Study On The Remote And Telemetry System And The Behavior Model For Rat-robot

The traditional robots are machines to complete the mission given by humans,which can automatically complete the required actions according to thepre-programmed procedures, and also can be manipulated by humans in real time toreplace human work in some specific circumstances. But so far, the traditionalmechanical robots have never been able to slove the lack of movemet flexibility, powersupply and environmental adaptability. With the continuous extension of research scopein life science, humans bring together with bio-technology, wireless sensor technology,automatic control technology and other multi-disciplines and develop “animal-robot” onthe focal point that can be use to make up for the shortcomings above.Based on animal experiments of SD rats, this thesis aims at the disadvantage ofsingle function in the existing systems for animal-robot motion control or neural activitytelemetry recording and studies a new wireless remote and telemetry system forrat-robot, which is developed by using wireless Radio Data System (RDS) technologyto bidirectionally transmit control commands and the EEG signals. After doing theexperiments we analyse the EEG signals in rats. The following studies are presentedand discussed:(1) Starting from the point of neurobiology, we look for the new nuclei in rat brainwhich have some relationships with motor function, and verify that the newlydiscovered nuclei have the function to control the movement direction of the rat.(2) New circuits and software in the remote control system are designed whichchange the previous methods of voltage stimulation for rat-robot. The C8051F330chipis utilized to generate micro-current pulses which stimulate the nuclei in rat brain tocontrol the movement direciton of the rat. The RDS technology is utilized for wirelessremote navigation control of the rat, and at the same time EEG telemetry function isadded to the system.(3) A General Regression Neural Network (GRNN) and Linear Neural Networkalgorithms are applied to the automatic navigation control system, respectively. First thecontrolling procedure of human operations is utilized for traing the the networks, and then data is fed into the neural networks for actual tests. The results of tests show that inreal time in navigation experiments the GRNN can reliably output commands with moreaccurate instructions to control the rat-robot to follow a given path automatically.(4) The homemade acupuncture needles are utilized to make the stimulationelectrodes for reducing system cost very much. After the experimts the paraffin sectionsand HE staining are applied to determine the location of the electrodes which wereimplanted in the rat brain.(5) On the base of electrophysiological experiments, EEG signals in left hippocam-pus are measured under resting state and epileptic state, respectively. Hoping to getsome useful information in the related waveforms, several existing mathematical modelare applied to analyse and isolate the δ (delta), θ (theta), α (alpha), beta (beta) rhythmform original EEG.(6) In experiments the rats are in the reproductive state by injecting sex hormone.The auditory brainstem responses (ABRs) are collected to study the plasticity of ABRsin rats. During the experiments tone pips and clicks are utilized as the stimulation,respectlively. Three important ABRs parameters including thresholds, latencies andamplitude in the male and female rats are measured respectively under anesthesia state,and at the same time the calculation methods are given. The results of experiments showthat the hormone levels in rats change the hearing sensitivity at some certain frequencies,and prove that the auditory brainstem responses in rats have the characteristics ofplasticity. In lower frequency range auditory in rats is more sensitive, but it will becomeinsensitive in higher frequency range. Under high-frequency sound stimulation ABRs inrats are not affected by the hormone levels.