Adaptive Robotic Control Driven by a Versatile Spiking Cerebellar Network
Identifieur interne : 001454 ( Main/Curation ); précédent : 001453; suivant : 001455Adaptive Robotic Control Driven by a Versatile Spiking Cerebellar Network
Auteurs : Claudia Casellato [Italie] ; Alberto Antonietti [Italie] ; Jesus A. Garrido [Italie] ; Richard R. Carrillo [Espagne] ; Niceto R. Luque [Espagne] ; Eduardo Ros [Espagne] ; Alessandra Pedrocchi [Italie] ; Egidio D'Angelo [Italie]Source :
- PLoS ONE [ 1932-6203 ] ; 2014.
Abstract
The cerebellum is involved in a large number of different neural processes, especially in associative learning and in fine motor control. To develop a comprehensive theory of sensorimotor learning and control, it is crucial to determine the neural basis of coding and plasticity embedded into the cerebellar neural circuit and how they are translated into behavioral outcomes in learning paradigms. Learning has to be inferred from the interaction of an embodied system with its real environment, and the same cerebellar principles derived from cell physiology have to be able to drive a variety of tasks of different nature, calling for complex timing and movement patterns. We have coupled a realistic cerebellar spiking neural network (SNN) with a real robot and challenged it in multiple diverse sensorimotor tasks. Encoding and decoding strategies based on neuronal firing rates were applied. Adaptive motor control protocols with acquisition and extinction phases have been designed and tested, including an associative Pavlovian task (Eye blinking classical conditioning), a vestibulo-ocular task and a perturbed arm reaching task operating in closed-loop. The SNN processed in real-time mossy fiber inputs as arbitrary contextual signals, irrespective of whether they conveyed a tone, a vestibular stimulus or the position of a limb. A bidirectional long-term plasticity rule implemented at parallel fibers-Purkinje cell synapses modulated the output activity in the deep cerebellar nuclei. In all tasks, the neurorobot learned to adjust timing and gain of the motor responses by tuning its output discharge. It succeeded in reproducing how human biological systems acquire, extinguish and express knowledge of a noisy and changing world. By varying stimuli and perturbations patterns, real-time control robustness and generalizability were validated. The implicit spiking dynamics of the cerebellar model fulfill timing, prediction and learning functions.
Url:
DOI: 10.1371/journal.pone.0112265
PubMed: 25390365
PubMed Central: 4229206
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000356
- to stream Pmc, to step Curation: Pour aller vers cette notice dans l'étape Curation :000356
- to stream Pmc, to step Checkpoint: Pour aller vers cette notice dans l'étape Curation :000E32
- to stream Ncbi, to step Merge: Pour aller vers cette notice dans l'étape Curation :003443
- to stream Ncbi, to step Curation: Pour aller vers cette notice dans l'étape Curation :003443
- to stream Ncbi, to step Checkpoint: Pour aller vers cette notice dans l'étape Curation :003443
- to stream Main, to step Merge: Pour aller vers cette notice dans l'étape Curation :001460
Links to Exploration step
PMC:4229206Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Adaptive Robotic Control Driven by a Versatile Spiking Cerebellar Network</title>
<author><name sortKey="Casellato, Claudia" sort="Casellato, Claudia" uniqKey="Casellato C" first="Claudia" last="Casellato">Claudia Casellato</name>
<affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano</wicri:regionArea>
<wicri:noRegion>Milano</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Antonietti, Alberto" sort="Antonietti, Alberto" uniqKey="Antonietti A" first="Alberto" last="Antonietti">Alberto Antonietti</name>
<affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano</wicri:regionArea>
<wicri:noRegion>Milano</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><nlm:aff id="aff2"><addr-line>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Garrido, Jesus A" sort="Garrido, Jesus A" uniqKey="Garrido J" first="Jesus A." last="Garrido">Jesus A. Garrido</name>
