基于BCI的大鼠运动行为控制的研究
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摘要
生物电子技术是以生物学和微电子技术为基础,揭示生物感知、意识电信号的规律,通过对生物电信号的加工处理,获得直观的信息,建立意识的脑模型,实现生物行为乃至意识的控制。动物机器人就是生物电子技术的一个分支,动物机器人的研究将弥补传统机器人难以在特定环境下工作的缺点,也将为残疾人康复等医学领域带来新的发展。
本文从动物机器人设计的角度出发,选择SD大鼠为研究对象,以BCI技术为指导,对大鼠的运动行为控制进行了较为深入的研究,主要工作有以下几个方面：
一、通过对国内外在动物机器人以及动物控制领域的研究现状进行了全面而细致的研究,对该领域的发展情况和存在的问题有了一定了解,为本文的研究提供了思路。
二、从动物控制入手,对BCI系统的基本原理、基本结构进行了深入的研究,通过研究BCI系统的技术特点和控制大鼠运动行为的相关脑区及位点,确定基于BCI的大鼠运动行为控制基本原理。
三、针对传统动物行为有线控制的缺点,设计了大鼠运动行为无线控制系统。系统采用Visual Basic 6.0软件开发PC机控制台程序,采用C8051F320和C8051F410芯片搭建硬件系统,通过USB接口实现与PC机的数据通信。控制命令由PC机控制台发出,经无线传输模块传送至背负在大鼠身上的控制器,控制器将命令转换为电压或电流刺激信号,再经由微电极施加到大鼠神经系统相关核团,实现对大鼠运动行为的控制。
四、从大鼠的生理特点入手,对大鼠筛选及训练模型进行了研究。提出了以神经刺激控制方式为基本控制手段,以Y-迷宫筛选实验、大鼠运动行为Y-迷宫训练实验、大鼠运动行为控制实验为主要内容的实验方案。
五、将所开发的无线控制系统应用于大鼠运动行为控制实验中,对系统性能和控制效果进行了测试。分析了实验结果,对全文的工作进行了总结,并对下一步动物机器人和动物控制的研究工作提出了自己的见解。
Bio-electronic technology is based on biology and microelectronics technology, it reveals the biological sense and the law of EEG. Through processing of biological signals, we can obtain intuitive information and set up brain model for consciousness, then achieve the aim of control animal's behavior and sense. Animal robot is a branch of bio-electronic technology, it is guided by the theory of BCI technology, uses microelectronic technology to control animal's movement behavior. The research of animal robot will solve the problems of electromechanical robot can't work in the complex natural environment, will also bring new development for medical, such as the rehabilitation of the disabled.
From the perspective of animal robot, chooses SD rat as the research object, guided by the theory of BCI technology, has a in-depth study in animal control. Studying mainly from the following aspects:
1. Through researching the development and current situation of animal robot and animal control, analyzing some difficulties and limitations faced by this field, provided research ideas for the subject.
2. From the animal control, researched the basic concepts and basic structure of BCI, studied the technical characteristics of BCI system and the encephalic region of controlling animal movement.
3. Developed a control system to deliver stimuli into the rat brain through a wireless micro-stimulator for animal movement behavior control. In the system, an integrated PC control program is developed by Visual Basic 6.0, the hardware system is developed base on C8051F320 and C8051F410 microprocessor. The control command is sent out from PC control program, then the command is transmitted to the controller which is carried on the rat's back by wireless transceiver, then the command is converted to voltage or current stimuli, then the stimulation pulses are delivered into the nucleus of rat nervous system through microelectrode to control the rat behavior.
4. Combined the physiological characteristics of rat, researched the training models for rat. Proposed the nerve stimulation as the basic mean for animal control, rat movement behavior training experiments and rat movement behavior control experiments for the system.
5. The system was used in rat behavior control experiments, the results indicated that the system worked stably, and it could control rat movement behavior accurately. In addition, analyzed the experimental results, gave the concluding work and the further research direction for the animal control.
