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Behaviour based navigation frameworks present the need of mechanisms for behaviour coordination. Algorithms inspired by processing principles of the human brain can provide effective solutions to the coordination problem. Here we present the use of the dynamic neural field, a recurrent neural network, as behaviour coordination layer in robotics navigation algorithms. We test the control loop with the humanoid robot NAO in different contexts. Results show that the use of the dynamic neural field allows the generation of context-dependent effective behaviours.

Although endoscopic injection sclerotherapy has been a main treatment option for gastroesophageal varices, intraportal inflow of the sclerosant, ethanolamine oleate, induce liver damage. The aim of this study was to clarify the liver damage due to intraportal inflow of ethanolamine oleate. Ethanolamine oleate suspension was injected into livers of male Wistar rats via the portal (ileocolic) vein. Degrees of liver damage were evaluated by serum levels of transaminases and by histological examination. Intraportal injection of ethanolamine oleate led to extensive liver necrosis, which was marked 1 day after the injection and recovered by 7 days after injection. Liver necrosis became severe as the dose of the injected sclerosant increased. Histologically, neither portal thrombosis nor embolism was evident. Carbon powder particles of India ink, which were injected together with ethanolamine oleate, reached and deposited in sinusoids of the necrotic portions of the liver. These findings suggested that the liver damage had not developed simply as a result of impairment of portal blood flow. Ethanolamine oleate may itself have direct hepatotoxic effects.