<affiliation wicri:level="1"><nlm:aff id="aff2"><addr-line>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><nlm:aff id="aff3"><addr-line>Department of Brain and Behavioral Sciences, University of Pavia, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Department of Brain and Behavioral Sciences, University of Pavia, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Carrillo, Richard R" sort="Carrillo, Richard R" uniqKey="Carrillo R" first="Richard R." last="Carrillo">Richard R. Carrillo</name>
<affiliation wicri:level="4"><nlm:aff id="aff4"><addr-line>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada, Spain</addr-line>
</nlm:aff>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada</wicri:regionArea>
<orgName type="university">Université de Grenade</orgName>
<placeName><settlement type="city">Grenade (Espagne)</settlement>
<region nuts="2" type="region">Andalousie</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Luque, Niceto R" sort="Luque, Niceto R" uniqKey="Luque N" first="Niceto R." last="Luque">Niceto R. Luque</name>
<affiliation wicri:level="4"><nlm:aff id="aff4"><addr-line>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada, Spain</addr-line>
</nlm:aff>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada</wicri:regionArea>
<orgName type="university">Université de Grenade</orgName>
<placeName><settlement type="city">Grenade (Espagne)</settlement>
<region nuts="2" type="region">Andalousie</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Ros, Eduardo" sort="Ros, Eduardo" uniqKey="Ros E" first="Eduardo" last="Ros">Eduardo Ros</name>
<affiliation wicri:level="4"><nlm:aff id="aff4"><addr-line>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada, Spain</addr-line>
</nlm:aff>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada</wicri:regionArea>
<orgName type="university">Université de Grenade</orgName>
<placeName><settlement type="city">Grenade (Espagne)</settlement>
<region nuts="2" type="region">Andalousie</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Pedrocchi, Alessandra" sort="Pedrocchi, Alessandra" uniqKey="Pedrocchi A" first="Alessandra" last="Pedrocchi">Alessandra Pedrocchi</name>
<affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano</wicri:regionArea>
<wicri:noRegion>Milano</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="D Angelo, Egidio" sort="D Angelo, Egidio" uniqKey="D Angelo E" first="Egidio" last="D'Angelo">Egidio D'Angelo</name>
<affiliation wicri:level="1"><nlm:aff id="aff2"><addr-line>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><nlm:aff id="aff3"><addr-line>Department of Brain and Behavioral Sciences, University of Pavia, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Department of Brain and Behavioral Sciences, University of Pavia, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PMC</idno>
<idno type="pmid">25390365</idno>
<idno type="pmc">4229206</idno>
<idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4229206</idno>
<idno type="RBID">PMC:4229206</idno>
<idno type="doi">10.1371/journal.pone.0112265</idno>
<date when="2014">2014</date>
<idno type="wicri:Area/Pmc/Corpus">000356</idno>
<idno type="wicri:Area/Pmc/Curation">000356</idno>
<idno type="wicri:Area/Pmc/Checkpoint">000E32</idno>
<idno type="wicri:Area/Ncbi/Merge">003443</idno>
<idno type="wicri:Area/Ncbi/Curation">003443</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">003443</idno>
<idno type="wicri:Area/Main/Merge">001460</idno>
<idno type="wicri:Area/Main/Curation">001454</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Adaptive Robotic Control Driven by a Versatile Spiking Cerebellar Network</title>
<author><name sortKey="Casellato, Claudia" sort="Casellato, Claudia" uniqKey="Casellato C" first="Claudia" last="Casellato">Claudia Casellato</name>
<affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano</wicri:regionArea>