本文从动物机器人设计的角度出发,选择SD大鼠为研究对象,以BCI技术为指导,对大鼠的运动行为控制进行了较为深入的研究,主要工作有以下几个方面：
一、通过对国内外在动物机器人以及动物控制领域的研究现状进行了全面而细致的研究,对该领域的发展情况和存在的问题有了一定了解,为本文的研究提供了思路。
二、从动物控制入手,对BCI系统的基本原理、基本结构进行了深入的研究,通过研究BCI系统的技术特点和控制大鼠运动行为的相关脑区及位点,确定基于BCI的大鼠运动行为控制基本原理。
三、针对传统动物行为有线控制的缺点,设计了大鼠运动行为无线控制系统。系统采用Visual Basic 6.0软件开发PC机控制台程序,采用C8051F320和C8051F410芯片搭建硬件系统,通过USB接口实现与PC机的数据通信。控制命令由PC机控制台发出,经无线传输模块传送至背负在大鼠身上的控制器,控制器将命令转换为电压或电流刺激信号,再经由微电极施加到大鼠神经系统相关核团,实现对大鼠运动行为的控制。
四、从大鼠的生理特点入手,对大鼠筛选及训练模型进行了研究。提出了以神经刺激控制方式为基本控制手段,以Y-迷宫筛选实验、大鼠运动行为Y-迷宫训练实验、大鼠运动行为控制实验为主要内容的实验方案。
五、将所开发的无线控制系统应用于大鼠运动行为控制实验中,对系统性能和控制效果进行了测试。分析了实验结果,对全文的工作进行了总结,并对下一步动物机器人和动物控制的研究工作提出了自己的见解。
Bio-electronic technology is based on biology and microelectronics technology, it reveals the biological sense and the law of EEG. Through processing of biological signals, we can obtain intuitive information and set up brain model for consciousness, then achieve the aim of control animal's behavior and sense. Animal robot is a branch of bio-electronic technology, it is guided by the theory of BCI technology, uses microelectronic technology to control animal's movement behavior. The research of animal robot will solve the problems of electromechanical robot can't work in the complex natural environment, will also bring new development for medical, such as the rehabilitation of the disabled.
From the perspective of animal robot, chooses SD rat as the research object, guided by the theory of BCI technology, has a in-depth study in animal control. Studying mainly from the following aspects:
1. Through researching the development and current situation of animal robot and animal control, analyzing some difficulties and limitations faced by this field, provided research ideas for the subject.
2. From the animal control, researched the basic concepts and basic structure of BCI, studied the technical characteristics of BCI system and the encephalic region of controlling animal movement.
3. Developed a control system to deliver stimuli into the rat brain through a wireless micro-stimulator for animal movement behavior control. In the system, an integrated PC control program is developed by Visual Basic 6.0, the hardware system is developed base on C8051F320 and C8051F410 microprocessor. The control command is sent out from PC control program, then the command is transmitted to the controller which is carried on the rat's back by wireless transceiver, then the command is converted to voltage or current stimuli, then the stimulation pulses are delivered into the nucleus of rat nervous system through microelectrode to control the rat behavior.
4. Combined the physiological characteristics of rat, researched the training models for rat. Proposed the nerve stimulation as the basic mean for animal control, rat movement behavior training experiments and rat movement behavior control experiments for the system.
5. The system was used in rat behavior control experiments, the results indicated that the system worked stably, and it could control rat movement behavior accurately. In addition, analyzed the experimental results, gave the concluding work and the further research direction for the animal control.
