System Design And Experimental Study Of Neural Electrical Stimulation For Robo-Pigeons

Robo-pigeon is a kind of biorobot which takes live pigeon as its main body and controls its movement through microelectrical stimulating corresponding neural sites.Relying on their own visual,auditory and sensory abilities,biorobots can perceive the external environment and move depending on their own physical ability.Based on these characteristics,biorobots have high intelligence and excellent locomotion ability endowed by nature.The robo-pigeon flies fast and widely which makes it have potential application value and important research significance in the field of aerial search and rescue or reconnaissance.The research method of behavior control model based on neural electrical stimulation is discussed in detail and a multi-mode electrical stimulation circuit and system are designed in this paper.The validity of this new model and multi-mode electrical stimulation is verified by behavior control experiment of robo-pigeons in laboratory environment.Furthermore,the experimental methods and validation of robot-pigeon flight control in free space are carried out.The design method of the ASIC chip for neural electrical stimulation is discussed in detail,and the layout design and simulation verification of the ASIC chip are completed.In this study,a research method of behavior control model named "cross validation-homologous transplantation" is proposed.Based on this method,a high-efficiency biorobot behavior control model that based on “virtual fear” is developed successfully and proved its effectiveness through the robo-pigeon behavior control experiment.Compared with the previous “virtual reward” behavior control model,the biorobot based on this model can realize its behavior control without prior intensive training,and has even higher efficiency.A method of multi-mode neural stimulation is proposed,and the corresponding circuit and system are designed.Through actual tests and experimental data analysis,the system performance optimization is completed,which improves the output precision.Based on the above system,the experimental research on behavior control of robo-pigeon is carried out.Firstly,the validity of the three stimulus modes proposed in this paper is verified separately by experiments under a single fixed stimulus mode.Secondly,the same research with randomly alternating among three stimulus modes is carried out.Finally,the two experimental results are compared and analyzed.Different from a single constant output mode,this multi-mode system outputs alternating electrical stimulation pulses,which can weaken the adaptability of the nervous system and is more conducive to maintaining the stability of the biorobot's behavior control.A research method of robo-pigeon flight control in free space is presented,the circuit and system of the neural stimulator which can synchronously record GPS positioninformation and stimulation parameters is completed.Furthermore,a data processing method based on Kalman filter is designed.The experimental results show that the trajectory based on processed data is more in line with the movement trend of the monitored target,which verifies the effectiveness of the method in filtering GPS positioning interference,and estimates the azimuth and steering angle of the robo-pigeon accurately.A flight control experimental paradigm of robo-pigeon in free space and a method for flight data analysis based on flight trajectory are designed to realize the quantitative research of flight control.In this study,the research method of implantable ASIC chip for neural electrical stimulation is discussed.The special frame of ASIC chip is designed according to the characteristics of neural electrical stimulation of biorobot.The design of each module and its functional verification based on FPGA have also been completed.Finally,based on the TSMC0.18 ?m CMOS process,the layout and simulation verification of the ASIC chip are completed by using Cadence,Synopsys and Calibre.This paper is devoted to the design and experimental study of the neural stimulation circuit and system of biorobot.The following results are obtained: the method of "cross validation-homologous transplantation" improves the research efficiency of biorobot;The multi-mode neural stimulation circuit and system achieves more stable biorobot behavior control effect.In this paper,the new flight control experimental paradigm and data processing method based on Kalman filter are proposed to achieve accurate quantitative research of robot pigeon flight control in free space environment.Based on TSMC 0.18 um CMOS technology,the layout and simulation verification of the ASIC chip are completed,which provides a feasible solution for the interface shedding problem caused by external stimulator.The above research results will promote the research progress of biorobots,and also provide references for other studies of neural electrical stimulation.