EMT/BSSE: A Controller for Autonomous Systems Based on Principles of Vertebrate Neuromodulation

EMT/BSSE：基于脊椎动物神经调节原理的自主系统控制器机器人和自主系统需要一定程度的监督和参数调整以适应特定领域。然而，生物有机体有能力在不断变化的世界中做出快速而适当的反应。因为这种适应性对生存至关重要，所以所有脊椎动物都有皮层下结构，其中包括神经调节系统。这些系统调节着基本的行为，并设定了有机体？S内部和行为状态。本研究涉及设计一种以脊椎动物神经调节系统为模型的自主系统控制器。这种受神经启发的模型使机器人能够接近与高阶动物相关的行为复杂性和灵活性，这将是自主系统设计的重大改进。神经系统中的神经调节剂向神经系统发出环境变化的信号，从而改变神经元的反应，从而使生物体能够迅速而准确地对这些变化作出反应。有不同的神经调节剂对威胁、奖励预期、新奇和注意力努力做出反应。然而，这些神经调节系统中的每一个都有类似的作用，即，当环境条件要求生物体采取果断行动时，它们会使生物体采取果断行动，而当没有紧迫事件时，它们会使生物体更具探索性。基于脊椎动物神经调节系统原理的设计策略，用于控制自主机器人系统的行为。该研究表明，该系统在没有人为干预的情况下能够适当地响应和适应环境变化。此外，该研究表明，基于神经调节的控制器可以扩展到任何系统，其中智能体位于动态，无约束的环境中。

EMT/BSSE: A Controller for Autonomous SystemsBased on Principles of Vertebrate NeuromodulationRobots and autonomous systems require some level of supervision and tuning ofparameters to fit a particular domain. However, biological organisms have the ability torespond quickly and appropriately in an ever-changing world. Because this adaptabilityis so critical for survival, all vertebrates have sub-cortical structures, which comprise theneuromodulatory systems. These systems regulate fundamental behaviors and set theorganism?s internal and behavioral states. This research involves designing a controllerfor autonomous systems that is modeled after the vertebrate neuromodulatory system.This neurally inspired model enables robots to approach the behavioral complexity andflexibility associated with higher order animals, and would be a major improvement in thedesign of autonomous systems.Neuromodulators in the nervous system signal environmental changes to the nervoussystem that alter neuronal responses in such a way that the organism can respondquickly and accurately to these changes. There are separate neuromodulators thatrespond to threats, reward anticipation, novelty, and attentional effort. However, each ofthese neuromodulatory systems have a similar effect, that is, to cause an organism to bedecisive when environmental conditions call for such actions, and allow an organism tobe more exploratory when there are no pressing events. A design strategy, based onprinciples of the vertebrate neuromodulatory system, is used to control the behavior ofautonomous robot systems. This research shows that such a system respondsappropriately and adapts to environmental changes without human intervention.Moreover, this research shows that a controller, which is based on neuromodulation, canbe extended to any system in which an agent is situated in a dynamic, unconstrainedenvironment.