BIO9/10 - Neurorobotics

Question 1

What are voluntary movements? Select examples

Answer 1

Voluntary movements are “planned” movements i.e. walking, talking, running etc. In contrast to involuntary movements movements such as reflexes, breathing, etc.

Question 2

What is the brain stem? What is its role, and what does it contain?

Answer 2

The brain stem is the lower extension of the brain that connects to the spinal cord. It regulates vital functions such as breathing, heart rate, and sleep-wake cycles. It contains structures like the midbrain, pons, and medulla, as well as nuclei of most cranial nerves.

Question 3

What is the cerebellum? What is its role, and what does it contain?

Answer 3

The cerebellum is a small, densely packed structure at the back of the brain. It fine-tunes and coordinates movements, balance, and posture by integrating sensory inputs and motor signals. It contains numerous neurons arranged in a layered cortex and deep nuclei that process and relay refined movement commands to other parts of the nervous system.

Question 4

What are neurons? What is their role? What are the main components of a neuron?

Answer 4

Neurons are the cells of the brain (nervous system) responsible for transmitting signals. The main components of a neuron are the soma (core), dendrites (receivers), and the axon (signal forwarder).

Question 5

What different kinds of neurons exist?

Answer 5

Sensory Neurons (Sensitive to non-neural stimuli, i.e. skin, muscles, joints, mouth and tongue)

Motor Neurons (Stimulate muscles in the body)

Inter Neurons (Facilitate communication between sensory and motor neurons)

Question 6

What are cell membranes?

Answer 6

Cell membranes are typically a lipid structure that encompasses the cytoplasm and organelles of a cell.

Question 7

What is an action potential?

Answer 7

An action potential is, in short, a signal from a neuron. In order for a neuron to fire, it must receive some kind of input (either chemical, Neurotransmitters, or electrical). If this input generates a change in a neurons membrane potential that is greater than -55mV, the neuron will “spike” or generate an action potential.

Question 8

What is a synapse?

Answer 8

The synapse is the gap between neurons

Question 9

How does an artificial neuron model work?

Answer 9

An artificial neuron model works by somehow simulating an action potential, to relay information (binary). This can for example be achieved with the McCulloch model or the Perceptron

Question 10

What kind of input value does the McCulloch model accept?

Answer 10

0 or 1

Question 11

What kind of input value does the Perceptron model accept?

Answer 11

Can accept numeric inputs, typically real-valued numbers.

Question 12

What does the aggregation function do?

Answer 12

Sums all inputs, to see if they are greater than a certain threshold

Question 13

What is the resting membrane potential?

Answer 13

The resting membrane potential is the stable voltage difference across a cell’s membrane when it is not actively sending signals, typically around -70 mV in neurons, resulting from the unequal distribution of ions and the membrane’s selective permeability.

Question 14

What do the ion channels and ions do?

Answer 14

Ion channels are responsible for the transport of ions through the cell membrane. In neurons specifically, these ions are called Neurotransmitters. If enough ions are passed through the cell membrane of a neuron, it will cause the neuron to spike.

Question 15

Which area contains neurons that are part of the motor hierarchy?

Answer 15

The frontal lobe

Question 16

Why is the cerebellum important?

Answer 16

It is essential for motor coordination, balance, and fine-tuning of voluntary movements.

Question 17

What is the input to brainstem motor control centers?

Answer 17

Inputs include sensory signals (proprioceptive and vestibular), descending signals from the cerebral cortex, and signals from the cerebellum.

Question 18

What are the basal ganglia? Why are they important?

Answer 18

The basal ganglia are a group of subcortical nuclei involved in motor control, learning, habit formation, and reward processing. They help initiate and regulate voluntary movements. Parkinsons is a disease in the basal ganglia.

Question 19

What is not possible without the cerebellum? How is movement affected by the lack of a functional cerebellum? Or the lack of the basal ganglia?

Answer 19

It is not possible to coordinate movements without the cerebellum or the basal ganglia.

Question 20

What is the spinal cord’s role?

Answer 20

The spinal cords role include sending signals to different body parts, receiving signals from different body parts and reflexes.

Question 21

Which are the functions in which the cerebellum is involved?

Answer 21

Maintaining Balance, Coordinating movements, Stabilizing vision, Learning motor control, language

Question 22

What are motor neurons?

Answer 22

Motor neurons are the neurons associated with movement of the body. I.e. sending signals from the CNS to the muscles.

Question 23

What is an autonomous robot?

Answer 23

An autonomous robot is a machine that can operate (by sensing, thinking, and acting) in the real-world environment without any form of external control for an extended period.

Question 24

What is the aim of neurorobotics?

Answer 24

Neurorobotics aims to integrate the understanding of the brain and the body’s behaviors together to develop autonomous applications, emphasizing the interaction between the nervous system and the physical body, not studying them separately.

Question 25

What skills does a neurorobot have to possess?

Answer 25

Learning, Exploring, Reasoning, and Communicating. (LERC)

Question 26

What are proprioceptive sensors?

Answer 26

Proprioceptive sensors are sensors that give a robot information abouts its internal state such as: temperature, joint pressure, etc.

Question 27

What are examples of actuators?

Answer 27

Actuators are means to physically interact with the environment. Examples include: Electric motor, Pneumatic selectors, and artificial muscles

Question 28

What are the levels of a robot control system? And what do they do?

Answer 28

The high-level control oversees functions such as planning, decision-making, and goal-driven behavior. The intermediate-level control is responsible for navigation and tracking. The low-level control is responsible for motor commands and sensor readings.

Question 29

What is the synaptic plasticity?

Answer 29

Synaptic plasticity refers to the adaptive capability of neurons. Long-term potentiation (LTP) refers to a strengthening of efficacy between a Neuron A, and Neuron B. Long-term depression (LTD) refers to the weekening of efficacy between neuron A and B. Assuming that the axon of neuron A is connected to the dendrites of neuron B. Neuron A firing -> Neruon B Firing => LTP. Neuron B firing before Neuron A firing => LTD.

Question 30

What are neurotransmitters?

Answer 30

Neurotransmitters are chemical signaling agents, responsible for transmitting signals between neurons in the synapse.

Question 31

How does the motor control hierarchy work?

Answer 31

High-level: Motor planning (cortex).

Mid-level: Coordination (cerebellum, basal ganglia).

Low-level: Execution (spinal cord, motor neurons).

Question 32

What are the brain areas involved in motor control?

Answer 32

Motor cortex (frontal lobe), basal ganglia, cerebellum, brainstem, and spinal cord.