{"id":34101,"date":"2022-04-27T22:22:17","date_gmt":"2022-04-27T14:22:17","guid":{"rendered":"https:\/\/swarma.org\/?p=34101"},"modified":"2022-04-27T22:22:17","modified_gmt":"2022-04-27T14:22:17","slug":"%e2%80%8bnat-commun-%e9%95%bf%e6%96%87%e7%bb%bc%e8%bf%b0%ef%bc%9a%e5%85%b7%e8%ba%ab%e7%a5%9e%e7%bb%8f%e5%bd%a2%e6%80%81%e6%99%ba%e8%83%bd","status":"publish","type":"post","link":"https:\/\/swarma.org\/?p=34101","title":{"rendered":"\u200bNat. Commun.\u957f\u6587\u7efc\u8ff0\uff1a\u5177\u8eab\u795e\u7ecf\u5f62\u6001\u667a\u80fd"},"content":{"rendered":"
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Chiara Bartolozzi, Giacomo Indiveri, Elisa Donati<\/span> <\/span>| \u4f5c\u8005<\/strong><\/span><\/p>\n

\u8d75\u6797<\/span> <\/span>| \u8bd1\u8005<\/strong><\/span><\/strong><\/span><\/strong><\/span><\/p>\n

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Embodied neuromorphic intelligence<\/span><\/p>\n

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    \u795e\u7ecf\u5f62\u6001\u7535\u8def<\/span>\uff08Neuromorphic Circuit\uff09<\/span>\u548c\u611f\u89c9\u8fd0\u52a8\u67b6\u6784<\/span>\uff08Sensorimotor Architecture\uff09<\/span>\u662f\u5177\u8eab\u795e\u7ecf\u5f62\u6001\u667a\u80fd<\/span>\uff08Embodied Neuromorphic Intelligence\uff09<\/span>\u7684\u65b0\u4e00\u4ee3\u81ea\u4e3b\u667a\u80fd\u4f53\u6240\u9700\u8981\u7684\u5173\u952e\u8d4b\u80fd\u6280\u672f\u3002\u6211\u4eec\u5c06\u667a\u80fd\u5b9a\u4e49\u4e3a\u80fd\u591f\u6709\u6548\u5730\u4e0e\u73af\u5883\u4e92\u52a8\uff0c\u57fa\u4e8e\u611f\u5b98\u4fe1\u53f7\u548c\u5185\u90e8\u72b6\u6001\u7684\u6b63\u786e\u89e3\u6790\u6765\u89c4\u5212\u5408\u9002\u7684\u884c\u4e3a\uff0c\u5b9e\u73b0\u5176\u76ee\u6807\uff0c\u5b66\u4e60\u548c\u9884\u6d4b\u5176\u884c\u52a8\u7684\u6548\u679c\uff0c\u5e76\u80fd\u591f\u4e0d\u65ad\u9002\u5e94\u65e0\u7ea6\u675f\u60c5\u666f\u7684\u53d8\u5316\u3002\u6700\u7ec8\uff0c\u5177\u8eab\u667a\u80fd\u5b9e\u73b0\u673a\u5668\u4eba\u5728\u901a\u7528\u6761\u4ef6\u548c\u4efb\u52a1\u4e2d\u4e0e\u73af\u5883\u5feb\u901f\u4ea4\u4e92<\/strong>[1]\u3002\u8fd9\u4e00\u5207\u8981\u9ad8\u6548\u5b8c\u6210\uff0c\u610f\u5473\u7740\u5728\u5904\u7406\u566a\u97f3\u3001\u53ef\u53d8\u6027\u548c\u4e0d\u786e\u5b9a\u6027\u7684\u540c\u65f6\uff0c\u5c3d\u91cf\u5c11\u5730\u6d88\u8017\u7535\u6e90\u3001\u5185\u5b58\u548c\u7a7a\u95f4\u8ba1\u7b97\u7b49\u8d44\u6e90\u6765\u6267\u884c\u7a33\u5065\u7684\u4fe1\u606f\u5904\u7406\u3002\u8fd9\u5c31\u8981\u6c42\u627e\u5230\u6539\u5584\u6027\u80fd\u548c\u589e\u5f3a\u7a33\u5065\u6027\u7684\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u4e0e\u5728\u7cfb\u7edf\u4e2d\u589e\u52a0\u901a\u7528\u8ba1\u7b97\u8d44\u6e90\u3001\u5197\u4f59\u548c\u63a7\u5236\u7ed3\u6784\u7684\u6807\u51c6\u5de5\u7a0b\u65b9\u6cd5\u4e0d\u540c\u3002<\/span>
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    \u795e\u7ecf\u5f62\u6001\u5de5\u7a0b\u65b9\u6cd5\u91c7\u7528\u6df7\u5408\u4fe1\u53f7\u6a21\u62df\/\u6570\u5b57\u4fe1\u53f7\u786c\u4ef6\u6765\u652f\u6301\u751f\u7269\u667a\u80fd\u542f\u53d1\u7684\u795e\u7ecf\u8ba1\u7b97\u57fa\u5143<\/span>\uff08Neural Computational Primitives\uff09<\/span>\uff0c\u8fd9\u4e9b\u57fa\u5143\u4e0e\u4f20\u7edf\u51af\u00b7\u8bfa\u4f9d\u66fc\u8ba1\u7b97\u673a\u4f53\u7cfb\u67b6\u6784[7]\u4e2d\u4f7f\u7528\u7684\u57fa\u5143\u5b8c\u5168\u4e0d\u540c\u3002\u795e\u7ecf\u5f62\u6001\u5de5\u7a0b\u65b9\u6cd5\u80fd\u591f\u63d0\u4f9b\u8282\u80fd\u4e14\u7d27\u51d1\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u652f\u6301\u5b9e\u73b0\u667a\u80fd\u53ca\u5176\u5728\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u7684\u5d4c\u5165[8]\u3002\u7136\u800c\uff0c\u5728\u673a\u5668\u4eba\u6280\u672f\u4e2d\u5e94\u7528\u795e\u7ecf\u5f62\u6001\u5de5\u7a0b\u65b9\u6cd5\u9700\u8981\u514b\u670d\u8bb8\u591a\u963b\u529b\uff0c\u5f80\u5f80\u4f7f\u7814\u7a76\u8005\u65e0\u6cd5\u9075\u5faa\u8fd9\u4e00\u5145\u6ee1\u524d\u666f\u7684\u65b9\u6cd5\u3002\u5176\u6311\u6218\u9886\u57df\u5305\u62ec\u4ece\u5168\u5b9a\u5236\u795e\u7ecf\u5f62\u6001\u4f20\u611f\u5668\u82af\u7247\u3001\u4f20\u7edf\u8ba1\u7b97\u6a21\u5757\u4e0e\u7535\u673a\u7cfb\u7edf\u96c6\u6210\uff0c\u5230\u96c6\u6210\u795e\u7ecf\u5f62\u6001\u82af\u7247\u7684\u795e\u7ecf\u5904\u7406\u7cfb\u7edf\u201c\u7f16\u7a0b\u201d\uff0c\u4e5f\u4e9f\u9700\u4e00\u4e2a\u539f\u7406\u6846\u67b6\u4f7f\u7528\u795e\u7ecf\u5143\u4ee3\u66ff\u6570\u5b57\u5728\u8fd9\u4e9b\u8bbe\u5907\u4e2d\u5b9e\u73b0\u548c\u7ec4\u5408\u8ba1\u7b97\u57fa\u5143\u3001\u529f\u80fd\u548c\u64cd\u4f5c\u3002<\/span><\/section>\n
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    \u65e0\u8bba\u662f\u5e38\u89c4\u673a\u5668\u4eba\uff0c\u8fd8\u662f\u795e\u7ecf\u5f62\u6001\u673a\u5668\u4eba\uff0c\u90fd\u9762\u4e34\u7740\u5f00\u53d1\u517c\u987e\u9c81\u68d2\u6027\u548c\u81ea\u9002\u5e94\u7684\u8ba1\u7b97\u6a21\u5757\uff0c\u4ee5\u89e3\u51b3\u901a\u7528\u4efb\u52a1\u7684\u6311\u6218\uff0c\u5c24\u5176\u662f\u5728\u4eba-\u673a\u534f\u4f5c\u4efb\u52a1\u4e2d\u7684\u5e94\u7528\u3002\u4e24\u8005\u90fd\u4e9f\u9700\u4e00\u4e2a\u65e8\u5728\u7ec4\u5408\u8fd9\u7c7b\u6a21\u5757\u7684\u8bbe\u8ba1\u6846\u67b6\uff0c\u4ee5\u8d4b\u80fd\u7ed9\u4e00\u4e2a\u771f\u6b63\u7684\u81ea\u4e3b\u667a\u80fd\u4f53\u3002\u5728\u8fd9\u4e00\u89c6\u89d2\u4e0b\uff0c\u6211\u4eec\u8ba8\u8bba\u4e86\u5f53\u524d\u673a\u5668\u4eba\u6280\u672f\u548c\u795e\u7ecf\u5f62\u6001\u6280\u672f\u6240\u9762\u4e34\u7684\u6311\u6218\uff0c\u5e76\u63d0\u51fa\u514b\u670d\u5f53\u524d\u6311\u6218\u7684\u6f5c\u5728\u7814\u7a76\u65b9\u5411\u3002<\/span><\/section>\n

    <\/section>\n
     <\/span><\/section>\n

    \n
    \n
    \n
    \n
    \n

    <\/section>\n

    <\/section>\n
    \n
    <\/svg><\/section>\n<\/section>\n<\/section>\n
    \n

    \u4e8c\u3001\u667a\u80fd\u673a\u5668\u4eba\u7684\u9700\u8981<\/strong><\/strong><\/p>\n<\/section>\n

    \n

    <\/section>\n

    <\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


    <\/p>\n

    \u5728\u65e5\u76ca\u5f3a\u5927\u7684\u53ef\u7528\u8ba1\u7b97\u8d44\u6e90\u7684\u652f\u6301\u4e0b\uff0c\u76ee\u524d\u673a\u5668\u5b66\u4e60\u7684\u53d1\u5c55\u5728\u673a\u5668\u4eba\u9886\u57df\u53d6\u5f97\u4e86\u4e30\u7855\u6210\u679c[2-4]\u3002\u7136\u800c\uff0c\u9664\u4e86\u7ecf\u8fc7\u7cbe\u786e\u6821\u51c6\u7684\u673a\u5668\u4eba\u5728\u53d7\u63a7\u73af\u5883\u4e2d\u6267\u884c\u91cd\u590d\u64cd\u4f5c\u5916\uff0c\u5728\u81ea\u7136\u73af\u5883\u4e2d\u7684\u81ea\u4e3b\u64cd\u4f5c\u4ecd\u7136\u5177\u6709\u6311\u6218\u6027\uff0c\u8fd9\u662f\u56e0\u4e3a\u52a8\u6001\u73af\u5883\u5177\u6709\u53ef\u53d8\u6027\u548c\u4e0d\u53ef\u9884\u6d4b\u6027\u7684\u7279\u70b9\u3002<\/span>
    <\/section>\n
     <\/span><\/section>\n
    \u5982\u65b9\u68461<\/strong>\u6240\u8ff0\uff0c\u4e0e\u975e\u63a7\u5236\u73af\u5883\u548c\u4eba\u7c7b\u7684\u4ea4\u4e92\uff0c\u9700\u8981\u4e0d\u65ad\u5730\u63a8\u65ad\u3001\u9884\u6d4b\u548c\u9002\u5e94\u73af\u5883\u3001\u4eba\u7c7b\u4ee5\u53ca\u673a\u5668\u4eba\u5e73\u53f0\u672c\u8eab\u7684\u72b6\u6001\u3002\u73b0\u6709\u7684\u673a\u5668\u5b66\u4e60\u3001\u6df1\u5ea6\u7f51\u7edc\u548c\u4eba\u5de5\u667a\u80fd\u673a\u5668\u4eba\u6280\u672f\u5e76\u4e0d\u80fd\u9002\u5e94\u8fd9\u7c7b\u573a\u666f\uff0c\u56e0\u4e3a\u8fd9\u4e9b\u73b0\u6709\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u5f88\u9ad8\u7684\u8ba1\u7b97<\/span>\uff08\u529f\u8017\uff09<\/span>\u8d44\u6e90\u3002\u4f8b\u5982\uff0c\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\u4e00\u822c\u6709\u5927\u91cf\u7684\u53c2\u6570\uff0c\u9700\u8981\u975e\u5e38\u5927\u7684\u6570\u636e\u96c6\uff0c\u82b1\u8d39\u5927\u91cf\u7684\u8bad\u7ec3\u65f6\u95f4\u8bad\u7ec3\uff0c\u5373\u4f7f\u4f7f\u7528\u5927\u578b\u56fe\u5f62\u5904\u7406\u5355\u5143<\/span>\uff08GPU\uff09<\/span>\u96c6\u7fa4\uff0c\u4e5f\u672a\u5fc5\u80fd\u6539\u5584\u6027\u80fd\u3002\u800c\u4e14\uff0c\u73b0\u6709\u65b9\u6cd5\u6240\u4f7f\u7528\u7684\u6570\u636e\u96c6\u5927\u591a\u662f\u4e0d\u7b26\u5408\u5b9e\u9645\u60c5\u51b5\u7684\u7406\u60f3\u5316\u6570\u636e\u6784\u6210\u7684\uff0c\u5bf9\u4e8e\u673a\u5668\u4eba\u6765\u8bf4\uff0c\u8fd9\u4e9b\u6570\u636e\u96c6\u9700\u8981\u88ab\u5b9a\u5236\u548c\u914d\u7f6e\u5230\u7279\u5b9a\u5e73\u53f0[9]\u3002\u5bf9\u4e8e\u7aef\u5230\u7aef\u5f3a\u5316\u5b66\u4e60\uff0c\u6570\u636e\u96c6\u4f9d\u8d56\u4e8e\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u548c\u9a71\u52a8\uff0c\u6570\u636e\u7684\u91c7\u96c6\u548c\u521b\u5efa\u8fc7\u7a0b\u975e\u5e38\u6602\u8d35\u5e76\u4e14\u8017\u65f6\u3002\u867d\u7136\u865a\u62df\u4eff\u771f\u53ef\u4ee5\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u6539\u5584\u8fd9\u79cd\u4e0d\u8db3\uff0c\u4f46\u662f\u8fc1\u79fb\u5b66\u4e60\u6280\u672f\u5e76\u4e0d\u80fd\u4f7f\u7528\u5c06\u9884\u5148\u8bad\u7ec3\u597d\u7684\u4f53\u7cfb\u67b6\u6784\u8fc1\u79fb\u5230\u5b9e\u9645\u5e94\u7528\u573a\u666f\u3002\u5728\u5927\u578b\u6570\u636e\u96c6\u4e0a\u79bb\u7ebf\u8bad\u7ec3\u9700\u8981\u4f7f\u7528\u9ad8\u6027\u80fd\u3001\u529f\u80fd\u5f3a\uff0c\u6602\u8d35\u4e14\u8017\u7535\u7684\u8ba1\u7b97\u57fa\u7840\u8bbe\u65bd\u3002\u76f8\u53cd\uff0c\u63a8\u7406\u65b9\u6cd5\u8f83\u5c11\u53d7\u5230\u8fd9\u4e2a\u95ee\u9898\u7684\u56f0\u6270\uff0c\u53ef\u4ee5\u5728\u6027\u80fd\u8f83\u4f4e\u7684\u5d4c\u5165\u5f0f\u5e73\u53f0\u4e0a\u8fd0\u884c\uff0c\u4f46\u662f\u8fd9\u662f\u4ee5\u975e\u5e38\u6709\u9650\u6216\u6ca1\u6709\u9002\u5e94\u80fd\u529b\u4e3a\u4ee3\u4ef7\u6362\u53d6\u6765\u7684\uff0c\u4ece\u800c\u4f7f\u7cfb\u7edf\u5f88\u96be\u88ab\u7528\u4e8e\u53d8\u5e7b\u83ab\u6d4b\u7684\u73b0\u5b9e\u4e16\u754c\u573a\u666f[10]\u3002<\/span><\/section>\n
     <\/span><\/section>\n\n\n\n
    \n
    \u65b9\u68461\uff1a\u673a\u5668\u4eba\u9002\u5e94\u9886\u57df\u7684\u9700\u8981<\/span><\/strong><\/span><\/section>\n
     <\/span><\/section>\n
    \u867d\u7136\uff0c\u76ee\u524d\u5927\u591a\u6570\u5de5\u4e1a\u673a\u5668\u4eba\u90fd\u5728\u53d7\u63a7\u73af\u5883\u4e2d\u64cd\u4f5c\uff0c\u4ee5\u6267\u884c\u53ef\u7f16\u7a0b\u548c\u91cd\u590d\u7684\u52a8\u4f5c\uff0c\u4f46\u662f\u673a\u5668\u4eba\u7814\u7a76\u6b63\u671d\u7740\u4eba-\u673a\u5668\u4eba\u534f\u4f5c\u7684\u65b9\u5411\u53d1\u5c55\uff0c\u5728\u65e5\u5e38\u4efb\u52a1\u4e2d[133,134]\uff0c\u673a\u5668\u4eba\u6709\u671b\u5728\u65e0\u63a7\u5236\u7684\u73af\u5883\u4e2d\u4e0e\u4eba\u7c7b\u8fdb\u884c\u4e92\u52a8\u548c\u534f\u4f5c\u3002\u4e0d\u540c\u4e2a\u4f53\u7684\u884c\u4e3a\u548c\u73af\u5883\u7269\u7406\u72b6\u51b5\u53ef\u80fd\u4f1a\u968f\u65f6\u95f4\u548c\u4efb\u52a1\u53d1\u751f\u53d8\u5316\u3002\u56e0\u6b64\uff0c\u673a\u5668\u4eba\u7684\u9002\u5e94\u80fd\u529b\u5bf9\u4e8e\u5728\u73b0\u5b9e\u4e16\u754c\u548c\u4eba\u7c7b\u4e92\u52a8\u81f3\u5173\u91cd\u8981\u3002\u5728\u5de5\u4e1a\u5e94\u7528\u4e2d\uff0c\u673a\u5668\u4eba\u8bbe\u5907\u4f1a\u968f\u7740\u8fd0\u884c\u5468\u671f\u53d1\u751f\u78e8\u635f\uff0c\u63a7\u5236\u5668\u9700\u8981\u5728\u5f88\u957f\u7684\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u9002\u5e94\u8bbe\u5907\u7279\u6027\u7684\u53d8\u5316\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5728\u5eb7\u590d\u673a\u5668\u4eba\u9886\u57df\uff0c\u63a7\u5236\u5668\u65e2\u8981\u9002\u5e94\u533b\u751f\u4e2a\u4f53\u7684\u6cbb\u7597\u8fc7\u7a0b\uff0c\u4e5f\u8981\u9002\u5e94\u4e0d\u540c\u60a3\u8005\u957f\u671f\u548c\u77ed\u671f\u7684\u8981\u6c42[136]\u3002\u5728\u5927\u591a\u6570\u4ea4\u4e92\u5f0f\u5e94\u7528\u4e2d\uff0c\u673a\u5668\u4eba\u5fc5\u987b\u80fd\u591f\u5728\u77ed\u65f6\u95f4\u5185\u5bf9\u7a81\u53d1\u7684\u73af\u5883\u53d8\u5316\u505a\u51fa\u53cd\u5e94\uff0c\u4f8b\u5982\u5207\u6362\u5230\u4ee5\u524d\u5b66\u4e60\u8fc7\u7684\u914d\u7f6e\u3002\u81ea\u4e3b\u98de\u884c\u5668\u9700\u8981\u5e94\u5bf9\u73af\u5883\u7684\u53d8\u5316\uff0c\u6bd4\u5982\u98ce\u529b\u548c\u65b9\u5411\u7684\u53d8\u5316\uff1b\u4eff\u4eba\u548c\u6316\u6c99\u673a\u5668\u4eba\u9700\u8981\u9002\u5e94\u4e0d\u540c\u7c7b\u578b\u7684\u5730\u5f62[137]\uff1b\u673a\u68b0\u624b\u9700\u8981\u5b66\u4f1a\u64cd\u7eb5\u4e0d\u540c\u91cd\u91cf\u548c\u67d4\u8f6f\u5ea6\u7684\u7269\u4f53\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u751f\u7269\u5b66\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u9700\u6c42\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u6848\u4f8b\u96c6\u5408\uff0c\u4ee5\u9002\u5e94\u4e0a\u6587\u63cf\u8ff0\u7684\u53d8\u5316[138,139]\u3002\u5728\u77ed\u65f6\u95f4\u5c3a\u5ea6\u4e0a\uff0c\u751f\u7269\u7cfb\u7edf\u80fd\u591f\u9002\u5e94\u5177\u6709\u77ed\u671f\u53ef\u5851\u6027\u673a\u5236\u7684\u6052\u5b9a\u8f93\u5165[140]\uff1b\u5bf9\u4e8e\u8f83\u957f\u7684\u65f6\u95f4\u5c3a\u5ea6\uff0c\u5b83\u4eec\u7684\u4f20\u611f\u5668\u9700\u8981\u80fd\u591f\u5e94\u5bf9\u7f16\u7801\u4fe1\u53f7\u7684\u7075\u654f\u5ea6<\/span>\uff08\u4f8b\u5982\uff0c\u611f\u5149\u5668\u9002\u5e94\u5168\u7403\u5e73\u5747\u5149\u7167\uff0c\u5f31\u5149\u4e0b\u66f4\u654f\u611f\uff0c\u6216\u592a\u9633\u76f4\u5c04\u4e0b\u4e0d\u654f\u611f\uff09<\/span>[141]\u3002\u5728\u66f4\u957f\u7684\u65f6\u95f4\u5c3a\u5ea6\u4e0a\uff0c\u7a33\u6001\u673a\u5236\u8c03\u8282\u6574\u4f53\u795e\u7ecf\u6d3b\u52a8\uff0c\u4f7f\u5176\u4fdd\u6301\u5728\u5b9a\u4e49\u7684\u754c\u9650\u5185\uff0c\u4ece\u800c\u5e94\u5bf9\u73af\u5883\u7684\u7f13\u6162\u53d8\u5316\uff0c\u6216\u8005\u79cd\u7fa4\u7684\u6574\u4f53\u9a71\u52a8[142]\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
     <\/span><\/section>\n
    \u56e0\u6b64\uff0c\u673a\u5668\u4eba\u6280\u672f\u7684\u5173\u952e\u662f\u51cf\u5c11\u6216\u5c3d\u53ef\u80fd\u6d88\u9664\u5bf9\u6570\u636e\u548c\u8ba1\u7b97\u5bc6\u96c6\u578b\u7b97\u6cd5\u7684\u9700\u8981\uff0c\u6709\u6548\u5730\u5229\u7528\u4f20\u611f\u6570\u636e\uff0c\u5e76\u4e3a\u6301\u7eed\u5728\u7ebf\u5b66\u4e60\u5236\u5b9a\u89e3\u51b3\u65b9\u6848\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u901a\u8fc7\u5f31\u76d1\u7763\u6216\u81ea\u6211\u76d1\u7763\u83b7\u53d6\u65b0\u77e5\u8bc6<\/strong>\u3002\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\u7684\u4e00\u4e2a\u91cd\u8981\u6b65\u9aa4\u662f\u4ece\u9759\u6001<\/span>\uff08\u6216\u57fa\u4e8e\u6846\u67b6\uff09<\/span>\u8f6c\u79fb\u5230\u52a8\u6001<\/span>\uff08\u6216\u57fa\u4e8e\u4e8b\u4ef6\uff09<\/span>\u7684\u8ba1\u7b97\u8303\u5f0f\uff0c\u80fd\u591f\u6cdb\u5316\u548c\u9002\u5e94\u4e0d\u540c\u7684\u5e94\u7528\u573a\u666f\u3001\u7528\u6237\u3001\u673a\u5668\u4eba\u548c\u76ee\u6807\u3002<\/span><\/section>\n