引文
[1].高诺,鲁守银等.脑机接口技术的研究现状及发展趋势[J].机器人技术与应用,2008,15(4)：16-19
[2].郭策,戴振东,孙久荣.生物机器人的研究现状及其未来发展[J].机器人,2005(2)：187-192
[3]. Yongling Wang, Kui Yuan, Jianfeng Li, et al. A New Remote-controlled Animal Robot Training System[C]. Integration Technology,2007. ICIT'07. IEEE International Conference on, March 2007:599-602
[4]. Feng Zhou-yan, Chen Wei-dong. et al. A remote control Training system for rat navigation in complicated environment [J]. Zhejiang Univ Sci A.2007,8(2):323-330
[5]. Carmena J M, Lebedev M A, Crist R E, et al. Learing to control a brain-machine interface for reaching and grasping by primates[J]. Washington Post.2003-10-13
[6]. Yang Xia, Lei Lei, Tie-Jun Liu, et al. Robot Animals Based on Brain-Computer Interface[J]. Journal of electronic science and technology of china, March 2009,7(1):65-68
[7]. Jianxun Zhang, Huan Tan, et al. Robot Assistant Microsurgery System[C]. Proceedings of the 6th World Congress on Intelligent Control and Automation, June 2006:9032-9036
[8].高诺,鲁守银,张运楚等.脑机接口技术的研究现状及发展趋势[J].机器人技术与应用,2008,(04)：16-18
[9]. J R Wolpaw, N Birbaumer, D J Mcfacland. Brain-computer interface for communication and control[J]. Clinical Neurophysiology,2002,113(6):767-791
[10].Talmadoe.E.Japan, s latest innovation:a remote control roach[N]. Associated Press,2001,7
[11].Biological Sciences[EB/OL]. http://www.darpa.mil/thrust/tehthr.htm
[12].TalwarSK, et al. Rat navigation guided by remote control[J]. Nature,2002,417(6884):37-38
[13]. Weiss R. Monkeys control robotic arm with brain implants[N]. Washington Post,2003.10
[14].Brown S. Stealth sharks to patrol the high seas[J]. New scientist, March 2006,189(2541): 30-31
[15].张韶岷,王鹏,江君等.大鼠遥控导航及其行为训练系统的研究[J].中国生物医学工程学报,2007,26(6)：830-836
[16].Shaohua Xu, Sanjiv K. Talwar, et al. A multi-channel telemetry system for brain microstimu-lation in freely roaming animals[J]. Journal of Neuroscience Methods, Feb 2004,133(1-2):57-63
[17].王勇,苏学成,槐瑞托等.动物机器人遥控导航系统[J].机器人,2006,28(2)：183-186
[18].槐瑞托,苏学成,杨俊卿等.动物机器人遥操作导航控制方法[J].应用基础与工程科学学报,2010,18(2)：352-357
[19].山东科技大学研制出“机器人”鸟http://www.cutech.edu.cn/
[20].陈志健.基于BCI的动物机器人智能导航系统的研究[L].杭州：浙江大学硕士学位论 文.2007
[21].陈茜茜.微型无线传输系统的设计[L].成都：电子科技大学优秀硕士论文,2005
[22]. Jonathan R Wolpaw, Dennis J McFarland. Control of a two-dimensional movement signal by a noninvasive brain-computer interface in humans[J]. Pnas.2004,(101):17849-17854
[23].王敏,苏学成.脑-机接口研究新进展[J].国外医学.生物医学工程分册,2005,28(5)：277-280
[24].高上凯.神经工程与脑-机接口[J].生命科学,2009,21(2)：177-180
[25].朱文明,高诺.脑机接口技术研究概述[J].信息技术与信息化,2008,6：25-28
[26].赵均榜,张智君.基于自发脑电的脑机接口研究进展[J].应用心理学,2008,14(3)：262-268
[27].何庆华,吴宝明,王禾.脑机接口视觉刺激方法实验研究[C].2007中国生物医学工程联合学术年会,2007：1452-1455
[28].胥彪,石锐,何庆华.脑机接口(BCI)系统的实时数据传输技术研究[J].计算机科学,2007,34(9)：107-109
[29].沈敏.脑-机接口技术综述[J].重庆邮电大学学报(自然科学版),2007,6：147-150
