Cellular networks underlying human spatial navigation

Place cells of the rodent hippocampus constitute one of the most striking examples of a correlation between neuronal activity and complex behaviour in mammals. These cells increase their firing rates when the animal traverses specific regions of its surroundings, providing a context-dependent map of the environment. Neuroimaging studies implicate the hippocampus and the parahippocampal region in human navigation. However, these regions also respond selectively to visual stimuli. It thus remains unclear whether rodent place coding has a homologue in humans or whether human navigation is driven by a different, visually based neural mechanism. We directly recorded from 317 neurons in the human medial temporal and frontal lobes while subjects explored and navigated a virtual town. Here we present evidence for a neural code of human spatial navigation based on cells that respond at specific spatial locations and cells that respond to views of landmarks. The former are present primarily in the hippocampus, and the latter in the parahippocampal region. Cells throughout the frontal and temporal lobes responded to the subjects' navigational goals and to conjunctions of place, goal and view.     

Spatial clumping of sexually receptive females induces space sharing among male voles

The spatial organization of individuals in populations (their spacing system) can be highly variable even among populations of the same species. As spacing systems have important consequences for ecological processes such as population regulation, competition and mating systems, there have been many attempts to explore factors that may cause this variation. For mammals, it has been argued that the spatial distribution of sexually receptive females is the most important factor determining the spacing system of males, whereas habitat characteristics are most important to females. This has been difficult to test experimentally as it requires manipulations of the spatial distribution of the opposite sex without changing other properties of the environment. Here, I present a novel experimental procedure that can achieve this and demonstrate that the spatial distribution of the opposite sex in a population of voles is indeed an important determinant of the spacing system of males, but not of females. However, the effects on males are different from those predicted by many theoretical studies.     

特定应用环境下的入侵检测架构

异常检测可以认为是通过对用户正常行为及系统正常应用环境的学习来识别异常的过程．由于系统及应用环境的复杂性,异常检测还难以达到很高的识别精度．为此,针对在物理上与Internet网完全隔离的计算机网络应用环境,亦即内网,提出基于mobile agent(MA)的多层次入侵检测架构,利用自组织映射网络方法,在不同层次的agent中建立二堆网格的自组织映射网络模型,分别检测目标系统不同层次上的异常现象．实验结果表明,在入侵者攻击的持续时间内,本系统通过多次采样的办法可以使检测率提高到满意的程度．     

越野环境的三维地图重建

针对移动机器人越野环境下地图重建的问题,提出了一种三维网格地图的更新算法.该算法利用四线激光雷达(LD_ML)获取环境局部位置信息,结合机器人同一时刻DGPS/INS联合定位系统的位姿,依据障碍的坡度与高度阈值进行障碍区域检测.分别对障碍与非障碍区域采用最大值和均值法进行更新,完成环境地图的重建.试验结果表明:该算法在越野环境中具有良好的重建效果,可将机器人沿途经过的路面及周围环境构建出来.     

基于模式识别神经网络的重力匹配算法

为了提高重力辅助惯性导航系统在重力异常明显区域内的定位精度和匹配率,用模式识别神经网络的方法进行了重力匹配.在匹配时刻,根据惯导指示位置确定在一定的网格点范围内搜索载体真实位置,以每个网格点为终点把惯导指示航迹放置到重力图上,由此提取一系列的参考重力图上数据,并把它和对应网格点的位置定义成一个模式类,把所有的模式类作为概率神经网络的样本训练一个模式识别神经网络,然后把重力仪测量数据使用该神经网络识别到某个模式类,对比模式类的定义可以确定此时的载体位置.计算仿真研究表明,该算法的重力匹配率优于通常的相关匹配算法,其组合导航系统的定位误差在1个重力图网格左右.     

基于BP神经网络模型的滑坡易发性评价方法

滑坡是中国频发的地质灾害,滑坡的易发性评价涉及多种影响因素,如何利用多影响因素进行精确、有效的滑坡易发性评价是滑坡减灾防灾工作的重点和前提。为探讨基于反向传播(back propagation, BP)神经网络模型的不同滑坡易发性评价方法的适用性,以川西蒲江县为研究区,通过实地调查与编录,筛选地质、地貌、环境等12类影响因子,分析各影响因子与滑坡的相关性,确定影响因子的权重大小,构建BP神经网络模型,完成因子权重法和栅格赋值法的滑坡易发性评价图编制和精度评价。结果显示：研究区筛选的12类滑坡影响因子不存在线性相关,坡度、地形湿度指数(topographic wetness index, TWI)和距道路距离对区内滑坡发育影响明显,利用滑坡影响因子构建的BP神经网络模型可对滑坡易发性进行有效的定量评价。综合现场调查与接收者操作特征(receiver operating characteristic, ROC)曲线精度分析,结果表明：基于BP神经网络模型的栅格赋值法和因子权重法曲线下面积(area under curve, AUC)分别为0.86和0.798,栅格赋值法评价精度优于因子权重...     

