Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Tactile Information Processing for the Orientation Behaviour of Sand Scorpions 441 strengths among the receptor neurons and decoding methods. More rigorous parameter setting and anatomical neurophysiological result will be required for close agreement with the real data. 4. Discussion In this paper we have shown a simplified neuronal model to explain the orientation mechanism of sand scorpions which is rather similar to the CTRNN network. Stuerzl et al. 2000 tested another type of neural networks a population of spiking neurons to see how the arrival time of vibration on each leg influences the neural firings. They found the neuron firings on each leg is a function of the time difference of vibration stimulus among the triad inhibitory interactions. Our neural model is simplified to eight neurons each of which has its own firing rate to approximate the number of neuron spikes. The experimental result shows our neuron model is well fit to the real orientation data which suggests that the eight neuron model may be sufficient to explain the orientation mechanism of sand scorpions. This simplified model has more potential for robotic application or other vibration sensing application since it can be easiliy built with artificial devices. Fig. 10. Mobile robot with multi-legs Following the suggested neural architecture we are testing robotic orientation with tactile senses. The sand scorpions use BCSS organs near joints to detect any vibration in the environment. We mount vibration sensors piezoelectric sensors at the foot and measure the temporal signals of vibrations. We found that the time delay between arrival of a vibration signal on robotic legs is not much significant in an office environment when a vibration disturbance is given near the robot. Rayleigh waves of vibration can be easily recognized in the desert environment for sand scorpions Brownell 1984 but the flat surface shown in Fig. 10 is only involved with longitudinal waves that is sound waves. The sound
