Title:
COMPUTER IMPLEMENTED METHOD FOR THE INDEXING OF TWO-DIMENSIONAL SPACES, ROBOT LOCATION SYSTEM, COMPUTER PROGRAM, AND COMPUTER-READABLE DATA CARRIER THEREOF
Document Type and Number:
WIPO Patent Application WO/2022/130133
Kind Code:
A1
Abstract:
The invention comprises a computer implemented method for the indexing of one and two- dimensional spaces using Gray code sequences, wherein the said method comprises a spatial indexing based in a triangular coordinate system, wherein the triangles are subdivided forming a plurality of sub-triangles, which are further encoded, resulting in a plurality of encoded layers; and a generation of a hexagonal coordinate system, which can be used to define the location of an autonomous robot. The invention meets the requirements for the spatial encoding, since it allows that two adjacent locations have a high degree of similarity, it is immune to transition errors when moving between adjacent locations, and allows the logical aggregation of neighbor locations to enable the spatial indexing of assets and objects that might span over several spatial units.
Inventors:
EVANGELISTA FERREIRA MONTEIRO JÂNIO MIGUEL (PT)
DA SILVA PEDRO ANDRÉ (PT)
FREITAS GOMES DA SILVA ANTÓNIO JOÃO (PT)
DA SILVA PEDRO ANDRÉ (PT)
FREITAS GOMES DA SILVA ANTÓNIO JOÃO (PT)
Application Number:
PCT/IB2021/061492
Publication Date:
June 23, 2022
Filing Date:
December 09, 2021
Export Citation:
Assignee:
UNIV DO ALGARVE (PT)
International Classes:
G05D1/02
Domestic Patent References:
| WO2011053728A1 | 2011-05-05 |
Foreign References:
| CN102281075A | 2011-12-14 | |||
| CN111797093A | 2020-10-20 |
Other References:
ANDRÉ DA SILVA PEDRO: "THE HIPPOCAMPAL FORMATION FROM A MACHINE LEARNING PERSPECTIVE", 24 September 2020 (2020-09-24), pages 1 - 103, XP002805765, Retrieved from the Internet [retrieved on 20220222]
BONDARUKL, B.ROBERTS, S.ROBERTSON, C.: "Discrete Global Grid Systems: Operational Capability of the Current State of the Art", SPATIAL KNOWLEDGE AND INFORMATION CANADA, 2019
BRUN, V. H.SOLSTAD, T.KJELSTRUP, K. B.FYHN, M.WITTER, M. P.MOSER, E. I.MOSER, M.-B: "Progressive increase in grid scale from dorsal to ventral medial entorhinal cortex", HIPPOCAMPUS, vol. 18, no. 12, 2008, pages 1200 - 1212, Retrieved from the Internet
BURGESS, N.BARRY, C.O'KEEFE, J.: "An oscillatory interference model of grid cell firing", HIPPOCAMPUS, vol. 17, no. 9, 2007, pages 801 - 812, Retrieved from the Internet
BUSH, IRISCAWARE L, OPENEAGGR: SOFTWARE DESIGN DOCUMENT, 2017
CHERUBINI, E.MILES, R.: "The CA3 region of the hippocampus: how is it? What is it for? How does it do it?", FRONTIERS IN CELLULAR NEUROSCIENCE, vol. 9, 2015, Retrieved from the Internet
CYBERBOTICS.: "K-Team's Khepera IV", WEBOTS USER GUIDE
ALMEIDA, L.IDIART, M.LISMAN, J. E.: "The Input-Output Trans formation of the Hippocampal Granule Cells: From Grid Cells to Place Fields", JOURNAL OF NEUROSCIENCE, vol. 29, no. 23, 2009, pages 7504 - 7512
OLIVEIRA, H. M.SANTOS-MAGALHAES, N. S: "The Genetic Code Revisited: Inner-to-Outer Map, 2D-Gray Map", WORLD-MAP GENETIC REPRESENTATIONS, 2004, pages 526 - 531, XP019009328, Retrieved from the Internet