<wicri:noRegion>Milano</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Antonietti, Alberto" sort="Antonietti, Alberto" uniqKey="Antonietti A" first="Alberto" last="Antonietti">Alberto Antonietti</name>
<affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano</wicri:regionArea>
<wicri:noRegion>Milano</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><nlm:aff id="aff2"><addr-line>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Garrido, Jesus A" sort="Garrido, Jesus A" uniqKey="Garrido J" first="Jesus A." last="Garrido">Jesus A. Garrido</name>
<affiliation wicri:level="1"><nlm:aff id="aff2"><addr-line>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><nlm:aff id="aff3"><addr-line>Department of Brain and Behavioral Sciences, University of Pavia, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Department of Brain and Behavioral Sciences, University of Pavia, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Carrillo, Richard R" sort="Carrillo, Richard R" uniqKey="Carrillo R" first="Richard R." last="Carrillo">Richard R. Carrillo</name>
<affiliation wicri:level="4"><nlm:aff id="aff4"><addr-line>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada, Spain</addr-line>
</nlm:aff>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada</wicri:regionArea>
<orgName type="university">Université de Grenade</orgName>
<placeName><settlement type="city">Grenade (Espagne)</settlement>
<region nuts="2" type="region">Andalousie</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Luque, Niceto R" sort="Luque, Niceto R" uniqKey="Luque N" first="Niceto R." last="Luque">Niceto R. Luque</name>
<affiliation wicri:level="4"><nlm:aff id="aff4"><addr-line>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada, Spain</addr-line>
</nlm:aff>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada</wicri:regionArea>
<orgName type="university">Université de Grenade</orgName>
<placeName><settlement type="city">Grenade (Espagne)</settlement>
<region nuts="2" type="region">Andalousie</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Ros, Eduardo" sort="Ros, Eduardo" uniqKey="Ros E" first="Eduardo" last="Ros">Eduardo Ros</name>
<affiliation wicri:level="4"><nlm:aff id="aff4"><addr-line>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada, Spain</addr-line>
</nlm:aff>
<country xml:lang="fr">Espagne</country>
<wicri:regionArea>Department of Computer Architecture and Technology, Escuela Técnica Superior de Ingegnerías Informática y de Telecomunicación, University of Granada, Granada</wicri:regionArea>
<orgName type="university">Université de Grenade</orgName>
<placeName><settlement type="city">Grenade (Espagne)</settlement>
<region nuts="2" type="region">Andalousie</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Pedrocchi, Alessandra" sort="Pedrocchi, Alessandra" uniqKey="Pedrocchi A" first="Alessandra" last="Pedrocchi">Alessandra Pedrocchi</name>
<affiliation wicri:level="1"><nlm:aff id="aff1"><addr-line>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>NeuroEngineering and Medical Robotics Laboratory, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano</wicri:regionArea>
<wicri:noRegion>Milano</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="D Angelo, Egidio" sort="D Angelo, Egidio" uniqKey="D Angelo E" first="Egidio" last="D'Angelo">Egidio D'Angelo</name>
<affiliation wicri:level="1"><nlm:aff id="aff2"><addr-line>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Brain Connectivity Center, Istituto di Ricovero e Cura a Carattere Scientifico Istituto Neurologico Nazionale Casimiro Mondino, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><nlm:aff id="aff3"><addr-line>Department of Brain and Behavioral Sciences, University of Pavia, Pavia, Italy</addr-line>
</nlm:aff>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Department of Brain and Behavioral Sciences, University of Pavia, Pavia</wicri:regionArea>
<wicri:noRegion>Pavia</wicri:noRegion>
</affiliation>
</author>
</analytic>
<series><title level="j">PLoS ONE</title>
<idno type="eISSN">1932-6203</idno>
