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治系统控制器机器人和自治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。因为这种适应性对于生存是如此重要，所以所有脊椎动物都有皮层下结构，它构成了神经调节系统。这些系统调节基本的行为，并设置有机体？的内部和行为状态。这项研究涉及设计一个模仿脊椎动物神经调节系统的自主系统的机器人。这个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，神经系统中的神经调质向神经系统发出环境变化的信号，改变神经元的反应，使生物体can respond响应quickly快速and accurately准确to these changes变化.有不同的神经调质对威胁、奖励预期、新奇感和注意力的努力做出反应。然而，这些神经调节系统中的每一个都有类似的作用，也就是说，当环境条件要求这样的行动时，使生物体做出决定，当没有紧迫事件时，使生物体更具探索性。基于脊椎动物神经调节系统的原理，提出了一种控制自主机器人系统行为的设计策略。研究表明，这种系统在没有人为干预的情况下能够对环境变化做出适当的反应和适应，而且，研究还表明，基于神经调节的控制器可以扩展到任何智能体处于动态、无约束环境中的系统。

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.