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

EMT/BSSE：一种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的领域。然而，生物有机体有能力在不断变化的世界中做出快速和适当的反应。由于这种适应能力对生存至关重要，所有脊椎动物都有皮质下结构，构成神经调节系统。这些系统规范了基本的行为，设定了机体--S的内在状态和行为状态。这项研究涉及到设计一种自主系统的控制器，它是以脊椎动物的神经调节系统为模型的。这个受神经启发的模型使机器人能够接近与高级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器向神经系统发送信号，环境变化会改变神经反应，使有机体能够快速而准确地对这些变化做出反应。有单独的神经调节器对威胁、回报预期、新颖性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效果，即当环境条件要求采取这种行动时，使有机体变得果断，并在没有紧迫事件时允许有机体更具探索性。一种基于脊椎动物神经调节系统原理的设计策略被用于控制自主机器人系统的行为。研究表明，这种系统在没有人工干预的情况下，能够对环境变化做出适当的反应和适应。此外，研究表明，基于神经调节的控制器可以扩展到任何一个智能体位于动态的、无约束的环境中的系统。

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.