<imprint><date when="2014">2014</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en"><p>The cerebellum is involved in a large number of different neural processes, especially in associative learning and in fine motor control. To develop a comprehensive theory of sensorimotor learning and control, it is crucial to determine the neural basis of coding and plasticity embedded into the cerebellar neural circuit and how they are translated into behavioral outcomes in learning paradigms. Learning has to be inferred from the interaction of an embodied system with its real environment, and the same cerebellar principles derived from cell physiology have to be able to drive a variety of tasks of different nature, calling for complex timing and movement patterns. We have coupled a realistic cerebellar spiking neural network (SNN) with a real robot and challenged it in multiple diverse sensorimotor tasks. Encoding and decoding strategies based on neuronal firing rates were applied. Adaptive motor control protocols with acquisition and extinction phases have been designed and tested, including an associative Pavlovian task (Eye blinking classical conditioning), a vestibulo-ocular task and a perturbed arm reaching task operating in closed-loop. The SNN processed in real-time mossy fiber inputs as arbitrary contextual signals, irrespective of whether they conveyed a tone, a vestibular stimulus or the position of a limb. A bidirectional long-term plasticity rule implemented at parallel fibers-Purkinje cell synapses modulated the output activity in the deep cerebellar nuclei. In all tasks, the neurorobot learned to adjust timing and gain of the motor responses by tuning its output discharge. It succeeded in reproducing how human biological systems acquire, extinguish and express knowledge of a noisy and changing world. By varying stimuli and perturbations patterns, real-time control robustness and generalizability were validated. The implicit spiking dynamics of the cerebellar model fulfill timing, prediction and learning functions.</p>
</div>
</front>
<back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Ito, M" uniqKey="Ito M">M Ito</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Miall, R" uniqKey="Miall R">R Miall</name>
</author>
<author><name sortKey="Wolpert, Dm" uniqKey="Wolpert D">DM Wolpert</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Shadmehr, R" uniqKey="Shadmehr R">R Shadmehr</name>
</author>
<author><name sortKey="Mussa Ivaldi, Fa" uniqKey="Mussa Ivaldi F">FA Mussa-Ivaldi</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Marr, D" uniqKey="Marr D">D Marr</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Albus, Js" uniqKey="Albus J">JS Albus</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Ito, M" uniqKey="Ito M">M Ito</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Porrill, J" uniqKey="Porrill J">J Porrill</name>
</author>
<author><name sortKey="Dean, P" uniqKey="Dean P">P Dean</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Tyrrell, T" uniqKey="Tyrrell T">T Tyrrell</name>
</author>
<author><name sortKey="Willshaw, D" uniqKey="Willshaw D">D Willshaw</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Spoelstra, J" uniqKey="Spoelstra J">J Spoelstra</name>
</author>
<author><name sortKey="Schweighofer, N" uniqKey="Schweighofer N">N Schweighofer</name>
</author>
<author><name sortKey="Arbib, Ma" uniqKey="Arbib M">MA Arbib</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Spoelstra, J" uniqKey="Spoelstra J">J Spoelstra</name>
</author>
<author><name sortKey="Arbib, Ma" uniqKey="Arbib M">MA Arbib</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="De Gruijl, J" uniqKey="De Gruijl J">J De Gruijl</name>
</author>
<author><name sortKey="Van Der Smagt, P" uniqKey="Van Der Smagt P">P Van der Smagt</name>
</author>
<author><name sortKey="De Zeeuw, C" uniqKey="De Zeeuw C">C De Zeeuw</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Herreros, I" uniqKey="Herreros I">I Herreros</name>
</author>
<author><name sortKey="Verschure, Pf" uniqKey="Verschure P">PF Verschure</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Mckinstry, Jl" uniqKey="Mckinstry J">JL McKinstry</name>