DEAN H. SYMONDS., POSITION ENCODER UTILIZERSPECIAL, 1990
EICHENBAUM, H: "A cortical-hippocampal system for declarative memory", NATURE REVIEWS NEUROSCIENCE, vol. 1, no. 1, 2000, pages 41 - 50, Retrieved from the Internet
ESTEVES, J. S.CARVALHO, A.COUTO, C.: "Generalized geometric triangulation algorithm for mobile robot absolute self-localization", IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, vol. I, 2003, pages 346 - 351, XP010682777, Retrieved from the Internet DOI: 10.1109/ISIE.2003.1267272
FAROVIK, A.DUPONT, L. MEICHENBAUM, H.: "Distinct roles for dorsal CA3 and CA1 in memory for sequential nonspatial events", LEARNING AND MEMORY, 2010, Retrieved from the Internet
FUHS, M. C.: "A Spin Glass Model of Path Integration in Rat Medial Entorhinal Cortex", JOURNAL OF NEUROSCIENCE, vol. 26, no. 16, 2006, pages 4266 - 4276, Retrieved from the Internet
FUKAWA, AAIZAWA, T.YAMAKAWA, H.EGUCHI YAIRI, I.: "Identifying Core Regions for Path Integration on Medial Entorhinal Cortex of Hippocampal Formation", BRAIN SCIENCES, vol. 10, no. 1, 2020, pages 28, Retrieved from the Internet
GIOCOMO, L. M.MOSER, M. B.MOSER, E. I: "Computational models of grid cells", NEURON, 2011, Retrieved from the Internet
"Global Navigation Satellite Systems: Signal, Theory and Applications. InTech", 2012
GOODCHILD, M. F.KIMERLING, A. J.: "Discrete Global Grids: A Web Book", UC - SANTA UC SANTA BARBARA BARBARA, 2002
GUANELLA, A.KIPER, D.VERSCHURE, P.: "A model of grid cells based on a twisted torus topology", INTERNATIONAL JOURNAL OF NEURAL SYSTEMS, vol. 17, no. 4, 2007, pages 231 - 240, Retrieved from the Internet
GUPTA, P.COHEN, N. J.: "Theoretical and computational analysis of skill learning, repetition priming, and procedural memory", PSYCHOLOGICAL REVIEW, vol. 109, no. 2, 2002, pages 401 - 448, Retrieved from the Internet
HAFTING, T.FYHN, M.BONNEVIE, T.MOSER, M. B.MOSER, E. I.: "Hippocampus-independent phase precession in entorhinal grid cells", NATURE, vol. 453, no. 7199, 2008, pages 1248 - 1252, Retrieved from the Internet
HAFTING, T.FYHN, M.MOLDEN, S.MOSER, M. B.MOSER, E. I.: "Microstructure of a spatial map in the entorhinal cortex", NATURE, 2005, Retrieved from the Internet
HALES, T. C.: "The Honeycomb Conjecture", DISCRETE & COMPUTATIONAL GEOMETRY, vol. 25, no. 1, 2001, pages 1 - 22, XP036432771, Retrieved from the Internet DOI: 10.1007/s004540010071
HARGREAVES, E. L., RAO, G., LEE, I., & KNIERIM, J. J.: "Neuroscience: Major dissociation between medial and lateral entorhinal input to dorsal hippocampus", SCIENCE, vol. 308, no. 5729, 2005, pages 1792 - 1794, Retrieved from the Internet
KEALY, J.COMMINS, S.: "The rat perirhinal cortex: A review of anatomy, physiology, plasticity, and function", PROGRESS IN NEUROBIOLOGY, vol. 93, no. 4, 2011, pages 522 - 548, XP028192119, Retrieved from the Internet DOI: 10.1016/j.pneurobio.2011.03.002
KITAMURA, T.PIGNATELLI, M.SUH, J.KOHARA, K.YOSHIKI, A.ABE, K.TONEGAWA, S.: "Island Cells Control Temporal Association Memory", SCIENCE, vol. 343, no. 6173, 2014, pages 896 - 901, Retrieved from the Internet
