveness than that of less than 20 days. 展开更多
关键词 ACUPUNCTURE Warm-needle acupuncture Limb spasticity Stroke sensorimotor improvement Activities of daily living
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初级感觉运动皮层通过下行脑干投射调控神经病理性疼痛和运动行为
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作者 肖浩蔚 张瑛 《生理科学进展》 北大核心 2025年第6期592-592,共1页
初级感觉运动皮层(primary sensorimotor cortex,SM1)包括初级躯体感觉皮层(S1)和初级运动皮层(M1),传统观点认为二者分别参与躯体感觉加工和运动调控。近年来越来越多的证据表明,S1和M1脑区通过下行投射共同参与感觉和运动调控,并且刺... 初级感觉运动皮层(primary sensorimotor cortex,SM1)包括初级躯体感觉皮层(S1)和初级运动皮层(M1),传统观点认为二者分别参与躯体感觉加工和运动调控。近年来越来越多的证据表明,S1和M1脑区通过下行投射共同参与感觉和运动调控,并且刺激SM1脑区可有效缓解慢性神经病理性疼痛,但其相关的具体细胞和环路机制尚不清楚。 展开更多
关键词 primary sensorimotor cortex 初级感觉运动皮层
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Rhythm Facilitates Auditory Working Memory via Beta-Band Encoding and Theta-Band Maintenance
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作者 Suizi Tian Yu-Ang Cheng Huan Luo 《Neuroscience Bulletin》 2025年第2期195-210,共16页
Rhythm,as a prominent characteristic of auditory experiences such as speech and music,is known to facilitate attention,yet its contribution to working memory(WM)remains unclear.Here,human participants temporarily reta... Rhythm,as a prominent characteristic of auditory experiences such as speech and music,is known to facilitate attention,yet its contribution to working memory(WM)remains unclear.Here,human participants temporarily retained a 12-tone sequence presented rhythmically or arrhythmically in WM and performed a pitch change-detection task.Behaviorally,while having comparable accuracy,rhythmic tone sequences showed a faster response time and lower response boundaries in decision-making.Electroencephalographic recordings revealed that rhythmic sequences elicited enhanced non-phase-locked beta-band(16 Hz–33 Hz)and theta-band(3 Hz–5 Hz)neural oscillations during sensory encoding and WM retention periods,respectively.Importantly,the two-stage neural signatures were correlated with each other and contributed to behavior.As beta-band and theta-band oscillations denote the engagement of motor systems and WM maintenance,respectively,our findings imply that rhythm facilitates auditory WM through intricate oscillation-based interactions between the motor and auditory systems that facilitate predictive attention to auditory sequences. 展开更多
