摘要
传统的机器人是完成人类给予它的任务的机器装置，它可以根据预先设置的指令来自动完成规定动作，也可以在某些特定的环境下由人类实时控制来代替人类工作。到目前为止，传统的机器人始终无法解决运动灵活性、能源供给、环境适应性等方面的欠缺。随着生命科学研究范畴的不断延伸，生物技术、无线传感器技术、自动控制技术等多学科汇集，在这个汇集点上研制出的“动物机器人(Animal-Robot)”可以弥补上述不足。
本论文以SD级大鼠为实验对象，针对已有的动物机器人运动控制系统或者神经活动遥测记录系统功能单一的缺点，研究新型大鼠机器人无线遥控遥测系统，利用无线数据广播系统(Radio Data System, RDS)技术双向传输控制指令和大鼠脑电信号，设计基于微电流刺激的新型大鼠机器人运动控制系统，同时利用自制的遥控遥测系统采集了大鼠脑电信号并对其分析。主要工作如下：
(1)从神经生物学的角度入手，寻找大鼠脑部与运动相关的新核团，并验证新发现的核团具有控制大鼠运动方向的功能。
(2)设计新型大鼠机器人遥控系统电路和软件，改变了以往电压刺激的方法，利用C8051F330单片机产生微电流脉冲刺激大鼠脑部核团以控制大鼠运动方向，使用无线数据广播系统技术，实现对大鼠的无线遥控导航，同时在系统中增加脑电遥测功能，遥控动物运动的同时测量大鼠脑电信号并分析脑电信号，验证新发现的核团与脑部初级运动核团之间的神经通路。
(3)研究如何实现大鼠机器人的自动控制，将广义回归神经网络(GeneralRegression Neural Network, GRNN)和线性神经网络算法分别应用于自动导航控制中，首先使用人工导航方式进行网络算法训练，然后数据输入广义回归神经网络中，进行实际测试，结果表明，在实时导航实验中，GRNN网络能够输出指令准确度更高的指令来控制大鼠机器人自动沿着某一路径运动。
(4)利用针灸针自制刺激电极，大大降低系统成本，实验结束后对大鼠脑部被刺激核团做石蜡切片和HE染色研究以确定电极植入大鼠脑部位置。
(5)以电生理实验为基础，分别测量静息条件下和癫痫状态下的大鼠机器人脑部左海马区脑电信号，利用现有的几种数学模型对这种脑电信号进行分析，从原始的脑电信号中，分离出δ (delta)、θ (theta)、α (alpha)、β (beta)节律，希望得到相关波形的有用信息。
(6)通过注射性激素使实验大鼠进入繁殖状态后，采集听觉脑干反应信号，对大鼠听觉脑干反应进行可塑性研究。实验过程中采用纯音(Tone pips)和打击音(Clicks)作为刺激方式，测量了麻醉状态下雌、雄成年大鼠ABRs的阈值、潜伏期和幅值三个重要参数，同时也给出了参数的计算方法。实验结果表明大鼠体内激素水平改变了其听觉在某些频率上的敏感性，证明了大鼠听觉脑干反应具有可塑性特点。在较低的频率范围内，大鼠听力比较敏感，但是到了高频阶段，大鼠听觉变得不敏感，即在高频声音刺激下，大鼠听觉脑干反应不受体内激素水平影响。
The traditional robots are machines to complete the mission given by humans,which can automatically complete the required actions according to thepre-programmed procedures, and also can be manipulated by humans in real time toreplace human work in some specific circumstances. But so far, the traditionalmechanical robots have never been able to slove the lack of movemet flexibility, powersupply and environmental adaptability. With the continuous extension of research scopein life science, humans bring together with bio-technology, wireless sensor technology,automatic control technology and other multi-disciplines and develop “animal-robot” onthe focal point that can be use to make up for the shortcomings above.
Based on animal experiments of SD rats, this thesis aims at the disadvantage ofsingle function in the existing systems for animal-robot motion control or neural activitytelemetry recording and studies a new wireless remote and telemetry system forrat-robot, which is developed by using wireless Radio Data System (RDS) technologyto bidirectionally transmit control commands and the EEG signals. After doing theexperiments we analyse the EEG signals in rats. The following studies are presentedand discussed:
(1) Starting from the point of neurobiology, we look for the new nuclei in rat brainwhich have some relationships with motor function, and verify that the newlydiscovered nuclei have the function to control the movement direction of the rat.
(2) New circuits and software in the remote control system are designed whichchange the previous methods of voltage stimulation for rat-robot. The C8051F330chipis utilized to generate micro-current pulses which stimulate the nuclei in rat brain tocontrol the movement direciton of the rat. The RDS technology is utilized for wirelessremote navigation control of the rat, and at the same time EEG telemetry function isadded to the system.
(3) A General Regression Neural Network (GRNN) and Linear Neural Networkalgorithms are applied to the automatic navigation control system, respectively. First thecontrolling procedure of human operations is utilized for traing the the networks, and then data is fed into the neural networks for actual tests. The results of tests show that inreal time in navigation experiments the GRNN can reliably output commands with moreaccurate instructions to control the rat-robot to follow a given path automatically.
(4) The homemade acupuncture needles are utilized to make the stimulationelectrodes for reducing system cost very much. After the experimts the paraffin sectionsand HE staining are applied to determine the location of the electrodes which wereimplanted in the rat brain.
(5) On the base of electrophysiological experiments, EEG signals in left hippocam-pus are measured under resting state and epileptic state, respectively. Hoping to getsome useful information in the related waveforms, several existing mathematical modelare applied to analyse and isolate the δ (delta), θ (theta), α (alpha), beta (beta) rhythmform original EEG.
(6) In experiments the rats are in the reproductive state by injecting sex hormone.The auditory brainstem responses (ABRs) are collected to study the plasticity of ABRsin rats. During the experiments tone pips and clicks are utilized as the stimulation,respectlively. Three important ABRs parameters including thresholds, latencies andamplitude in the male and female rats are measured respectively under anesthesia state,and at the same time the calculation methods are given. The results of experiments showthat the hormone levels in rats change the hearing sensitivity at some certain frequencies,and prove that the auditory brainstem responses in rats have the characteristics ofplasticity. In lower frequency range auditory in rats is more sensitive, but it will becomeinsensitive in higher frequency range. Under high-frequency sound stimulation ABRs inrats are not affected by the hormone levels.
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