KRAUS, B. J.BRANDON, M. P.ROBINSON, R. J.CONNERNEY, M. A.HASSELMO, M. E.EICHENBAUM, H.: "During Running in Place, Grid Cells Integrate Elapsed Time and Distance Run", NEURON, vol. 88, no. 3, 2015, pages 578 - 589, Retrieved from the Internet
KROPFF, E.CARMICHAEL, J. E.MOSER, M. B.MOSER, E. I.: "Speed cells in the medial entorhinal cortex", NATURE, 2015, Retrieved from the Internet
KROPFF, E.TREVES, A.: "The emergence of grid cells: Intelligent design or just adaptation?", HIPPOCAMPUS, vol. 18, no. 12, 2008, pages 1256 - 1269, Retrieved from the Internet
LEVER, C.BURTON, S.JEEWAJEE, A.O'KEEFE, J.BURGESS, N: "Boundary vector cells in the subiculum of the hippocampal formation", JOURNAL OF NEUROSCIENCE, vol. 29, no. 31, 2009, pages 9771 - 9777, Retrieved from the Internet
LI, X.: "Storage and addressing scheme for practical hexagonal image processing", JOURNAL OF ELECTRONIC IMAGING, vol. 22, no. 1, 2013, pages 010502, XP060026154, Retrieved from the Internet DOI: 10.1117/1.JEI.22.1.010502
LOPEZ RUIZ, J. R., OSUNA CARRASCO, L. P., LOPEZ VALENZUELA, C. L., FRANCO RODRIGUEZ, N. E., DE LA TORRE VALDOVINOS, B., JIMENEZ ES: "The hippocampus participates in the control of locomotion speed", NEUROSCIENCE, 2015, Retrieved from the Internet
MAHDAVI-AMIRI, ALIALDERSON, TROYSAMAVATI, F, DATA MANAGEMENT POSSIBILITIES FOR APERTURE 3 HEXAGONAL DISCRETE GLOBAL GRID SYSTEMS, 2016
MALIK, Y.ABDUL KHALIQ, K.ABDULRAZAK, B.TARIQ, U: "Mobile Node Localization in Cellular Networks", INTERNATIONAL JOURNAL OF WIRELESS & MOBILE NETWORKS, vol. 3, no. 6, 2011, pages 91 - 100, Retrieved from the Internet
MCNAUGHTON, B. L., BATTAGLIA, F. P., JENSEN, O., MOSER, E. I., & MOSER, M.-B.: "Path integration and the neural basis of the ''cognitive map", NATURE REVIEWS NEUROSCIENCE, vol. 7, no. 8, 2006, pages 663 - 678, Retrieved from the Internet
MICHEL, O., WEBOTS ROBOT SIMULATOR, 2015, Retrieved from the Internet
MILFORD, M. J.WYETH, G. F.PRASSER, D: "RatSLAM: a hippocampal model for simultaneous localization and mapping", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 2004. PROCEEDINGS, vol. 1, 2004, pages 403 - 408, XP010768308, Retrieved from the Internet DOI: 10.1109/ROBOT.2004.1307183
NAUMANN, R. K.PRESTON-FERRER, P.BRECHT, M.BURGALOSSI, A.: "Structural modularity and grid activity in the medial entorhinal cortex", JOURNAL OF NEUROPHYSIOLOGY, 2018, Retrieved from the Internet
NEUGEBAUER, O: "The Egyptian ''decans.", VISTAS IN ASTRONOMY, vol. 1, 1955, pages 47 - 51, Retrieved from the Internet
NOBACK CRSTROMINGER NLDEMAREST RJR. DA: "Journal of Library and Information Science", vol. 5, 2005, HUMANA PRESS, article "The Human Nervous System: Structure and Function", pages: 2
O'MARA, S. M.COMMINS, S.ANDERSON, M.GIGG, J: "The subiculum: A review of form, physiology and function", PROGRESS IN NEUROBIOLOGY, 2001, Retrieved from the Internet
O'REILLY, K. C.ALARCON, J. M.FERBINTEANU, J: "Relative contributions of CA3 and medial entorhinal cortex to memory in rats", FRONTIERS IN BEHAVIORAL NEUROSCIENCE, vol. 8, 2014, Retrieved from the Internet