关键词 RHYTHM Working memory sensorimotor:Neural oscillation Drift diffusion model
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2型糖尿病周围神经病变患者下肢感觉运动皮层功能连接的静息态fMRI研究
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作者 官一童 刘婉婷 +5 位作者 潘佩纯 李菁 张琛瑀 黄杨 张东升 张小玲 《中国医学影像学杂志》 北大核心 2025年第8期805-810,共6页
目的探讨2型糖尿病周围神经病变(DPN)患者双侧下肢感觉运动皮层(LSM)与全脑的功能连接(FC)模式。资料与方法前瞻性纳入2021年2月—2022年12月在陕西省人民医院就诊的44例DPN患者和43名健康对照者,受试者均接受神经心理学评估和静息态功... 目的探讨2型糖尿病周围神经病变(DPN)患者双侧下肢感觉运动皮层(LSM)与全脑的功能连接(FC)模式。资料与方法前瞻性纳入2021年2月—2022年12月在陕西省人民医院就诊的44例DPN患者和43名健康对照者,受试者均接受神经心理学评估和静息态功能磁共振扫描。以双侧LSM作为感兴趣区,比较两组双侧LSM和全脑FC的差异。提取差异脑区的FC值与临床/神经心理学量表行相关性分析。结果与健康对照组相比,DPN患者LSM与右侧小脑Ⅵ区、右侧外侧枕颞皮层、双侧喙侧前额叶皮层和双侧前扣带回的FC减低。DPN患者LSM与右侧小脑Ⅵ区之间的FC与空腹血糖呈负相关(r=-0.490,P=0.001);DPN患者LSM与双侧前扣带回之间的FC与蒙特利尔认知评估量表评分呈正相关(r=0.479,P=0.001)。结论DPN患者双侧LSM与多个脑区FC异常,提示DPN可能对2型糖尿病患者维持运动和运动控制的脑区产生了广泛影响。 展开更多
关键词 糖尿病 2型 周围神经系统疾病 功能磁共振成像 感觉运动皮质 功能连接
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两轮机器人具有内发动机机制的感知运动系统的建立 被引量:12
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作者 张晓平 阮晓钢 +1 位作者 肖尧 朱晓庆 《自动化学报》 EI CSCD 北大核心 2016年第8期1175-1184,共10页
针对两轮机器人运动平衡控制问题,为其建立起一种人工感知运动系统TWR-SMS(Two-wheeled robot sensorimotor system),使机器人在与环境的接触过程中可以通过学习自主掌握运动平衡技能.感知运动系统的认知系统以学习自动机为数学模型,引... 针对两轮机器人运动平衡控制问题,为其建立起一种人工感知运动系统TWR-SMS(Two-wheeled robot sensorimotor system),使机器人在与环境的接触过程中可以通过学习自主掌握运动平衡技能.感知运动系统的认知系统以学习自动机为数学模型,引入好奇心和取向性概念,设计了能够主动探索环境以及主动学习环境的内发动机机制.实验结果证明内发动机机制的引入不仅提高了机器人的自学习和自组织特性,同时能够有效避免小概率事件的发生,稳定性较高.与传统线性二次型调节器(Linear quadratic regulator,LQR)控制方法的对比实验表明系统具有更好的鲁棒性. 展开更多
关键词 两轮机器人 自平衡控制 感知运动系统 内发动机机制
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基于操作条件反射机制的感觉运动系统认知模型的建立 被引量:9
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作者 任红格 史涛 张瑞成 《机器人》 EI CSCD 北大核心 2012年第3期292-298,共7页
针对运动平衡控制问题,提出了一个基于操作条件反射原理的感觉运动系统认知模型,研究了小脑、基底核、大脑皮质以及其它神经器官工作的协同性,构建了感觉运动系统的认知模型.该认知模型主要由小脑和基底核以及大脑皮质组成,其中:小脑通... 针对运动平衡控制问题,提出了一个基于操作条件反射原理的感觉运动系统认知模型,研究了小脑、基底核、大脑皮质以及其它神经器官工作的协同性,构建了感觉运动系统的认知模型.该认知模型主要由小脑和基底核以及大脑皮质组成,其中:小脑通过监督学习实现状态到行为的感觉运动神经映射;基底核利用行为预测评价结果对动作实施基于操作条件反射原理的概率式选择;而大脑皮质接收并发送有用信号给基底核与小脑,形成了感觉运动系统的闭环反馈回路.本文描述了基于操作条件反射原理的感觉运动系统认知模型的具体结构、功能与算法,并在两轮机器人上进行了仿真实验,再现了机器人类似人或动物的自主学习能力和运动平衡技能.结果表明,该模型具有较强的认知特性,使机器人能通过自主学习掌握运动平衡的控制技能. 展开更多
关键词 感觉运动系统 操作条件反射 认知模型 小脑 基底核 运动平衡控制
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基于内发动机机制的机器人趋光控制 被引量:3
