WO2007076516A3 - Brain-based device having a cerebellar model for predictive motor control - Google Patents

Brain-based device having a cerebellar model for predictive motor control Download PDF

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Publication number
WO2007076516A3
WO2007076516A3 PCT/US2006/062634 US2006062634W WO2007076516A3 WO 2007076516 A3 WO2007076516 A3 WO 2007076516A3 US 2006062634 W US2006062634 W US 2006062634W WO 2007076516 A3 WO2007076516 A3 WO 2007076516A3
Authority
WO
WIPO (PCT)
Prior art keywords
brain
bbd
nervous system
motor control
based device
Prior art date
Application number
PCT/US2006/062634
Other languages
French (fr)
Other versions
WO2007076516A2 (en
WO2007076516A9 (en
Inventor
Jeffrey L Mckinsky
Gerald M Edelman
Jeffrey L Krichmar
Original Assignee
Neurosciences Res Found
Jeffrey L Mckinsky
Gerald M Edelman
Jeffrey L Krichmar
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Neurosciences Res Found, Jeffrey L Mckinsky, Gerald M Edelman, Jeffrey L Krichmar filed Critical Neurosciences Res Found
Priority to EP06848895A priority Critical patent/EP1969513A4/en
Priority to JP2008548838A priority patent/JP5175218B2/en
Priority to CN2006800535429A priority patent/CN101390100B/en
Publication of WO2007076516A2 publication Critical patent/WO2007076516A2/en
Publication of WO2007076516A9 publication Critical patent/WO2007076516A9/en
Publication of WO2007076516A3 publication Critical patent/WO2007076516A3/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/026—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system using a predictor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/049—Temporal neural networks, e.g. delay elements, oscillating neurons or pulsed inputs

Abstract

A mobile brain-based device (BBD) includes a mobile platform with sensors and effects, which is guided by a simulated nervous system that is an analogue of the cerebellar areas of the brain used for predictive motor control to determine interaction with a real-world environment. The simulated nervous system has neural areas including precerebellum nuclei (PN), Purkinje cells (PC), deep cerebellar nuclei (DCN) and an inferior olive (IO) for predicting turn and velocity control of the BBD during movement in a real-world environment. The BBD undergoes training and testing, and the simulated nervous system learns and performs control functions, based on a delayed eligibility trace learning rule.
PCT/US2006/062634 2005-12-28 2006-12-27 Brain-based device having a cerebellar model for predictive motor control WO2007076516A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP06848895A EP1969513A4 (en) 2005-12-28 2006-12-27 Brain-based device having a cerebellar model for predictive motor control
JP2008548838A JP5175218B2 (en) 2005-12-28 2006-12-27 A brain-based device with a cerebellar model for predictive motion control
CN2006800535429A CN101390100B (en) 2005-12-28 2006-12-27 Brain-based device having a cerebellar model and its motor control method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US75422905P 2005-12-28 2005-12-28
US60/754,229 2005-12-28

Publications (3)

Publication Number Publication Date
WO2007076516A2 WO2007076516A2 (en) 2007-07-05
WO2007076516A9 WO2007076516A9 (en) 2007-08-16
WO2007076516A3 true WO2007076516A3 (en) 2008-04-10

Family

ID=38218872

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/062634 WO2007076516A2 (en) 2005-12-28 2006-12-27 Brain-based device having a cerebellar model for predictive motor control

Country Status (5)

Country Link
US (2) US7827124B2 (en)
EP (1) EP1969513A4 (en)
JP (1) JP5175218B2 (en)
CN (1) CN101390100B (en)
WO (1) WO2007076516A2 (en)