</author>
<author><name sortKey="Edelman, Gm" uniqKey="Edelman G">GM Edelman</name>
</author>
<author><name sortKey="Krichmar, Jl" uniqKey="Krichmar J">JL Krichmar</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Voegtlin, T" uniqKey="Voegtlin T">T Voegtlin</name>
</author>
<author><name sortKey="Verschure, Pf" uniqKey="Verschure P">PF Verschure</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Lenz, A" uniqKey="Lenz A">A Lenz</name>
</author>
<author><name sortKey="Anderson, Sr" uniqKey="Anderson S">SR Anderson</name>
</author>
<author><name sortKey="Pipe, Ag" uniqKey="Pipe A">AG Pipe</name>
</author>
<author><name sortKey="Melhuish, C" uniqKey="Melhuish C">C Melhuish</name>
</author>
<author><name sortKey="Dean, P" uniqKey="Dean P">P Dean</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Vijayakumar, S" uniqKey="Vijayakumar S">S Vijayakumar</name>
</author>
<author><name sortKey="D Souza, A" uniqKey="D Souza A">A D'Souza</name>
</author>
<author><name sortKey="Schaal, S" uniqKey="Schaal S">S Schaal</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Maass, W" uniqKey="Maass W">W Maass</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Nolfi, S" uniqKey="Nolfi S">S Nolfi</name>
</author>
<author><name sortKey="Floreano, D" uniqKey="Floreano D">D Floreano</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Gamez, D" uniqKey="Gamez D">D Gamez</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Yamazaki, T" uniqKey="Yamazaki T">T Yamazaki</name>
</author>
<author><name sortKey="Tanaka, S" uniqKey="Tanaka S">S Tanaka</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Yamazaki, T" uniqKey="Yamazaki T">T Yamazaki</name>
</author>
<author><name sortKey="Nagao, S" uniqKey="Nagao S">S Nagao</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Batllori, R" uniqKey="Batllori R">R Batllori</name>
</author>
<author><name sortKey="Laramee, C" uniqKey="Laramee C">C Laramee</name>
</author>
<author><name sortKey="Land, W" uniqKey="Land W">W Land</name>
</author>
<author><name sortKey="Schaffer, J" uniqKey="Schaffer J">J Schaffer</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Hagras, H" uniqKey="Hagras H">H Hagras</name>
</author>
<author><name sortKey="Pounds Cornish, A" uniqKey="Pounds Cornish A">A Pounds-Cornish</name>
</author>
<author><name sortKey="Colley, M" uniqKey="Colley M">M Colley</name>
</author>
<author><name sortKey="Callaghan, V" uniqKey="Callaghan V">V Callaghan</name>
</author>
<author><name sortKey="Clarke, G" uniqKey="Clarke G">G Clarke</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Hofstotter, C" uniqKey="Hofstotter C">C Hofstotter</name>
</author>
<author><name sortKey="Mintz, M" uniqKey="Mintz M">M Mintz</name>
</author>
<author><name sortKey="Verschure, P" uniqKey="Verschure P">P Verschure</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Yamazaki, T" uniqKey="Yamazaki T">T Yamazaki</name>
</author>
<author><name sortKey="Igarashi, J" uniqKey="Igarashi J">J Igarashi</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Van Der Smagt, P" uniqKey="Van Der Smagt P">P Van Der Smagt</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Day, Jj" uniqKey="Day J">JJ Day</name>
</author>
<author><name sortKey="Wheeler, Ra" uniqKey="Wheeler R">RA Wheeler</name>
</author>
<author><name sortKey="Roitman, Mf" uniqKey="Roitman M">MF Roitman</name>
</author>
<author><name sortKey="Carelli, Rm" uniqKey="Carelli R">RM Carelli</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Yamamoto, K" uniqKey="Yamamoto K">K Yamamoto</name>
</author>
<author><name sortKey="Kawato, M" uniqKey="Kawato M">M Kawato</name>
</author>
<author><name sortKey="Kotosaka, S" uniqKey="Kotosaka S">S Kotosaka</name>
</author>
<author><name sortKey="Kitazawa, S" uniqKey="Kitazawa S">S Kitazawa</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Clopath, C" uniqKey="Clopath C">C Clopath</name>
</author>
<author><name sortKey="Badura, A" uniqKey="Badura A">A Badura</name>
</author>
<author><name sortKey="De Zeeuw, Ci" uniqKey="De Zeeuw C">CI De Zeeuw</name>