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作者 庞涛 阮晓钢 +1 位作者 陈静 任红格 《北京工业大学学报》 CAS CSCD 北大核心 2014年第1期32-37,共6页
针对移动机器人的趋光问题,提出了一种基于内发动机机制的控制方法.该方法以生物体感觉运动系统的学习机制为基础,通过评价、行为选择以及取向和决策环节的强化实现对机器人最优趋光控制策略的搜索,使机器人在未知环境下,通过自主的学... 针对移动机器人的趋光问题,提出了一种基于内发动机机制的控制方法.该方法以生物体感觉运动系统的学习机制为基础,通过评价、行为选择以及取向和决策环节的强化实现对机器人最优趋光控制策略的搜索,使机器人在未知环境下,通过自主的学习和训练,逐渐掌握趋光移动技能.采用马尔科夫定理证明了学习过程的收敛性;仿真实验证明了基于内发动机机制趋光控制方法的有效性;通过与人工势场法的比较,说明了该方法的精确性. 展开更多
关键词 机器人 认知 内发动机 趋光技能 感觉运动系统
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基于学习自动机的具有内发动机的感知运动系统的建立 被引量:3
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作者 阮晓钢 张晓平 +1 位作者 武璇 庞涛 《控制与决策》 EI CSCD 北大核心 2016年第2期303-309,共7页
以学习自动机为数学模型,结合斯金纳操作条件反射,建立一种人工感知运动系统,称为感知运动自动机(SMA).该系统包括感知状态集合、动作集合、感知运动取向性映射集合等9部分.系统引入好奇心和取向性概念,设计具有主动学习环境的内发动机... 以学习自动机为数学模型,结合斯金纳操作条件反射,建立一种人工感知运动系统,称为感知运动自动机(SMA).该系统包括感知状态集合、动作集合、感知运动取向性映射集合等9部分.系统引入好奇心和取向性概念,设计具有主动学习环境的内发动机机制,定义并分析了取向性学习过程,证明了系统熵的收敛性.通过模拟斯金纳鸽子实验表明了系统的可行性和有效性,仿真结果表明系统具有较好的自学习和自组织特性,同时稳定性较高. 展开更多
关键词 感知运动系统 学习自动机 操作条件反射 内发动机
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大鼠感觉运动系统静息态脑网络研究 被引量:2
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作者 夏阳 董凯 +3 位作者 赖永秀 罗程 雷蕾 尧德中 《生物化学与生物物理进展》 SCIE CAS CSCD 北大核心 2012年第6期519-524,共6页
为了理解啮齿类动物的脑功能连接,本文利用9.4T fMRI获得轻度麻醉状态下大鼠静息状态及刺激激活的数据,通过互相关分析构建节点之间的相关系数矩阵并计算相应的网络参数.结果发现:给予前爪电刺激时,刺激对侧初级感觉皮层(S1)、丘脑(Tha... 为了理解啮齿类动物的脑功能连接,本文利用9.4T fMRI获得轻度麻醉状态下大鼠静息状态及刺激激活的数据,通过互相关分析构建节点之间的相关系数矩阵并计算相应的网络参数.结果发现:给予前爪电刺激时,刺激对侧初级感觉皮层(S1)、丘脑(Tha)有较强的正激活,双侧尾状壳核(CPu)有较强的负激活.静息状态时大鼠感觉/运动皮层内部、丘脑内部的连接性较强,而感觉/运动皮层与丘脑之间的连接较弱,双侧感觉运动系统之间存在较强的同步低频振荡,感觉运动系统在静息态时的脑网络具有小世界属性.结果提示,啮齿类动物在大脑信息处理中的功能分离和整合可能与人类存在某些相似性,支持哺乳动物中枢神经系统的基本功能存在遗传保守性的观点. 展开更多
关键词 FMRI 感觉/运动系统 静息态功能连接 低频振荡 小世界网络
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一种基于情感智能的机器人自主趋光行为研究 被引量:2
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作者 阮晓钢 庞涛 +1 位作者 张晓平 王尔申 《智能系统学报》 CSCD 北大核心 2015年第1期97-102,共6页
针对移动机器人的自主趋光行为问题,提出了一种基于情感智能的内发动机仿生学习机制。该学习机制以生物体感觉运动系统的学习机制为基础,包括评价环节、行为选择环节和取向环节,采用模糊神经网络构建情感模型,情感模型的输出作为评价环... 针对移动机器人的自主趋光行为问题,提出了一种基于情感智能的内发动机仿生学习机制。该学习机制以生物体感觉运动系统的学习机制为基础,包括评价环节、行为选择环节和取向环节,采用模糊神经网络构建情感模型,情感模型的输出作为评价环节的内部奖赏信号。该学习机制能够使机器人在未知环境下通过自主的学习和训练逐渐形成、发展和完善趋光行为技能,通过情感智能的作用可以增加试探成功次数和减小学习步数,仿真实验证明了该方法的有效性。 展开更多
关键词 认知机器人学 内发动机 移动机器人 趋光技能 情感智能 感觉运动系统 模糊推理方法 取向性
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