PHAM, D. M.PREMKUMAR, A. B.MADHUKUMAR, A. S.: "Error detection and correction in communication channels using inverse gray RSNS codes", IEEE TRANSACTIONS ON COMMUNICATIONS, vol. 59, no. 4, 2011, pages 975 - 986, Retrieved from the Internet
PILLY, P. K.GROSSBERG, S.: "How does the modular organization of entorhinal grid cells develop?", FRONTIERS IN HUMAN NEUROSCIENCE, 2014, Retrieved from the Internet
POULTER, S.HARTLEY, T.LEVER, C.: "The Neurobiology of Mammalian Navigation", CURRENT BIOLOGY, vol. 28, 2018, pages R1023 - R1042, Retrieved from the Internet
RAY, S., NAUMANN, R., BURGALOSSI, A., TANG, Q., SCHMIDT, H., & BRECHT, M: "Grid-Layout and Theta-Modulation of Layer 2 Pyramidal Neurons in Medial Entorhinal Cortex", SCIENCE, vol. 343, no. 6173, 2014, pages 891 - 896, Retrieved from the Internet
RICHEY, M.: "The Navigational Background to 1492", JOURNAL OF NAVIGATION, vol. 45, no. 2, 1992, pages 266 - 284, Retrieved from the Internet
SAHR, K.GILLY, J.RABINOWITZ, N.ELLIS, D., H3: A HEXAGONAL HIERARCHICAL GEOSPATIAL INDEXING SYSTEM, 2018
TAUBE, J.MULLER, R.RANCK, J: "Head-direction cells recorded from the postsubiculum in freely moving rats. I. Description and quantitative analysis", THE JOURNAL OF NEUROSCIENCE, vol. 10, no. 2, 1990, pages 420 - 435, Retrieved from the Internet
TEYLER, T. J.RUDY, J. W.: "The hippocampal indexing theory and episodic memory: Updating the index", HIPPOCAMPUS, 2007, Retrieved from the Internet
TULVING, E.: "Episodic Memory: From Mind to Brain", ANNUAL REVIEW OF PSYCHOLOGY, vol. 53, no. 1, 2002, pages 1 - 25, Retrieved from the Internet
URDAPILLETA, E.SI, B.TREVES, A.: "Selforganization of modular activity of grid cells", HIPPOCAMPUS, vol. 27, no. 11, 2017, pages 1204 - 1213, Retrieved from the Internet
BOHNENBEREGR: "Beschreibung einer Maschine, welche die Gesetze der Umdrehung der Erde um ihre Axe, und der Veranderung der Lage der Erdaxe zu erlautern dient", ANNALEN DER PHYSIK, vol. 60, no. 9, pages 60 - 71, Retrieved from the Internet
WRIGLEY, W.HOLLISTER, W. M.: "The Gyroscope: Theory and Application", SCIENCE, vol. 149, no. 3685, 1965, pages 713 - 721, Retrieved from the Internet
YU, F.SHANG, J.HU, Y.MILFORD, M.: "NeuroSLAM: a brain-inspired SLAM system for 3D environments", BIOLOGICAL CYBERNETICS, vol. 113, no. 5-6, 2019, pages 515 - 545, XP036937640, Retrieved from the Internet DOI: 10.1007/s00422-019-00806-9
ZHU, Y.GAO, H.TONG, L.LI, Z. L.WANG, L.ZHANG, C.YANG, Q.YAN, B.: "Emotion regulation of hippocampus using real-time fMRI neurofeedback in healthy human", FRONTIERS IN HUMAN NEUROSCIENCE, vol. 13, 2019, Retrieved from the Internet
BONDARUKL, B.ROBERTS, S.ROBERTSON, C.: "Discrete Global Grid Systems: Operational Capability of the Current State of the Art", SPATIAL KNOWLEDGE AND INFORMATION CANADA, 2019
BRUN, V. H.SOLSTAD, T.KJELSTRUP, K. B.FYHN, M.WITTER, M. P.MOSER, E. I.MOSER, M.-B: "Progressive increase in grid scale from dorsal to ventral medial entorhinal cortex", HIPPOCAMPUS, vol. 18, no. 12, 2008, pages 1200 - 1212, Retrieved from the Internet
BURGESS, N.BARRY, C.O'KEEFE, J.: "An oscillatory interference model of grid cell firing", HIPPOCAMPUS, vol. 17, no. 9, 2007, pages 801 - 812, Retrieved from the Internet
