Inhalt

•  
   Introduction
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   Structure of the thesis
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   Contribution
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  Processing of optic flow: Fly neuroethology
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  Optic flow
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   Basic types of optic flow
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   Reconstruction of self-motion parameters
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   Technical approaches
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   The blowfly visual system
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   Peripheral elements
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   Local elementary motion detection
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   Tangential cells: Optic flow filters
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  Blowfly behaviour
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   Optomotor response
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   Characteristics of blowfly flight
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   Tunnel centring
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   Information coded in tangential cell responses
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  Fly inspired robots
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   Franceschini
•  
   Coombs
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   Harrison and Webb
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   Huber
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   Neumann
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   Reiser
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   Summary
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   Technical tools
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   Recording the flies behaviour
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   2D image processing
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   Reconstruction of the 3D trajectory
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  Rendering
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   Computer Graphics
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   Spherical rendering
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   Specialised display device for flies: FliMax
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   Design principles of FliMax
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   Software
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   Rendering for FliMax
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   Experiments with FliMax
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   Recording stationary flight behaviour: FlyView
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   Implementation of a wingbeat analyser
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   Torque compensator versus FlyView
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   Wingbeats in simulated translatory flight
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   Closed loop simulation of a virtual blowfly
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   Summary
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   Model
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   Model structure and analysis methods
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   Spatial eye model
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   Model of the spatio-temporal processing
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   Stimuli
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   Electrophysiological Data
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   Steady-state stimuli
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   Difference measure
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   Saccade-triggered average responses
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   Coherence analysis
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  Simulation results
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   Performance of the model of the blowfly visual motion pathway
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   Steady state tuning of the model
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   Significance of the model components
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   Adaptation of the visual motion pathway during stimulation with natural optic flow?
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   Coding properties of the model HSE-neuron
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   Responses to saccades
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   Texture independent responses
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   Summary and Discussion
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  Simulating the virtual fly
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   Related work
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   Consequences of the nonlinear velocity encoding in tangential cells
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   Previous robots and simulations
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  Simulation system
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   Sensory-motor interface
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   Simulation of the physical environment
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  Optomotor behaviour
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   Controller: Optomotoric response
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   Results: Optomotor Controller
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  Saccadic behaviour
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   Physics of the flight dynamics
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   Controller: Saccadic object avoidance
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   Simulation without inertia
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   Simulation with inertia
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   Simulated banked turns
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   Combining saccadic and optomotor control
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   Different environment
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   Summary and Discussion
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   Summary, outlook and conclusion
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  Outlook
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   Extension of the model system
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   Recording of behavioural data
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   FliMax in closed loop
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   Further development of the wingbeat analyser
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   Conclusion
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   Bibliography