designing-and-implementing-nervous-system-simulations-on-lego-robots

Designing and Implementing Nervous System Simulations on LEGO Robots

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

We have developed a biomimetic robot based on the American lobster. The robot is designed to achieve the performance advantages of the animal model by adopting biomechanical features and neurobiological control principles. Three types of controllers are described. The first is a state machine based on the connectivity and dynamics of the lobster central pattern generator (CPG). The state machine controls myomorphic actuators based on shape memory alloys (SMAs) and responds to environmental perturbation through sensors that employ a labelled-line code. The controller supports a library of action patterns and exteroceptive reflexes to mediate tactile navigation, obstacle negotiation and adaptation to surge. We are extending this controller to neuronal network-based models. A second type of leg CPG is based on synaptic networks of electronic neurons and has been adapted to control the SMA actuated leg. A brain is being developed using layered reflexes based on discrete time map-based neurons.

Biomimetic approaches to the control of underwater walking machines.

In order to determine the dynamical properties of central pattern generators (CPGs), we have examined the lobster stomatogastric ganglion using the tools of nonlinear dynamics. The lobster pyloric and gastric mill central pattern generators can be analyzed at both the cellular and network levels because they are small, i.e., contain only 25 neurons between them and each neuron and synapse are repeatedly identifiable from animal to animal. We discuss how the biophysical properties of each neuron and synapse in the two circuits act cooperatively to generate two different patterns of sequential activity, how these patterns are altered by neuromodulators and perturbed by noise and sensory inputs. Finally, we show how simplified Hindmarsh-Rose models can be made into analog electronic neurons that mimic the lobster neurons and in addition be incorporated into artificial CPGs with robotic applications.

Oscillations and oscillatory behavior in small neural circuits.

Lobsters are generalist decapods that evolved in a broad variety of niches in the Northwestern Atlantic. Due to their inherent buoyancy they have acquired adaptations to reduced traction and surge. We have developed a biomimetic robot based on the lobster that features artificial muscle actuators and sensors employing labeled-line codes. The central controller for this robot is based on the command neuron, coordinating neuron central pattern generator model. A library of commands is released by sensor feedback to mediate adaptive sequences and goal achieving behavior. Rheotaxic behaviors can mediate adaptations to achieve some of the advantages of the biological models.

Underwater walking.

Despite several reports of proximal arm ischemia due to radiation therapy, there are no reports of hand ischemia, presumably due to the rarity of radiation treatment of the distal upper extremity. We present a case of a 42-year-old male presenting with acute hand ischemia 36 years after being treated with forearm radiation for Ewing's sarcoma. Angiography demonstrated a patent brachial artery, occluded radial and ulnar arteries in the forearm, and a normal-caliber reconstituted radial artery at the anatomical snuffbox feeding a patent palmar arch. Transluminal balloon angioplasty was attempted initially without improvement. The patient was successfully revascularized with a reversed saphenous vein graft bypass from the distal brachial artery to the distal radial artery. At 22 months of follow-up, the graft remains patent with a palpable distal pulse. The patient continues to report acceptable function and range of motion.

Successful revascularization for delayed presentation of radiation-induced distal upper extremity ischemia.

Salmonella enterica serovar Typhi (Salmonella Typhi) causes an estimated 22 million typhoid fever cases and 216 000 deaths annually worldwide. In Africa, the lack of laboratory diagnostic capacity limits the ability to recognize endemic typhoid fever and to detect outbreaks. We report a large laboratory-confirmed outbreak of typhoid fever in Uganda with a high proportion of intestinal perforations (IPs).

Article	Year
Biomimetic approaches to the control of underwater walking machines. Philosophical transactions. Series A, Mathematical, physical, and engineering sciences\| PubMed ID: 17148060	2007
Oscillations and oscillatory behavior in small neural circuits. Biological cybernetics\| PubMed ID: 17151878	2006
Underwater walking. Arthropod structure & development\| PubMed ID: 18089043	2004
Successful revascularization for delayed presentation of radiation-induced distal upper extremity ischemia. Annals of vascular surgery\| PubMed ID: 19892514	2010
A large outbreak of typhoid fever associated with a high rate of intestinal perforation in Kasese District, Uganda, 2008-2009. Clinical infectious diseases : an official publication of the Infectious Diseases Society of America\| PubMed ID: 22357703	2012

Joseph Ayers

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