[30].Delcomyn F. Motor activity during searching and walking movements of cockroach leg. Journal of Experimental Biology.1987
[31].Yoichi Miyawaki,et al. Visual Image Reconstruction from Human Brain Activity using a Combination of Multiscale Local Image Decoders. DOI 10.1016/j.neuron.2008
[32]. Morris R. Development of a water-maze procedure for studying spatial learning in the rat. Journal of Neuro- science Methods,1984,11:47-60
[33].Penfield W, Rasmussen T. The cerebral cortex of man,Macmillan. New York,1950
[34]. Wise SP, Mwray EA, CoulterJD. Somatotopic organization of corticospinal and corticotri eminal neurons in the rat. Neuroscienee,1979,4:65-78
[35].赵宏斌,全厚德.基于C8051F320的数据采集系统USB接口设计[J].单片机开发与应用,2009,25(9-2)：91-93
[36].申河清,张崇巍.基于C8051F320的便携式心电监护仪设计[J].电子测量与仪器学报,2007：680-683
[37].赵鑫,曹炜,肖明清等.基于C8051F410的精确信号模拟电路设计[J].微计算机信息,2009,25(9-2)：17-18
[38]. Song Wei-Guo, Chai Jie, Han Tai-Zhen, et al. A remote controlled multimode micro-stimulator for freely moving animals [J]. Acta Physiologica Sinica,2006,58(2):183-188
[39].mc21st.com,近距离无线通信技术发展状况报告[M].2008.04
[40].王翔.无线通信发展趋势[J].通信技术,2007.6
[41].李文仲,段朝玉等.短距离无线数据通信入门与实战[M].北京：北京航空航天大学出版社
[42].王晨光,孙运强.基于nRF24L01的脑深部电刺激器(DBS)通信系统设计[J].电子测试,2009,5：47-50
[43].nRF905产品说明书www.nodic.com
[44].CC1000产品说明书www.chipcon.com
[45].CC2500产品说明书www.chipcon.com
[46].陈金鑫.井下系统短距离无线传输技术的研究与实现[L].南京：东南大学优秀硕士学位论文,2007
[47]. MOTOROLA Semiconductor Technical Data.www.21IC.com
[2].郭策,戴振东,孙久荣.生物机器人的研究现状及其未来发展[J].机器人,2005(2)：187-192
[3]. Yongling Wang, Kui Yuan, Jianfeng Li, et al. A New Remote-controlled Animal Robot Training System[C]. Integration Technology,2007. ICIT'07. IEEE International Conference on, March 2007:599-602
[4]. Feng Zhou-yan, Chen Wei-dong. et al. A remote control Training system for rat navigation in complicated environment [J]. Zhejiang Univ Sci A.2007,8(2):323-330
[5]. Carmena J M, Lebedev M A, Crist R E, et al. Learing to control a brain-machine interface for reaching and grasping by primates[J]. Washington Post.2003-10-13
[6]. Yang Xia, Lei Lei, Tie-Jun Liu, et al. Robot Animals Based on Brain-Computer Interface[J]. Journal of electronic science and technology of china, March 2009,7(1):65-68
[7]. Jianxun Zhang, Huan Tan, et al. Robot Assistant Microsurgery System[C]. Proceedings of the 6th World Congress on Intelligent Control and Automation, June 2006:9032-9036
[8].高诺,鲁守银,张运楚等.脑机接口技术的研究现状及发展趋势[J].机器人技术与应用,2008,(04)：16-18
[9]. J R Wolpaw, N Birbaumer, D J Mcfacland. Brain-computer interface for communication and control[J]. Clinical Neurophysiology,2002,113(6):767-791
[10].Talmadoe.E.Japan, s latest innovation:a remote control roach[N]. Associated Press,2001,7
[11].Biological Sciences[EB/OL]. http://www.darpa.mil/thrust/tehthr.htm
