Joseph Ayers

Northeastern University | NEU · Department of Marine and Environmental Sciences & Biology

An introduction to how neuroethology can inform the development of robots controlled by synaptic networks instead of algorithms, from a pioneer in biorobotics. The trait most fundamental to the evolution of animals is the capacity to adapt to novel circumstances in unpredictable environments. Recent advances in biomimetics have made it feasible to...

We have developed a methodology for electrohydrodynamic printing of a nitric oxide (NO) sensor. The primary features of this amperometric methodology include the printing of carbon and metallic-based inks, the conversion of Ag to Ag:AgCl as a reference electrode, and the deposition of a nitric oxide selective layer on the working electrode, followe...

This chapter describes how synthetic biology and organic electronics can integrate neurobiology and robotics to form a basis for biohybrid robots and synthetic neuroethology. Biomimetic robots capture the performance advantages of animal models by mimicking the behavioral control schemes evolved in nature, based on modularized devices that capture...

The evolution of rapid solution-based deposition and 3D printing has promoted the exploitation of a number of forces to produce micro- and nanoscale-printed conductive materials that can be used for electrical connections and device electrodes, among other things. Electrohydrodynamic jet (e-jet) printing affords the opportunity to create nano-scale...

The crustacean stomatogastric nervous system is a classic model for understanding the effects of modulating ionic currents and synapses at both the cell and network levels. The stomatogastric ganglion in this system contains two distinct central pattern generators: a slow gastric mill network that generates flexible rhythmic outputs (8–20 s) and is...

Neuroscience has become a very broad field indeed: each year around 30,000 researchers and students from around the ... We trace a path from neuron to cognition via computational neuroscience, but what is computational neuroscience?

The hyperpolarization-activated inward cationic current (Ih) is known to regulate the rhythmicity, excitability, and synaptic transmission in heart cells and many types of neurons across a variety of species, including some pyloric and gastric mill neurons in the stomatogastric ganglion (STG) in Cancer borealis and Panulirus interruptus. However, l...

Background: The American lobster, Homarus americanus, is an important species as an economically valuable fishery, a key member in marine ecosystems, and a well-studied model for central pattern generation, the neural networks that control rhythmic motor patterns. Despite multi-faceted scientific interest in this species, currently our genetic res...

This article discusses various aspects of underwater vehicles based on biological intelligence. Recent advances in biomimetics have made it feasible to integrate underwater robots that capture the performance advantages of their animal model. In the biomimetic robots, neurons and synapses are represented as structures, and the equations for each el...

This paper presents an excitatory CMOS neuron oscillator circuit design, which can synchronize two neuron-bursting patterns. The excitatory CMOS neuron oscillator is composed of CMOS neurons and CMOS excitatory synapses. And the neurons and synapses are connected into a close loop. The CMOS neuron is based on the Hindmarsh-Rose (HR) neuron model an...

As part of the Robobee project, we have modified a coaxial helicopter to operate using a discrete time map-based neuronal network for the control of heading, altitude, yaw, and odometry. Two concepts are presented: 1. A model for the integration of sensory data into the neural network. 2. A function for transferring the instantaneous spike frequenc...

A robotic architecture for capturing the autonomous performance advantages the animal models enjoy in the natural environment is disclosed. A biomimesis process is employed to allow selective utilization of basic physical components and adaptation of a common control paradigm for each of different vehicle types. The biomimetic architecture involves...

We present a method to use the commercially available LEGO Mindstorms NXT robotics platform to test systems level neuroscience hypotheses. The first step of the method is to develop a nervous system simulation of specific reflexive behaviors of an appropriate model organism; here we use the American Lobster. Exteroceptive reflexes mediated by decus...

This paper presents a low power circuit design for an electronic nervous system composed of central pattern generator (CPG) to control a biomimetic robot that mimics the lamprey swimming system. The circuit has been designed using 65nm CMOS technology model at 0.8V supply. The design challenges of narrow voltage design margin and high sensitivity t...