    <\/section>\n
    \u795e\u7ecf\u5f62\u6001\u611f\u77e5\u76f4\u63a5\u4ece\u4f20\u611f\u5668\u91c7\u96c6\u7684\u5c42\u9762\u6765\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u3002\u5b83\u91c7\u7528\u65b0\u9896\u7684\u751f\u7269\u542f\u53d1\u4f20\u611f\u5668\uff0c\u4ee5\u5f02\u6b65\u4e8b\u4ef6\u7b56\u7565\u9ad8\u6548\u5730\u7f16\u7801\u611f\u5b98\u4fe1\u606f[11]\u3002\u5b83\u8fd8\u91c7\u7528\u8ba1\u7b97\u57fa\u5143\u4ece\u4f20\u611f\u5668\u83b7\u53d6\u7684\u4e8b\u4ef6\u4e2d\u63d0\u53d6\u4fe1\u606f\uff0c\u4f9d\u9760\u4e00\u7ec4\u591a\u6837\u5316\u7684\u8109\u51b2\u9a71\u52a8\u7684\u8ba1\u7b97\u6a21\u5757\u3002\u795e\u7ecf\u5f62\u6001\u884c\u4e3a\u9075\u5faa\u7684\u63a7\u5236\u7b56\u7565\uff0c\u901a\u8fc7\u6574\u5408\u591a\u79cd\u611f\u5b98\u8f93\u5165\u6765\u9002\u5e94\u4e0d\u540c\u73af\u5883\u548c\u64cd\u4f5c\u6761\u4ef6\uff0c\u5229\u7528\u57fa\u4e8e\u4e8b\u4ef6\u7684\u8ba1\u7b97\u57fa\u5143\u6765\u5b8c\u6210\u9884\u671f\u7684\u4efb\u52a1\u3002<\/span><\/section>\n

    <\/section>\n
    \u795e\u7ecf\u5f62\u6001\u611f\u77e5\u548c\u884c\u4e3a\u90fd\u662f\u57fa\u4e8e\u8ba1\u7b97\u57fa\u5143\uff0c\u8fd9\u4e9b\u57fa\u5143\u6765\u6e90\u4e8e\u751f\u7269\u5927\u8111\u4e2d\u795e\u7ecf\u56de\u8def\u7684\u6a21\u578b\uff0c\u56e0\u6b64\u975e\u5e38\u9002\u5408\u7528\u6df7\u5408\u4fe1\u53f7\u6a21\u62df\/\u6570\u5b57\u4fe1\u53f7\u7535\u8def\u6765\u5b9e\u73b0[12]\u3002\u8fd9\u4e3a\u673a\u5668\u4eba\u6280\u672f\u4e2d\u7684\u795e\u7ecf\u5f62\u6001\u611f\u77e5\u548c\u884c\u4e3a\u63d0\u4f9b\u4e86\u9ad8\u6548\u7684\u6280\u672f\u57fa\u7840\u3002\u4f8b\u5982\uff0c\u4f9d\u8d56\u4e8e\u8bed\u5883\u7684\u5408\u4f5c\u548c\u7ade\u4e89\u4fe1\u606f\u5904\u7406\uff0c\u4ee5\u53ca\u591a\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u7684\u5b66\u4e60\u548c\u9002\u5e94[13,14]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5229\u7528\u786c\u4ef6\u795e\u7ecf\u5f62\u6001\u8ba1\u7b97\u57fa\u5143\u5f00\u53d1\u548c\u96c6\u6210\u795e\u7ecf\u5f62\u6001\u611f\u77e5\u548c\u884c\u4e3a\uff0c\u6700\u7ec8\u76ee\u7684\u662f\u8bbe\u8ba1\u5177\u6709\u7aef\u5230\u7aef\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u7684\u673a\u5668\u4eba\uff0c\u5982\u56fe1<\/strong>\u6240\u793a\u3002<\/span><\/section>\n

    <\/span><\/section>\n
    <\/section>\n

    \u56fe1. \u5177\u6709\u7aef\u5230\u7aef\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u7684\u673a\u5668\u4eba\u3002\u4ece\u611f\u77e5\uff08\u7d2b\u7ea2\u8272\uff09\u3001\u667a\u80fd\u884c\u4e3a\uff08\u7eff\u8272\uff09\u5230\u52a8\u4f5c\u6267\u884c\uff08\u84dd\u8272\uff09\u90fd\u5c06\u91c7\u7528\u8109\u51b2\u795e\u7ecf\u7f51\u7edc\uff08Spiking Neural Network\uff0cSNN\uff09\u786c\u4ef6\u6280\u672f\u6765\u5b9e\u73b0\u3002| \u6765\u6e90\uff1aiCub picture \u00a9IIT author Agnese Abrusci.<\/span><\/p>\n

     <\/span><\/section>\n
    \u4e0b\u4e00\u7ae0\u8282\u5c06\u4ecb\u7ecd\u795e\u7ecf\u5f62\u6001\u611f\u77e5\u3001\u52a8\u4f5c\u89c4\u5212\u548c\u8ba4\u77e5\u5904\u7406\u7b56\u7565\uff0c\u603b\u7ed3\u8fd9\u4e9b\u9886\u57df\u6700\u524d\u6cbf\u7684\u7279\u5f81\u548c\u95ee\u9898\u3002\u4ee5\u4e00\u4e2a\u8def\u7ebf\u56fe\u548c\u4e00\u4e2a\u201c\u884c\u52a8\u53f7\u53ec\u201d\u6765\u603b\u7ed3\u5177\u8eab\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u9886\u57df\u7684\u8fdb\u5c55\u3002<\/span><\/section>\n
     <\/span><\/section>\n

    \n
    1. \u795e\u7ecf\u5f62\u6001\u611f\u77e5<\/span><\/strong><\/span><\/section>\n<\/h2>\n

    <\/section>\n
    \u673a\u5668\u4eba\u901a\u5e38\u5305\u62ec\u8bb8\u591a\u6536\u96c6\u5916\u754c\u4fe1\u606f\u7684\u4f20\u611f\u5668\uff0c\u5982\u6444\u50cf\u673a\u3001\u9ea6\u514b\u98ce\u3001\u89e6\u6478\u538b\u529b\u4f20\u611f\u5668\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u98de\u884c\u65f6\u95f4\u8bb0\u5f55\u4f20\u611f\u5668\u3001\u6e29\u5ea6\u4f20\u611f\u5668\u3001\u529b\u77e9\u4f20\u611f\u5668\u3001\u548c\u8ddd\u79bb\u4f20\u611f\u5668\u3002\u5728\u5e38\u89c4\u88c5\u7f6e\u4e2d\uff0c\u6240\u6709\u4f20\u611f\u5668\u90fd\u6d4b\u91cf\u76f8\u5e94\u7684\u7269\u7406\u4fe1\u53f7\uff0c\u4ee5\u56fa\u5b9a\u7684\u65f6\u95f4\u95f4\u9694\u91c7\u6837\uff0c\u4e0d\u8bba\u4fe1\u53f7\u672c\u8eab\u7684\u72b6\u6001\u548c\u52a8\u6001\u3002\u5b83\u4eec\u901a\u5e38\u63d0\u4f9b\u4e00\u7cfb\u5217\u5916\u90e8\u4e16\u754c\u7684\u9759\u6001\u5feb\u7167\u3002\u5f53\u4fe1\u53f7\u9759\u6b62\u65f6\uff0c\u5b83\u4eec\u7ee7\u7eed\u4f20\u8f93\u5197\u4f59\u7684\u6570\u636e\uff0c\u4f46\u6ca1\u6709\u989d\u5916\u7684\u4fe1\u606f\uff0c\u5e76\u4e14\u5f53\u4fe1\u53f7\u53d1\u751f\u5feb\u901f\u53d8\u5316\u65f6\u53ef\u80fd\u4f1a\u9519\u8fc7\u91cd\u8981\u7684\u6570\u636e\u6837\u672c\uff0c\u56e0\u6b64\u6211\u4eec\u9700\u8981\u5728\u91c7\u6837\u7387<\/span>\uff08\u7528\u4e8e\u6355\u6349\u52a8\u6001\u4fe1\u53f7\uff09<\/span>\u548c\u6570\u636e\u8d1f\u8f7d\u4e4b\u95f4\u8fdb\u884c\u6743\u8861\u3002<\/span><\/section>\n

    <\/section>\n
    \u76f8\u53cd\uff0c\u5728\u5927\u591a\u6570\u795e\u7ecf\u5f62\u6001\u7684\u4f20\u611f\u7cfb\u7edf\u4e2d\uff0c\u53ea\u6709\u5f53\u4fe1\u53f7\u672c\u8eab\u6709\u8db3\u591f\u5927\u7684\u53d8\u5316\u65f6\uff0c\u624d\u4f1a\u91c7\u6837\u5e76\u8f6c\u6362\u6210\u6570\u5b57\u8109\u51b2<\/span>\uff08\u201c\u4e8b\u4ef6\u201d\u6216\u201c\u8109\u51b2\u201d\uff09<\/span>\uff0c\u91c7\u7528\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65f6\u95f4\u7f16\u7801\u65b9\u6848<\/strong>[15,16]\uff0c\u5982\u8109\u51b2\u5bc6\u5ea6\u6216\u03a3-\u0394\u8c03\u5236[17]\u3002\u56e0\u6b64\uff0c\u6570\u636e\u91c7\u96c6\u9002\u5e94\u4e8e\u4fe1\u53f7\u52a8\u529b\u5b66\uff0c\u5bf9\u4e8e\u5feb\u901f\u53d8\u5316\u7684\u523a\u6fc0\uff0c\u4e8b\u4ef6\u901f\u7387\u589e\u5927\uff0c\u800c\u5bf9\u4e8e\u7f13\u6162\u53d8\u5316\u7684\u523a\u6fc0\uff0c\u4e8b\u4ef6\u901f\u7387\u51cf\u5c0f\u3002\u8fd9\u79cd\u7c7b\u578b\u7684\u7f16\u7801\u4e0d\u4f1a\u4e22\u5931\u4fe1\u606f[18-20]\uff0c\u5728\u6d3b\u52a8\u7a00\u758f\u573a\u666f\u4e0b\u662f\u6548\u679c\u66f4\u597d\u3002\u8fd9\u79cd\u4e8b\u4ef6\u8868\u5f81\u5bf9\u4e8e\u9ad8\u6548\u3001\u5feb\u901f\u3001\u7a33\u5065\u548c\u4fe1\u606f\u91cf\u5f88\u5927\u7684\u611f\u77e5\u81f3\u5173\u91cd\u8981\u3002\u6280\u672f\u6539\u8fdb\u5305\u62ec\u51cf\u5c11\u5bf9\u6570\u636e\u4f20\u8f93\u3001\u5b58\u50a8\u548c\u5904\u7406\uff0c\u4ee5\u53ca\u9ad8\u65f6\u95f4\u5206\u8fa8\u7387\u548c\u4f4e\u5ef6\u8fdf\u3002\u8fd9\u5bf9\u4e8e\u673a\u5668\u4eba\u7684\u5b9e\u65f6\u5e94\u7528\u6781\u5176\u6709\u7528\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u4ece\u8fd0\u52a8\u4f20\u611f\u5668\u548c\u77ac\u6001\u6210\u50cf\u4eea[21]\u7684\u8bbe\u8ba1\u51fa\u53d1\uff0c\u7b2c\u4e00\u79cd\u5177\u6709\u8db3\u591f\u5206\u8fa8\u7387\u3001\u4f4e\u566a\u58f0\u548c\u4f20\u611f\u5668\u5931\u914d\u7684\u4e8b\u4ef6\u9a71\u52a8\u89c6\u89c9\u4f20\u611f\u5668\u2014\u2014\u52a8\u6001\u89c6\u89c9\u4f20\u611f\u5668<\/span>\uff08Dynamic Vision Sensor\uff0cDVS\uff09<\/span>[22]\u548c\u5f02\u6b65\u65f6\u95f4\u6210\u50cf\u4f20\u611f\u5668<\/span>\uff08Asynchronous Time Imaging Sensor\uff0cATIS\uff09<\/span>[23]\u2014\u2014\u5f15\u53d1\u4e86\u4e8b\u4ef6\u9a71\u52a8\u89c6\u89c9\u5904\u7406\u7b97\u6cd5\u7684\u53d1\u5c55\u4ee5\u53ca\u5728\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u7684\u9002\u914d\u5e94\u7528[24]\u3002\u8fd9\u4e9b\u4f20\u611f\u5668\u4fe1\u606f\u7f16\u7801\u65b9\u5f0f\u6253\u7834\u4e86\u4f7f\u7528\u51e0\u5341\u5e74\u7684\u4f20\u7edf\u6444\u50cf\u673a\u9759\u6001\u5e27\u7f16\u7801\u65b9\u5f0f\u3002\u5b83\u4eec\u7684\u65b0\u9896\u6027\u8981\u6c42\u53d1\u5c55\u4e00\u79cd\u65b0\u7684\u539f\u7406\u65b9\u6cd5\u6765\u5904\u7406\u4e8b\u4ef6\u9a71\u52a8\u611f\u77e5\u3002\u91c7\u7528\u4e8b\u4ef6\u9a71\u52a8\u7684\u673a\u5668\u89c6\u89c9\u65b9\u6cd5\u5feb\u901f\u76ee\u6807\u8ddf\u8e2a[25]\u3001\u5149\u6d41[26-28]\u6216\u7acb\u4f53\u58f0[29]\u548c\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5730\u56fe\u521b\u5efa<\/span>\uff08SLAM\uff09<\/span>[30]\u7b49\u5177\u4f53\u4efb\u52a1\uff0c\u8fdc\u4f18\u4e8e\u5e38\u89c4\u7b97\u6cd5\u3002\u4f46\u662f\uff0c\u8fd9\u4e9b\u7b97\u6cd5\u53ca\u5176\u786c\u4ef6\u5b9e\u73b0\u4ecd\u7136\u5b58\u5728\u4efb\u52a1\u7279\u5f02\u6027\u548c\u9002\u5e94\u6027\u6709\u9650\u7684\u95ee\u9898\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u8fd9\u4e9b\u4e8b\u4ef6\u9a71\u52a8\u7684\u4f20\u611f\u5904\u7406\u6a21\u5757\u5c06\u9010\u6b65\u66ff\u4ee3\u673a\u5668\u4eba\u6846\u67b6\u4e2d\u7684\u5bf9\u5e94\u6a21\u5757<\/span>\uff08\u89c1\u56fe2\uff09<\/span>\u3002\u7136\u800c\uff0c\u867d\u7136\u5df2\u7ecf\u53d6\u5f97\u4e86\u4ee4\u4eba\u9f13\u821e\u7684\u6210\u679c\uff0c\u4f46\u662f\u7531\u4e8e\u9700\u8981\u6539\u53d8\u601d\u7ef4\u65b9\u5f0f\u6765\u5904\u7406\u4e8b\u4ef6\u6d41\u800c\u4e0d\u662f\u9759\u6001\u5e27\uff0c\u56e0\u6b64\u5728\u673a\u5668\u4eba\u6280\u672f\u4e2d\u91c7\u7528\u4e8b\u4ef6\u9a71\u52a8\u7684\u611f\u77e5\u4ecd\u7136\u56f0\u96be\u3002\u6b64\u5916\uff0c\u8fd9\u79cd\u65b0\u7684\u6570\u636e\u8868\u793a\u8981\u6c42\u5f00\u53d1\u65b0\u7684\u7279\u5b9a\u63a5\u53e3\u3001\u901a\u4fe1\u534f\u8bae<\/span>\uff08\u5982\u65b9\u68462\u548c\u56fe3\u6240\u793a\uff09<\/span>\u548c\u5904\u7406\u4e8b\u4ef6\u7684\u8f6f\u4ef6\u5e93\u3002\u5f00\u6e90\u7684JAVA[31]\u548cC++[32]\u5df2\u7ecf\u5f00\u53d1\u4e8633\u4e2a\u5e93\uff0c\u5728\u4e24\u4e2a\u4e3b\u8981\u7684\u673a\u5668\u4eba\u4e2d\u95f4\u4ef6\u2014\u2014ROS\u548cYARP\u2014\u2014\u4e2d\u5f00\u53d1\uff0c\u4f46\u662f\u5b83\u4eec\u9700\u8981\u5927\u578b\u793e\u533a\u63d0\u4f9b\u7684\u989d\u5916\u8d21\u732e\u624d\u80fd\u53d1\u5c55\u5e76\u8fbe\u5230\u673a\u5668\u4eba\u7684\u6210\u719f\u5e94\u7528\u3002\u6700\u7ec8\uff0c\u673a\u5668\u4eba\u9886\u57df\u53ef\u80fd\u66f4\u5e7f\u6cdb\u91c7\u7528\u4e00\u79cd\u7ed3\u5408\u57fa\u4e8e\u5e27\u548c\u4e8b\u4ef6\u9a71\u52a8\u6a21\u5757\u7684\u6df7\u5408\u65b9\u6cd5\uff0c\u5e76\u4fc3\u8fdb\u56f4\u7ed5\u5b83\u7684\u793e\u533a\u7684\u53d1\u5c55\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u6df7\u5408\u795e\u7ecf\u5f62\u6001\/\u4f20\u7edf\u7684\u8bbe\u8ba1\u7b56\u7565\u5e76\u4e0d\u80fd\u5145\u5206\u5229\u7528\u795e\u7ecf\u5f62\u6001\u8303\u5f0f\u7684\u6240\u6709\u4f18\u70b9\u3002<\/span><\/section>\n