</author>
<author><name sortKey="Brunel, N" uniqKey="Brunel N">N Brunel</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Thompson, R" uniqKey="Thompson R">R Thompson</name>
</author>
<author><name sortKey="Steinmetz, J" uniqKey="Steinmetz J">J Steinmetz</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Luque, N" uniqKey="Luque N">N Luque</name>
</author>
<author><name sortKey="Garrido, J" uniqKey="Garrido J">J Garrido</name>
</author>
<author><name sortKey="Carrillo, R" uniqKey="Carrillo R">R Carrillo</name>
</author>
<author><name sortKey="Tolu, S" uniqKey="Tolu S">S Tolu</name>
</author>
<author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
<author><name sortKey="Carrillo, R" uniqKey="Carrillo R">R Carrillo</name>
</author>
<author><name sortKey="Ortigosa, Em" uniqKey="Ortigosa E">EM Ortigosa</name>
</author>
<author><name sortKey="Barbour, B" uniqKey="Barbour B">B Barbour</name>
</author>
<author><name sortKey="Ags, R" uniqKey="Ags R">R Ags</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Luque, N" uniqKey="Luque N">N Luque</name>
</author>
<author><name sortKey="Garrido, J" uniqKey="Garrido J">J Garrido</name>
</author>
<author><name sortKey="Carrillo, R" uniqKey="Carrillo R">R Carrillo</name>
</author>
<author><name sortKey="Coenen, Om" uniqKey="Coenen O">OM Coenen</name>
</author>
<author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Gerwig, M" uniqKey="Gerwig M">M Gerwig</name>
</author>
<author><name sortKey="Hajjar, K" uniqKey="Hajjar K">K Hajjar</name>
</author>
<author><name sortKey="Dimitrova, A" uniqKey="Dimitrova A">A Dimitrova</name>
</author>
<author><name sortKey="Maschke, M" uniqKey="Maschke M">M Maschke</name>
</author>
<author><name sortKey="Kolb, F" uniqKey="Kolb F">F Kolb</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Medina, J" uniqKey="Medina J">J Medina</name>
</author>
<author><name sortKey="Nores, W" uniqKey="Nores W">W Nores</name>
</author>
<author><name sortKey="Ohyama, T" uniqKey="Ohyama T">T Ohyama</name>
</author>
<author><name sortKey="Mauk, M" uniqKey="Mauk M">M Mauk</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Luque, N" uniqKey="Luque N">N Luque</name>
</author>
<author><name sortKey="Garrido, J" uniqKey="Garrido J">J Garrido</name>
</author>
<author><name sortKey="Carrillo, R" uniqKey="Carrillo R">R Carrillo</name>
</author>
<author><name sortKey="Coenen, Om" uniqKey="Coenen O">OM Coenen</name>
</author>
<author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Bahro, M" uniqKey="Bahro M">M Bahro</name>
</author>
<author><name sortKey="Sunderland, T" uniqKey="Sunderland T">T Sunderland</name>
</author>
<author><name sortKey="Molchan, Se" uniqKey="Molchan S">SE Molchan</name>
</author>
<author><name sortKey="Schreurs, B" uniqKey="Schreurs B">B Schreurs</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Shibuki, K" uniqKey="Shibuki K">K Shibuki</name>
</author>
<author><name sortKey="Gomi, H" uniqKey="Gomi H">H Gomi</name>
</author>
<author><name sortKey="Chen, L" uniqKey="Chen L">L Chen</name>
</author>
<author><name sortKey="Bao, S" uniqKey="Bao S">S Bao</name>
</author>
<author><name sortKey="Kim, Jj" uniqKey="Kim J">JJ Kim</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Ito, M" uniqKey="Ito M">M Ito</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Carrillo, Rr" uniqKey="Carrillo R">RR Carrillo</name>
</author>
<author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
<author><name sortKey="Boucheny, C" uniqKey="Boucheny C">C Boucheny</name>
</author>
<author><name sortKey="Coenen, Oj" uniqKey="Coenen O">OJ Coenen</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Sarlegna, Fr" uniqKey="Sarlegna F">FR Sarlegna</name>
</author>
<author><name sortKey="Malfait, N" uniqKey="Malfait N">N Malfait</name>
</author>
<author><name sortKey="Bringoux, L" uniqKey="Bringoux L">L Bringoux</name>
</author>
<author><name sortKey="Bourdin, C" uniqKey="Bourdin C">C Bourdin</name>
</author>
<author><name sortKey="Vercher, Jl" uniqKey="Vercher J">JL Vercher</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Welsh, J" uniqKey="Welsh J">J Welsh</name>