Simple animals adapt with impunity to the most challenging of conditions without training or supervision. Their behavioral repertoire is organized into a layered set of exteroceptive reflexes that can operate in parallel and form sequences in response to affordances of the environment. We have developed a common architecture that captures these und...

This paper presents an electronic neuron and synapse design, that can mimic the natural behavior of animal neuron and synapse and generate swimming patterns for a biomimetic micro-robot. The electronic neurons are based on the Hindmarsh-Rose neuron model, and the electronic synapse is constructed based on a first order chemical model. The proposed...

We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (E...

The adaptive capabilities of underwater organisms result from layered exteroceptive reflexes responding to gravity, impediment, and hydrodynamic and optical flow. In combination with taxic responses to point sources of sound or chemicals, these reflexes allow reactive autonomy in the most challenging of environments. We are developing a new generat...

In this paper, the design, implementation and simulation of a high-gain, low-power, low-noise CMOS front-end transimpedance amplifier (TIA) is presented for interfacing with a bio-sensor array and analog neural circuits. An improved capacitive-feedback TIA topology is used with an active load to obtain a 100MΩ transimpedance gain, 1MHz bandwidth, 1...

In this paper, the design, implementation and simulation of a high-transimpedance gain, ultra low-power dissipation and low-noise CMOS front-end transimpedance amplifier (TIA) is presented. For interfacing with bio-sensor array and analog neuron circuit, an improved capacitive-feedback TIA topology is adopted with active load to obtain a 131 M gain...

We have developed an exteroceptive reflex network of sensory interneurons and command neurons that simulates arthropod optical reflexes based on current ethological and neurophysiological models. The simple neural network was instantiated in software with discrete-time map-based neurons and synapses and can mediate four forms of optomotor reflexes...

A robotic architecture for capturing the autonomous perfor mance advantages the animal models enjoy in the natural environment is disclosed. A biomimesis process is employed to allow selective utilization of basic physical components and adaptation of a common control paradigm for each of different vehicle types. The biomimetic architecture involve...

We are developing robots controllers based on biomimetic design principles. The goal is to realize the adaptive capabilities of the animal models in natural environments. We report feasibility studies of hybrid architecture that instantiates a command and coordinating level with computed discrete time map-based (DTM) neuronal networks and the centr...

We are developing biomimetic robots based on neurobiological model systems, the lobster and the lamprey. Existing implementations of these robots are based on finite state machine based controllers that instantiate a set of finite state machines based on the organizational units of the animal model nervous systems. These state machines include leg...

We are developing an electronic nervous system for a biomimetic robot based on an established neurobiological model system, the Sea Lamprey. Undulatory locomotion of the lamprey is coordinated by a concatenated network of over 100 segmental central pattern generators (CPGs). To achieve real time operation in a DSP chip, we are using simple phenomen...

This paper presents a feasibility study of a central pattern generator-based analog controller for an autonomous robot. The operation of a neuronal circuit formed of electronic neurons based on Hindmarsh–Rose neuron dynamics and first order chemical synapses is modeled. The controller is based on a standard CMOS process with 2 V supply voltage. In...

We have developed a biologically based underwater, autonomous vehicle modeled after a simple vertebrate, the sea lamprey. The robot consists of a cylindrical Plexiglas electronics bay with a polyurethane undulator actuated by shape memory alloy artificial muscles. Sensors include a compass, pitch and roll inclinometers and sonar rangers, the signal...

In order to determine the dynamical properties of central pattern generators (CPGs), we have examined the lobster stomatogastric ganglion using the tools of nonlinear dynamics. The lobster pyloric and gastric mill central pattern generators can be analyzed at both the cellular and network levels because they are small, i.e., contain only 25 neurons...

We have developed a biomimetic robot based on the American lobster. The robot is designed to achieve the performance advantages of the animal model by adopting biomechanical features and neurobiological control principles. Three types of controllers are described. The first is a state machine based on the connectivity and dynamics of the lobster ce...

We are developing controllers for biomimetic robots and neuro- rehabilitative devices based on electronic nervous systems (ENS). These networks are formed from artificial neurons based on nonlinear dynamical models of neuron and synapse behavior. UCSD electronic neurons (ENs) are analog computers that solve the Hindmarsh-Rose equations relating the...