    <\/p>\n

    <\/section>\n
    \u56fe2. \u673a\u5668\u4eba\u7684\u795e\u7ecf\u5f62\u6001\u611f\u77e5<\/span><\/section>\n
     <\/span><\/section>\n
    \u4e3a\u4e86\u5b9e\u73b0\u5177\u6709\u5b8c\u5168\u795e\u7ecf\u5f62\u6001\u89c6\u89c9\u7684\u673a\u5668\u4eba\uff0c\u795e\u7ecf\u5f62\u6001\u548c\u8ba1\u7b97\u795e\u7ecf\u79d1\u5b66\u754c\u5df2\u7ecf\u5f00\u59cb\u6df1\u5165\u7814\u7a76\u7acb\u4f53\u89c6\u89c9[34]\u548c\u8fb9\u7f18[35]\u3001\u6ce8\u610f\u529b[36]\u548c\u7269\u4f53\u8bc6\u522b[37]\u7684\u611f\u77e5\u6a21\u5757\u3002\u8fd9\u4e9b\u7b97\u6cd5\u53ef\u4ee5\u5728\u795e\u7ecf\u5f62\u6001\u8ba1\u7b97\u57fa\u5e95\u4e0a\u8fd0\u884c\uff0c\u4ee5\u5b9e\u73b0\u9ad8\u6548\u7387\u3001\u9002\u5e94\u6027\u548c\u4f4e\u5ef6\u8fdf\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u795e\u7ecf\u5f62\u6001\u4f20\u611f\u5668\u53d1\u5c55\u7684\u8def\u7ebf\u56fe\uff0c\u4ece\u89c6\u89c9\u5f00\u59cb\u975e\u5e38\u5f31\u5730\u53d7\u5230\u751f\u7269\u5149\u4f20\u5bfc\u7684\u542f\u53d1\uff0c\u518d\u5230\u542c\u89c9\u53d7\u5230\u8033\u8717\u7684\u542f\u53d1\uff0c\u540e\u6765\u624d\u53d1\u5c55\u5230\u89e6\u89c9\u548c\u55c5\u89c9\u3002<\/strong>\u4e8b\u4ef6\u9a71\u52a8\u7684\u91c7\u96c6\u539f\u7406\u5728\u5e94\u7528\u4e8e\u5176\u4ed6\u611f\u5b98\u6a21\u5f0f\u65f6\u4e5f\u975e\u5e38\u6709\u4ef7\u503c\uff0c\u7279\u522b\u662f\u90a3\u4e9b\u5177\u6709\u65f6\u95f4\u548c\u7a7a\u95f4\u5c40\u90e8\u5316\u6fc0\u6d3b\u7279\u6027\u7684\u6a21\u5f0f\uff0c\u5982\u89e6\u89c9\u3001\u542c\u89c9\u548c\u529b\u77e9\u6a21\u5f0f\uff0c\u90a3\u4e9b\u9700\u8981\u6781\u4f4e\u7684\u95ed\u73af\u63a7\u5236\u5ef6\u65f6\u7684\u6a21\u5f0f\uff0c\u5982\u7f16\u7801\u5668\u548c\u60ef\u6027\u6d4b\u91cf\u5355\u5143<\/span>\uff08IMU\uff09<\/span>\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u98de\u884c\u65f6\u95f4<\/span>\uff08Time-of-flight\uff09<\/span>\u30013D\u548c\u63a5\u8fd1\u4f20\u611f\u5668<\/span>\uff08Proximity Sensor\uff09<\/span>\uff0c\u4ee5\u53ca\u5e2e\u52a9\u673a\u5668\u4eba\u68c0\u6d4b\u4eba\u7c7b\u72b6\u6001\u7684\u4f20\u611f\u5668\uff0c\u4f8b\u5982\u808c\u7535\u56fe<\/span>\uff08EMG\uff09<\/span>\u3001\u8111\u7535\u56fe<\/span>\uff08EEG\uff09<\/span>\u3001\u8d28\u5fc3\u7b49[38]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u53ef\u7528\u7684\u8033\u8717\u8981\u4e48\u4f9d\u8d56\u4e8e\u4e9a\u9608\u503c\u6df7\u5408\u6a21\u7845\u57fa\u5668\u4ef6[39,40]\uff0c\u8981\u4e48\u4f9d\u8d56\u4e8e\u73b0\u573a\u53ef\u7f16\u7a0b\u903b\u8f91\u95e8\u9635\u5217<\/span>\uff08FPGA\uff09<\/span>[41]\u3002\u5b83\u4eec\u4e3b\u8981\u5e94\u7528\u4e8e\u58f0\u6e90\u5b9a\u4f4d\u548c\u542c\u89c9\u6ce8\u610f\uff0c\u57fa\u4e8e\u5de6\u53f3\u4fe1\u53f7\u6781\u5176\u7cbe\u786e\u7684\u65f6\u95f4\u8db3\u8ff9[42,43]\u548c\u89c6\u542c\u8bed\u97f3\u8bc6\u522b[44]\u5b9e\u73b0\u3002\u7136\u800c\uff0c\u5b83\u4eec\u5728\u673a\u5668\u4eba\u4e0a\u7684\u96c6\u6210\u4ecd\u7136\u975e\u5e38\u6709\u9650\uff1a\u4e0e\u4e8b\u4ef6\u9a71\u52a8\u7684\u613f\u666f\u4e00\u6837\uff0c\u5b83\u4eec\u9700\u8981\u5e94\u7528\u5f00\u53d1\u5de5\u5177\uff0c\u4ee5\u53ca\u53ef\u4ee5\u88ab\u8bed\u97f3\u5904\u7406\u5229\u7528\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u89e6\u89c9\u611f\u77e5\u95ee\u9898\u56e0\u4e3a\u4e09\u4e2a\u56e0\u7d20\u53d8\u5f97\u590d\u6742\u5316\u3002\u9996\u5148<\/strong>\uff0c\u53ef\u7528\u7684\u4e0d\u540c\u7269\u7406\u4f20\u611f\u5668\u7684\u6570\u91cf\uff1b\u5176\u6b21<\/strong>\uff0c\u4f20\u611f\u5668\u4e0e\u7845\u8bfb\u51fa\u88c5\u7f6e\u4e4b\u95f4\u4ea4\u4e92\u975e\u5e38\u56f0\u96be\uff1b\u518d\u6b21<\/strong>\uff0c\u5728\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u96c6\u6210\u89e6\u89c9\u4f20\u611f\u5668\u5b58\u5728\u5de5\u7a0b\u6311\u6218\uff0c\u5305\u62ec\u5fae\u578b\u5316\uff0c\u4ee5\u53ca\u8bbe\u8ba1\u548c\u5b9e\u73b0\u5177\u6709\u826f\u597d\u673a\u68b0\u6027\u80fd\u3001\u5e03\u7ebf\u548c\u9c81\u68d2\u6027\u7684\u67d4\u6027\u548c\u8010\u7528\u6750\u6599\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u8fc4\u4eca\u4e3a\u6b62\uff0c\u53ea\u6709\u5f88\u5c11\u7684\u795e\u7ecf\u5f62\u6001\u89e6\u89c9\u4f20\u611f\u5668\u88ab\u5f00\u53d1\u51fa\u6765[45-48]\uff0c\u9664\u4e86\u5b9e\u9a8c\u5ba4\u539f\u578b\u5916\uff0c\u8fd8\u6ca1\u6709\u7a33\u5b9a\u96c6\u6210\u5728\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u7684\u4ea7\u54c1\u3002\u5728\u8fd9\u4e9b\u4f20\u611f\u5668\u96c6\u6210\u5230\u673a\u5668\u4eba\u4e0a\u7684\u540c\u65f6\uff0c\u73b0\u6709\u7684\u57fa\u4e8e\u65f6\u949f\u7684\u96c6\u6210\u4f20\u611f\u53ef\u4ee5\u7528\u6765\u652f\u6301\u4e8b\u4ef6\u9a71\u52a8\u7684\u673a\u5668\u4eba\u5e94\u7528\u7684\u5f00\u53d1\u3002\u5728\u8fd9\u79cd\u201c\u8f6f\u201d\u795e\u7ecf\u5f62\u6001\u5b66\u65b9\u6cd5\u4e2d\uff0c\u524d\u7aef\u65f6\u949f\u6837\u672c\u901a\u8fc7\u5728\u8f6f\u4ef6[49\u201351]\u4e2d\u5b9e\u73b0\u7684\u7b97\u6cd5\uff0c\u6216\u5d4c\u5165\u5728\u6570\u5b57\u4fe1\u53f7\u5904\u7406\u5668<\/span>\uff08DSPs\uff09<\/span>[52]\u6216FPGAs[53,54]\u4e2d\u7684\u7b97\u6cd5\uff0c\u8f6c\u6362\u4e3a\u57fa\u4e8e\u4e8b\u4ef6\u7684\u8868\u793a\u3002\u540c\u6837\u7684\u65b9\u6cd5\u5728\u5176\u4ed6\u611f\u5b98\u6a21\u5f0f\u4e2d\u4e5f\u5f88\u6709\u4ef7\u503c\uff0c\u4f8b\u5982\u672c\u4f53\u611f\u89c9[55,56]\uff0c\u4ee5\u652f\u6301\u4e8b\u4ef6\u9a71\u52a8\u7b97\u6cd5\u7684\u5f00\u53d1\u5e76\u9a8c\u8bc1\u5176\u5728\u673a\u5668\u4eba\u4e2d\u7684\u5e94\u7528\u3002\u7136\u800c\uff0c\u5b83\u5728\u5927\u5c0f\u3001\u529f\u7387\u548c\u5ef6\u8fdf\u65b9\u9762\u5e76\u4e0d\u662f\u6700\u4f18\u7684\u3002<\/span><\/section>\n

    <\/section>\n
    \u5bf9\u4e8e\u6240\u6709\u7684\u4f20\u611f\u6a21\u5f0f\uff0c\u6700\u57fa\u672c\u7684\u795e\u7ecf\u5f62\u6001\u5b66\u539f\u7406\u662f\u201c\u53d8\u5316\u68c0\u6d4b\u201d<\/span>\uff08Change Detection\uff09<\/span>\uff0c\u5b83\u662f\u6355\u6349\u751f\u7269\u611f\u89c9\u7f16\u7801\u672c\u8d28\u7684\u4e00\u79cd\u9ad8\u5ea6\u62bd\u8c61\u3002\u5b83\u4e5f\u662f\u4e00\u4e2a\u5b9a\u4e49\u826f\u597d\u7684\u64cd\u4f5c\uff0c\u4f7f\u5f97\u4ece\u6570\u636e\u6d41[15]\u4e2d\u63d0\u53d6\u4fe1\u606f\u7684\u7b97\u6cd5\u548c\u65b9\u6cd5\u5f97\u4ee5\u5f62\u5f0f\u5316\u3002\u66f4\u597d\u5730\u7406\u89e3\u611f\u77e5\u4fe1\u53f7\u5c5e\u6027\u7684\u590d\u6742\u795e\u7ecf\u7f16\u7801\u53ca\u5176\u4e0e\u4e3b\u4f53\u884c\u4e3a\u51b3\u7b56\u7684\u5173\u7cfb[57]\uff0c\u4ee5\u53ca\u5b83\u4eec\u5728\u65b0\u578b\u795e\u7ecf\u5f62\u6001\u4f20\u611f\u5668\u8bbe\u8ba1\u4e2d\u7684\u5e94\u7528\uff0c\u5c06\u589e\u5f3a\u4eba\u5de5\u667a\u80fd\u63d0\u53d6\u76f8\u5173\u4fe1\u606f\u5e76\u505a\u51fa\u5408\u9002\u51b3\u7b56\u7684\u80fd\u529b\u3002<\/span><\/section>\n
     <\/span><\/section>\n\n\n\n
    \n
    \u65b9\u68462\uff1a\u795e\u7ecf\u5f62\u6001\u901a\u4fe1\u534f\u8bae<\/span><\/strong><\/section>\n
     <\/span><\/section>\n
    \u50cf\u795e\u7ecf\u7cfb\u7edf\u4e00\u6837\uff0c\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u4f9d\u8d56\u4e8e\u6570\u5b57\u901a\u4fe1\uff1a\u4fe1\u606f\u7f16\u7801\u5728\u7535\u538b\u8109\u51b2\uff08\u6216\u5c16\u5cf0\uff09\u7684\u65f6\u95f4\u4e0a\u3002\u5728\u795e\u7ecf\u7ec4\u7ec7\u7684\u4e09\u7ef4\u7ed3\u6784\u7684\u652f\u6301\u4e0b\uff0c\u751f\u7269\u795e\u7ecf\u5143\u4e0e\u5de8\u5927\u7684\u6247\u5165\u548c\u6247\u51fa\u6709\u4e13\u95e8\u7684\u8fde\u63a5\u3002\u76f8\u53cd\uff0c\u7845\u795e\u7ecf\u5143\u53ea\u80fd\u5728\u4e8c\u7ef4\u5e73\u9762\u4f7f\u7528\u5bfc\u7ebf\uff0c\u4f46\u5b83\u4eec\u53ef\u4ee5\u5229\u7528\u91d1\u5c5e\u5bfc\u7ebf\u6bd4\u8f74\u7a81\u5feb\u51e0\u4e2a\u6570\u91cf\u7ea7\u7684\u4f20\u8f93\u901f\u5ea6\u3002\u56e0\u6b64\uff0c\u901a\u8fc7\u91c7\u7528\u65f6\u95f4\u591a\u8def\u590d\u7528\u6280\u672f\uff0c\u4f7f\u7528\u76f8\u540c\u7684\u7269\u7406\u7ebf\u8def\u53d1\u9001\u4e0d\u540c\u795e\u7ecf\u5143\u7684\u8109\u51b2\u4fe1\u53f7\uff0c\u53ef\u4ee5\u90e8\u5206\u89e3\u51b3\u7269\u7406\u8fde\u63a5\u4e0a\u7684\u8fd9\u4e9b\u9650\u5236\u3002\u4e3a\u4e86\u533a\u5206\u5728\u540c\u4e00\u6839\u5bfc\u7ebf\u4e0a\u4f20\u64ad\u7684\u8109\u51b2\uff0c\u6e90\u6216\u76ee\u6807\u795e\u7ecf\u5143\u7684\u8eab\u4efd\u4f1a\u7f16\u7801\u5728\u6570\u5b57\u4e16\u754c\u4e2d\uff0c\u5b9e\u73b0\u6240\u8c13\u7684\u5730\u5740\u4e8b\u4ef6\u8868\u5f81<\/span>\uff08Address Event Representation\uff0cAER\uff09<\/span>\u534f\u8bae[143]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u81ea90\u5e74\u4ee3\u672b\u4ee5\u6765\uff0cAER\u5df2\u7ecf\u88ab\u795e\u7ecf\u5f62\u6001\u793e\u533a\u5728\u8bb8\u591a\u4e0d\u540c\u7684\u8bbe\u7f6e\u53ca\u53d8\u4f53\u4e2d\u5b9e\u65bd\u3002\u5728\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u96c6\u6210\u8fd9\u79cd\u901a\u4fe1\u534f\u8bae\u7684\u9700\u6c42\u5b9a\u4e49\u4e86\u4e00\u7cfb\u5217\u7684\u8981\u6c42\uff0c\u5982\u4e8b\u4ef6\u901a\u4fe1\u7684\u7a00\u758f\u6027\u3001\u9ad8\u566a\u58f0\u6291\u5236\u3001\u4f4e\u5ef6\u8fdf\u3001\u8db3\u591f\u7684\u5e26\u5bbd\u548c\u6700\u5c0f\u6570\u91cf\u7684\u5bfc\u7ebf\uff0c\u8fd9\u4e9b\u90fd\u53ef\u4ee5\u5bfc\u81f4\u5e7f\u6cdb\u91c7\u7528\u7684\u6807\u51c6\u7684\u5b9a\u4e49\u3002\u5728\u7ec4\u5408\u591a\u4e2a\u5206\u5e03\u5f0f\u4f20\u611f\u5668\u7684\u673a\u5668\u4eba\u5e94\u7528\u4e2d\uff0c\u5f02\u6b65\u4e32\u884c\u5b9e\u73b0\u662f\u6700\u597d\u7684[147]\uff0c\u56e0\u4e3a\u4f7f\u7528\u540c\u6b65\u534f\u8bae\u5c06\u9700\u8981\u5305\u62ec\u548c\u540c\u6b65\u591a\u4e2a\u65f6\u949f\u3002\u9274\u4e8e\u6700\u8fd1\u5927\u578b\u884c\u4e1a\u5bf9\u795e\u7ecf\u5f62\u6001\u6280\u672f\u7684\u5438\u6536\u548c\u7814\u7a76\u56e2\u4f53\u7684\u589e\u957f\uff0c\u5b9a\u4e49\u4e00\u4e2a\u901a\u7528\u6807\u51c6\u662f\u5fc5\u8981\u7684\uff0c\u4e5f\u662f\u65f6\u673a\u5408\u9002\u7684\uff0c\u53ef\u4ee5\u5141\u8bb8\u4e0d\u540c\u4f20\u611f\u3001\u8ba1\u7b97\u548c\u6267\u884c\u6a21\u5757\u4e4b\u95f4\u7684\u4e92\u64cd\u4f5c\u6027\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u6839\u636e\u56fe3\u4e2d\u5e94\u7528\u3001\u6570\u636e\u548c\u7269\u7406\u5c42\u7684\u5b9a\u4e49\uff0c\u53ef\u4ee5\u5bf9\u901a\u4fe1\u534f\u8bae\u8fdb\u884c\u6807\u51c6\u5316\u548c\u4f18\u5316\u3002\u5e94\u7528\u5c42\u5305\u62ec\u53d1\u9001\u6216\u63a5\u6536\u5f02\u6b65\u5730\u5740\u4e8b\u4ef6\u7684\u795e\u7ecf\u5f62\u6001\u7ec4\u4ef6\u3002\u5728\u5e94\u7528\u5c42\uff0c\u65f6\u95f4\u4ee3\u8868\u81ea\u8eab\uff1a\u4e8b\u4ef6\u5728\u53d1\u751f\u65f6\u662f\u5f02\u6b65\u901a\u4fe1\u7684\u3002\u5728\u6570\u636e\u5c42\uff0c\u4e8b\u4ef6\u88ab\u6346\u7ed1\u5230\u66f4\u5927\u7684\u5305\u4e2d\uff0c\u5305\u7684\u5927\u5c0f\u53ef\u4ee5\u56fa\u5b9a\u4e5f\u53ef\u4ee5\u53d8\u5316\u3002\u5982\u679c\u8981\u4f7f\u7528MIPI\u6216USB\u7b49\u826f\u597d\u5efa\u7acb\u7684\u6807\u51c6\uff0c\u8fd9\u662f\u4e00\u4e2a\u5fc5\u8981\u7684\u6b65\u9aa4\u3002\u5c06AER\u63a5\u53e3\u5230\u540c\u6b65\u8bbe\u65bd\uff0c\u9700\u8981\u5728\u6570\u636e\u6d41\u4e2d\u5d4c\u5165\u4e8b\u4ef6\u7684\u7cbe\u786e\u65f6\u95f4\u4fe1\u606f<\/span>\uff08\u4f8b\u5982\u901a\u8fc7\u65f6\u95f4\u6233\uff09<\/span>\u3002\u7269\u7406\u5c42\u5b9a\u4e49\u4e86\u4f20\u8f93\u5b9e\u9645\u6bd4\u7279\u7684\u65b9\u5f0f\u3002\u4e3a\u4e86\u9002\u5e94\u6700\u5148\u8fdb\u7684\u89c6\u89c9\u4f20\u611f\u5668\u6240\u9700\u7684\u5e26\u5bbd\uff0c\u53ef\u4ee5\u4f7f\u7528\u6210\u719f\u7684\u9ad8\u901f\u901a\u4fe1\u6807\u51c6\uff0c\u5982\u5dee\u5206\u4fe1\u53f7\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5bf9\u4e8e\u6bcf\u4e00\u5c42\uff0c\u793e\u533a\u5c06\u5fc5\u987b\u5b9a\u4e49\u901a\u7528\u89c4\u8303\uff0c\u5e76\u5f00\u53d1\u5fc5\u8981\u7684\u82af\u7247\u96c6\u6210\u63a5\u53e3\u7535\u8def\uff0c\u6d88\u9664\u5bf9\u6865\u63a5\u8bbe\u5907<\/span>\uff08\u5982FPGA\uff09<\/span>\u7684\u9700\u6c42\u3002\u4ece\u8fd9\u4e2a\u89d2\u5ea6\u6765\u770b\uff0c\u6807\u51c6\u5e94\u7528\u5c42\u7684\u5b9a\u4e49\u5c06\u964d\u4f4e\u5f00\u53d1\u8bb8\u591a\u7279\u5b9a\u5e94\u7528\u63a5\u53e3\u7684\u6210\u672c\u3002\u7136\u800c\uff0c\u6700\u4f73\u534f\u8bae\u7684\u9700\u6c42\u5b9a\u4e49\u5728\u793e\u533a\u4e2d\u4ecd\u7136\u662f\u4e00\u4e2a\u5f00\u653e\u7684\u95ee\u9898\uff0c\u5e76\u5f3a\u70c8\u4f9d\u8d56\u4e8e\u5e94\u7528\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    <\/section>\n