BUSH, IRISCAWARE L, OPENEAGGR: SOFTWARE DESIGN DOCUMENT, 2017
CHERUBINI, E.MILES, R.: "The CA3 region of the hippocampus: how is it? What is it for? How does it do it?", FRONTIERS IN CELLULAR NEUROSCIENCE, vol. 9, 2015, Retrieved from the Internet
CYBERBOTICS.: "K-Team's Khepera IV", WEBOTS USER GUIDE
ALMEIDA, L.IDIART, M.LISMAN, J. E.: "The Input-Output Trans formation of the Hippocampal Granule Cells: From Grid Cells to Place Fields", JOURNAL OF NEUROSCIENCE, vol. 29, no. 23, 2009, pages 7504 - 7512
OLIVEIRA, H. M.SANTOS-MAGALHAES, N. S: "The Genetic Code Revisited: Inner-to-Outer Map, 2D-Gray Map", WORLD-MAP GENETIC REPRESENTATIONS, 2004, pages 526 - 531, XP019009328, Retrieved from the Internet
DEAN H. SYMONDS., POSITION ENCODER UTILIZERSPECIAL, 1990
EICHENBAUM, H: "A cortical-hippocampal system for declarative memory", NATURE REVIEWS NEUROSCIENCE, vol. 1, no. 1, 2000, pages 41 - 50, Retrieved from the Internet
ESTEVES, J. S.CARVALHO, A.COUTO, C.: "Generalized geometric triangulation algorithm for mobile robot absolute self-localization", IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, vol. I, 2003, pages 346 - 351, XP010682777, Retrieved from the Internet
FAROVIK, A.DUPONT, L. MEICHENBAUM, H.: "Distinct roles for dorsal CA3 and CA1 in memory for sequential nonspatial events", LEARNING AND MEMORY, 2010, Retrieved from the Internet
FUHS, M. C.: "A Spin Glass Model of Path Integration in Rat Medial Entorhinal Cortex", JOURNAL OF NEUROSCIENCE, vol. 26, no. 16, 2006, pages 4266 - 4276, Retrieved from the Internet
FUKAWA, AAIZAWA, T.YAMAKAWA, H.EGUCHI YAIRI, I.: "Identifying Core Regions for Path Integration on Medial Entorhinal Cortex of Hippocampal Formation", BRAIN SCIENCES, vol. 10, no. 1, 2020, pages 28, Retrieved from the Internet
GIOCOMO, L. M.MOSER, M. B.MOSER, E. I: "Computational models of grid cells", NEURON, 2011, Retrieved from the Internet
"Global Navigation Satellite Systems: Signal, Theory and Applications. InTech", 2012
GOODCHILD, M. F.KIMERLING, A. J.: "Discrete Global Grids: A Web Book", UC - SANTA UC SANTA BARBARA BARBARA, 2002
GUANELLA, A.KIPER, D.VERSCHURE, P.: "A model of grid cells based on a twisted torus topology", INTERNATIONAL JOURNAL OF NEURAL SYSTEMS, vol. 17, no. 4, 2007, pages 231 - 240, Retrieved from the Internet
GUPTA, P.COHEN, N. J.: "Theoretical and computational analysis of skill learning, repetition priming, and procedural memory", PSYCHOLOGICAL REVIEW, vol. 109, no. 2, 2002, pages 401 - 448, Retrieved from the Internet
HAFTING, T.FYHN, M.BONNEVIE, T.MOSER, M. B.MOSER, E. I.: "Hippocampus-independent phase precession in entorhinal grid cells", NATURE, vol. 453, no. 7199, 2008, pages 1248 - 1252, Retrieved from the Internet
HAFTING, T.FYHN, M.MOLDEN, S.MOSER, M. B.MOSER, E. I.: "Microstructure of a spatial map in the entorhinal cortex", NATURE, 2005, Retrieved from the Internet
HALES, T. C.: "The Honeycomb Conjecture", DISCRETE & COMPUTATIONAL GEOMETRY, vol. 25, no. 1, 2001, pages 1 - 22, XP036432771, Retrieved from the Internet