</author>
<author><name sortKey="Harvey, J" uniqKey="Harvey J">J Harvey</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Bracha, V" uniqKey="Bracha V">V Bracha</name>
</author>
<author><name sortKey="Zhao, L" uniqKey="Zhao L">L Zhao</name>
</author>
<author><name sortKey="Irwin, Kb" uniqKey="Irwin K">KB Irwin</name>
</author>
<author><name sortKey="Bloedel, Jr" uniqKey="Bloedel J">JR Bloedel</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Simpson, J" uniqKey="Simpson J">J Simpson</name>
</author>
<author><name sortKey="Wylie, D" uniqKey="Wylie D">D Wylie</name>
</author>
<author><name sortKey="De Zeeuw, C" uniqKey="De Zeeuw C">C De Zeeuw</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="D Angelo, E" uniqKey="D Angelo E">E D'Angelo</name>
</author>
<author><name sortKey="Solinas, S" uniqKey="Solinas S">S Solinas</name>
</author>
<author><name sortKey="Garrido, J" uniqKey="Garrido J">J Garrido</name>
</author>
<author><name sortKey="Casellato, C" uniqKey="Casellato C">C Casellato</name>
</author>
<author><name sortKey="Pedrocchi, A" uniqKey="Pedrocchi A">A Pedrocchi</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Ivry, Rb" uniqKey="Ivry R">RB Ivry</name>
</author>
<author><name sortKey="Baldo, Jv" uniqKey="Baldo J">JV Baldo</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Hoffland, Bs" uniqKey="Hoffland B">BS Hoffland</name>
</author>
<author><name sortKey="Bologna, M" uniqKey="Bologna M">M Bologna</name>
</author>
<author><name sortKey="Kassavetis, P" uniqKey="Kassavetis P">P Kassavetis</name>
</author>
<author><name sortKey="Teo, Jt" uniqKey="Teo J">JT Teo</name>
</author>
<author><name sortKey="Rothwell, Jc" uniqKey="Rothwell J">JC Rothwell</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Kimpo, Rr" uniqKey="Kimpo R">RR Kimpo</name>
</author>
<author><name sortKey="Boyden, Es" uniqKey="Boyden E">ES Boyden</name>
</author>
<author><name sortKey="Katoh, A" uniqKey="Katoh A">A Katoh</name>
</author>
<author><name sortKey="Ke, Mc" uniqKey="Ke M">MC Ke</name>
</author>
<author><name sortKey="Raymond, Jl" uniqKey="Raymond J">JL Raymond</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Stone, L" uniqKey="Stone L">L Stone</name>
</author>
<author><name sortKey="Lisberger, S" uniqKey="Lisberger S">S Lisberger</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Scheidt, Ra" uniqKey="Scheidt R">RA Scheidt</name>
</author>
<author><name sortKey="Reinkensmeyer, Dj" uniqKey="Reinkensmeyer D">DJ Reinkensmeyer</name>
</author>
<author><name sortKey="Conditt, Ma" uniqKey="Conditt M">MA Conditt</name>
</author>
<author><name sortKey="Rymer, Wz" uniqKey="Rymer W">WZ Rymer</name>
</author>
<author><name sortKey="Mussa Ivaldi, Fa" uniqKey="Mussa Ivaldi F">FA Mussa-Ivaldi</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="D Angelo, E" uniqKey="D Angelo E">E D'Angelo</name>
</author>
<author><name sortKey="Koekkoek, Sc" uniqKey="Koekkoek S">Sc Koekkoek</name>
</author>
<author><name sortKey="Lombardo, P" uniqKey="Lombardo P">P Lombardo</name>
</author>
<author><name sortKey="Solinas, S" uniqKey="Solinas S">S Solinas</name>
</author>
<author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Gao, Z" uniqKey="Gao Z">Z Gao</name>
</author>
<author><name sortKey="Van Beugen, Bj" uniqKey="Van Beugen B">BJ van Beugen</name>
</author>
<author><name sortKey="De Zeeuw, Ci" uniqKey="De Zeeuw C">CI De Zeeuw</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Ito, M" uniqKey="Ito M">M Ito</name>
</author>
<author><name sortKey="Orlov, I" uniqKey="Orlov I">I Orlov</name>
</author>
<author><name sortKey="Shimoyama, I" uniqKey="Shimoyama I">I Shimoyama</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Lang, Ej" uniqKey="Lang E">EJ Lang</name>
</author>
<author><name sortKey="Sugihara, I" uniqKey="Sugihara I">I Sugihara</name>
</author>
<author><name sortKey="Welsh, Jp" uniqKey="Welsh J">JP Welsh</name>
</author>
<author><name sortKey="Llinas, R" uniqKey="Llinas R">R Llinás</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Mauk, Md" uniqKey="Mauk M">MD Mauk</name>