    \u56fe3. AER\uff1a\u4e8b\u4ef6\u9a71\u52a8\u4f20\u611f\u5668\uff08\u4e09\u89d2\u5f62\u6591\u5757\uff0c\u6bcf\u4e2a\u6591\u5757\u67096\u4e2a\u611f\u77e5\u533a\u57df\uff09\u4e0e\u8109\u51b2\u795e\u7ecf\u7f51\u7edc\uff08SNN\uff09\u82af\u7247\u4e4b\u95f4\u7684\u901a\u4fe1\u793a\u4f8b\u3002\u6bcf\u4e2a\u4f20\u611f\u5143\u4ef6\u53d1\u51fa\u5f02\u6b65\u8109\u51b2\uff0c\u901a\u8fc7\u4ef2\u88c1\u53d1\u9001\u7ed9\u603b\u7ebf\u3002\u540c\u6837\u88ab\u89e3\u590d\u7528\u9001\u81f3SNN\u82af\u7247\u4e0a\u6b63\u786e\u7684\u7a81\u89e6\u3002<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

     <\/span><\/section>\n

    \n
    2. \u795e\u7ecf\u5f62\u6001\u884c\u4e3a<\/span><\/strong><\/span><\/section>\n<\/h2>\n

    <\/span><\/section>\n
    \u673a\u5668\u4eba\u4e3a\u4e86\u4e0e\u73af\u5883\u8fdb\u884c\u6709\u6548\u7684\u4ea4\u4e92\uff0c\u9700\u8981\u9009\u62e9\u6700\u6070\u5f53\u7684\u884c\u4e3a\uff0c\u4f9d\u9760\u5bf9\u5176\u4ed6\u667a\u80fd\u4f53\u7684\u6ce8\u610f\u3001\u5206\u914d\u3001\u9884\u671f\u3001\u63a8\u7406\uff0c\u6839\u636e\u5b83\u4eec\u5bf9\u5916\u90e8\u4e16\u754c\u548c\u81ea\u8eab\u72b6\u6001\u7684\u7406\u89e3\uff0c\u89c4\u5212\u6b63\u786e\u7684\u52a8\u4f5c\u548c\u52a8\u4f5c\u5e8f\u5217\u3002\u751f\u7269\u667a\u80fd\u884c\u4e3a\u5c06\u6267\u884c\u9ad8\u6c34\u5e73\u4efb\u52a1\u7684\u80fd\u529b\uff0c\u4e0e\u4ece\u7ecf\u9a8c\u4e2d\u4f30\u8ba1\u672a\u6765\u4e8b\u4ef6\u7684\u540e\u679c\u8054\u7cfb\u8d77\u6765\uff0c\u4ea7\u751f\u76ee\u6807\u5bfc\u5411\u7684\u884c\u52a8\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5173\u4e8e\u54fa\u4e73\u52a8\u7269\u795e\u7ecf\u7cfb\u7edf\u5982\u4f55\u8fdb\u884c\u667a\u80fd\u884c\u4e3a\u7684\u4e00\u4e2a\u5047\u8bbe\u662f\uff0c\u6574\u4e2a\u5927\u8111\u76ae\u5c42\u4e2d\u4f7f\u7528\u4e00\u7ec4\u6709\u9650\u7684\u8ba1\u7b97\u57fa\u5143\u3002\u8ba1\u7b97\u57fa\u5143\u662f\u53ef\u7ec4\u5408\u7684\u7ed3\u6784\u5355\u5143\uff0c\u53ef\u4ee5\u4ece\u591a\u4e2a\u611f\u89c9\u6a21\u5f0f\u4e2d\u63d0\u53d6\u4fe1\u606f\uff0c\u5e76\u534f\u8c03\u4e00\u7ec4\u590d\u6742\u7684\u52a8\u4f5c\uff0c\u8fd9\u4e9b\u52a8\u4f5c\u4f9d\u8d56\u4e8e\u667a\u80fd\u4f53\u7684\u76ee\u6807\u548c\u5076\u7136\u573a\u666f<\/span>\uff08\u4f8b\u5982\uff0c\u969c\u788d\u7684\u5b58\u5728\u3001\u4eba\u7c7b\u534f\u4f5c\u3001\u5de5\u5177\uff09<\/span>\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u76ee\u524d\uff0c\u5728\u795e\u7ecf\u5f62\u6001\u57df\u4e2d\u9009\u62e9\u6700\u5408\u9002\u7684\u884c\u4e3a\u6216\u52a8\u4f5c\u4ec5\u9650\u4e8e\u6982\u5ff5\u9a8c\u8bc1\u6a21\u578b\u3002\u65b9\u68463\u56de\u987e\u4e86\u5728\u795e\u7ecf\u5f62\u6001\u8bbe\u5907\u4e0a\u5b9e\u73b0\u611f\u77e5\u548c\u5904\u7406\u7684\u673a\u5668\u4eba\u7684\u7814\u7a76\u73b0\u72b6\u3002\u5927\u591a\u6570\u5b9e\u73b0\u5305\u62ec\u4e00\u4e2a\u53cc\u7a33\u6001\u7f51\u7edc\uff0c\u533a\u5206\u6a21\u7cca\u7684\u5916\u90e8\u523a\u6fc0[58]\u548c\u9009\u62e9\u4e24\u4e2a\u53ef\u80fd\u7684\u52a8\u4f5c\u4e4b\u4e00\u3002\u52a8\u6001\u573a\u7406\u8bba<\/span>\uff08Dynamic Field Theory\uff0cDFT\uff09<\/span>\u662f\u5efa\u6a21\u8fd9\u7c7b\u7f51\u7edc\u7684\u53c2\u8003\u6846\u67b6\uff0c\u5176\u57fa\u672c\u8ba1\u7b97\u5355\u5143\u662f\u4e00\u4e2a\u52a8\u6001\u795e\u7ecf\u573a<\/span>\uff08Dynamic Neural Field\uff0cDNF\uff09<\/span>[59]\uff0c\u5728\u8ba1\u7b97\u4e0a\u76f8\u5f53\u4e8e\u4e00\u4e2a\u8f6f\u8d62\u8005\u901a\u5403\u7f51\u7edc<\/span>\uff08Winner-Take-All\uff0cWTA\uff09<\/span>\u3002\u5982\u65b9\u68464\u6240\u8ff0\uff0cWTA\u7f51\u7edc\u662f\u53ef\u4ee5\u5728\u795e\u7ecf\u5f62\u6001\u786c\u4ef6\u4e2d\u5b9e\u73b0\u7684\u6838\u5fc3\u8ba1\u7b97\u57fa\u5143\u4e4b\u4e00\u3002\u56e0\u6b64\uff0c\u52a8\u6001\u795e\u7ecf\u573a\u4ee3\u8868\u4e86\u4e00\u4e2a\u7406\u60f3\u7684\u6846\u67b6\uff0c\u53ef\u4ee5\u5c06\u667a\u80fd\u6a21\u578b\u8f6c\u6362\u4e3a\u4e0e\u795e\u7ecf\u5f62\u6001\u67b6\u6784\u517c\u5bb9\u7684\u8bed\u8a00\u7684\u53ef\u884c\u5b9e\u73b0[60]\u3002\u8fd9\u7c7b\u7cfb\u7edf\u76ee\u524d\u9762\u4e34\u7684\u6311\u6218\u662f\uff0c\u4e3a\u5728\u4e0d\u786e\u5b9a\u6761\u4ef6\u4e0b\u53c2\u4e0e\u51b3\u7b56\u7684\u76ae\u5c42\u533a\u57df\u5f00\u53d1\u4e00\u4e2a\u591a\u533a\u57df\u548c\u591a\u4efb\u52a1\u7684\u8109\u51b2\u795e\u7ecf\u5143\u6a21\u578b\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u673a\u5668\u4eba\u6280\u672f\u7684\u4e0d\u540c\u5206\u652f\u5e94\u5bf9\u8fd9\u4e00\u6311\u6218\u65f6\uff0c\u901a\u8fc7\u63a2\u7d22\u751f\u7269\u542f\u53d1\u7684\u5177\u8eab\u8111\u7ed3\u6784\u6765\u5b9e\u73b0\u66f4\u9ad8\u7ea7\u522b\u7684\u529f\u80fd[61]\uff0c\u4e3a\u673a\u5668\u4eba\u63d0\u4f9b\u4e0e\u73b0\u5b9e\u4e16\u754c\u5b9e\u65f6\u4ea4\u4e92\u7684\u6280\u80fd\u3002\u8fd9\u4e9b\u67b6\u6784\u9700\u8981\u901a\u8fc7\u4e0e\u73af\u5883\u7684\u4ea4\u4e92\u4ee5\u53ca\u901a\u8fc7\u589e\u91cf\u5f00\u53d1\u9636\u6bb5\u6765\u5b66\u4e60\u611f\u89c9\u8fd0\u52a8\u6280\u80fd[62,63]\u3002<\/span><\/section>\n
     <\/span><\/section>\n\n\n\n
    \n
    \u65b9\u68463\uff1a\u795e\u7ecf\u5f62\u6001\u673a\u5668\u4eba<\/span><\/section>\n
     <\/span><\/section>\n
    \u8f6e\u5f0f\u673a\u5668\u4eba<\/span><\/strong><\/section>\n
    \u8f6e\u5f0f\u673a\u5668\u4eba<\/span>\uff08Wheeled Robots\uff09<\/span>\u5e38\u88ab\u7528\u6765\u6267\u884c\u7a7a\u95f4\u5bfc\u822a\u4efb\u52a1\u3002\u7136\u800c\uff0c\u867d\u7136\u6700\u8fd1\u5728\u7814\u7a76\u65b9\u9762\u53d6\u5f97\u4e86\u8fdb\u5c55[300,148-150]\uff0c\u4f46\u662f\u673a\u5668\u4eba\u5728\u5730\u56fe\u751f\u6210\u65f6\u89c6\u89c9\u573a\u666f\u53d8\u5316\u7684\u9c81\u68d2\u6027\uff0c\u6216\u8005\u5b58\u50a8\u5730\u56fe\u548c\u8def\u5f84\u89c4\u5212\u6570\u636e\u7684\u529f\u8017\u548c\u6548\u80fd\u65b9\u9762\uff0c\u4ecd\u7136\u65e0\u6cd5\u4e0e\u751f\u7269\u7cfb\u7edf\u76f8\u6bd4\u3002\u795e\u7ecf\u5f62\u6001\u8f6e\u5f0f\u673a\u5668\u4eba\u88ab\u7528\u6765\u9a8c\u8bc1\u795e\u7ecf\u7cfb\u7edf\u5982\u4f55\u4ee5\u4f4e\u529f\u8017\u548c\u6709\u9650\u8d44\u6e90<\/span>\uff08\u4f8b\u5982\u5229\u7528\u8109\u51b2\u795e\u7ecf\u7f51\u7edc\uff09<\/span>\u5b8c\u6210\u4efb\u52a1\u3002\u8fd9\u4e9b\u7814\u7a76\u8fd8\u5904\u4e8e\u521d\u671f\u9636\u6bb5\uff0c\u4f46\u662f\u5728\u5c0f\u578b\u673a\u5668\u4eba\u667a\u80fd\u4f53[58,148,151,152]\u4e2d\u5df2\u7ecf\u5b58\u5728\u5229\u7528\u786c\u4ef6\u8109\u51b2\u795e\u7ecf\u7f51\u7edc\u5b9e\u73b0\u57fa\u672c\u5bfc\u822a\u4efb\u52a1<\/span>\uff08\u5982\u5de6\u8f6c\/\u53f3\u8f6c\u6216\u8c03\u8c10\u673a\u5668\u4eba\u7684\u901f\u5ea6\u7b49\uff09<\/span>\u7684\u6210\u529f\u5b9e\u4f8b\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    iCub<\/strong><\/span><\/section>\n
    iCub\u662f\u4e00\u79cd\u7c7b\u4eba\u578b\u673a\u5668\u4eba\uff0c\u53ef\u4ee5\u7528\u6765\u4e0e\u795e\u7ecf\u5f62\u6001\u8bbe\u5907\u8fdb\u884c\u95ed\u73af\u5b9e\u9a8c\uff0c\u56e0\u4e3a\u5b83\u652f\u6301\u4f7f\u7528\u4e8b\u4ef6\u9a71\u52a8\u7684\u89c6\u89c9\u548c\u4e0e\u795e\u7ecf\u5f62\u6001\u5904\u7406\u5668\u4ea4\u4e92\u7684\u89e6\u6478\u4f20\u611f\u5668\u3002\u6587\u732e[56]\u7684\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u795e\u7ecf\u5f62\u6001\u7ed3\u6784\uff0c\u7528\u4e8e\u4f7f\u7528Loihi\u795e\u7ecf\u5f62\u6001\u5904\u7406\u5668\u5b9e\u73b0\u5934\u90e8\u59ff\u6001\u4f30\u8ba1\u548c\u573a\u666f\u8868\u793a[70]\u3002\u5728\u4e00\u4e2a\u57fa\u4e8e\u52a8\u6001\u795e\u7ecf\u573a<\/span>\uff08DNF\uff09<\/span>\u7684\u795e\u7ecf\u8def\u5f84\u6574\u5408\u8fc7\u7a0b\u4e2d\uff0c\u7f51\u7edc\u6574\u5408\u4e86\u7535\u673a\u547d\u4ee4\u6765\u4f30\u8ba1iCub\u7684\u5934\u90e8\u59ff\u6001\u3002\u6587\u732e[55]\u4f7f\u7528\u7684\u95ed\u73afPID\u63a7\u5236\u5668\uff0c\u91c7\u7528\u5173\u7cfb\u578b\u795e\u7ecf\u7f51\u7edc\u63a7\u5236iCub\u5934\u90e8\u65cb\u8f6c\u3002\u8be5\u7f51\u7edc\u91c7\u7528\u6df7\u5408\u4fe1\u53f7DYNAP-SE\u795e\u7ecf\u5f62\u6001\u5904\u7406\u5668\u5b9e\u73b0[69]\u3002\u6587\u732e[153] Vestibulo-Ocular Reflex<\/span> (VOR) <\/span>\u91c7\u7528\u81ea\u9002\u5e94\u5b9e\u65f6\u63a7\u5236\u73af\u8def\u5185\u7684\u8109\u51b2\u5c0f\u8111\u6a21\u578b\u3002VOR\u534f\u8bae\u79fb\u52a8\u4e86iCub\u7684\u5934\u548c\u773c\u775b\uff0c\u5176\u4e2d\u5305\u542b\u4e00\u4e2a\u6444\u50cf\u5934\uff0c\u53ef\u4ee5\u7528\u6765\u68c0\u67e5\u89c6\u7f51\u819c\u4e0a\u7684\u56fe\u50cf\u8fd0\u52a8\u3002\u5728\u8fd9\u4e9b\u6982\u5ff5\u8bc1\u660e\u4e2d\uff0c\u673a\u5668\u4eba\u8868\u73b0\u51fa\u9002\u5e94\u884c\u4e3a\uff0c\u4f46\u662f\u4ec5\u9650\u4e8e\u4e00\u4e2a\u81ea\u7531\u5ea6\u3002\u65e0\u4eba\u673aSNNs\u662f\u63a7\u5236\u9700\u8981\u5feb\u901f\u53cd\u5e94\u65f6\u95f4<\/span>\uff08\u4f8b\u5982UAV\u7684\u4f4e\u5ef6\u8fdf\u548c\u5feb\u901f\u54cd\u5e94\u65f6\u95f4\uff09<\/span>\u7684\u8d44\u6e90\u53d7\u9650\u667a\u80fd\u4f53\u7684\u6709\u6548\u9014\u5f84\u3002\u6587\u732e[154]\u4e2d\u7684\u65e0\u4eba\u673a\u6267\u884c\u5149\u6d41\u7740\u9646\uff0c\u4f34\u968f\u7740\u6f14\u5316\u7684SNN\u9ad8\u9891<\/span>\uff08\u8d85\u8fc7250kHz\uff09<\/span>\u8fd0\u884c\u3002\u4e0e\u5e38\u89c4\u79fb\u52a8GPU\u76f8\u6bd4\uff0c\u8868\u73b0\u4e3a\u66f4\u4f4e\uff081\/75\uff09\u7684\u529f\u8017\uff0c\u6027\u80fd\u6ca1\u6709\u4efb\u4f55\u635f\u5931\uff0c\u4f46\u4ecd\u7136\u662f\u4e00\u4e2a\u81ea\u7531\u5ea6\u3002\u7c7b\u4f3c\u7684\u5de5\u4f5c\u662f\u5c06Loihi\u5e94\u7528\u5230\u65e0\u4eba\u673a\u4e0a\uff0c\u5229\u7528\u8109\u51b2\u6bd4\u4f8b\u79ef\u5206\u5fae\u5206<\/span>\uff08Proportional Integral Derivative\uff0cPID\uff09<\/span>\u63a7\u5236\u5355\u4e2a\u81ea\u7531\u5ea6\u3002\u8be5\u63a7\u5236\u5668\u7528\u795e\u7ecf\u5143\u96c6\u7fa4\u6784\u5efa\uff0c\u5176\u4e2d\u5355\u4e2a\u8109\u51b2\u643a\u5e26\u4f20\u611f\u548c\u63a7\u5236\u4fe1\u53f7[77]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u673a\u68b0\u81c2<\/span><\/strong><\/span><\/section>\n
    \u6587\u732e[155]\u7684\u4f5c\u8005\u6309\u7167\u5171\u540c\u57fa\u51c6\u6bd4\u8f83\u4e86Loihi\u548cSpiNNaker2\u8fd9\u4e24\u4e2a\u5e73\u53f0\u673a\u68b0\u81c2\u63a7\u5236\u7684\u8ba1\u7b97\u65f6\u95f4\u548c\u6709\u529f\u80fd\u91cf\u3002\u4e24\u4e2a\u5e73\u53f0\u5728\u7279\u5b9a\u53c2\u6570\u533a\u57df\u90fd\u662f\u9ad8\u6548\u7684\uff0cSpiNNaker2\u5728\u8f93\u5165\u7ef4\u6570\u8f83\u9ad8\u65f6\u6548\u7387\u66f4\u9ad8\uff0c\u800cLoihi\u5728\u8f93\u5165\u7ef4\u6570\u8f83\u4f4e\u65f6\u6548\u7387\u66f4\u9ad8\u3002\u53e6\u4e00\u4e2a\u4f8b\u5b50\u90e8\u7f72\u4e86\u57fa\u4e8e\u795e\u7ecf\u5de5\u7a0b\u6846\u67b6<\/span>\uff08NEF\uff09<\/span>\u7684\u795e\u7ecf\u5f62\u6001\u7b97\u6cd5\uff0c\u7528\u4e8e\u9006\u8fd0\u52a8\u5b66\u548cPID\u63a7\u5236\u7684\u516d\u81ea\u7531\u5ea6\u673a\u68b0\u81c2[156]\u3002\u8be5\u7b97\u6cd5\u4f7f\u7528Nengo\u8fdb\u884c\u8bbe\u8ba1\uff0c\u5e76\u5728Loihi\u4e0a\u8fdb\u884c\u8bc4\u4f30\u3002\u540c\u6837\uff0c\u6587\u732e[79]\u4e2d\u91c7\u7528\u8109\u51b2PID\u63a7\u5236\u56db\u81ea\u7531\u5ea6\u673a\u68b0\u81c2\u3002\u5c06\u8109\u51b2PID\u4e0ePFM\u7535\u673a\u63a7\u5236\u76f8\u7ed3\u5408\uff0c\u5f53\u6240\u6709\u7535\u673a\u540c\u65f6\u5de5\u4f5c\u65f6\uff0c\u7cfb\u7edf\u8fbe\u52301A\u4ee5\u4e0b\u7684\u7535\u6d41\u6d88\u8017\u3002\u5728\u73b0\u573a\u53ef\u7f16\u7a0b\u903b\u8f91\u95e8\u9635\u5217<\/span>\uff08FPGA\uff09<\/span>\u4e0a\u5b9e\u73b0\u63a7\u5236\u5668\uff0c\u53ef\u4ee5\u8fd0\u884c\u5728DYNAP-SE\u5e73\u53f0\uff0c\u673a\u5668\u4eba\u5173\u8282\u7684\u63a7\u5236\u547d\u4ee4\u88ab\u7845\u57fa\u795e\u7ecf\u5143\u96c6\u7fa4\u4e2d\u63a5\u6536\uff0c\u8fd9\u4e9b\u7845\u57fa\u795e\u7ecf\u5143\u4ea7\u751f\u7528\u4e8eFPGA\u8109\u51b2\u9891\u7387\u8c03\u5236<\/span>\uff08PFM\uff09<\/span>\u7684\u53c2\u8003\u4fe1\u53f7\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u8db3\u5f0f\u673a\u5668\u4eba\uff08Legged-robot\uff09<\/span><\/strong><\/section>\n
    \u4e2d\u67a2\u6a21\u5f0f\u53d1\u751f\u5668<\/span>\uff08CPG\uff09<\/span>\u662f\u4e00\u79cd\u4ea7\u751f\u548c\u63a7\u5236\u8282\u5f8b\u8fd0\u52a8\u7684\u8ba1\u7b97\u57fa\u5143\u3002\u8109\u51b2CPG\u6280\u672f\u88ab\u7528\u5728\u6606\u866b\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236\u3001\u534f\u8c03\u5355\u817f\u548c\u591a\u817f\u534f\u8c03\u8fd0\u52a8\u3002\u8109\u51b2CPG\u8868\u73b0\u51fa\u7a33\u5b9a\u534f\u8c03\u7684\u8fd0\u52a8\u6a21\u5f0f\uff0c\u5177\u6709\u9c81\u68d2\u6027\uff0c\u9002\u5e94\u5916\u90e8\u6270\u52a8[157]\uff0c\u53ef\u8fd0\u884c\u5728FPGA\u4e0a[158]\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
     <\/span><\/section>\n