HARGREAVES, E. L., RAO, G., LEE, I., & KNIERIM, J. J.: "Neuroscience: Major dissociation between medial and lateral entorhinal input to dorsal hippocampus", SCIENCE, vol. 308, no. 5729, 2005, pages 1792 - 1794, Retrieved from the Internet
KEALY, J.COMMINS, S.: "The rat perirhinal cortex: A review of anatomy, physiology, plasticity, and function", PROGRESS IN NEUROBIOLOGY, vol. 93, no. 4, 2011, pages 522 - 548, XP028192119, Retrieved from the Internet
KITAMURA, T.PIGNATELLI, M.SUH, J.KOHARA, K.YOSHIKI, A.ABE, K.TONEGAWA, S.: "Island Cells Control Temporal Association Memory", SCIENCE, vol. 343, no. 6173, 2014, pages 896 - 901, Retrieved from the Internet
KRAUS, B. J.BRANDON, M. P.ROBINSON, R. J.CONNERNEY, M. A.HASSELMO, M. E.EICHENBAUM, H.: "During Running in Place, Grid Cells Integrate Elapsed Time and Distance Run", NEURON, vol. 88, no. 3, 2015, pages 578 - 589, Retrieved from the Internet
KROPFF, E.CARMICHAEL, J. E.MOSER, M. B.MOSER, E. I.: "Speed cells in the medial entorhinal cortex", NATURE, 2015, Retrieved from the Internet
KROPFF, E.TREVES, A.: "The emergence of grid cells: Intelligent design or just adaptation?", HIPPOCAMPUS, vol. 18, no. 12, 2008, pages 1256 - 1269, Retrieved from the Internet
LEVER, C.BURTON, S.JEEWAJEE, A.O'KEEFE, J.BURGESS, N: "Boundary vector cells in the subiculum of the hippocampal formation", JOURNAL OF NEUROSCIENCE, vol. 29, no. 31, 2009, pages 9771 - 9777, Retrieved from the Internet
LI, X.: "Storage and addressing scheme for practical hexagonal image processing", JOURNAL OF ELECTRONIC IMAGING, vol. 22, no. 1, 2013, pages 010502, XP060026154, Retrieved from the Internet
LOPEZ RUIZ, J. R., OSUNA CARRASCO, L. P., LOPEZ VALENZUELA, C. L., FRANCO RODRIGUEZ, N. E., DE LA TORRE VALDOVINOS, B., JIMENEZ ES: "The hippocampus participates in the control of locomotion speed", NEUROSCIENCE, 2015, Retrieved from the Internet
MAHDAVI-AMIRI, ALIALDERSON, TROYSAMAVATI, F, DATA MANAGEMENT POSSIBILITIES FOR APERTURE 3 HEXAGONAL DISCRETE GLOBAL GRID SYSTEMS, 2016
MALIK, Y.ABDUL KHALIQ, K.ABDULRAZAK, B.TARIQ, U: "Mobile Node Localization in Cellular Networks", INTERNATIONAL JOURNAL OF WIRELESS & MOBILE NETWORKS, vol. 3, no. 6, 2011, pages 91 - 100, Retrieved from the Internet
MCNAUGHTON, B. L., BATTAGLIA, F. P., JENSEN, O., MOSER, E. I., & MOSER, M.-B.: "Path integration and the neural basis of the ''cognitive map", NATURE REVIEWS NEUROSCIENCE, vol. 7, no. 8, 2006, pages 663 - 678, Retrieved from the Internet
MICHEL, O., WEBOTS ROBOT SIMULATOR, 2015, Retrieved from the Internet
MILFORD, M. J.WYETH, G. F.PRASSER, D: "RatSLAM: a hippocampal model for simultaneous localization and mapping", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 2004. PROCEEDINGS, vol. 1, 2004, pages 403 - 408, XP010768308, Retrieved from the Internet
NAUMANN, R. K.PRESTON-FERRER, P.BRECHT, M.BURGALOSSI, A.: "Structural modularity and grid activity in the medial entorhinal cortex", JOURNAL OF NEUROPHYSIOLOGY, 2018, Retrieved from the Internet
NEUGEBAUER, O: "The Egyptian ''decans.", VISTAS IN ASTRONOMY, vol. 1, 1955, pages 47 - 51, Retrieved from the Internet
NOBACK CRSTROMINGER NLDEMAREST RJR. DA: "Journal of Library and Information Science", vol. 5, 2005, HUMANA PRESS, article "The Human Nervous System: Structure and Function", pages: 2
