Dynamic Interaction between Mechanical Rectifier and Biological Oscillator

该项目将从神经元水平的生物学观察中了解动物运动的机制，假设这些知识作为反馈控制设计的工程原理，并建立一个设计神经动力学控制器的系统程序，以实现最佳效率的自主运动。首先从控制的角度建立了一个简单而精确的神经元动力学数学模型。基于李雅普诺夫的方法将被用来分析神经元回路的振荡特性，以驱动机械系统进行运动。一个原型的机械整流器是用来实验验证的设计原则，以发展为运动控制。下一个技术革命似乎依赖于我们对复杂的生物系统的理解。这样的理解将使我们能够开发出一种全新的强大，自适应和自主的机器。 这个项目的智力价值是通过反馈控制的工程语言形式化动物运动的生物学知识，对这种复杂性背后的机制有了基本的理解。这项研究的影响包括在各个领域的创新。 实现用于空间探索的新型机器人运动系统将是一个直接的应用。用于稳定有缺陷的心脏的心跳曲线的生理控制可以是另一应用。

The project will develop an understanding of the mechanism of animal locomotion from biological observations at the neuronal level, hypothesize the knowledge as engineering principles for feedback control design, and establish a systematic procedure for designing neurodynamic controllers to achieve optimally efficient autonomous locomotion. A simple yet accuratemathematical model for neuronal dynamics is developed first from a control perspective. Lyapunov-based methods will then be employed to analyse the oscillation properties of neuronal circuits to drive mechanical systems for locomotion. A prototype mechanical rectifier is used to experimentally validate the design principles to be developed for locomotion control.The next technological revolution seems to rely on our understanding of complex biological systems. Such understanding would enable us to develop a completely new kind of robust, adaptive, and autonomous machines. The intellectual merit of this project is the basic understanding of the mechanism underlying such sophistication, through formalization of biological knowledge on animal locomotion in terms of engineering language of feedback control. The impacts of this research include innovations in a variety of fields. Realizations of new type of robotic locomotion systems for space explorations would be a direct application. Physiological control of the heart beat profile for stabilization of defective heart may be another application.