    \u4e00\u65e6\u9009\u62e9\u5408\u9002\u7684\u884c\u4e3a\uff0c\u5c31\u5fc5\u987b\u5c06\u5176\u8f6c\u5316\u4e3a\u4e00\u7cfb\u5217\u52a8\u4f5c\u7684\u7ec4\u5408\u6216\u52a8\u6001\u8fd0\u52a8\u57fa\u5143\uff0c\u4ee5\u4ea7\u751f\u4e30\u5bcc\u7684\u590d\u6742\u52a8\u4f5c\u548c\u884c\u4e3a\u5207\u6362\uff0c\u4f8b\u5982\u901a\u8fc7\u4e2d\u67a2\u6a21\u5f0f\u53d1\u751f\u5668<\/span>\uff08Central Pattern Generator\uff0cCPG\uff09<\/span>\u4ea7\u751f\u7684\u884c\u8d70\u548c\u6e38\u6cf3\u7b49\u4e0d\u540c\u8282\u594f\u52a8\u4f5c\u4e4b\u95f4\u7684\u5207\u6362\u3002\u8fd9\u4e9b\u7cfb\u7edf\u5728\u4ea7\u751f\u591a\u6837\u5316\u52a8\u4f5c\u65b9\u9762\u7684\u7a33\u5b9a\u6027\u548c\u80fd\u529b\u5df2\u7ecf\u88ab\u6709\u6548\u8bc1\u660e[65]\u3002\u8fd9\u4fc3\u8fdb\u4e86\u5b83\u4eec\u5b9e\u65bd\u8109\u51b2\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8\u751f\u7269\u53ef\u5851\u6027[66]\u3002\u56e0\u6b64\uff0c\u673a\u5668\u4eba\u4ece\u52a8\u7269\u8fd0\u52a8\u6280\u80fd\u7684\u751f\u7269\u5b66\u4e2d\u83b7\u76ca\uff0c\u53ef\u4ee5\u4f5c\u4e3a\u5de5\u5177\u6d4b\u8bd5\u52a8\u7269\u79fb\u52a8\u548c\u8fd0\u52a8\u63a7\u5236\u6a21\u578b\uff0c\u4ee5\u53ca\u5b83\u4eec\u5982\u4f55\u53d7\u5230\u4f20\u611f\u53cd\u9988\u5f71\u54cd[67]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u867d\u7136\u4ece\u795e\u7ecf\u8ba1\u7b97\u4e2d\u5f97\u5230\u542f\u53d1\uff0c\u4f46\u662f\u53d7\u795e\u7ecf\u7cfb\u7edf\u542f\u53d1\u7684\u673a\u5668\u4eba\u6700\u8fd1\u624d\u5f00\u59cb\u4f7f\u7528\u8109\u51b2\u795e\u7ecf\u7f51\u7edc<\/span>\uff08Spiking Neural Network\uff0cSNN\uff09<\/span>\u548c\u751f\u7269\u4e0a\u53ef\u4fe1\u7684\u611f\u77e5\u8f93\u5165\uff0c\u4ee5\u53ca\u652f\u6301\u8109\u51b2\u795e\u7ecf\u7f51\u7edc\u548c\u5b66\u4e60\u7684\u76f8\u5e94\u8ba1\u7b97\u57fa\u5e95\u3002\u795e\u7ecf\u5f62\u6001\u6280\u672f\u671d\u7740\u8fd9\u4e2a\u65b9\u5411\u8fc8\u8fdb\u4e86\u4e00\u6b65\u3002\u8fd1\u5e74\u6765\uff0c\u5728\u5f00\u53d1\u5927\u89c4\u6a21\u7c7b\u8111\u8ba1\u7b97\u6280\u672f[68-71]\u65b9\u9762\u53d6\u5f97\u4e86\u5b9e\u8d28\u6027\u8fdb\u5c55\uff0c\u8fd9\u4e9b\u6280\u672f\u5141\u8bb8\u63a2\u7d22\u4e0d\u540c\u795e\u7ecf\u5904\u7406\u57fa\u5143\u7684\u8ba1\u7b97\u4f5c\u7528\uff0c\u4ee5\u6784\u5efa\u667a\u80fd\u7cfb\u7edf[72-74]\u3002\u867d\u7136\u4eba\u4eec\u5bf9\u8fd9\u4e9b\u529f\u80fd\u80cc\u540e\u7684\u795e\u7ecf\u6d3b\u52a8\u7684\u8ba4\u8bc6\u5728\u4e0d\u65ad\u589e\u52a0\uff0c\u4f46\u662f\u6211\u4eec\u8fd8\u4e0d\u80fd\u660e\u786e\u548c\u5b9a\u91cf\u5730\u5c06\u667a\u80fd\u4e0e\u795e\u7ecf\u7ed3\u6784\u548c\u6d3b\u52a8\u8054\u7cfb\u8d77\u6765\u3002\u8fd9\u963b\u788d\u4e86\u5927\u89c4\u6a21\u7cfb\u7edf\u7684\u914d\u7f6e\u4ee5\u5b9e\u73b0\u6709\u6548\u7684\u884c\u4e3a\u548c\u884c\u52a8\u89c4\u5212\u3002\u5f00\u53d1\u5de5\u5177\u4ee5\u8109\u51b2\u795e\u7ecf\u5143\u4e3a\u57fa\u7840\u6765\u5b9e\u73b0\u6570\u5b66\u529f\u80fd\u7684\u4e00\u4e2a\u6848\u4f8b\u662f\u795e\u7ecf\u5de5\u7a0b\u6846\u67b6<\/span>\uff08Neural Engineering Framework\uff0cNEF\uff09<\/span>[75]\uff0c\u5b83\u5df2\u7ecf\u88ab\u6210\u529f\u5730\u90e8\u7f72\u5230\u4e00\u4e2a\u5177\u6709\u81ea\u9002\u5e94\u7535\u673a\u63a7\u5236\u7684\u673a\u5668\u4eba\u624b\u81c2[76]\u3002NEF\u5f62\u5f0f\u5316\u5141\u8bb8\u4f7f\u7528\u795e\u7ecf\u5143\u4f5c\u4e3a\u8ba1\u7b97\u5355\u5143\uff0c\u5b9e\u73b0\u6807\u51c6\u63a7\u5236\u7406\u8bba\uff0c\u5374\u5ffd\u7565\u4e86\u5b9e\u73b0\u76f8\u540c\u529f\u80fd\u7684\u8111\u7ed3\u6784\u548c\u5178\u578b\u56de\u8def\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u76ee\u524d\u57fa\u4e8e\u7c7b\u8111\u8ba1\u7b97\u57fa\u5143\u7684\u8fd0\u52a8\u63a7\u5236\u7684\u7814\u7a76\uff0c\u4e3b\u8981\u96c6\u4e2d\u5728\u5c06\u6210\u719f\u7684\u673a\u5668\u4eba\u63a7\u5236\u5668\u8f6c\u6362\u4e3a\u5728\u795e\u7ecf\u5f62\u6001\u8bbe\u5907\u4e0a\u8fd0\u884c\u7684\u8109\u51b2\u795e\u7ecf\u7f51\u7edc[56,77-79]\u3002\u5c3d\u7ba1\u8bb8\u591a\u6210\u679c\u663e\u793a\u8fd9\u9879\u6280\u672f\u7684\u5e94\u7528\u6f5c\u529b\uff0c\u4f46\u8fd9\u4e9b\u5b9e\u73b0\u4ecd\u7136\u9075\u5faa\u4e00\u79cd\u6df7\u5408\u65b9\u6cd5\uff0c\u5373\u795e\u7ecf\u5f62\u6001\u6a21\u5757\u5fc5\u987b\u4e0e\u6807\u51c6\u7684\u673a\u5668\u4eba\u6a21\u5757\u5b9e\u73b0\u901a\u4fe1\u63a5\u53e3\u3002\u5728\u4e0a\u6587\u7684\u4f8b\u5b50\u4e2d\uff0c\u7535\u673a\u88ab\u5177\u6709\u4e13\u6709\u7b97\u6cd5\u548c\u5c01\u95ed\/\u65e0\u6cd5\u8bbf\u95ee\u7684\u7535\u5b50\u5143\u4ef6\u7684\u5d4c\u5165\u5f0f\u63a7\u5236\u5668\u6240\u9a71\u52a8\u3002\u56e0\u6b64\uff0c\u9700\u8981\u5bf9\u7531\u7ecf\u5178\u4f20\u611f\u5668\u6d4b\u91cf\u7684\u8fde\u7eed\u611f\u77e5\u4fe1\u53f7\u8fdb\u884c\u8109\u51b2\u7f16\u7801\uff0c\u5e76\u5c06\u8109\u51b2\u4fe1\u606f\u89e3\u7801\u4e3a\u4e0e\u7ecf\u5178\u7535\u673a\u63a7\u5236\u5668\u517c\u5bb9\u7684\u4fe1\u53f7\u3002\u8fd9\u5c31\u4e0d\u53ef\u907f\u514d\u5730\u9650\u5236\u4e86\u6df7\u5408\u7cfb\u7edf\u7684\u6027\u80fd\uff0c\u6027\u80fd\u6539\u5584\u9700\u8981\u91c7\u7528\u57fa\u4e8e\u7aef\u5230\u7aef\u7684\u4e8b\u4ef6\u5904\u7406\u673a\u5236\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5728\u8fd9\u65b9\u9762\uff0c\u7531\u4e8e\u7cfb\u7edf\u5c42\u7ea7\u7684\u63a5\u53e3\u95ee\u9898\uff0c\u6807\u51c6\u7535\u673a\u63a7\u5236\u5668\u53ca\u5176\u76f8\u5e94\u7684\u8109\u51b2\u8bbe\u5907\u7684\u6027\u80fd\u65e0\u6cd5\u5728\u76f8\u540c\u7684\u673a\u5668\u4eba\u4efb\u52a1\u4e0a\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\u3002\u4e3a\u4e86\u8bbe\u8ba1\u5b8c\u5168\u795e\u7ecf\u5f62\u6001\u7684\u7aef\u5230\u7aef\u673a\u5668\u4eba\u7cfb\u7edf\uff0c\u5fc5\u987b\u8bbe\u8ba1\u65b0\u7684\u57fa\u4e8e\u4e8b\u4ef6\u7684\u4f20\u611f\u5668<\/span>\uff08\u4f8b\u5982\uff0cIMU\u3001\u7f16\u7801\u5668\u3001\u538b\u529b\uff09<\/span>\u6765\u5f25\u8865\u73b0\u6709\u7684\u4f20\u611f\u5668<\/span>\uff08\u4f8b\u5982\u97f3\u9891\u3001\u89c6\u9891\u3001\u89e6\u6478\uff09<\/span>\u3002\u53e6\u5916\uff0c\u7535\u673a\u6216\u6267\u884c\u5668\u5e94\u7531\u8109\u51b2\u8bad\u7ec3\u76f4\u63a5\u63a7\u5236\uff0c\u4ece\u8109\u51b2\u5bbd\u5ea6\u8c03\u5236<\/span>\uff08PWM\uff09<\/span>\u8f6c\u53d8\u4e3a\u8109\u51b2\u9891\u7387\u8c03\u5236<\/span>\uff08PFM\uff09<\/span>[80\u201382]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u6b64\u5916\uff0c\u7aef\u5230\u7aef\u7684\u795e\u7ecf\u5f62\u6001\u673a\u5668\u4eba\u7cfb\u7edf\u53ef\u4ee5\u53d7\u76ca\u4e8e\uff0c\u5c06\u76ee\u524d\u673a\u5668\u4eba\u7814\u7a76\u4e2d\u4f7f\u7528\u7684\u57fa\u672c\u65b9\u6cd5<\/span>\uff08\u4f8b\u5982\uff0c\u6a21\u578b\u9884\u6d4b\u63a7\u5236\uff08MPC\uff09\u3001\u6bd4\u4f8b\u79ef\u5206\u5fae\u5206\uff08PID\uff09\uff09<\/span>\u66ff\u6362\u4e3a\u751f\u7269\u4e0a\u66f4\u53ef\u4fe1\u7684\u65b9\u6cd5<\/span>\uff08\u5982\u8fd0\u52a8\u795e\u7ecf\u5143-Golgi-\u808c\u68ad\u7ed3\u6784[83]\uff09<\/span>\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u76f4\u63a5\u7531\u795e\u7ecf\u5f62\u6001\u5904\u7406\u5668\u4e0a\u7684\u8109\u51b2\u795e\u7ecf\u7f51\u7edc\u56de\u8def\u5b9e\u73b0\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u65b9\u6cd5\u7684\u7f3a\u70b9\u5728\u4e8e\u8fd9\u4e9b\u5904\u7406\u5668\u6240\u4f7f\u7528\u7684\u6709\u9650\u5206\u8fa8\u7387\u548c\u566a\u58f0\u8ba1\u7b97\u57fa\u5e95\uff0c\u4ee5\u53ca\u7f3a\u4e4f\u4e00\u79cd\u65e2\u5b9a\u7684\u63a7\u5236\u7406\u8bba\uff0c\u5373\u5229\u7528\u8109\u51b2\u795e\u7ecf\u7f51\u7edc<\/span>\uff08\u4f8b\u5982\u6574\u5408\u3001\u9002\u5e94\u3001\u6574\u6d41\uff09<\/span>\u4e2d\u5b58\u5728\u7684\u7ebf\u6027\u548c\u975e\u7ebf\u6027\u7b97\u5b50\u3002\u63d0\u51fa\u7684\u751f\u7269\u542f\u53d1\u7684\u63a7\u5236\u7b56\u7565\u53ef\u80fd\u4f1a\u53d7\u76ca\u4e8e\u751f\u7269\u542f\u53d1\u6267\u884c\u5668\u7684\u4f7f\u7528\uff0c\u5982\u808c\u8171[48]\u3001\u6fc0\u52a8\u5242-\u62ee\u6297\u5242\u808c\u8089[84]\u3001\u8f6f\u6267\u884c\u5668[85]\u3002\u5728\u63d0\u4f9b\u66f4\u67d4\u987a\u7684\u884c\u4e3a\u7684\u540c\u65f6\uff0c\u8fd9\u4e9b\u884c\u4e3a\u5f15\u5165\u4e86\u4f20\u7edf\u65b9\u6cd5\u96be\u4e8e\u5b9e\u73b0\u63a7\u5236\u7684\u975e\u7ebf\u6027\uff0c\u4f46\u662f\u7b26\u5408\u7531\u795e\u7ecf\u5143\u548c\u7a81\u89e6\u7f51\u7edc\u9a71\u52a8\u7684\u751f\u7269\u9a71\u52a8\u7684\u5185\u5728\u7279\u6027\u3002<\/span><\/section>\n
     <\/span><\/section>\n\n\n\n
    \n
    \u65b9\u68464\uff1a\u786c\u4ef6\u795e\u7ecf\u57fa\u5143\u8bcd\u5178<\/span><\/strong><\/span><\/section>\n
     <\/span><\/section>\n
    \u4f20\u611f\u5668<\/span><\/strong>\u5c06\u6a21\u62df\u548c\u8fde\u7eed\u7684\u7269\u7406\u4fe1\u53f7\u8f6c\u53d8\u6210\u6a21\u62df\u795e\u7ecf\u611f\u77e5\u7f16\u7801\u7684\u7535\u79bb\u6563\u8109\u51b2\u3002\u4f9d\u9760\u7269\u7406\u4f4d\u7f6e\u3001\u5f62\u72b6\u548c\u5c40\u90e8\u8ba1\u7b97\uff0c\u5b83\u4eec\u53ef\u4ee5\u91c7\u7528\u975e\u5e73\u5eb8\u65b9\u5f0f\u5bf9\u4f20\u611f\u4fe1\u53f7\u8fdb\u884c\u9884\u5904\u7406\u3002\u4f8b\u5982\uff0c\u89c6\u89c9\u795e\u7ecf\u5f62\u6001\u4f20\u611f\u5668\u4f5c\u4e3a\u8fb9\u7f18\u7279\u5f81\u63d0\u53d6\u5668[11]\uff0c\u795e\u7ecf\u5f62\u6001\u8033\u8717\u8d77\u9891\u7387\u4f5c\u4e3a\u8c03\u8c10\u6ee4\u6ce2\u5668[159]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u795e\u7ecf\u5143<\/span><\/strong>\u4f1a\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\u6574\u5408\u591a\u6e90\u4fe1\u606f\uff0c\u5e76\u6839\u636e\u5f71\u54cd\u5176\u72b6\u6001\u7684\u591a\u4e2a\u56e0\u7d20\uff0c\u901a\u8fc7\u6570\u5b57\u7535\u538b\u8109\u51b2<\/span>\uff08\u52a8\u4f5c\u7535\u4f4d\u6216\u8109\u51b2\uff09<\/span>\u5c06\u6a21\u62df\u8fd0\u7b97\u7ed3\u679c\u4f20\u9012\u7ed9\u5176\u4ed6\u795e\u7ecf\u5143\u3002\u8d77\u59cb\u4e8eHodgkin\u548cHuxley\u795e\u7ecf\u5143\u6a21\u578b[160]\u7684\u7845\u57fa\u5b9e\u73b0\uff0c\u5176\u4e2d\u4e0d\u540c\u7684\u79bb\u5b50\u7535\u6d41\u8c03\u8282\u819c\u7535\u4f4d\uff0c\u4eba\u4eec\u63d0\u51fa\u4e86\u66f4\u7d27\u51d1\u7684\u56de\u8def\u6765\u66f4\u597d\u5730\u6743\u8861\u7cbe\u786e\u5efa\u6a21\u548c\u529f\u80fd\u884c\u4e3a\u3002Leaky Integration-and-Fire\uff08LIF\uff09[162]\u6a21\u578b\u6355\u6349\u5230\u4e86\u8fd9\u4e00\u539f\u7406\uff0c\u968f\u65f6\u95f4\u63a8\u79fb\u6574\u5408\u8109\u51b2\uff0c\u5e76\u4ea7\u751f\u4e0e\u8f93\u5165\u6210\u6b63\u6bd4\u7684\u8f93\u51fa\u653e\u7535\u3002\u5e7f\u4e49LIF\u56de\u8def\u518d\u73b0\u795e\u7ecf\u5143\u7684\u7279\u5f81\u7c07\u72b6\u53d1\u653e<\/span>\uff08Burst\uff09<\/span>\u884c\u4e3a[163-165]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u7a81\u89e6<\/span><\/strong>\u8fde\u63a5\u795e\u7ecf\u5143\uff0c\u4ecb\u5bfc\u4fe1\u606f\u5728\u795e\u7ecf\u5143\u4e4b\u95f4\u7684\u4f20\u64ad\u3002\u5b83\u4eec\u6700\u7b80\u5355\u7684\u5b9e\u73b0\u65b9\u5f0f\u662f\u5411\u795e\u7ecf\u5143\u819c\u5185\u6ce8\u5165\u4e00\u5b9a\u91cf\u7535\u6d41\uff1b\u4f7f\u7528\u5c11\u91cf\u6676\u4f53\u7ba1\u6765\u589e\u52a0\u7a81\u89e6\u540e\u7535\u6d41\u7684\u65f6\u95f4\u52a8\u6001[166]\u3002\u8be5\u4fe1\u606f\u901a\u8fc7\u5174\u594b\u6216\u6291\u5236\u8fde\u63a5\u4f20\u9012\uff0c\u589e\u52a0\u6216\u51cf\u5c11\u63a5\u6536\u795e\u7ecf\u5143\u7684\u6d3b\u6027\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u53ef\u5851\u6027<\/span><\/strong>\uff08Plasticity\uff09<\/span>\u662f\u6839\u636e\u7a81\u89e6\u7684\u72b6\u6001\u548c\u8f93\u5165\u6d3b\u52a8\u6539\u53d8\u795e\u7ecf\u8ba1\u7b97\u548c\u7a81\u89e6\u4f20\u9012\u884c\u4e3a\u7684\u673a\u5236\u3002\u5b83\u652f\u6301\u81ea\u9002\u5e94\u548c\u5b66\u4e60\u3002\u4e00\u4e9b\u7535\u8def\u5b9e\u73b0\u4e86\u77ed\u65f6<\/span>\uff08\u51e0\u5341\u6beb\u79d2\uff09<\/span>\u6d3b\u52a8\u76f8\u5173\u7684\u53ef\u5851\u6027\uff0c\u5982\u77ed\u65f6\u6291\u5236<\/span>\uff08STD\uff09<\/span>[167]\u548c\u77ed\u65f6\u6fc0\u52b1<\/span>\uff08STF\uff09<\/span>[168]\uff0c\u6216\u8109\u51b2\u9891\u7387\u9002\u5e94<\/span>\uff08SFA\uff09<\/span>[169]\uff0c\u6709\u52a9\u4e8e\u589e\u5f3a\u4f20\u8f93\u4fe1\u606f\u7684\u53d8\u5316\u548c\u8fc7\u6ee4\u6052\u5b9a\u6d3b\u52a8\u3002\u7531\u8fde\u63a5\u795e\u7ecf\u5143\u7684\u4e00\u81f4\u6fc0\u6d3b\u9a71\u52a8\u7684\u957f\u671f<\/span>\uff08\u79d2\u7ea7\uff09<\/span>\u53ef\u5851\u6027\u652f\u6301Hebbian\u7c7b\u578b\u7684\u5b66\u4e60[170\u2013175]\u3002\u7eb3\u7c73\u6280\u672f[46,176\u2013178]\u7684\u8fdb\u6b65\u6b63\u5728\u4fc3\u6210\u786c\u4ef6\u53ef\u5851\u6027\u57fa\u5143\uff0c\u671d\u7740\u5bc6\u96c6\u96c6\u6210\u7684\u65b9\u5411\u53d1\u5c55\u3002\u5728\u957f\u671f\u53ef\u5851\u6027\u8303\u56f4\u5185\uff0c\u5b66\u4e60\u7a81\u89e6\u4e2d\u7684\u591a\u4e2a\u65f6\u95f4\u5c3a\u5ea6\u4f7f\u7528\u79bb\u6563\u548c\u7ea6\u675f\u72b6\u6001[179]\u589e\u52a0\u7f51\u7edc\u7684\u8bb0\u5fc6\u5bb9\u91cf\u3002\u975e\u5e38\u957f\u671f\u7684\u53ef\u5851\u6027<\/span>\uff08\u4ee5\u5929\u4e3a\u957f\u5ea6\uff09<\/span>\u652f\u6301\u6574\u4f53\u7f51\u7edc\u6d3b\u52a8\u7684\u540c\u6001\u8c03\u8282\u3002\u9762\u5bf9\u7f51\u7edc\u7684\u957f\u671f\u53d8\u5316\u6216\u8f93\u5165\u523a\u6fc0\u7684\u53d8\u5316\uff0c\u4fdd\u6301\u5728\u529f\u80fd\u8303\u56f4\u5185[14].<\/span><\/section>\n
     <\/span><\/section>\n
    \u795e\u7ecf\u632f\u8361\u5668<\/span><\/strong>\uff08Neural Oscillator\uff09<\/span>\u53d1\u73b0\u4e8e\u795e\u7ecf\u76ae\u5c42\uff0c\u4f9d\u9760\u4e24\u4e2a\u76f8\u4e92\u8fde\u63a5\u7684\u795e\u7ecf\u7fa4\u4f53\u901a\u8fc7\u8282\u5f8b\u6d3b\u52a8\u7684\u4ea7\u751f\u6765\u652f\u6301\u7279\u5f81\u878d\u5408\u548c\u8fd0\u52a8\u534f\u8c03\u3002\u795e\u7ecf\u632f\u8361\u5668\u7684\u4e00\u4e2a\u5177\u4f53\u5b9e\u4f8b\u662f\u4e2d\u67a2\u6a21\u5f0f\u53d1\u751f\u5668<\/span>\uff08CPG\uff09<\/span>\u3002\u5b83\u4eec\u4f9d\u8d56\u4e8e\u795e\u7ecf\u5143\u8109\u51b2\u9891\u7387\u9002\u5e94\uff0c\u80fd\u591f\u4ea7\u751f\u4e30\u5bcc\u591a\u6837\u7684\u590d\u6742\u8fd0\u52a8\u548c\u8f6c\u6362\u884c\u4e3a\uff0c\u652f\u6301\u6b65\u884c\u3001\u6e38\u6cf3\u548c\u98de\u884c[100]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5ef6\u8fdf\/\u65f6\u95f4\u6d4b\u91cf<\/span><\/strong>\u7535\u8def\u4ece\u6606\u866b\u5927\u8111\u4e2d\u83b7\u5f97\u7075\u611f\uff0c\u5176\u4e2d\u8fd0\u52a8\u8ba1\u7b97\u4e3a\u523a\u6fc0\u4ece\u4e00\u4e2a\u611f\u77e5\u5143\u4ef6\u5230\u90bb\u5c45\u7684\u884c\u7a0b\u65f6\u95f4[180]\u3002\u8fd9\u79cd\u7c7b\u578b\u7684\u8ba1\u7b97\u57fa\u5143\u5bf9\u8fd0\u52a8\u4f30\u8ba1\u548c\u907f\u969c[88]\u662f\u6709\u7528\u7684\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5408\u4f5c-\u7ade\u4e89\u7f51\u7edc<\/span><\/strong>\u4f9d\u8d56\u4e8e\u5faa\u73af\u8fde\u63a5\u7684\u795e\u7ecf\u5143\u7f51\u7edc\u3002\u4ece\u529f\u80fd\u4e0a\u8bb2\uff0c\u5b83\u4eec\u5904\u7406\u4fe1\u606f\u7684\u65b9\u5f0f\u8003\u8651\u4e86\u8bed\u5883\u548c\u4e0d\u540c\u5355\u4f4d\u7684\u76f8\u5bf9\u6fc0\u6d3b\u3002\u5bf9\u4e00\u4e2a\u5174\u594b\u795e\u7ecf\u5143\u7fa4\u7684\u5faa\u73af\u6291\u5236<\/span>\uff08Recurrent Inhibition\uff09<\/span>\u6709\u52a9\u4e8e\u63d0\u9ad8\u795e\u7ecf\u5143\u5bf9\u7279\u5b9a\u7279\u5f81\u7684\u9009\u62e9\u6027\uff0c\u56e0\u4e3a\u5177\u6709\u76f8\u4f3c\u9009\u62e9\u6027\u7684\u795e\u7ecf\u5143\u76f8\u4e92\u5f3a\u5316\u5bf9\u65b9\u7684\u53cd\u5e94\uff0c\u6291\u5236\u5176\u4ed6\u88ab\u8c03\u8c10\u5230\u4e0d\u540c\u7279\u5f81\u7684\u795e\u7ecf\u5143\u7684\u54cd\u5e94[34,181]\u3002\u5173\u7cfb\u7f51\u7edc\u4f7f\u7528\u5faa\u73af\u8fde\u63a5\u6765\u8868\u793a\u53d8\u91cf\u4e4b\u95f4\u7684\u76f8\u5bf9\u4f9d\u8d56\u5173\u7cfb\uff0c\u4f8b\u5982\u8ba1\u7b97\u88ab\u6d4b\u4fe1\u53f7\u4e0e\u76ee\u6807\u503c[78]\u4e4b\u95f4\u7684\u8bef\u5dee\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u6267\u884c\u5668<\/span><\/strong>\uff08Actuator\uff09<\/span>\u79fb\u52a8\u5e76\u63a7\u5236\u8eab\u4f53\u7684\u90e8\u5206\uff0c\u8fbe\u5230\u9884\u671f\u7684\u52a8\u4f5c\u3002\u4e0d\u540c\u7c7b\u578b\u7684\u6267\u884c\u5668\u4f9d\u8d56\u4e8e\u4e0d\u540c\u7269\u7406\u6027\u8d28\u7684\u673a\u5668\u4eba\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \n