Grid cells without theta oscillations in the entorhinal cortex of bats

Grid cells provide a neural representation of space, by discharging when an animal traverses through the vertices of a periodic hexagonal grid spanning the environment. Although grid cells have been characterized in detail in rats, the fundamental question of what neural dynamics give rise to the grid structure remains unresolved. Two competing classes of models were proposed: network models, based on attractor dynamics, and oscillatory interference models, which propose that interference between somatic and dendritic theta-band oscillations (4-10?Hz) in single neurons transforms a temporal oscillation into a spatially periodic grid. So far, these models could not be dissociated experimentally, because rodent grid cells always co-exist with continuous theta oscillations. Here we used a novel animal model, the Egyptian fruit bat, to refute the proposed causal link between grids and theta oscillations. On the basis of our previous finding from bat hippocampus, of spatially tuned place cells in the absence of continuous theta oscillations, we hypothesized that grid cells in bat medial entorhinal cortex might also exist without theta oscillations. Indeed, we found grid cells in bat medial entorhinal cortex that shared remarkable similarities to rodent grid cells. Notably, the grids existed in the absence of continuous theta-band oscillations, and with almost no theta modulation of grid-cell spiking--both of which are essential prerequisites of the oscillatory interference models. Our results provide a direct demonstration of grid cells in a non-rodent species. Furthermore, they strongly argue against a major class of computational models of grid cells.     

城市土地利用空间结构分析的尺度效应

以蛇口工业区为例，采用土地利用信息图的方法、引入均质度的概念研究了城市土地利用空间结构，分五种网格尺度讨论了均质度随网格大小变化的规律，研究表明，土地利用的均质度随着划分的网格尺度的变化而相应变化，信息单元的尺度越小，土地利用的均质度也越小．其原因是网格越大，越能掩盖零散分布的细小土地斑块，强化了区域内主要的土地利用类型；相反，随着网格的缩小，小地块的信息就可以逐渐提取出来，提取的土地利用信息变得复杂。     

基于空间自相关的县域尺度土壤侵蚀抽样方法研究

【目的】探讨不同空间抽样方法和插值方法对土壤侵蚀预测精度的影响,为县域土壤侵蚀快速评价提供技术支撑。【方法】以沂蒙山区蒙阴县为研究区,GF-1号和GF-6号卫星影像、1∶1万地形图等数据为基础数据源,基于空间自相关理论,采用不同的空间抽样方法和空间插值方法,对研究区土壤侵蚀状况进行快速抽样预测研究。【结果】①根据全局Moran’s I指数、Z score和平均图斑类型,选取400 m×400 m方格为抽样单元最优尺寸。②与空间随机抽样、空间系统抽样方法相比,空间分层抽样样本容量最少(150个,其他样本容量最均超过250个),抽样精度最高(96.69%),抽样效率最高。③空间分层抽样下,普通克里金法和协同克里金法的计算结果与栅格计算法差异较小,相对差异分别为8.25%和9.85%(另两种方法的相对误差大于25%),但在空间分布上,受坡度影响的协同克里金法土壤侵蚀强度分布更为详细。【结论】综合考虑抽样调查的精度和工作量,在沂蒙山区县域尺度开展土壤侵蚀调查工作时,可采用空间分层抽样和协同克里金法或普通克里金法的方法进行土壤侵蚀快速预测,从而为区域生态环境保护提供重要数据支撑。     

基于声纳的移动机器人环境建模仿真平台的设计

利用Visual Basic建立了一个移动机器人环境建模的仿真平台,通过仿真声纳的数学模型,采用以概率论和Dempster-Shafer证据理论为基础的基于占有率的栅格地图创建方法,解释和融合仿真的声纳数据,建立环境的栅格地图。该仿真平台提供了环境和移动机器人运动状态在线实时设定功能,其参数可调的声纳模型及根据声纳数据进行环境建模的算法设计相对独立等特点极大地方便移动机器人环境建模的研究工作。     

