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Controlling Underwater Robots with Electronic Nervous Systems Joseph Ayers1

Summary: Controlling Underwater Robots with Electronic Nervous Systems
Joseph Ayers1
Nikolai Rulkov2
Dan Knudsen1
Yong-Bin Kim3
Alexander Volkovskii4
Allen Selverston4
lobster@neu.edu nrulkov@islinc.com dknudsen@ucsd.edu ybk@ece.neu.edu avolkovskii@ucsd.edu aselverston@ucsd.edu
1 Department of Biology and Marine Science Center, Northeastern University, East Point, Nahant, MA 01908
2 Information Systems Laboratories, Inc., 10070 Barnes Canyon Road, San Diego CA 92121
3 Department of Electrical and Computer Engineering, Northeastern University, 360 Huntington Ave. Boston, MA 02115
4 Institute for Nonlinear Science-0402, UCSD, La Jolla, CA 92093-0402
Abstract - We are developing robots controllers based on
biomimetic design principles. The goal is to realize the adaptive
capabilities of the animal models in natural environments. We
report feasibility studies of hybrid architecture that instantiates a
command and coordinating level with computed discrete time
map-based (DTM) neuronal networks and the central pattern
generators with analog VLSI electronic neuron (AV) networks.
DTM networks are realized using neurons based on a 1-D or 2-D


Source: Ayers, Joseph - Marine Science Center & Department of Biology, Northeastern University


Collections: Engineering