    <\/section>\n
    3. \u667a\u80fd\u611f\u77e5\u548c\u884c\u4e3a\u7684\u8ba1\u7b97\u57fa\u5143<\/span><\/strong><\/span><\/section>\n<\/h2>\n
     <\/span><\/section>\n
    \u9664\u4e86\u91c7\u7528\u795e\u7ecf\u5f62\u6001\u4f20\u611f\u5668\u5916\uff0c\u5b8c\u5168\u7aef\u5230\u7aef\u7684\u795e\u7ecf\u5f62\u6001\u4f20\u611f\u8fd0\u52a8\u7cfb\u7edf\u7684\u5b9e\u73b0\u9700\u8981\u4ece\u6839\u672c\u4e0a\u6539\u53d8\u4fe1\u53f7\u5904\u7406\u548c\u8ba1\u7b97\u7684\u65b9\u5f0f<\/strong>\u3002\u7279\u522b\u662f\uff0c\u5b83\u8981\u6c42\u5c06\u901a\u5e38\u4f7f\u7528\u6807\u51c6\u8ba1\u7b97\u5e73\u53f0<\/span>\uff08\u5982\u5fae\u63a7\u5236\u5668\u3001DSP\u6216FPGA\u5668\u4ef6\uff09<\/span>\u66ff\u6362\u4e3a\u53ef\u4ee5\u4f7f\u7528\u795e\u7ecf\u5f62\u6001\u5904\u7406\u7cfb\u7edf\u5b9e\u73b0\u7684\u8ba1\u7b97\u57fa\u5143\u3002\u4e5f\u5c31\u662f\u8bf4\uff0c\u7531\u5927\u91cf\u8109\u51b2\u795e\u7ecf\u5143\u5b9e\u73b0\u7684\u8ba1\u7b97\u57fa\u5143\uff0c\u8fd9\u4e9b\u795e\u7ecf\u5143\u4f5c\u7528\u4e8e\u4ece\u5185\u90e8\u548c\u5916\u90e8\u4f20\u611f\u5668\u83b7\u5f97\u7684\u4fe1\u53f7\uff0c\u5b66\u4e60\u9884\u6d4b\u7edf\u8ba1\u6570\u5b57\uff0c\u5904\u7406\u5e76\u5c06\u8fde\u7eed\u7684\u4f20\u611f\u8f93\u5165\u6d41\u8f6c\u6362\u6210\u79bb\u6563\u7684\u7b26\u53f7\uff0c\u5e76\u8868\u793a\u5185\u90e8\u72b6\u6001\u548c\u76ee\u6807\u3002\u901a\u8fc7\u5728\u795e\u7ecf\u5f62\u6001\u786c\u4ef6\u57fa\u5e95\u4e2d\u652f\u6301\u8fd9\u4e9b\u8ba1\u7b97\u57fa\u5143\uff0c\u8fd9\u6837\u7684\u67b6\u6784\u5c06\u80fd\u591f\u8fdb\u884c\u611f\u77e5\u3001\u89c4\u5212\u548c\u9884\u6d4b\u3002\u5b83\u5c06\u80fd\u591f\u4ea7\u751f\u72b6\u6001\u4f9d\u8d56\u7684\u51b3\u7b56\u548c\u7535\u673a\u547d\u4ee4\u6765\u9a71\u52a8\u673a\u5668\u4eba\u5e76\u4ea7\u751f\u81ea\u4e3b\u884c\u4e3a\u3002\u8fd9\u79cd\u65b9\u6cd5\u5c06\u5141\u8bb8\u96c6\u6210\u591a\u4e2a\u795e\u7ecf\u5f62\u6001\u611f\u77e5\u5904\u7406\u7cfb\u7edf\uff0c\u5b8c\u6210\u5b9e\u65f6\u611f\u77e5\u548c\u52a8\u4f5c\u4e4b\u95f4\u7684\u5faa\u73af\uff0c\u5177\u6709\u81ea\u9002\u5e94\u3001\u4f4e\u5ef6\u8fdf\u548c\u4f4e\u529f\u8017\u7279\u70b9\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5b9e\u73b0\u4e00\u4e2a\u6a21\u62df\u7269\u7406\u6216\u751f\u7269\u795e\u7ecf\u5904\u7406\u7cfb\u7edf\u7684\u786c\u4ef6\u57fa\u5e95\uff0c\u5e76\u4f7f\u7528\u5b83\u6765\u5b9e\u73b0\u8ba1\u7b97\u57fa\u5143\uff0c\u53ef\u4ee5\u88ab\u89c6\u4e3a\u4e00\u79cd\u5b9e\u73b0\u5177\u8eab\u667a\u80fd\u7684\u65b9\u6cd5<\/span><\/strong>\u3002\u5728\u8fd9\u65b9\u9762\uff0c\u4eba\u4eec\u53ef\u4ee5\u628a\u8fd9\u4e9b\u786c\u4ef6\u8ba1\u7b97\u57fa\u5143\u770b\u4f5c\u201c\u8ba4\u77e5\u7684\u5143\u7d20\u201d[86]\uff0c\u4ece\u800c\u53ef\u4ee5\u5728\u5177\u8eab\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u4e0e\u8ba4\u77e5\u673a\u5668\u4eba\u6280\u672f[87]\u7684\u7814\u7a76\u4e4b\u95f4\u67b6\u8d77\u6865\u6881\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u76ee\u524d\u5df2\u6709\u4e00\u4e9b\u5173\u4e8e\u795e\u7ecf\u5f62\u6001\u5904\u7406\u7cfb\u7edf\u7684\u6848\u4f8b\uff0c\u901a\u8fc7\u6a21\u62df\u771f\u5b9e\u795e\u7ecf\u5143\u7684\u52a8\u529b\u5b66\u8fdb\u884c\u4fe1\u53f7\u5904\u7406\u548c\u8ba1\u7b97\uff0c\u652f\u6301\u5b9e\u73b0\u8111\u542f\u53d1\u8ba1\u7b97\u57fa\u5143[42,69,88]\u3002\u8fd9\u4e9b\u7cfb\u7edf\u4e0d\u662f\u4f7f\u7528\u4e32\u884c\u3001\u4e8c\u8fdb\u5236\u3001\u65f6\u949f\u3001\u65f6\u5206\u590d\u7528\u8868\u793a\uff0c\u800c\u662f\u4f7f\u7528\u5927\u89c4\u6a21\u5e76\u884c\u7684\u5185\u5b58\u8ba1\u7b97\u6a21\u62df\u7535\u8def\u3002\u6700\u8fd1\uff0c\u5728\u5f00\u53d1\u9075\u5faa\u8fd9\u79cd\u5e76\u884c\u5185\u5b58\u8ba1\u7b97\u7b56\u7565\u7684\u5927\u89c4\u6a21\u8111\u542f\u53d1\u8ba1\u7b97\u6280\u672f\u65b9\u9762\u4e5f\u53d6\u5f97\u4e86\u5b9e\u8d28\u6027\u8fdb\u5c55\uff0c\u5176\u4e2d\u7845\u57fa\u7535\u8def\u53ef\u4ee5\u653e\u6162\u5230\u4e0e\u673a\u5668\u4eba\u5e94\u7528\u76f8\u5173\u7684\u65f6\u95f4\u5c3a\u5ea6[69,71,89]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u901a\u8fc7\u795e\u7ecf\u5f62\u6001\u6a21\u62df\u56de\u8def\u7684\u591a\u4e2a\u5e76\u884c\u9635\u5217\u7684\u52a8\u529b\u5b66\u5b9e\u73b0\u8ba1\u7b97\u57fa\u5143\uff0c\u53ef\u4ee5\u7ed5\u8fc7\u4f7f\u7528\u65f6\u949f\u5316\u7684\u3001\u65f6\u5206\u590d\u7528\u56de\u8def\u5c06\u7269\u7406\u65f6\u95f4\u4e0e\u5904\u7406\u65f6\u95f4\u89e3\u8026\u7684\u9700\u8981\uff0c\u907f\u514d\u53ef\u6076\u7684\u51af\u00b7\u8bfa\u4f9d\u66fc\u74f6\u9888\u95ee\u9898[7,8,90]\u2014\u2014\u8fd9\u8981\u6c42\u4ee5\u975e\u5e38\u9ad8\u7684\u65f6\u949f\u901f\u7387\u6765\u56de\u5c06\u6570\u636e\u4ece\u5916\u90e8\u5b58\u50a8\u5668\u4e2d\u4f20\u8f93\u5230\u65f6\u5206\u590d\u7528\u5904\u7406\u5355\u5143\u3002\u867d\u7136\u795e\u7ecf\u5f62\u6001\u5b66\u65b9\u6cd5\u663e\u8457\u964d\u4f4e\u4e86\u529f\u8017\uff0c\u4f46\u5b83\u9700\u8981\u7535\u8def\u548c\u5904\u7406\u5143\u4ef6\uff0c\u80fd\u591f\u5728\u4e0e\u88ab\u611f\u77e5\u4fe1\u53f7\u76f8\u5339\u914d\u7684\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u96c6\u6210\u4fe1\u606f\u3002\u4f8b\u5982\uff0c\u673a\u5668\u4eba\u5173\u8282\u8fd0\u52a8\u7684\u63a7\u5236\u3001\u8bed\u97f3\u547d\u4ee4\u7684\u611f\u77e5\uff0c\u6216\u5bf9\u89c6\u89c9\u76ee\u6807\u6216\u4eba\u4f53\u624b\u52bf\u7684\u8ddf\u8e2a\uff0c\u90fd\u9700\u8981\u7a81\u89e6\u548c\u795e\u7ecf\u56de\u8def\u5177\u6709\u57285ms-500ms\u8303\u56f4\u5185\u65f6\u95f4\u5e38\u6570\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u9664\u4e86\u5b9e\u73b0\u80fd\u591f\u5177\u6709\u5982\u6b64\u957f\u4e45\u8bb0\u5fc6\u75d5\u8ff9\u7684\u7d27\u51d1\u53ef\u9760\u7535\u8def\u5143\u4ef6\u7684\u6280\u672f\u6311\u6218\u5916\uff0c\u8fd8\u6709\u4e00\u4e2a\u91cd\u8981\u7684\u7406\u8bba\u6311\u6218\u662f\u7406\u89e3\u5982\u4f55\u5229\u7528\u8fd9\u7c7b\u975e\u7ebf\u6027\u52a8\u529b\u7cfb\u7edf\u8fdb\u884c\u671f\u671b\u72b6\u6001\u8ba1\u7b97\u3002\u4e0e\u4f20\u7edf\u7684\u8ba1\u7b97\u65b9\u6cd5\u4e0d\u540c\uff0c\u4ecd\u7136\u7f3a\u4e4f\u7f16\u8bd1\u5668\u201d\u5de5\u5177\u7684\u7b49\u4ef7\u7269\uff0c\u5b83\u5141\u8bb8\u5c06\u6240\u9700\u7684\u590d\u6742\u8ba1\u7b97\u6216\u884c\u4e3a\u6620\u5c04\u5230\u57fa\u672c\u8ba1\u7b97\u5355\u5143\u7684\u201c\u673a\u5668\u7801\u201d\u7ea7\u914d\u7f6e\u4e2d\uff0c\u5982\u52a8\u6001\u7a81\u89e6\u6216\u201c\u6574\u5408\u4e0e\u653e\u7535\u201d\u795e\u7ecf\u5143\u3002\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\u7684\u4e00\u4e2a\u65b9\u6cd5\u662f\uff0c\u786e\u5b9a\u4e00\u7ec4\u53d7\u5927\u8111\u542f\u53d1\u7684\u795e\u7ecf\u8ba1\u7b97\u57fa\u5143\uff0c\u8fd9\u4e9b\u57fa\u5143\u4e0e\u7528\u4e8e\u5b9e\u73b0\u5b83\u4eec\u7684\u795e\u7ecf\u5f62\u6001\u7535\u8def\u7684\u7279\u5f81\u548c\u9650\u5236\u517c\u5bb9 [12,91-94]\uff0c\u5e76\u4e14\u53ef\u4ee5\u6a21\u5757\u5316\u65b9\u5f0f\u7ec4\u5408\u4ee5\u5b9e\u73b0\u6240\u9700\u7684\u9ad8\u7ea7\u8ba1\u7b97\u57fa\u5143\u529f\u80fd\u3002\u65b9\u68464\u5217\u51fa\u4e86\u8fd9\u7c7b\u57fa\u5143\u7684\u5efa\u8bae\u8bcd\u5178\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u6b64\u5916\uff0c\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u8ba1\u7b97\u8981\u6c42\u5fc5\u987b\u628a\u4f20\u611f\u5668\u548c\u6267\u884c\u5668\u5f53\u4f5c\u8ba1\u7b97\u57fa\u5143\uff0c\u6839\u636e\u5b83\u4eec\u7684\u7269\u7406\u5f62\u72b6<\/span>\uff08\u4f8b\u5982\uff0c\u590d\u773c\u76f8\u5bf9\u4e8e\u89c6\u7f51\u819c\u6837\u7684\u51f9\u5f62\u6216\u5747\u5300\u89c6\u89c9\u4f20\u611f\u5668\uff0c\u65e0\u5237\u548c\u76f4\u6d41\u7535\u673a\u76f8\u5bf9\u4e8e\u8f6f\u6267\u884c\u5668\uff09<\/span>\u3001\u4f4d\u7f6e<\/span>\uff08\u4f8b\u5982\uff0c\u53cc\u773c\u4e0e\u5355\u773c\u89c6\u89c9\uff0c\u89e6\u89c9\u4f20\u611f\u5668\u7684\u975e\u5747\u5300\u5206\u5e03\u4ee5\u53ca\u7535\u673a\u76f8\u5bf9\u4e8e\u79fb\u52a8\u7684\u8eab\u4f53\u90e8\u4f4d\u7684\u4f4d\u7f6e\uff09<\/span>\u548c\u5c40\u90e8\u8ba1\u7b97<\/span>\uff08\u5982\u4f20\u611f\u5668\u4e2d\u7684\u7279\u5f81\u63d0\u53d6\u6216\u4f4e\u6c34\u5e73\u95ed\u73af\u63a7\u5236\u7b49\uff09<\/span>\u6765\u51b3\u5b9a\u5bf9\u611f\u77e5\u4fe1\u53f7\u548c\u8fd0\u52a8\u7684\u7f16\u7801\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u57fa\u4e8e\u6240\u8981\u6c42\u7684\u7ed3\u679c\uff0c\u795e\u7ecf\u56de\u8def\u53ef\u4ee5\u88ab\u8d4b\u4e88\u5b9e\u73b0\u975e\u7ebf\u6027\u7684\u9644\u52a0\u6027\u8d28\uff0c\u5982\u8109\u51b2\u9891\u7387\u81ea\u9002\u5e94<\/span>\uff08SFA\uff09<\/span>\u6216\u4e0d\u5e94\u671f\u8bbe\u7f6e\u3002\u8fd9\u4e9b\u8981\u7d20\u53ef\u4ee5\u8fdb\u4e00\u6b65\u7ec4\u5408\u751f\u6210\u8ba1\u7b97\u57fa\u5143\uff0c\u5982\u8f6fWTA\u7f51\u7edc[95\u201399]\u3001\u795e\u7ecf\u632f\u8361\u5668[100]\u6216\u72b6\u6001\u76f8\u5173\u8ba1\u7b97\u7f51\u7edc[7,12,101]\uff0c\u4ee5\u8bc6\u522b\u6216\u751f\u6210\u52a8\u4f5c\u5e8f\u5217[8,78,102\u2013107]\u3002\u901a\u8fc7\u5c06\u8fd9\u4e9b\u4e0e\u611f\u77e5\u548c\u9a71\u52a8\u795e\u7ecf\u57fa\u5143\u76f8\u7ed3\u5408\uff0c\u53ef\u4ee5\u521b\u9020\u51fa\u673a\u5668\u4eba\u7684\u4e30\u5bcc\u884c\u4e3a\u3002<\/span><\/section>\n
     <\/span><\/section>\n