In this paper, low power VLSI implementation of adaptive analog controller for autonomous robot is presented using standard CMOS process with 2V supply voltage. Electronic neuron and synapse circuit are developed based on Hindmarsh-Rose neuron model and first order synapse model. In order to achieve low power consumption, CMOS subthreshold circuit...

Lobsters are generalist decapods that evolved in a broad variety of niches in the Northwestern Atlantic. Due to their inherent buoyancy they have acquired adaptations to reduced traction and surge. We have developed a biomimetic robot based on the lobster that features artificial muscle actuators and sensors employing labeled-line codes. The centra...

W e are applying a conserved neurophysiological model to the control of behavior in fieldable underwater robots. The model is based on command neurons, coor- dinating neurons, central pattern generators and extero- ceptive reflexes. We discuss implementations using fi- nite state machines as well as electronic neuronal networks.

Invertebrate central pattern generators (CPGs) can serve as the basis for building biomimetic controllers based on real biological principles. Here we describe a CPG made of electronic neurons and synapses for robotic applications and for possible use in a clinical neuroprosthetic device

We discuss a VLSI electronic neuron circuit that implements the Hindmarsh and Rose neuron model. Magnitude and time scaling techniques are employed for a 2 V power supply operation. A subthreshold operation technique and a single MOS resistor are used to minimize area and power consumption. Output bursts of the electronic neuron can be modulated dy...

Tens of thousands of different animal species live on this planet, having survived for millions of years through adaptation and evolution, which has given them a vast variety of structures and functions. Biomechanical studies of animals swimming and flying can aid understanding of the mechanisms that enable them to move effectively and efficiently...

We have developed a biologically based underwater, autonomous vehicle modeled after a simple vertebrate, the sea lamprey. The robot consists of a cylindrical Plexiglas electronics bay with a polyurethane undulator actuated by shape memory alloy artificial muscles. Sensors include a compass, pitch and roll inclinometers and sonar rangers, the signal...

: We are developing lobster-based underwater robots based on biomimetic neurotechnology. The robots employ a lobster-like physical plant with modularized three degree-of-freedom legs, claw and tail-like hydrodynamic control surfaces, adaptive antennal-like sensors and a neural-circuit based finite-state-machinebased controller. The behavior of this...

The American Lobster Homarus americanus is a highly mobile marine decapod, ubiquitous to the benthic environment of the eastern North Atlantic. Lobsters occupy a range of subtidal habitats on the continental shelf, and are capable of navigating through spatially complex boulder fields, as well as coping with variable water currents. Given these com...

We are developing two classes of biomimetic autonomous underwater vehicles based on animal models with superior performance in shallow water. The first is an 8-legged ambulatory vehicle, that is based on the lobster and is intended for autonomous mine countermeasure operations in rivers, harbors and/or the littoral zone ocean bottom with robust ada...

The American Lobster Homarus americanus is a highly mobile marine decapod, ubiquitous to the benthic environment of the eastern North Atlantic. Lobsters occupy a range of subtidal habitats on the continental shelf, and are capable of navigating through spatially complex boulder fields, as well as coping with variable water currents. Given these com...

Much robotic behavior has precise analogies in the behavior of animals. Animal behavior can often be categorized into recognizable acts with well defined releasers and terminators. Different patterns of behavior may share common acts. These acts may represent discrete components of behavior which are sequenced and assembled into more complex behavi...

We are developing underwater robots based on the behavioral set of animals that normally seek prey in high flow environments such as the littoral zone. The robots incorporate neuronal circuit based controllers, artificial muscle based on smart materials and microelectronic sensors that code in the same fashion as animal sensors. These autonomous ve...

The spinal projecting system of the sea lamprey (Petromyzon marinus) has been used extensively in studies of axonal regeneration in both larvae and adults. However, little is known about the changes that are undergone by this system during metamorphosis. In order to determine the developmental changes in the size of the descending spinal projection...