O'MARA, S. M.COMMINS, S.ANDERSON, M.GIGG, J: "The subiculum: A review of form, physiology and function", PROGRESS IN NEUROBIOLOGY, 2001, Retrieved from the Internet
O'REILLY, K. C.ALARCON, J. M.FERBINTEANU, J: "Relative contributions of CA3 and medial entorhinal cortex to memory in rats", FRONTIERS IN BEHAVIORAL NEUROSCIENCE, vol. 8, 2014, Retrieved from the Internet
PHAM, D. M.PREMKUMAR, A. B.MADHUKUMAR, A. S.: "Error detection and correction in communication channels using inverse gray RSNS codes", IEEE TRANSACTIONS ON COMMUNICATIONS, vol. 59, no. 4, 2011, pages 975 - 986, Retrieved from the Internet
PILLY, P. K.GROSSBERG, S.: "How does the modular organization of entorhinal grid cells develop?", FRONTIERS IN HUMAN NEUROSCIENCE, 2014, Retrieved from the Internet
POULTER, S.HARTLEY, T.LEVER, C.: "The Neurobiology of Mammalian Navigation", CURRENT BIOLOGY, vol. 28, 2018, pages R1023 - R1042, Retrieved from the Internet
RAY, S., NAUMANN, R., BURGALOSSI, A., TANG, Q., SCHMIDT, H., & BRECHT, M: "Grid-Layout and Theta-Modulation of Layer 2 Pyramidal Neurons in Medial Entorhinal Cortex", SCIENCE, vol. 343, no. 6173, 2014, pages 891 - 896, Retrieved from the Internet
RICHEY, M.: "The Navigational Background to 1492", JOURNAL OF NAVIGATION, vol. 45, no. 2, 1992, pages 266 - 284, Retrieved from the Internet
SAHR, K.GILLY, J.RABINOWITZ, N.ELLIS, D., H3: A HEXAGONAL HIERARCHICAL GEOSPATIAL INDEXING SYSTEM, 2018
TAUBE, J.MULLER, R.RANCK, J: "Head-direction cells recorded from the postsubiculum in freely moving rats. I. Description and quantitative analysis", THE JOURNAL OF NEUROSCIENCE, vol. 10, no. 2, 1990, pages 420 - 435, Retrieved from the Internet
TEYLER, T. J.RUDY, J. W.: "The hippocampal indexing theory and episodic memory: Updating the index", HIPPOCAMPUS, 2007, Retrieved from the Internet
TULVING, E.: "Episodic Memory: From Mind to Brain", ANNUAL REVIEW OF PSYCHOLOGY, vol. 53, no. 1, 2002, pages 1 - 25, Retrieved from the Internet
URDAPILLETA, E.SI, B.TREVES, A.: "Selforganization of modular activity of grid cells", HIPPOCAMPUS, vol. 27, no. 11, 2017, pages 1204 - 1213, Retrieved from the Internet
BOHNENBEREGR: "Beschreibung einer Maschine, welche die Gesetze der Umdrehung der Erde um ihre Axe, und der Veranderung der Lage der Erdaxe zu erlautern dient", ANNALEN DER PHYSIK, vol. 60, no. 9, pages 60 - 71, Retrieved from the Internet
WRIGLEY, W.HOLLISTER, W. M.: "The Gyroscope: Theory and Application", SCIENCE, vol. 149, no. 3685, 1965, pages 713 - 721, Retrieved from the Internet
YU, F.SHANG, J.HU, Y.MILFORD, M.: "NeuroSLAM: a brain-inspired SLAM system for 3D environments", BIOLOGICAL CYBERNETICS, vol. 113, no. 5-6, 2019, pages 515 - 545, XP036937640, Retrieved from the Internet
ZHU, Y.GAO, H.TONG, L.LI, Z. L.WANG, L.ZHANG, C.YANG, Q.YAN, B.: "Emotion regulation of hippocampus using real-time fMRI neurofeedback in healthy human", FRONTIERS IN HUMAN NEUROSCIENCE, vol. 13, 2019, Retrieved from the Internet
Attorney, Agent or Firm:
INVENTA INTERNATIONAL S.A. (PT)
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