改进的空间体素融合方法及其在线重建

目前,随着深度传感器的更新发展,使得三维重建的在线方法得以实现.在线重建的难点在于如何能够在保证较好的重建效果和重建规模的前提下,实时地将多个动态重叠深度图转化成一个三维模型.针对这一问题,本文算法基于空间索引策略构建了一种存取高效的空间体素数据结构,改进了传统体积融合方法中的规则分层网格数据结构,对隐含表面数据进行实时存取与更新的同时,实现大尺度的在线三维重建.这些表面数据仅在观测时存储,并且高效地流入和流出索引表,实现了传感器运动过程中的在线场景重建.算法通过在GPU(Graphics Processing Pipeline)上完成深度图预处理,摄像姿态估计,深度图融合和表面绘制几个核心阶段,实现对细粒度的细节和大尺度的环境进行交互式实时重建.通过实验表明,改进后的重建系统能够在保证重建质量与重建性能的同时,平均重建时间为21.6ms,ICP姿态估计15次,用时8.0ms,平均帧绘制速率提高13.3%,实现了对大尺度场景的实时三维重建.     

植被格局研究中的基础地理数据数字环境分析

以济南市南部山区部分区域为研究范围,借鉴已有研究成果,采用对比分析法、综合分析法和实验验证法,从坐标系统、地图投影、比例尺和空间分辨率等方面对植被格局研究中基础地理数据数字环境建设进行研究,选定以 1954 年北京坐标系、高斯———克吕格投影、1:10 000 比例尺、10 m 分辨率作为基础数据的数字环境。并得出如下结论：（1）坐标系统的选择首先应该考虑原始数据所采用的坐标系统,应保证所需数据坐标系统的统一性;（2）在选择地图投影时,应充分考虑研究区大小、形状及数据源特征、地理位置、研究专题内容等要素;（3）在比例尺选择时,应充分考虑专题要素制图及分析结果制图要求的信息量和制图精度;（4）在选择栅格数据的栅格大小时应综合考虑眼睛识别能力、数据量、数据要求精度等因素。     

Application of GIS-Based Spatial Filtering Method for Neural Tube Defects Disease Mapping

This study is to assess the prevalence rates spatial pattern of neural tube defects with geographic information system and spatial filtering technique. A total of 80 infants who diagnosed from neural tube defects in the area being studied between 1998 and 2001 were analyzed. Firstly, the geographic information system （GIS） software ArcGIS was used to map the crude prevalence rates. Secondly, the data were smoothed by the method of spatial filtering. We evaluated that the effect of changes in spatial filtering radius size was assessed by creating maps based on various filtering radius sizes. The 3 miles or larger filtering radius gives better section variability than the 2 and 2.5 miles or smaller ones. The maps produced by the spatial filtering technique indicate that prevalence rates in the villages in the southeastern region are to produce higher prevalence than that in the other regions. The smoothed maps based on Heshun County display a more adequate data representation than the raw prevalence rate map.     

渺位四角系统完美匹配数的计算

四角系统的完美匹配有很强的统计物理背景．本文给出了渺位四角系统完美匹配数的一个计算方法．     

基于混合模型的移动机器人同时定位与环境建模

提出一种基于混合地图模型的融合声纳传感器观测信息与里程计信息的同时定位与环境建模(SLAM)方法.该方法用混合模型即栅格地图模型和直线特征地图模型表示环境地图.首先,采用三区域声纳模型以及贝叶斯法则构建栅格地图,并通过在空间和时间上融合不同时刻多个声纳传感器的信息提高地图精度.然后,引入霍夫变换提取直线特征,创建直线特征地图,并通过比较地图中直线段的方向相似性、共线性与交叠性,确定全局与局部地图是否匹配.最后,利用直线特征以及扩展卡尔曼滤波器(EKF),通过状态预测、观测预测、位姿更新3个阶段估计出机器人更新的位姿信息,校正构建的地图模型,从而实现机器人的同时定位与环境地图构建.仿真实验和真实环境实验验证了该算法的可行性与有效性.     

