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Texture perception is studied here in a physical model of the rat whisker system consisting of a robot equipped with a biomimetic vibrissal sensor. Investigations of whisker motion in rodents have led to several explanations for texture discrimination, such as resonance or stick-slips. Meanwhile, electrophysiological studies of decision-making in monkeys(More)
Tungsten stimulating microelectrodes have been tested in monopolar, bipolar and concentric configurations for the extent to which unwanted current spread occurred. Current spread from monopolar electrodes in close conformity with the predictions of the inverse square law, both in vitro in vivo. The bipolar and concentric configurations, tested only in(More)
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Primary sensory neurons form the interface between world and brain. Their function is well-understood during passive stimulation but, under natural behaving conditions, sense organs are under active, motor control. In an attempt to predict primary neuron firing under natural conditions of sensorimotor integration, we recorded from primary mechanosensory(More)
— Many rodents use their whiskers to distinguish objects by surface texture. To examine possible mechanisms for this discrimination, data from an artificial whisker attached to a moving robot was used to test texture classification algorithms. This data was examined previously using a template-based clas-sifier of the whisker vibration power spectrum [1].(More)
[1] We examine the major outflow pathways for North American pollution to the Atlantic in summer by conducting a 4-year simulation with the GEOS-CHEM global chemical transport model, including a coupled ozone-aerosol simulation with 1° Â 1° horizontal resolution for summer 2000. The outflow is driven principally by cyclones tracking eastward across North(More)
— Future robots may need to navigate where visual sensors fail. Touch sensors provide an alternative modality, largely unexplored in the context of robotic map building. We present the first results in grid based simultaneous localisation and mapping (SLAM) with biomimetic whisker sensors, and show how multi-whisker features coupled with priors about(More)
Rats and other whiskered mammals are capable of making sophisticated sensory discriminations using tactile signals from their facial whiskers (vibrissae). As part of a programme of work to develop biomimetic technologies for vibrissal sensing, including whiskered robots, we are devising algorithms for the fast extraction of object parameters from whisker(More)
— Recent advances in modeling animal perception have inspired an approach of Bayesian perception applied to biomimetic robots. This study applies Bayesian perception to an iCub fingertip sensor mounted on a dedicated positioning robot, with the aim of providing a standardized test of sensor capabilities and extending the approach of robot perception. We(More)