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DE102006039797B4 (en) * 2006-08-24 2013-11-07 Qimonda Ag Method for training connections in a memory device and correspondingly configured memory devices
EP2263150A2 (en) * 2008-02-27 2010-12-22 Tsvi Achler Feedback systems and methods for recognizing patterns
US8924322B2 (en) 2012-06-15 2014-12-30 International Business Machines Corporation Multi-processor cortical simulations with reciprocal connections with shared weights
US9563740B2 (en) * 2012-10-16 2017-02-07 The Florida International University Board Of Trustees Neural interface activity simulator
WO2016054779A1 (en) * 2014-10-09 2016-04-14 Microsoft Technology Licensing, Llc Spatial pyramid pooling networks for image processing
CN105388757A (en) * 2015-10-22 2016-03-09 北京航空航天大学 Compound control method for electric loading system
US10839302B2 (en) 2015-11-24 2020-11-17 The Research Foundation For The State University Of New York Approximate value iteration with complex returns by bounding
US10599976B2 (en) * 2016-11-07 2020-03-24 International Business Machines Corporation Update of attenuation coefficient for a model corresponding to time-series input data
US10928814B2 (en) 2017-02-24 2021-02-23 General Electric Technology Gmbh Autonomous procedure for monitoring and diagnostics of machine based on electrical signature analysis
US11301750B2 (en) * 2017-03-31 2022-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Simplification of neural models that include arborized projections
CN107341543B (en) * 2017-06-18 2020-09-29 大连理工大学 Cerebellum model modeling method based on reinforcement learning
US10403116B2 (en) 2017-06-20 2019-09-03 General Electric Company Electrical signature analysis of electrical rotating machines
CN108388213B (en) * 2018-02-05 2019-11-08 浙江天悟智能技术有限公司 Direct-spinning of PET Fiber process control method based on local plasticity echo state network
JP7107017B2 (en) * 2018-06-21 2022-07-27 カシオ計算機株式会社 Robot, robot control method and program
GB2575505B (en) 2018-07-13 2022-08-24 Centaur Robotics Ltd Mobility aid device and method of manufacturing
CN112060082B (en) * 2020-08-19 2021-10-15 大连理工大学 Online stable control humanoid robot based on bionic reinforcement learning type cerebellum model
CN112782844B (en) * 2021-01-12 2023-03-31 中国科学院光电技术研究所 Stable closed-loop control method for adaptive optical system
CN114872040B (en) * 2022-04-20 2024-04-16 中国科学院自动化研究所 Musculoskeletal robot control method and device based on cerebellum prediction and correction

Citations (2)

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Publication number Priority date Publication date Assignee Title
US5136687A (en) * 1989-10-10 1992-08-04 Edelman Gerald M Categorization automata employing neuronal group selection with reentry
US20050261803A1 (en) * 2004-04-15 2005-11-24 Neurosciences Research Foundation, Inc. Mobile brain-based device for use in a real world environment

Family Cites Families (4)

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Publication number Priority date Publication date Assignee Title
AU3477397A (en) * 1996-06-04 1998-01-05 Paul J. Werbos 3-brain architecture for an intelligent decision and control system
JP3271544B2 (en) * 1997-03-05 2002-04-02 三菱電機株式会社 Learning control method
CA2393535A1 (en) * 1999-12-07 2001-06-14 Krasnow Institute Adaptive electric field modulation of neural systems
US7822694B2 (en) * 2002-08-21 2010-10-26 New York University Neuro-mimetic control systems and methods

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5136687A (en) * 1989-10-10 1992-08-04 Edelman Gerald M Categorization automata employing neuronal group selection with reentry
US20050261803A1 (en) * 2004-04-15 2005-11-24 Neurosciences Research Foundation, Inc. Mobile brain-based device for use in a real world environment

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1969513A4 *

Also Published As

Publication number Publication date
US20070194727A1 (en) 2007-08-23
CN101390100A (en) 2009-03-18
EP1969513A4 (en) 2010-05-05
WO2007076516A2 (en) 2007-07-05
JP5175218B2 (en) 2013-04-03
US8131658B2 (en) 2012-03-06
US20110047109A1 (en) 2011-02-24
WO2007076516A9 (en) 2007-08-16
EP1969513A2 (en) 2008-09-17
US7827124B2 (en) 2010-11-02
CN101390100B (en) 2012-05-30
JP2009523276A (en) 2009-06-18

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