[12].TalwarSK, et al. Rat navigation guided by remote control[J]. Nature,2002,417(6884):37-38
[13]. Weiss R. Monkeys control robotic arm with brain implants[N]. Washington Post,2003.10
[14].Brown S. Stealth sharks to patrol the high seas[J]. New scientist, March 2006,189(2541): 30-31
[15].张韶岷,王鹏,江君等.大鼠遥控导航及其行为训练系统的研究[J].中国生物医学工程学报,2007,26(6)：830-836
[16].Shaohua Xu, Sanjiv K. Talwar, et al. A multi-channel telemetry system for brain microstimu-lation in freely roaming animals[J]. Journal of Neuroscience Methods, Feb 2004,133(1-2):57-63
[17].王勇,苏学成,槐瑞托等.动物机器人遥控导航系统[J].机器人,2006,28(2)：183-186
[18].槐瑞托,苏学成,杨俊卿等.动物机器人遥操作导航控制方法[J].应用基础与工程科学学报,2010,18(2)：352-357
[19].山东科技大学研制出“机器人”鸟http://www.cutech.edu.cn/
[20].陈志健.基于BCI的动物机器人智能导航系统的研究[L].杭州：浙江大学硕士学位论 文.2007
[21].陈茜茜.微型无线传输系统的设计[L].成都：电子科技大学优秀硕士论文,2005
[22]. Jonathan R Wolpaw, Dennis J McFarland. Control of a two-dimensional movement signal by a noninvasive brain-computer interface in humans[J]. Pnas.2004,(101):17849-17854
[23].王敏,苏学成.脑-机接口研究新进展[J].国外医学.生物医学工程分册,2005,28(5)：277-280
[24].高上凯.神经工程与脑-机接口[J].生命科学,2009,21(2)：177-180
[25].朱文明,高诺.脑机接口技术研究概述[J].信息技术与信息化,2008,6：25-28
[26].赵均榜,张智君.基于自发脑电的脑机接口研究进展[J].应用心理学,2008,14(3)：262-268
[27].何庆华,吴宝明,王禾.脑机接口视觉刺激方法实验研究[C].2007中国生物医学工程联合学术年会,2007：1452-1455
[28].胥彪,石锐,何庆华.脑机接口(BCI)系统的实时数据传输技术研究[J].计算机科学,2007,34(9)：107-109
[29].沈敏.脑-机接口技术综述[J].重庆邮电大学学报(自然科学版),2007,6：147-150
[30].Delcomyn F. Motor activity during searching and walking movements of cockroach leg. Journal of Experimental Biology.1987
[31].Yoichi Miyawaki,et al. Visual Image Reconstruction from Human Brain Activity using a Combination of Multiscale Local Image Decoders. DOI 10.1016/j.neuron.2008
[32]. Morris R. Development of a water-maze procedure for studying spatial learning in the rat. Journal of Neuro- science Methods,1984,11:47-60
[33].Penfield W, Rasmussen T. The cerebral cortex of man,Macmillan. New York,1950
[34]. Wise SP, Mwray EA, CoulterJD. Somatotopic organization of corticospinal and corticotri eminal neurons in the rat. Neuroscienee,1979,4:65-78
[35].赵宏斌,全厚德.基于C8051F320的数据采集系统USB接口设计[J].单片机开发与应用,2009,25(9-2)：91-93
[36].申河清,张崇巍.基于C8051F320的便携式心电监护仪设计[J].电子测量与仪器学报,2007：680-683
[37].赵鑫,曹炜,肖明清等.基于C8051F410的精确信号模拟电路设计[J].微计算机信息,2009,25(9-2)：17-18
[38]. Song Wei-Guo, Chai Jie, Han Tai-Zhen, et al. A remote controlled multimode micro-stimulator for freely moving animals [J]. Acta Physiologica Sinica,2006,58(2):183-188
[39].mc21st.com,近距离无线通信技术发展状况报告[M].2008.04
[40].王翔.无线通信发展趋势[J].通信技术,2007.6
[41].李文仲,段朝玉等.短距离无线数据通信入门与实战[M].北京：北京航空航天大学出版社
[42].王晨光,孙运强.基于nRF24L01的脑深部电刺激器(DBS)通信系统设计[J].电子测试,2009,5：47-50
[43].nRF905产品说明书www.nodic.com
[44].CC1000产品说明书www.chipcon.com
[45].CC2500产品说明书www.chipcon.com
[46].陈金鑫.井下系统短距离无线传输技术的研究与实现[L].南京：东南大学优秀硕士学位论文,2007
[47]. MOTOROLA Semiconductor Technical Data.www.21IC.com