Classical Conditioning Model With Spiking Neurons And Its Application To Motor Control System

During the growing up process, natural life or biological system develops various skills gradually. The formation and development of skills are both cognitive process, which are the embodiments of cognitive ability. To understand and simulate the cognitive behaviors of natural life and endue these to artificial life is an important task for the field of cognitive science, artificial intelligence and robotics. This thesis studied the motor skill cognitive model and its applications, and the achievements can be summarized as follows: 1. Classical Conditioning Model with Spiking Neurons A Classical Conditioning Model with Spiking Neurons (CCM_sn) is proposed. The model comprises a number of spiking neurons connecting to form a neural network with reflex arc structure. Spiking neurons compute and communicate by timing, which makes this model fully exhibiting the dependency of classical conditioning on timing. A reinforcement learning method based on the Hebb rule with a decay constant has been designed characterized with a property of 'stimulate-response-reinforcement'. Our model can successfully stimulate many typical experiments such as acquire, inter-stimulus effects, extinction, blocking, and secondary conditioning. 2. Motor Skill Cognitive Algorithm Based on CCM_sn Motor Control System (MCS) and Motor Skill Cognitive Algorithm (MSCA) are studied, which are both constructed on the base of CCM_sn. The cognition process of motor skill has three steps. First, model the controlled object to train CCM_sn, Secondly, set the range of unconditioned stimulus and conditioned stimulus for each state variable according to the certain plant and the goal. Finally train the cognitive model by classical conditioning experiments. Conditioning is a cognitive process, the structure and algorithm of CCM_sn is set up on the foundation of neurophysiology and cognitive science. As a result, MSCA can endue the skill acquiring process with self-organized property of growth and development in biological system. 3. Inverted Pendulum Control System Based on CCM_sn and MSCA A control system based on CCM_sn and MSCA is designed, and the inverted pendulum is used to test the system. Considering the property of inverted pendulum, CCM_sn is divided into two parts, one is for positive direction and the other is for negative direction. Critical function for Cognition is designed to value the...