    \n
    4. \u8d62\u8005\u901a\u5403\u7f51\u7edc<\/span><\/strong><\/span><\/section>\n<\/h2>\n
     <\/span><\/section>\n
    \u8d62\u8005\u901a\u5403\uff08WTA\uff0cWinner-Take-All\uff09\u7f51\u7edc<\/span><\/strong>\u4ee3\u8868\u4e00\u79cd\u5178\u578b\u7684\u56de\u8def\uff0c\u5728\u65b0\u76ae\u8d28\u7684\u591a\u4e2a\u90e8\u5206\u4e2d\u90fd\u53ef\u4ee5\u627e\u5230[108,109]\u3002\u7406\u8bba\u7814\u7a76\u8868\u660e\uff0c\u8fd9\u7c7b\u7f51\u7edc\u63d0\u4f9b\u4e86\u53ef\u4ee5\u7a33\u5b9a\u5bf9\u795e\u7ecf\u5143\u52a8\u529b\u5b66\u8fdb\u884c\u53bb\u566a\u7684\u57fa\u672c\u8ba1\u7b97\u5355\u5143[108,110,111]\u3002\u8fd9\u4e9b\u7279\u6027\u5df2\u901a\u8fc7\u795e\u7ecf\u5f62\u6001SNN\u5b9e\u73b0\u5f97\u5230\u9a8c\u8bc1\uff0c\u4ee5\u5728\u5c01\u95ed\u7684\u611f\u89c9\u8fd0\u52a8\u56de\u8def<\/span>\uff08Sensorimotor Loop\uff09<\/span>\u4e2d\u4ea7\u751f\u7a33\u5065\u7684\u884c\u4e3a[97,101,112\u2013114]\u3002\u7531n\u4e2a\u5355\u5143\u7ec4\u6210\u7684WTA\u7f51\u7edc\u53ef\u4ee5\u7528\u7fa4\u4f53\u7f16\u7801<\/span>\uff08Population Coding\uff09<\/span>\u8868\u793an\u503c\u53d8\u91cf\u3002\u8fd9\u6837\u5c31\u6709\u53ef\u80fd\u5c06\u591a\u4e2aWTA\u7f51\u7edc\u76f8\u4e92\u8026\u5408\uff0c\u5b9e\u73b0\u4e0d\u540c\u53d8\u91cf\u95f4\u7684\u5173\u7cfb\u7f51\u7edc[115,116] <\/span>\uff08\u4f8b\u5982\u8868\u793a\u7ed9\u5b9a\u7535\u673a\u6307\u4ee4\u503c\u4e0e\u671f\u671b\u5173\u8282\u89d2\u5ea6\u4e4b\u95f4\u7684\u5173\u7cfb[78]\uff09<\/span>\u3002\u7531\u4e8eWTA\u7f51\u7edc\u80fd\u591f\u521b\u9020\u6301\u7eed\u7684\u6fc0\u6d3b\u4ee5\u4fdd\u6301\u795e\u7ecf\u5143\u72b6\u6001\u7684\u6d3b\u8dc3\uff0c\u5373\u4f7f\u5728\u7f51\u7edc\u7684\u8f93\u5165\u88ab\u79fb\u9664\u540e\uff0c\u5b83\u4eec\u4e5f\u80fd\u63d0\u4f9b\u5de5\u4f5c\u8bb0\u5fc6\u7684\u6a21\u578b[100,102,117,118]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    WTA\u52a8\u529b\u5b66\u521b\u9020\u7a33\u5b9a\u7684\u5438\u5f15\u5b50\u5728\u8ba1\u7b97\u4e0a\u7b49\u4ef7\u4e8e\u52a8\u6001\u795e\u7ecf\u573a<\/span>\uff08DNF\uff09<\/span>\uff0c\u5b83\u4f7f\u5f97\u80fd\u591f\u5728\u5c01\u95ed\u7684\u611f\u89c9\u8fd0\u52a8\u56de\u8def\u4e2d\u8fdb\u884c\u884c\u4e3a\u5b66\u4e60\uff0c\u611f\u89c9\u8f93\u5165\u968f\u7740\u667a\u80fd\u4f53\u4ea7\u751f\u52a8\u4f5c\u800c\u4e0d\u65ad\u53d8\u5316\u3002\u4e3a\u4e86\u5b66\u4e60\u611f\u89c9\u72b6\u6001\u4e0e\u5176\u7ed3\u679c\u4e4b\u95f4\u7684\u6620\u5c04\uff0c\u6216\u8005\u4e00\u4e2a\u5148\u51b3\u6761\u4ef6\u4e0e\u4e00\u4e2a\u52a8\u4f5c\u4e4b\u95f4\u7684\u6620\u5c04\uff0c\u52a8\u4f5c\u524d\u7684\u611f\u89c9\u72b6\u6001\u9700\u8981\u5b58\u50a8\u5728\u795e\u7ecf\u5143\u8868\u5f81\u4e2d\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u5728\u795e\u7ecf\u5143\u7fa4\u4e2d\u521b\u5efa\u4e00\u4e2a\u91cd\u590d\u6fc0\u6d3b\u6765\u5b9e\u73b0\uff0c\u5373\u4f7f\u521d\u59cb\u8f93\u5165\u505c\u6b62\uff0c\u6fc0\u6d3b\u4e5f\u53ef\u4ee5\u5728\u52a8\u4f5c\u671f\u95f4\u6301\u7eed\u3002\u5f53\u83b7\u5f97\u5956\u52b1\u6216\u60e9\u7f5a\u4fe1\u53f7\u65f6[60,119]\uff0c\u6301\u7eed\u6d3b\u52a8\u53ef\u7528\u4e8e\u66f4\u65b0\u611f\u89c9\u8fd0\u52a8\u6620\u5c04\u3002\u6700\u540e\uff0c\u8fd9\u4e9b\u57fa\u4e8e\u5438\u5f15\u5b50\u7684\u8868\u793a\u53ef\u4ee5\u7a33\u5065\u7684\u65b9\u5f0f\u5c06\u795e\u7ecf\u5143\u56de\u8def\u52a8\u529b\u5b66\u4e0e\u673a\u5668\u4eba\u884c\u4e3a\u65f6\u95f4\u5c3a\u5ea6\u8054\u7cfb\u8d77\u6765[8,118,120]\uff0c\u5e76\u88ab\u7528\u6765\u5f00\u53d1\u66f4\u590d\u6742\u7684\u5d4c\u5165\u5f0f\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u7cfb\u7edf\u3002\u7136\u800c\uff0c\u8981\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u5fc5\u987b\u5f00\u53d1\u66f4\u9ad8\u5c42\u6b21\u7684\u63a7\u5236\u7b56\u7565\u548c\u7406\u8bba\u6846\u67b6\uff0c\u4e0e\u5177\u6709\u7ec4\u6210\u6027\u548c\u6a21\u5757\u5316\u7279\u6027\u7684\u6df7\u5408\u4fe1\u53f7\u795e\u7ecf\u5f62\u6001\u786c\u4ef6\u517c\u5bb9\u3002<\/span><\/section>\n

    \n
     <\/span><\/section>\n<\/h2>\n

    \n
    5. \u72b6\u6001\u4f9d\u8d56\u7684\u667a\u80fd\u5904\u7406<\/span><\/strong><\/span><\/section>\n<\/h2>\n

