Research On Key Technologies Of Brain-controlled For Carp Robot Motion Behavior Control

Bio-robot is a kind of creature controlled by human beings by applying intervention signals through control technology to regulate biological behavior.Aquatic bio-robot can be used in marine scientific investigation,ecosystem research,tsunami warning,marine environment monitoring,anti-terrorism investigation and national defense military etc.Therefore,it is of crucial research significance and application value to promote the research of the aquatic bio-robot.Because carp has the advantages of solid vitality,good environmental adaptability,sufficient sources,and low cost,this paper takes carp as the research object to study the electrical stimulation technology and brain protection technology for the brain motor nerve nucleus in the brain-controlled key technology of the carp robot,which lays a theoretical and experimental foundation for the long-term effective control of the carp robot through brain-controlled technology.The main research work is as follows:(1)Based on brain-controlled technology,an study was carried out on the control of carp robot motion behavior by electrical stimulation of the medial longitudinal fasciculus nucleus(Nflm).The three-dimensional coordinate system of the carp craniocerebral was established by using a brain stereotaxic locator.The paraffin tissue sectioning technology and Nissl staining method were used to observe the position and morphological structure of Nflm in the midbrain.The brain electrode was implanted into the Nflm region,and the carp robot conducted underwater control experiments by applying electrical stimulation signals with different parameters.The Image J software was used to analyze the forward speed and turning angle of the carp robot under different stimulation parameters,and the forward and turning behavior can be controlled quantitatively.The continuous electrical stimulation experiments and long-term effectiveness testing after electrode implantation were designed,and it was found that the control effect of Nflm on carp robots decreased with the increase of stimulation times and the extension of electrode implantation time,but still had quantitative control ability.(2)The control mechanism of the midbrain Nflm on the motor behavior of carp was studied by electrophysiological methods.Light stimulation experiments were carried out on the visual organs of carp to induce tail-wagging motion,and local field potential(LFP)signals in the Nflm region on both sides of the midbrain were collected synchronously.The continuous wavelet transform(CWT)based on the Morlet wavelet was used to conduct the time-frequency analysis of the LFP signals,the relative power of each frequency band of the LFP signals was calculated through wavelet packet decomposition and reconstruction,and the Sample entropy was analyzed of the LFP signals at different stages of the light stimulation.From the electrophysiology perspective and behavioral observation after light stimulation,it was found that the control mechanism of the midbrain Nflm on the motor behavior of carp was related to visual signal processing,and the unilateral visual stimulation was responded to by the contralateral Nflm.(3)The motor nerve nucleus of the medulla oblongata and their role in motor behavior control were studied to solve the problem of fatigue and adaptability of neurons caused by continuous electrical stimulation of the Nflm.The medulla oblongata atlas was drawn according to the structural characteristics of the brain tissue.The experiments of the electrical and chemical stimulation of the medulla oblongata in the water-free state showed that the abducens nucleus(NVI)and facial nucleus(NVII)were the brain motor nerve nuclei that control the unilateral and bilateral tail-wagging of carp respectively.The brain electrode was implanted into the motor nerve nucleus of the medulla oblongata,underwater control experiments were carried out with different electrical stimulation parameters,and behavioral tests were carried out on the induced motion behavior using Image J software.The quantitative control of the turning and forward behavior was realized,which was helpful in the multi-point alternating control of the same movement behavior of the carp robot.(4)The brain protection technology of the Low-intensity pulsed ultrasound stimulation(LIPUS)combined with baicalin intervention was proposed to solve the problem of implantable brain injury caused by electrical stimulation of the Nflm during carp robot control.The implantable brain injury model of the carp robot was made by electrical stimulation experiments in the water-free state.The LIPUS,baicalin intervention,and LIPUS combined with baicalin intervention were performed on the model,respectively.The apparent diffusion coefficient and mean kurtosis of the brain injury area were detected by the diffusion-weighted imaging and diffusion kurtosis imaging of the magnetic resonance;The enzyme-linked immunosorbent assay(ELISA)was used to measure the protein content of the interleukin-1β,tumor necrosis factor-α,brain-derived neurotropic factor,and glial cell-derived neurotropic factor in the midbrain tissue.The results showed that the LIPUS combined with baicalin intervention had a better protective effect on implantable brain injury than LIPUS intervention and baicalin intervention,and its neuroprotective mechanism may be to reduce the protein content of inflammatory factors and increase the protein content of neurotrophic factors in the brain injury area.