Animals have evolved to occupy every environmental niche where we might want an autonomous robot to operate, save outer space. As a result, they provide proven solutions to the problems of navigation, searching and sensing in the most difficult of environments. Much proposed robotic behavior has precise analogies in the behavior of animals. In crus...

The swimming behavior of fishes ranges in organization from anguilliform, which relies on lateral axial undulations such as lamprey or eels, to carangiform which relies on a flapping tail and/or fins such as shark. This paper describes the work and progress thus far in demonstrating the feasibility of developing undulatory motion for underwater pro...

An intersection of various basic robotic behavior sets as reported in the literature yields the following: avoid, wander and explore, search, attraction to or repulsion from environmental features, escape, boundary and gradient following, and replenish energy. In light of recent ocean sampling concepts, this list of behaviors should be modified and...

The descending spinal projecting system of the lamprey is of interest because it includes axons that activate swimming pattern generators and because regeneration of this system is involved in the behavioral recovery of lampreys following spinal transection. However, little is known about the true size of this projection and of the distribution of...

Crustaceans have be'en engineered by evolution to adapt and survive in a :jhallow water hydro-dynamic environment. We have formed a collaboration between biology and engineering to explore how lobsters navigate in shallow waters and to build a shallow water walking robot based on the biological studies. We have formalized the basic structure of thi...

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Crusteans have been engineered by evolution to adapt and survive in a shallow water hydro-dynamic environment. We have formed a partnership between biology and engineering to explore how crusteans navigate in shallow waters and we are continuing studies to reverse-engineer the biological system. In particular, we are studying the neural control mec...

The time course of regeneration of supraspinal and descending brachial intraspinal axons was studied using HRP retrograde tracing and kinematic analysis. Five groups of salamanders (10 salamanders/group) received complete thoracic transection 1.0 cm rostral to the hind limbs abolishing swimming. Groups 1-4 recovered for 2, 4, 6, and 8 weeks, respec...

The electric organ discharge (EOD) of the little skate,Raja erinacea and winter skate,R. ocellata was recorded both from isolated individuals and from small groups using methods that allowed for the identification of individuals producing EODs. Pulse duration, train lengh, frequency, and pulse patterns are characterized and correlated with behaviou...

The descending control of dorsal fin posture by a reidentifiable reticulospinal command neuron (I1), was examined in the sea lamprey, Petromyzon marinus. Intracellular stimulation of I1 controls the posture of both dorsal fins. Spinal transection between the fins results not only in loss of control of posterior dorsal fin posture, but after 2 h, th...

As emphasized in the Introduction, the choice of the model system is crucial to success in understanding mechanisms underlying motor pattern generation. Serious consideration must be given to the ease with which the nervous system selected is amenable to study by cellular techniques. For this reason, most of the results presented in this book deal...

The gastric mill rhythm of the lobster stomatogastric ganglion was perturbed with short trains of synaptic input from the inferior ventricular nerve (IVN) through fibers. The stimulus was delivered randomly for phase-response curve analysis or repetitively to examine entrainment. The responses depend on the phase of the stimulus in the endogenous r...

Ammocoete larvae of the sea lamprey were allowed to recover from a complete transection of the spinal cord posterior to the last gill arch. Specimens were then prepared for focal extracellular stimulation of the brainstem in the region known to contain the command systems for swimming. In 4 preparations where behavioral recovery had occurred, stimu...

The isolated lamprey spinal cord, when bathed in 2 millimolar D-glutamic acid, will generate a pattern of motor neuron discharge that has generally been assumed to represent the central motor program for swimming. Motion pictures of behaving lampreys were analyzed by a computer algorithm to estimate undulatory movement parameters that could be dire...

1. The pyloric rhythm of the lobster (Panulirus interruptus, Palinurus vulgaris) stomatogastric ganglion is generated by a set of 3 electrically coupled endogenously bursting neurons. The phasic coordinating effects of monosynaptic excitatory (EPSP) and inhibitory (IPSP) inputs to these neurons were examined in isolated nervous systems. 2. Periodic...