项目名称: 中枢模式发生器神经网络系统的建模、简化及同步转迁
项目编号: No.11302126
项目类型: 青年科学基金项目
立项/批准年度: 2014
项目学科: 数理科学和化学
项目作者: 宋自根
作者单位: 上海海洋大学
项目金额: 27万元
中文摘要: 本项目定位于应用基础性研究,针对生物体节律运动模式的中枢模式发生器(CPG)网络控制机理,通过对(1)生物CPG神经网络系统的建模与动力学分析;(2)功能型CPG神经网络系统的模型建立;(3)基于步态控制的CPG神经网络系统同步转迁这三个科学问题的研究,深入了解生物CPG神经网络系统的动力学机理,探索系统放电活动的模式类型和转迁规律,并在此基础上建立简化的功能型CPG网络系统,提出简单网络节点的非线性耦合实现不同类型节律振荡模式,基于足式机器人步态行走控制的CPG网络系统,建立包括节点耦合参数、上层传入激励以及自身反馈信号在内的步态模式转迁规律。重点认识耦合非线性系统的动力学分岔机理,初步形成研究高维非线性系统同步转迁的分析方法,建立不同拓扑结构下CPG 神经网络的步态转迁规律,为机器人步态控制CPG 神经网络的工程设计提供理论支持和技术指导。
中文关键词: 神经网络;中枢模式发生器;动力学分析;人行桥侧向振动;种群共存
英文摘要: This project is a fundamental research in both theory and application, which primarily aims at the animal rhythm control of CPG (central pattern generator) neural network system. The following three scientific problems are mainly studied: (1) modeling and dynamical analysis of biological CPG neural network systems; (2) models construction of functional CPG neural network systems; (3) synchronous transition analysis of functional CPG neural network systems for robot gait control. The major objectives of this project are to gain a better understanding of the dynamical characteristics of CPG neural network system and explore the pattern types of neuron activity; to build the functional CPG neural network system by using the dynamic analysis, which is made up the network nodes with simple dynamics; to establish the CPG control system based on the robot gait and propose the pattern transition induced by coupling parameters, external signals and feedback signals. In the words, this project will focus on understanding the synchronization transition of the nonlinear system. Some valuable methods will be developed to analyze the synchronization transition of the nonlinear dynamics. The transition mechanisms of the robot gaits will be established. The research results will offer some theoretical supports and technical gu
英文关键词: Neural Network;Central Pattern Generator;Dynamical Analysis;Lateral Vibration of Footbridge;Species Coexistence