Analysis and Control of Behavior of Insect by Artificial Neural Network

人工神经网络昆虫行为分析与控制

• 批准号: 06302041
• 负责人: MIURA Hirofumi
• 金额: $ 7.1万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Co-operative Research (A)
• 财政年份: 1994
• 资助国家: 日本
• 起止时间: 1994 至 1995
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-06302041/
• 关键词: Insect; Emarging Behavior; Pherimone; Mobile Robot; Neural Network; カイコガ; 定位行動; 行動発現メカニズム; フリップ・フロップ

The qualitative characteristics of the behavior of insects and the precise structure of the external skeleton which generates the motion of insects are getting clearer by the progress of the method of observation and measurement. On the other hand, the research on the central neural system in the emergence of the behavior and the control mechanism of it is also being conducted actively.In this research, the neural mechanism of the behavior emergence was successively constructed in the control system of the mobile robot with learning process. As the model system, the neural system of the silk worm moth was selected. The number of neural cells of the silk worm moth is small and very suitable as the model.Kanzaki has conducted research on the central neuro-mechanism for the behavior emergence and its control system from standing point of the neurophysiology, the histology and the behavioral science for long time. Especially he was much interested in the fixed behavior (zig zag and rotation motion) of the male silk worm moth to approach the female moth sensing female moth pheromone.Miura and Shimoyama have developed the wheeled mobile robot which pursue the female moth pheromone. In this robot, two very small parts (5mm length) of the antenna cut from the real male moth are used as sensors of pheromone. By generic algorithm, the robot learned the above mentioned fixed behavior of the silk worm moth.

随着观察和测量方法的进步，昆虫行为的定性特征和产生昆虫运动的外骨骼的精确结构变得更加清晰。另一方面，对中枢神经系统中行为涌现及其控制机制的研究也在积极进行中，本研究在具有学习过程的移动机器人控制系统中成功构建了行为涌现的神经机制。以蚕蛾的神经系统为模型系统。家蚕蛾的神经细胞数量少，非常适合作为模型。长期以来，Kanzaki从神经生理学、组织学和行为科学的角度对行为发生的中枢神经机制及其控制系统进行了研究。特别是，他对雄蚕蛾的固定行为(之字形和旋转运动)非常感兴趣，以接近雌蛾感知雌蛾信息素。三浦和下山开发了追逐雌蛾信息素的轮式移动机器人。在这个机器人中，从真正的雄蛾身上切下的两个非常小的部分(5毫米长)的天线被用作信息素传感器。通过遗传算法，机器人学习到蚕蛾的上述固定行为。

项目成果

Y.Sayama, et al: "Simulation of the insect behaviro using recurrent network" Proc.of 1995 Robotics/Mechatronics Meeting, JSME. vol.A. 580-583 (1995)

Y.Sayama 等人：“使用循环网络模拟昆虫行为”Proc.of 1995 机器人/机电一体化会议，JSME。

神崎亮平: "昆虫の生殖行動を制御するしくみ" 化学と生物. 32. 726-734 (1994)

Ryohei Kanzaki：“控制昆虫繁殖行为的机制”化学与生物学 32. 726-734 (1994)。

Y.Kuwana, at al: "Steering control of the mobile robot with the antenneae of the ral insect" Proc.of 1995 Robotics/Mechatronics Meeting, JSME. vol.A. 564-567 (1995)

Y.Kuwana 等人：“用 ral 昆虫的触角对移动机器人进行转向控制”Proc.of 1995 机器人/机电一体化会议，JSME。

R.Kanzaki: "Olfactory Processing Pathways of the Insect Brain" Olfaction and Taste. XI. 831-834 (1994)

R.Kanzaki：“昆虫大脑的嗅觉处理途径”嗅觉和味觉。

Yoshihiko Kuwana, et al: ""Steering COntrol of a Mobile Robot Using Insing Insect Antennae,"" Proc of 1995/EEE/RSJ Intl Conf. on Intelligent Rpbots and Systems (IROS'95). 530-535 (1995)

Yoshihiko Kuwana 等人：“使用 Insing Insect Antennae 的移动机器人的转向控制”，Proc of 1995/EEE/RSJ Intl Conf.