</author>
<author><name sortKey="Steinmetz, Je" uniqKey="Steinmetz J">JE Steinmetz</name>
</author>
<author><name sortKey="Thompson, Rf" uniqKey="Thompson R">RF Thompson</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Jaeger, D" uniqKey="Jaeger D">D Jaeger</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Mathy, A" uniqKey="Mathy A">A Mathy</name>
</author>
<author><name sortKey="Ho, Ss" uniqKey="Ho S">SS Ho</name>
</author>
<author><name sortKey="Davie, Jt" uniqKey="Davie J">JT Davie</name>
</author>
<author><name sortKey="Duguid, Ic" uniqKey="Duguid I">IC Duguid</name>
</author>
<author><name sortKey="Clark, Ba" uniqKey="Clark B">BA Clark</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Rasmussen, A" uniqKey="Rasmussen A">A Rasmussen</name>
</author>
<author><name sortKey="Jirenhed, Da" uniqKey="Jirenhed D">DA Jirenhed</name>
</author>
<author><name sortKey="Zucca, R" uniqKey="Zucca R">R Zucca</name>
</author>
<author><name sortKey="Johansson, F" uniqKey="Johansson F">F Johansson</name>
</author>
<author><name sortKey="Svensson, P" uniqKey="Svensson P">P Svensson</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Naveros, F" uniqKey="Naveros F">F Naveros</name>
</author>
<author><name sortKey="Luque, Nr" uniqKey="Luque N">NR Luque</name>
</author>
<author><name sortKey="Garrido, Ja" uniqKey="Garrido J">JA Garrido</name>
</author>
<author><name sortKey="Carrillo, Rr" uniqKey="Carrillo R">RR Carrillo</name>
</author>
<author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Medina, Jf" uniqKey="Medina J">JF Medina</name>
</author>
<author><name sortKey="Garcia, Ks" uniqKey="Garcia K">KS Garcia</name>
</author>
<author><name sortKey="Mauk, Md" uniqKey="Mauk M">MD Mauk</name>
</author>
</analytic>
</biblStruct>
<biblStruct></biblStruct>
<biblStruct><analytic><author><name sortKey="Garrido, Ja" uniqKey="Garrido J">JA Garrido</name>
</author>
<author><name sortKey="Ros, E" uniqKey="Ros E">E Ros</name>
</author>
<author><name sortKey="D Angelo, E" uniqKey="D Angelo E">E D'Angelo</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Masuda, N" uniqKey="Masuda N">N Masuda</name>
</author>
<author><name sortKey="Amari, Si" uniqKey="Amari S">Si Amari</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Lu, J" uniqKey="Lu J">J Lu</name>
</author>
<author><name sortKey="Liu, H" uniqKey="Liu H">H Liu</name>
</author>
<author><name sortKey="Zhang, M" uniqKey="Zhang M">M Zhang</name>
</author>
<author><name sortKey="Wang, D" uniqKey="Wang D">D Wang</name>
</author>
<author><name sortKey="Cao, Y" uniqKey="Cao Y">Y Cao</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Indiveri, G" uniqKey="Indiveri G">G Indiveri</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Bruderle, D" uniqKey="Bruderle D">D Brüderle</name>
</author>
<author><name sortKey="Petrovici, Ma" uniqKey="Petrovici M">MA Petrovici</name>
</author>
<author><name sortKey="Vogginger, B" uniqKey="Vogginger B">B Vogginger</name>
</author>
<author><name sortKey="Ehrlich, M" uniqKey="Ehrlich M">M Ehrlich</name>
</author>
<author><name sortKey="Pfeil, T" uniqKey="Pfeil T">T Pfeil</name>
</author>
</analytic>
</biblStruct>
<biblStruct><analytic><author><name sortKey="Verschure, P" uniqKey="Verschure P">P Verschure</name>
</author>
<author><name sortKey="Althaus, P" uniqKey="Althaus P">P Althaus</name>
</author>
</analytic>
</biblStruct>
</listBibl>
</div1>
</back>
</TEI>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001454 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Curation/biblio.hfd -nk 001454 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Curation |type= RBID |clé= PMC:4229206 |texte= Adaptive Robotic Control Driven by a Versatile Spiking Cerebellar Network }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Curation/RBID.i -Sk "pubmed:25390365" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Curation/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
![]() | This area was generated with Dilib version V0.6.23. | ![]() |