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一种基于海马认知机理的仿生机器人认知地图构建方法 被引量:28
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作者 于乃功 苑云鹤 +2 位作者 李倜 蒋晓军 罗子维 《自动化学报》 EI CSCD 北大核心 2018年第1期52-73,共22页
海马结构空间细胞的放电活动被认为能够形成对环境内在地图的表达,即所谓的认知地图.先前的仿生环境认知地图构建方法 (例如Rat SLAM)以及传统的SLAM方法均缺乏足够的生理学依据,不能准确地体现出生物在导航中的生理学现象和认知功能实... 海马结构空间细胞的放电活动被认为能够形成对环境内在地图的表达,即所谓的认知地图.先前的仿生环境认知地图构建方法 (例如Rat SLAM)以及传统的SLAM方法均缺乏足够的生理学依据,不能准确地体现出生物在导航中的生理学现象和认知功能实现过程.本文模仿海马结构空间细胞的认知机理提出了一种构建精确的环境认知地图的方法,其特点在于通过构建统一的空间细胞吸引子计算模型对自运动线索进行路径积分;网格细胞和位置细胞对环境的表达来源于条纹细胞的前向驱动作用;通过环境的颜色深度图像进行闭环检测,对空间细胞路径积分进行误差修正,最终生成精确的环境认知地图.该认知地图是一种拓扑度量地图,包含了环境特征点坐标、视觉线索以及特定位点的拓扑关系.本文通过仿真实验和机器人平台物理实验验证了方法的有效性,研究成果为仿海马认知机理的机器人导航方法研究奠定了基础. 展开更多
关键词 认知地图 海马结构 空间细胞 条纹细胞 闭环检测
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Reproductive Biology of the Striped Seabream Lithognathus mormyrus (Linnaeus, 1758) from AI-Haneah Fishing Site, Mediterranean Sea, Eastern Libya
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作者 Eyman Faraj Abd Alssalam Sayed Mohamed Ali +2 位作者 Mohammad E1 Sayed E1 Sayed El Mor Ramadan Attea Saleh Ali Eman Salem AI Fergani 《Journal of Life Sciences》 2016年第4期171-181,共11页
Reproductive biology of L. mormyrus was studied using monthly samples totaling 224 fish obtained from AI-Haneah fishing site, eastern Libya Mediterranean Sea. Lengths of the examined fish ranged between 11.5 cm and 23... Reproductive biology of L. mormyrus was studied using monthly samples totaling 224 fish obtained from AI-Haneah fishing site, eastern Libya Mediterranean Sea. Lengths of the examined fish ranged between 11.5 cm and 23.4 cm. Corresponding weights were 24.5 g and 160.8 g. The minimum values of the condition factors, KF and Kc, were 1.38 and 1.21 at the average fish length of 12.4 cm. These values increased with increases in length until they reached maximum values of 1.59 and 1.41 at the length of 22.1 cm. The high values of KF and Kc, Gonado-Somatic Index and oocyte diameter maintained during May, June, July, and August and the monthly changes in gonadal condition, indicated that summer was the breeding season of L. mormyrus. The oocyte diameter ranged between 379± 25.3 μ and 1,511 ± 143.3μ (n = 76) with an average of 895 ± 111.3 μ. The sex ratio was in favor of females during all months of the study. The overall sex ratio was 1 : 1.52. Length at first maturity, Ls0, for L. mormyrus was found to be 14.15 cm for males and 14.45 for females. Overall average of absolute fecundity was 4,342±557 egg per fish (n = 45). The overall average of relative fecundity was 234± 181 egg per cm. Absolute fecundity increased with increasing fish length. 展开更多
关键词 Reproductive biology length at first maturity oocyte diameter FECUNDITY striped Seabream Lithognathus mormyrus.
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