| Biological robots are organisms that humans use biological control technology to regulate their motion behaviors by applying intervention signals to achieve manipulation.It is a new frontier in the world today and a high-tech research field that integrates multiple disciplines.It can be widely used in disaster search and rescue and ecological monitoring and anti-terrorism investigation.Therefore,it is of great theoretical and practical value to study biological robot.This subject takes carp as the research object,and the specific research contents are as follows:Firstly,the effects of light stimulation on visual organs of carp were studied.The structure of visual organ and optic nerve of carp was determined by anatomical method;The materials of stimulating light source were screened;Using ophthalmoscope to observe the number of pigmentation in carp's eyeball after different wavelengths of light stimulation,and using histomorphological technology to prepare tissue slices,compare the morphology and number of cells,select the light source with less damage to carp's visual organs,so as to lay the foundation for the experiment of light stimulation control carp robot.Secondly,in this paper,the experimental research on the movement behavior of carp robot controlled by light stimulation is carried out.By dissecting the skull of carp,the most suitable carrying site of light stimulation device on the skull of carp was determined.Phototaxis experiment was carried out in water maze,and it was found that carp had phototaxis.On the basis of this study,the effects of unilateral light sources with different angles,different wavelengths,different intensities and bilateral heterologous light sources on the movement behavior of carp were explored in the state of being out of water and underwater respectively;In order to solve the problem of brain damage caused by frequent replacement of light stimulation carrying device,a light stimulation carrying device and method with rotatable light source were designed.Then,the experimental research on the control of carp robot movement behavior by light stimulation combined with electrical stimulation was carried out.The motor areas of carp brain were electrically stimulated in water free state and underwater state respectively,and their motor behaviors were recorded to determine the effective stimulation sites;The method of light stimulation combined with electric stimulation is used to control the movement behavior of carp robot in the combined multi arm labyrinth device.The feasibility of this method is verified,and the success rate of controlling the movement behavior of carp robot is improved,which provides a new control method for aquatic biological robot.Finally,the mechanisms of light stimulation and electrical stimulation to control the movement behavior of the carp robot are discussed.Coronal tissue sections were prepared from the optic nerve after light stimulation and brain tissue after electrical stimulation,and HE staining was performed.The stimulation site was determined by morphological observation,and the mechanism of controlling the movement behavior of the carp robot was further analyzed. |
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