基于ORB-SLAM2的三维占据网格地图的实时构建

针对ORB-SLAM2系统只能输出相机的运动轨迹图,而不能生成用于路径规划和导航地图的问题,提出了一种基于ORB-SLAM2的跳表地图(Skip List Map)构建算法,可用于三维占据网格地图实时构建。首先搭建了一个用于三维占据网格地图实时构建的Skip List Map模型,其时间复杂度仅为O(lgn);其次对Skip List Map三维占据网格地图的生成与更新做了详细推导;最后设计了ORB-SLAM2与Skip List Map算法相结合的方案。通过效率对比实验,表明本文算法具有较高的时间效率与灵活性;搭建实验所需平台并进行了真实场景实时实验,实验表明本文算法能实现三维网格地图的实时构建;且能清晰标识出环境中障碍物的位置,验证了本文算法的有效性。     

Ant Colony Optimization with Potential Field Based on Grid Map for Mobile Robot Path Planning

For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective.     

An Index mechanism for multi-scale view in spatial databases

There are numerous geometric objects stored in the spatial databases. An importance function in a spatial database is that users can browse the geometric objects as a map efficiently. Thus the spatial database should display the geometric objects users concern about swiftly onto the display window. This process includes two operations: retrieve data from database and then draw them onto screen. Accordingly, to improve the efficiency, we should try to reduce time of both retrieving object and displaying them. The former can be achieved with the aid of spatial index such as R-tree, the latter require to simplify the objects. Simplification means that objects are shown with sufficient but not with unnecessary detail which depend on the scale of browse. So the major problem is how to retrieve data at different detail level efficiently. This paper introduces the implementation of a multi-scale index in the spatial database SISP (Spatial Information Shared Platform) which is generalized from R-tree. The difference between the generalization and the R-tree lies on two facets: One is that every node and geometric object in the generalization is assigned with a importance value which denote the importance of them, and every vertex in the objects are assigned with a importance value, too. The importance value can be use to decide which data should be retrieve from disk in a query. The other difference is that geometric objects in the generalization are divided into one or more sub-blocks, and vertexes are total ordered by their importance value. With the help of the generalized R-tree, one can easily retrieve data at different detail levels. Some experiments are performed on real-life data to evaluate the performance of solutions that separately use normal spatial index and multi-scale spatial index. The results show that the solution using multi-scale index in SISP is satisfying.     

Visual place learning in Drosophila melanogaster

The ability of insects to learn and navigate to specific locations in the environment has fascinated naturalists for decades. The impressive navigational abilities of ants, bees, wasps and other insects demonstrate that insects are capable of visual place learning, but little is known about the underlying neural circuits that mediate these behaviours. Drosophila melanogaster (common fruit fly) is a powerful model organism for dissecting the neural circuitry underlying complex behaviours, from sensory perception to learning and memory. Drosophila can identify and remember visual features such as size, colour and contour orientation. However, the extent to which they use vision to recall specific locations remains unclear. Here we describe a visual place learning platform and demonstrate that Drosophila are capable of forming and retaining visual place memories to guide selective navigation. By targeted genetic silencing of small subsets of cells in the Drosophila brain, we show that neurons in the ellipsoid body, but not in the mushroom bodies, are necessary for visual place learning. Together, these studies reveal distinct neuroanatomical substrates for spatial versus non-spatial learning, and establish Drosophila as a powerful model for the study of spatial memories.     

An Index mechanism for multi-scale view in spatial databases

There are numerous geometric objects stored in the spatial databases. An importance function in a spatial database is that users can browse the geometric objects as a map efficiently. Thus the spatial database should display the geometric objects users concern about swiftly onto the display window. This process includes two operations:retrieve data from database and then draw them onto screen. Accordingly, to improve the efficiency, we should try to reduce time of both retrieving object and displaying them. The former can be achieved with the aid of spatial index such as R-tree, the latter require to simplify the objects. Simplification means that objects are shown with sufficient but not with unnecessary detail which depend on the scale of browse. So the major problem is how to retrieve data at different detail level efficiently. This paper introduces the implementation of a multi-scale index in the spatial database SISP (Spatial Information Shared Platform) which is generalized from R-tree. The difference between the generalization and the R-tree lies on two facets: One is that every node and geometric object in the generalization is assigned with a importance value which denote the importance of them, and every vertex in the objects are assigned with a importance value,too. The importance value can be use to decide which data should be retrieve from disk in a query. The other difference is that geometric objects in the generalization are divided into one or more sub-blocks, and vertexes are total ordered by their importance value. With the help of the generalized R-tree, one can easily retrieve data at different detail levels.Some experiments are performed on real-life data to evaluate the performance of solutions that separately use normal spatial index and multi-scale spatial index. The results show that the solution using multi-scale index in SISP is satisfying.