神経修飾機構を有するニューラルネットワークのハードウェア化とその自律移動ロボットへの実装 Neuromodulated Neural Hardware and Its Implementation on an Autonomous Mobile Robot

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著者

    • 十倉 征司 TOKURA Seiji
    • 名古屋大学大学院工学研究科電気工学専攻 Dep. of Electrical Engineering, Graduate School of Engineering, Nagoya University
    • 石黒 章夫 ISHIGURO Akio
    • 名古屋大学大学院工学研究科計算理工学専攻 Dep. of Computational Science and Engineering, Graduate School of Engineering, Nagoya University
    • 大熊 繁 OKUMA Shigeru
    • 名古屋大学大学院工学研究科電気工学専攻 Dep. of Electrical Engineering, Graduate School of Engineering, Nagoya University

抄録

In order to construct truly autonomous mobile robots, the concept of packaging is highly indispensable: all parts such as controllers, power systems, and batteries should be embedded inside a body. Therefore, implementing a controller on hardware is one of the most promising ways, since this contributes to low power consumption, miniaturization, and so on. Another crucial requirement in the field of autonomous mobile robots is robustness. That is, autonomous mobile robots have to cope with their unpredictably changing environments in real time. In this study, to meet these requirements the concept of Dynamically Rearrangeable Electrical Circuit(DREC) is proposed. In addition, we implement DREC onto FPGAs as physical electronic circuits by using the diffusion-reaction mechanism of neuromodulation which is widely observed in biological nervous systems. We developed the DREC for the peg-pushing task as a practical example. We confirmed that the physical DREC can successfully regulate the behavior according to the situation by changing its properties in real time.

収録刊行物

  • 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society

    電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 124(11), 2336-2343, 2004-11-01

    一般社団法人 電気学会

参考文献:  9件中 1-9件 を表示

各種コード

  • NII論文ID(NAID)
    10013713867
  • NII書誌ID(NCID)
    AN10065950
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03854221
  • NDL 記事登録ID
    7137453
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-795
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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