    <\/section>\n
    \u72b6\u6001\u4f9d\u8d56\u7684\u667a\u80fd\u5904\u7406\u662f\u4e00\u4e2a\u8ba1\u7b97\u6846\u67b6\uff0c\u53ef\u4ee5\u652f\u6301\u5f00\u53d1\u66f4\u590d\u6742\u7684\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u7cfb\u7edf\u3002\u5728\u751f\u7269\u5b66\u4e2d\uff0c\u771f\u5b9e\u7684\u795e\u7ecf\u7f51\u7edc\u5229\u7528WTA\u578b\u5de5\u4f5c\u8bb0\u5fc6\u7ed3\u6784\u6267\u884c\u72b6\u6001\u76f8\u5173\u8ba1\u7b97\uff0c\u8be5\u7ed3\u6784\u7531\u5faa\u73af\u6fc0\u53d1\u7ef4\u6301\u5e76\u7531\u8d1f\u53cd\u9988\u6291\u5236\u8c03\u8282[121\u2013126]\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u76ae\u8d28\u7f51\u7edc\u4e2d\u72b6\u6001\u76f8\u5173\u5904\u7406\u7684\u5efa\u6a21\u7814\u7a76\u8868\u660e\uff0c\u8026\u5408WTA\u7f51\u7edc\u5982\u4f55\u80fd\u591f\u590d\u73b0\u6709\u9650\u72b6\u6001\u673a<\/span>\uff08Finite State Machines\uff0cFSMs\uff09<\/span>[101,123,127]\u7684\u8ba1\u7b97\u6027\u8d28\u3002FSM\u662f\u4e00\u79cd\u62bd\u8c61\u8ba1\u7b97\u673a\uff0c\u53ea\u80fd\u5904\u4e8e\u5b83\u7684n\u4e2a\u53ef\u80fd\u72b6\u6001\u4e2d\u7684\u4e00\u4e2a\uff0c\u5e76\u4e14\u5728\u63a5\u53d7\u9002\u5f53\u7684\u5916\u90e8\u8f93\u5165\u65f6\u53ef\u4ee5\u5728\u72b6\u6001\u4e4b\u95f4\u8f6c\u6362\u3002\u771f\u6b63\u7684FSM\u53ef\u4ee5\u5728\u4e8c\u8fdb\u5236\u7f16\u7801\u7684\u6570\u5b57\u8ba1\u7b97\u673a\u4e2d\u7a33\u5065\u5730\u5b9e\u73b0\u3002\u4f46\u662f\uff0c\u5b83\u4eec\u4f7f\u7528\u795e\u7ecf\u5f62\u6001\u7684SNN\u67b6\u6784\u6784\u5efa\u7684\u76f8\u5e94\u795e\u7ecf\u5b9e\u73b0\u53d7\u5230\u566a\u58f0\u548c\u53ef\u53d8\u6027\u7684\u5f71\u54cd\uff0c\u4e0e\u5b83\u4eec\u7684\u751f\u7269\u5b66\u5bf9\u5e94\u7269\u975e\u5e38\u76f8\u4f3c\u3002\u9664\u4e86\u5229\u7528WTA\u7f51\u7edc\u7684\u7a33\u5b9a\u7279\u6027\u5916\uff0c\u795e\u7ecf\u5f62\u6001\u5de5\u7a0b\u5e08\u53d1\u73b0\u5229\u7528\u542b\u566a\u7684\u7845\u57fa\u795e\u7ecf\u5143\u56de\u8def\u5b9e\u73b0\u7a33\u5065\u53ef\u9760\u7684FSM\u72b6\u6001\u4f9d\u8d56\u5904\u7406\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u662f\u6c42\u52a9\u4e8e\u7c7b\u4f3c\u8bb8\u591a\u8111\u533a\u7684\u53bb\u6291\u5236\u673a\u5236[128\uff0c129]\u3002\u8fd9\u4e9b\u4f9d\u8d56\u4e8e\u786c\u4ef6\u72b6\u6001\u7684\u5904\u7406SNN\u88ab\u79f0\u4e3a\u795e\u7ecf\u72b6\u6001\u673a<\/span>\uff08Neural State Machines, NSMs\uff09<\/span>[101\uff0c105]\u3002\u5b83\u4eec\u4ee3\u8868\u4e86\u8109\u51b2\u795e\u7ecf\u7f51\u7edc\u5b9e\u73b0\u72b6\u6001\u4f9d\u8d56\u548c\u8bed\u5883\u4f9d\u8d56\u8ba1\u7b97\u7684\u57fa\u672c\u7ed3\u6784\u3002\u591a\u4e2a\u795e\u7ecf\u72b6\u6001\u673a\u4ee5\u6a21\u5757\u5316\u7684\u65b9\u5f0f\u4ea4\u4e92\uff0c\u53ef\u4ee5\u4f5c\u4e3a\u6784\u5efa\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u4f53[105,130]\u590d\u6742\u8ba4\u77e5\u8ba1\u7b97\u7684\u6a21\u5757\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u795e\u7ecf\u5f62\u6001\u4f20\u611f\u5668\u3001\u8ba1\u7b97\u57fa\u5e95\u548c\u6267\u884c\u5668\u7ed3\u5408\u8d77\u6765\uff0c\u901a\u8fc7\u7c7b\u4f3c\u5927\u8111\u7684\u5f02\u6b65\u6570\u5b57\u901a\u4fe1\uff0c\u6784\u5efa\u5177\u6709\u5177\u8eab\u667a\u80fd\u7684\u81ea\u4e3b\u667a\u80fd\u4f53<\/span><\/strong>\u3002\u73b0\u6709\u667a\u80fd\u4f53\u4ece\u5355\u7247\u5b9e\u73b0\u2014\u2014\u5373\u4f20\u611f\u5668\u76f4\u63a5\u8fde\u63a5\u5230\u4e00\u4e2a\u795e\u7ecf\u5f62\u6001\u8ba1\u7b97\u8bbe\u5907\u2014\u2014\u5230\u6a21\u5757\u5316\u5b9e\u73b0\uff0c\u5176\u4e2d\u5206\u5e03\u5f0f\u4f20\u611f\u5668\u548c\u5904\u7406\u8bbe\u5907\u901a\u8fc7\u4e2d\u95f4\u4ef6\u62bd\u8c61\u5c42\u8fde\u63a5\uff0c\u5728\u7d27\u51d1\u6027\u548c\u5177\u6709\u7075\u6d3b\u6027\u7684\u7279\u5b9a\u4efb\u52a1\u5b9e\u73b0\u4e4b\u95f4\u8fdb\u884c\u6743\u8861\u3002\u8fd9\u4e24\u79cd\u65b9\u6cd5\u90fd\u5c06\u53d7\u76ca\u4e8e\u901a\u4fe1\u534f\u8bae\u7684\u6807\u51c6\u5316<\/span>\uff08\u5728\u65b9\u68462\u4e2d\u8ba8\u8bba\uff09<\/span>\u3002<\/span><\/section>\n
     <\/span><\/section>\n\n\n\n
    \n
    \u65b9\u68465\uff1a\u884c\u52a8\u53f7\u53ec<\/span><\/strong><\/span><\/section>\n
     <\/span><\/section>\n
    \u5bf9\u795e\u7ecf\u5f62\u6001\u793e\u533a\u7684\u53f7\u53ec<\/span><\/strong><\/section>\n
    \u4e3a\u4e86\u5438\u6536\u548c\u5efa\u7acb\u7531\u7528\u6237\u7fa4\u4f53\u548c\u5177\u8eab\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u76f8\u5173\u4eba\u58eb\u7ec4\u6210\u7684\u66f4\u5927\u793e\u533a\uff0c\u795e\u7ecf\u5f62\u6001\u793e\u533a\u5e94\u4fa7\u91cd\u4e8e\u8bbe\u8ba1\u6a21\u5757\u5316\u4e14\u53ef\u91cd\u7528\u7684\u611f\u77e5\u548c\u8ba1\u7b97\u6a21\u5757\u3002\u4e00\u4e2a\u901a\u7528\u901a\u4fe1\u534f\u8bae\u7684\u6807\u51c6\u5316\u5982\u65b9\u68462\u6240\u8ff0\uff0c\u5df2\u7ecf\u5b9e\u73b0\u4e86\u6a21\u5757\u548c\u7cfb\u7edf\u7684\u5171\u4eab\u3002\u5f00\u6e90\u7684\u7b97\u6cd5\u548c\u6570\u636e\u96c6\u5171\u4eab\u5c06\u4fc3\u8fdb\u8be5\u9886\u57df\u7684\u7e41\u8363\u3002\u4e00\u4e2a\u91cc\u7a0b\u7891\u5c06\u662f\u5b9a\u4e49\u4e00\u7ec4\u57fa\u51c6\uff0c\u53ef\u4ee5\u7528\u6765\u5b9a\u91cf\u6bd4\u8f83\u4e0d\u540c\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u7684\u7279\u5f81\u548c\u6548\u76ca\uff0c\u5982\u65b9\u68466<\/strong>\u6240\u8ff0\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5bf9\u8ba1\u7b97\u795e\u7ecf\u79d1\u5b66\u793e\u533a\u7684\u53f7\u53ec<\/span><\/strong><\/section>\n
    \u795e\u7ecf\u5143\u56de\u8def\u9700\u8981\u5c06\u611f\u77e5\u4fe1\u53f7\u8f6c\u6362\u4e3a\u5730\u5740\u4e8b\u4ef6\u4ee5\u4fbf\u8fdb\u4e00\u6b65\u5904\u7406\u3002\u8ba1\u7b97\u795e\u7ecf\u79d1\u5b66\u793e\u533a\u53ef\u4ee5\u6307\u51fa\u795e\u7ecf\u7cfb\u7edf\u7528\u6765\u5c06\u6a21\u62df\u8f93\u5165\u8f6c\u6362\u4e3a\u8109\u51b2\u548c\u7f16\u7801\u611f\u77e5\u4fe1\u53f7\u7684\u539f\u7406\u548c\u7b56\u7565\uff0c\u6765\u542f\u53d1\u548c\u6559\u80b2\u795e\u7ecf\u5f62\u6001\u5de5\u7a0b\u5e08\u3002\u4e0e\u795e\u7ecf\u79d1\u5b66\u793e\u533a\u7684\u7d27\u5bc6\u5408\u4f5c\u5c06\u5e26\u6765\u5bf9\u795e\u7ecf\u5f62\u6001\u611f\u77e5\u56de\u8def\u7684\u91cd\u8981\u6539\u8fdb[57,182]\u3002\u540c\u6837\uff0c\u8fd9\u4e2a\u793e\u533a\u53ef\u4ee5\u4e3a\u8bbe\u8ba1\u7531\u566a\u58f0\u548c\u975e\u5747\u5300\u7535\u8def\u7ec4\u6210\u7684\u5faa\u73af\u8109\u51b2\u795e\u7ecf\u7f51\u7edc<\/span>\uff08Recurrent Spiking Neural Networks\uff09<\/span>\u6765\u8fdb\u884c\u4fe1\u53f7\u5904\u7406\u548c\u8ba1\u7b97\u63d0\u4f9b\u6709\u76ca\u7684\u89c1\u89e3[183-185]\u3002\u5728\u8fd9\u65b9\u9762\uff0c\u5c06\u7279\u5b9a\u7684\u795e\u7ecf\u79d1\u5b66\u89c2\u5bdf\u4e0e\u5b83\u4eec\u6700\u57fa\u672c\u7684\u8ba1\u7b97\u4f5c\u7528\u8054\u7cfb\u8d77\u6765\uff0c\u4ee5\u4fbf\u5206\u79bb\u51fa\u8db3\u4ee5\u5b9e\u73b0\u7ed9\u5b9a\u529f\u80fd\u7684\u57fa\u672c\u673a\u5236\u5c06\u975e\u5e38\u91cd\u8981\u3002\u7136\u540e\uff0c\u786c\u4ef6\u5b9e\u73b0\u5c06\u91cd\u73b0\u8fd9\u6837\u4e00\u4e2a\u7b80\u5316\u7684\u201c\u6781\u5c0f\u201d\u6a21\u578b\uff0c\u5176\u4e2d\u7279\u5f81\u3001\u590d\u6742\u6027\u3001\u7ec6\u8282\u548c\u591a\u6837\u6027\u5177\u6709\u76f8\u5e94\u7684\u8ba1\u7b97\u529f\u80fd\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5bf9\u6750\u6599\u79d1\u5b66\u793e\u533a\u7684\u53f7\u53ec<\/span><\/strong><\/section>\n
    \u65b0\u5174\u7684\u5b58\u50a8\u6280\u672f\u4e3a\u6539\u8fdb\u4f20\u7edf\u7684\u8ba1\u7b97\u7ed3\u6784\u63d0\u4f9b\u4e86\u5de8\u5927\u7684\u5e0c\u671b\uff0c\u4f46\u540c\u65f6\u4e5f\u4e3a\u8bbe\u8ba1\u80fd\u591f\u76f4\u63a5\u6a21\u62df\u771f\u5b9e\u7a81\u89e6\u7269\u7406\u7684\u65b0\u578b\u56fa\u6001\u7eb3\u7c73\u5668\u4ef6\u63d0\u4f9b\u4e86\u91cd\u8981\u7684\u673a\u9047\uff0c\u4ece\u800c\u4e3a\u66f4\u6709\u6548\u5730\u5b9e\u73b0\u795e\u7ecf\u8ba1\u7b97\u539f\u7406\u63d0\u4f9b\u4e86\u8ba1\u7b97\u57fa\u7840\u3002\u56e0\u6b64\uff0c\u6750\u6599\u79d1\u5b66\u754c\u5e94\u8be5\u5c1d\u8bd5\u5229\u7528\u8fd9\u4e9b\u5668\u4ef6\u7684\u975e\u7ebf\u6027\u7269\u7406\uff0c\u4ee5\u4f18\u5316\u5177\u8eab\u795e\u7ecf\u5f62\u6001\u8ba1\u7b97\u67b6\u6784\u7684\u8bbe\u8ba1[94]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5bf9\u8ba1\u7b97\u673a\u79d1\u5b66\u793e\u533a\u7684\u53f7\u53ec<\/span><\/strong><\/section>\n
    \u4e0e\u8ba1\u7b97\u673a\u4f7f\u7528\u62bd\u8c61\u5c42\u6b21\u6765\u7ba1\u7406\u590d\u6742\u8fd0\u7b97\u7684\u5b9a\u4e49\u7c7b\u4f3c\uff0c\u8ba1\u7b97\u673a\u79d1\u5b66\u53ef\u4ee5\u5229\u7528\u8fc4\u4eca\u4e3a\u6b62\u53d1\u5c55\u8d77\u6765\u7684\u6982\u5ff5\u548c\u5de5\u5177\u6765\u5b9a\u4e49\u65b0\u7684\u7ed3\u5408\u795e\u7ecf\u8ba1\u7b97\u57fa\u5143\u7684\u65b9\u6cd5\u6765\u5b9e\u73b0\u667a\u80fd\u529f\u80fd[186]\uff0c\u5982\u65b9\u68464\u6240\u8ff0\u3002\u672a\u6765\u9762\u4e34\u7684\u4e00\u4e2a\u6311\u6218\u4e5f\u662f\u5982\u4f55\u5229\u7528\u975e\u7ebf\u6027\u52a8\u529b\u5b66\u3001\u968f\u673a\u548c\u6982\u7387\u65b9\u6cd5\u5f62\u5f0f\u5316\u8ba1\u7b97\uff0c\u5305\u62ec\u5d4c\u5165\u5230\u673a\u5668\u4eba\u5e73\u53f0\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5bf9\u8f6f\u673a\u5668\u4eba\u793e\u533a\u7684\u53f7\u53ec<\/span><\/strong><\/section>\n
    \u7531\u4e8e\u795e\u7ecf\u5f62\u6001\u65b9\u6cd5\u5f88\u597d\u5730\u9002\u7528\u4e8e\u975e\u5e73\u5eb8\u63a7\u5236\u7684\u590d\u6742\u7cfb\u7edf\uff0c\u5b83\u5f88\u9002\u5408\u8f6f\u673a\u5668\u4eba\u6280\u672f\u3002\u9700\u8981\u5411\u795e\u7ecf\u5f62\u6001\u793e\u533a\u63d0\u4f9b\u672a\u5b9a\u4e49\u7684\u7528\u4f8b\u3002\u7531\u6b64\u4ea7\u751f\u7684\u611f\u77e5\u548c\u8ba4\u77e5\u529f\u80fd\u2014\u2014\u4f7f\u7528\u795e\u7ecf\u5f62\u6001\u8ba1\u7b97\u57fa\u5e95\u5b9e\u73b0\u2014\u2014\u5fc5\u987b\u5d4c\u5165\u5230\u673a\u5668\u4eba\uff0c\u9002\u914d\u5e73\u53f0\u7684\u5f62\u6001\u53ef\u80fd\u5f71\u54cd\u611f\u77e5\u4fe1\u53f7\u7684\u83b7\u53d6\u65b9\u5f0f<\/span>\uff08\u4f8b\u5982\uff0c\u901a\u8fc7\u4f20\u611f\u5668\u7684\u4e0d\u540c\u653e\u7f6e\u65b9\u5f0f\uff09<\/span>\u548c\u52a8\u4f5c\u7684\u6267\u884c\u65b9\u5f0f<\/span>\uff08\u4f8b\u5982\uff0c\u4e0d\u540c\u7684\u8fd0\u52a8\u65b9\u5f0f\uff0c\u786c\u9a71\u52a8\u548c\u8f6f\u9a71\u52a8\u7b49\uff09<\/span>\u3002\u795e\u7ecf\u5f62\u6001\u5de5\u7a0b\uff0c\u7531\u4e8e\u5176\u80fd\u591f\u5b9e\u73b0\u81ea\u9002\u5e94\u56de\u8def\u548c\u7cfb\u7edf\u6765\u6c42\u89e3\u975e\u7ebf\u6027\u63a7\u5236\u7cfb\u7edf\uff0c\u53ef\u4ee5\u4e3a\u8f6f\u673a\u5668\u4eba\u7684\u590d\u6742\u63a7\u5236\u63d0\u4f9b\u89e3\u51b3\u65b9\u6848\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
     <\/span><\/section>\n\n\n\n
    \n
    \u65b9\u68466\uff1a\u6570\u636e\u96c6\u548c\u57fa\u51c6<\/span><\/strong><\/span><\/section>\n
     <\/span><\/section>\n
    \u7528\u4e8e\u8bc4\u4f30\u4e0d\u540c\u795e\u7ecf\u5f62\u6001\u5904\u7406\u5668\u548c\u884c\u4e3a\u7cfb\u7edf\u6027\u80fd\u7684\u57fa\u51c6\u4efb\u52a1\u548c\u6570\u636e\u96c6\u7684\u5b9a\u4e49\u662f\u4e00\u9879\u56f0\u96be\u548c\u5177\u6709\u6311\u6218\u6027\u7684\u5de5\u4f5c\uff0c\u76ee\u524d\u8fd8\u6ca1\u6709\u5b8c\u5168\u89e3\u51b3[187]\u3002\u867d\u7136\u5927\u591a\u6570\u73b0\u6709\u7684\u6570\u636e\u96c6<\/span>\uff08\u4e3b\u8981\u7531\u673a\u5668\u5b66\u4e60\u793e\u533a\u5f00\u53d1\uff09<\/span>\u4f9d\u8d56\u4e8e\u5927\u91cf\u7684\u9759\u6001\u6570\u636e\u96c6\u5408\uff0c\u4f46\u662f\uff0c\u795e\u7ecf\u5f62\u6001\u6570\u636e\u96c6\u5e94\u8be5\u8003\u8651\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u4f7f\u7528\u7684\u4e0d\u540c\u7a7a\u95f4\u548c\u65f6\u95f4\u8868\u5f81\u3002\u4e8b\u5b9e\u4e0a\uff0c\u5df2\u7ecf\u6709\u4eba\u5c1d\u8bd5\u521b\u5efa\u65b0\u7684\u6570\u636e\u96c6\uff0c\u5bf9\u57fa\u4e8e\u4e8b\u4ef6\u7684\u5904\u7406\u7b97\u6cd5\u548c\u65b9\u6cd5\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5[188,189,190,191,192]\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u7136\u800c\uff0c\u8fd9\u4e9b\u6570\u636e\u96c6\u53ea\u80fd\u7528\u4e8e\u6bd4\u8f83\u975e\u5e38\u6709\u9650\u7684\u7cfb\u7edf\u548c\u65b9\u6cd5\u3002\u8bc4\u4f30\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u65f6\u7a7a\u80fd\u529b\u7684\u7279\u5b9a\u57fa\u51c6\u5c06\u9700\u8981\u8d85\u8d8a\u673a\u5668\u5b66\u4e60\u7684\u6807\u51c6\u6a21\u5f0f\u3002\u4e3a\u4e86\u9a8c\u8bc1\u548c\u6bd4\u8f83\u5927\u8111\u542f\u53d1\u7684\u795e\u7ecf\u5f62\u6001\u884c\u4e3a\u7cfb\u7edf\u7684\u5e7f\u6cdb\u5149\u8c31\uff0c\u6709\u5fc5\u8981\u5b9a\u4e49\u591a\u4e2a\u57fa\u51c6\u96c6\uff0c\u7528\u4e8e\u5bf9\u590d\u6742\u4efb\u52a1\u4ece\u7aef\u5230\u7aef\u8bc4\u4f30\u7cfb\u7edf\u7684\u6027\u80fd\u3002\u9700\u8981\u8bc4\u4f30\u7684\u8ba1\u7b97\u4f8b\u5b50\u5305\u62ec\u65f6\u7a7a\u6a21\u5f0f\u8bc6\u522b\u3001\u9884\u6d4b\u3001\u6ce8\u610f\u529b\u3001\u51b3\u7b56\u3001\u8bb0\u5fc6\u3001\u8bed\u8a00\u548c\u7a7a\u95f4\u611f\u77e5\uff0c\u4ee5\u53ca\u56de\u5f52\u3001\u805a\u7c7b\u548c\u964d\u7ef4\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5355\u72ec\u6765\u770b\uff0c\u8fd9\u4e9b\u4efb\u52a1\u5bf9\u4e8e\u673a\u5668\u5b66\u4e60\u793e\u533a\u6b63\u5728\u89e3\u51b3\u7684\u4e00\u4e9b\u95ee\u9898\u6765\u8bf4\u662f\u5e38\u89c1\u7684\u3002\u4f46\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u4e5f\u5e94\u8be5\u5305\u62ec\u6027\u80fd\u4f5c\u4e3a\u4f7f\u7528\u8d44\u6e90\u7684\u51fd\u6570\u5982\u4f55\u53d8\u5316\u3002\u4e0e\u673a\u5668\u5b66\u4e60\u4e0d\u540c\u7684\u662f\uff0c\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u7684\u8bbe\u8ba1\u76ee\u7684\u662f\u6700\u5c0f\u5316\u5185\u5b58\u548c\u529f\u8017\u3002\u6240\u4ee5\u6548\u679c\u7684\u57fa\u51c6\u4e5f\u5e94\u8be5\u5305\u62ec\u8282\u7701\u529f\u8017<\/span>\uff08\u5982\u81ea\u4e3b\u673a\u5668\u4eba\uff09<\/span>\uff0c\u51cf\u5c11\u4f53\u79ef\u548c\u91cd\u91cf<\/span>\uff08\u5982\u65e0\u4eba\u673a\uff09<\/span>\uff0c\u51cf\u5c11\u5ef6\u8fdf\u548c\u54cd\u5e94\u65f6\u95f4\uff0c\u4f7f\u5f97\u5bf9\u8f93\u5165\u4fe1\u53f7\u548c\u7cfb\u7edf\u5185\u90e8\u72b6\u6001\u7684\u566a\u58f0\u548c\u53d8\u5316\u7684\u7a33\u5065\u6027\u6700\u5927\u5316\u3002\u5bf9\u4e8e\u8fd9\u4e9b\u57fa\u51c6\u6d4b\u8bd5\uff0c\u5185\u5b58\u548c\u65f6\u95f4\u4e5f\u662f\u9700\u8981\u8003\u8651\u7684\u91cd\u8981\u65b9\u9762\u3002\u9274\u4e8e\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u4f7f\u7528\u201c\u5185\u5b58\u8ba1\u7b97\u201d\uff0c\u4e0d\u80fd\u5728\u4efb\u610f\u65f6\u95f4\u8bbf\u95ee\u5916\u90e8\u5b58\u50a8\u5e93\u4ee5\u83b7\u53d6\u4fe1\u606f\uff0c\u57fa\u51c6\u6d4b\u8bd5\u9700\u8981\u8bc4\u4f30\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u5728\u9700\u8981\u5c06\u5f53\u524d\u611f\u77e5\u5230\u7684\u4fe1\u53f7\u4e0e\u51e0\u79d2\u3001\u51e0\u5206\u949f\u751a\u81f3\u51e0\u5c0f\u65f6\u524d\u6d4b\u91cf\u5230\u7684\u6570\u636e\u8054\u7cfb\u8d77\u6765\u7684\u4efb\u52a1\u4e2d\uff0c\u80fd\u591a\u597d\u5730\u8fd0\u884c\u3002\u5f00\u53d1\u9002\u5f53\u7684\u4efb\u52a1\u6765\u8bc4\u4f30\u795e\u7ecf\u5f62\u6001\u7cfb\u7edf\u7684\u5b58\u50a8\u6027\u80fd\uff0c\u4ee5\u9002\u5f53\u5730\u4ea7\u751f\u6240\u671f\u671b\u7684\u884c\u4e3a\u672c\u8eab\u5c31\u662f\u4e00\u4e2a\u6311\u6218\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u4e00\u65e6\u5b9a\u4e49\u4e86\u4efb\u52a1\uff0c\u57fa\u51c6\u6d4b\u8bd5\u8fd8\u9700\u8981\u8003\u8651\u4e0a\u9762\u8ba8\u8bba\u7684\u5176\u4ed6\u7a33\u5065\u6027\u3001\u5ef6\u8fdf\u6216\u529f\u8017\u3002\u76ee\u524d\u7528\u4e8e\u8bc4\u4f30\u4f20\u7edf\u5904\u7406\u5668\u548c\u8ba1\u7b97\u7cfb\u7edf\u7684\u6807\u51c6\u6570\u503c\uff0c\u5982\u7cbe\u5ea6\u3001\u6bcf\u79d2\u6d6e\u70b9\u8fd0\u7b97\u6570<\/span>\uff08FLOPS\uff09<\/span>\u3001\u6bcf\u79d2\u5146\u8fd0\u7b97\u6b21\u6570<\/span>\uff08TOPS\uff09<\/span>\u6216\u6bcf\u79d2\u4e58\u6cd5\u548c\u7d2f\u52a0\u8fd0\u7b97\u6b21\u6570<\/span>\uff08MAC\uff09<\/span>\uff0c\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\u662f\u4e0d\u5408\u9002\u7684\u3002<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
     <\/span><\/section>\n
     <\/span><\/section>\n

    \n
    \n
    \n
    \n
    \n

    <\/section>\n

    <\/section>\n
    \n
    <\/svg><\/section>\n<\/section>\n<\/section>\n
    \n

    \u4e09\u3001\u5c55\u671b<\/strong><\/strong><\/p>\n<\/section>\n

    \n

    <\/section>\n

    <\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/h3>\n


    <\/p>\n

    \u5177\u8eab\u795e\u7ecf\u5f62\u6001\u667a\u80fd\u4f53\u6b63\u5728\u5feb\u901f\u53d1\u5c55\u3002\u5b83\u4eec\u901a\u8fc7\u5927\u8111\u542f\u53d1\u7684\u8ba1\u7b97\u65b9\u6cd5\uff0c\u4e0e\u73af\u5883\u548c\u4eba\u7c7b\u8fdb\u884c\u66f4\u987a\u7545\u5730\u4e92\u52a8\u3002\u5b83\u4eec\u88ab\u8bbe\u8ba1\u4e3a\u4ee5\u4e00\u79cd\u8003\u8651\u5230\u8bb8\u591a\u4e0d\u540c\u4fe1\u606f\u6e90\u7684\u65b9\u5f0f\u81ea\u4e3b\u51b3\u7b56\u548c\u6267\u884c\u76f8\u5e94\u7684\u884c\u52a8\uff0c\u51cf\u5c11\u6765\u81ea\u611f\u77e5\u7684\u4e0d\u786e\u5b9a\u6027\u548c\u6a21\u7cca\u6027\uff0c\u4e0d\u65ad\u5b66\u4e60\u548c\u9002\u5e94\u4e0d\u65ad\u53d8\u5316\u7684\u6761\u4ef6\u3002<\/span>
    <\/section>\n
     <\/span><\/section>\n
    \u603b\u7684\u6765\u8bf4\uff0c\u4f20\u7edf\u673a\u5668\u4eba\u6280\u672f\u751a\u81f3\u76ee\u524d\u7684\u795e\u7ecf\u5f62\u6001\u65b9\u6cd5\u7684\u6574\u4f53\u7cfb\u7edf\u8bbe\u8ba1\uff0c\u90fd\u8fd8\u8fdc\u8fdc\u6ca1\u6709\u5f97\u5230\u4efb\u4f55\u751f\u7269\u5b66\u7684\u542f\u53d1\u3002\u5982\u679c\u6574\u4e2a\u7cfb\u7edf\u8bbe\u8ba1\u4ee5\u751f\u7269\u8ba1\u7b97\u539f\u7406\u4e3a\u57fa\u7840\uff0c\u8ba9\u5bf9\u5468\u56f4\u73af\u5883\u548c\u673a\u5668\u4eba\u81ea\u8eab\u72b6\u6001\u7684\u4f30\u8ba1\u3001\u51b3\u7b56\u3001\u8ba1\u5212\u548c\u884c\u52a8\u4e4b\u95f4\u6709\u7d27\u5bc6\u7684\u4ea4\u4e92\uff0c\u90a3\u4e48\u8be5\u9886\u57df\u5c06\u53d1\u751f\u771f\u6b63\u7684\u7a81\u7834\u3002\u6269\u5c55\u5230\u66f4\u590d\u6742\u7684\u4efb\u52a1\u4ecd\u7136\u662f\u4e00\u4e2a\u6311\u6218\uff0c\u9700\u8981\u8fdb\u4e00\u6b65\u53d1\u5c55\u611f\u77e5\u548c\u884c\u4e3a\uff0c\u8fdb\u4e00\u6b65\u534f\u540c\u8bbe\u8ba1\u80fd\u591f\u81ea\u7136\u6620\u5c04\u5230\u795e\u7ecf\u5f62\u6001\u8ba1\u7b97\u5e73\u53f0\u4e0a\u3001\u5e76\u88ab\u7535\u5b50\u5143\u4ef6\u7269\u7406\u652f\u6301\u7684\u8ba1\u7b97\u57fa\u5143\u3002<\/span><\/section>\n
     <\/span><\/section>\n
    \u5728\u7cfb\u7edf\u5c42\u9762\uff0c\u5bf9\u4e8e\u5982\u4f55\u5c06\u6240\u6709\u611f\u77e5\u548c\u8ba1\u7b97\u7ec4\u4ef6\u6574\u5408\u6210\u4e00\u4e2a\u8fde\u8d2f\u7cfb\u7edf\uff0c\u6709\u6548\u5730\u611f\u77e5\u884c\u4e3a\uff0c\u6211\u4eec\u4ecd\u7136\u7f3a\u4e4f\u7406\u89e3\u3002\u6b64\u5916\uff0c\u8be5\u9886\u57df\u8fd8\u7f3a\u4e4f\u5982\u4f55\u5229\u7528\u751f\u7269\u795e\u7ecf\u5904\u7406\u7cfb\u7edf\u7684\u590d\u6742\u975e\u7ebf\u6027\u7279\u6027\u7684\u6982\u5ff5\uff0c\u4f8b\u5982\u5728\u4e0d\u540c\u65f6\u95f4\u5c3a\u5ea6\u4e0a\u6574\u5408\u9002\u5e94\u548c\u5b66\u4e60\u3002\u5728\u7406\u8bba\/\u7b97\u6cd5\u3001\u786c\u4ef6\u5c42\u9762\uff0c\u53ef\u4ee5\u5229\u7528\u65b0\u6280\u672f\u6765\u6ee1\u8db3\u8fd9\u79cd\u9700\u6c42\u3002<\/span><\/section>\n
     <\/span><\/section>\n
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     <\/span><\/section>\n
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