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WO2009088614A2 - Système de commande pour un vol d'insecte - Google Patents

Système de commande pour un vol d'insecte Download PDF

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Publication number
WO2009088614A2
WO2009088614A2 PCT/US2008/086046 US2008086046W WO2009088614A2 WO 2009088614 A2 WO2009088614 A2 WO 2009088614A2 US 2008086046 W US2008086046 W US 2008086046W WO 2009088614 A2 WO2009088614 A2 WO 2009088614A2
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WO
WIPO (PCT)
Prior art keywords
flight
insect
control system
stimulators
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2008/086046
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English (en)
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WO2009088614A3 (fr
Inventor
Hirotaka Sato
Michel M. Maharbiz
Christopher W. Berry
Brendan E. Casey
Gabriel Lavella
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Michigan System
University of Michigan Ann Arbor
Original Assignee
University of Michigan System
University of Michigan Ann Arbor
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Filing date
Publication date
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Priority to JP2010542231A priority Critical patent/JP2011509216A/ja
Publication of WO2009088614A2 publication Critical patent/WO2009088614A2/fr
Publication of WO2009088614A3 publication Critical patent/WO2009088614A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices; Toys specially adapted for animals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices; Toys specially adapted for animals
    • A01K15/021—Electronic training devices specially adapted for dogs or cats
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K67/00—Rearing or breeding animals, not otherwise provided for; New or modified breeds of animals
    • A01K67/30—Rearing or breeding invertebrates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/80—UAVs characterised by their small size, e.g. micro air vehicles [MAV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present disclosure relates to micro and nano air vehicles (MAVs / NAVs) and more particularly to an implantable, tetherless, microsystem for controlling insect flight
  • a miniaturized, pronotum-mounted control system comprising a neural stimulator, muscle stimulators, a microcontroller and a microbattery capable of continuous, flight control of an insect.
  • flight initiation, cessation and elevation control are accomplished through neural stimulation of the brain, which in turn elicits, suppresses, and/or modulates wing oscillation.
  • turns can be triggered through the direct muscular stimulation of either of the flight muscles.
  • V and power of about 80 ⁇ W per pulse allow for operation times greater than 31 hours with the 160 mg microbattery.
  • Flight instructions can be pre-loaded into the microcontroller memory and/or transmitted wirelessly from a remote controller.
  • FIG. 1 is a photograph illustrating a control system for insect flight according to the principles of the present teachings being installed on a Cotinis texana (Green June Beetle);
  • FIG. 2 is an aligned graph series comparing an applied voltage to neural electrodes versus normalized audio recording of a tethered insect (beetle);
  • FIG. 3A is a graph illustrating that neural simulation alters pitch of a flying beetle as an increase in angle of attack of a gimbal mounted beetle during alternating periods of stimulated and un-stimulated flight, wherein horizontal bars indicate duration of stimulation (3 seconds) where a 1 - Hz and 3 V bipolar square wave identical to that in FIG. 2 is applied during the duration of stimulation;
  • FIG. 3B is a photograph of a gimbal mounted beetle in an unstimulated condition;
  • FIG. 3C is a photograph of a gimbal mounted beetle in a stimulated condition, further including an LED indicator indicating stimulation;
  • FIGS. 4A-4C is a series of top plan views illustrating beetle flight profiles in response to left flight muscle stimulation (right turn) (FIG. 4A), no stimulation (random flight) (FIG. 4B), and right flight muscle stimulation (left turn (FIG. 4C));
  • FIG. 5 illustrates a correct wave measured in response to potential pulses (3 V 0.1 Hz) applied to a beetle brain
  • FIG. 6 illustrates a testing gimbal used in connection with the present teachings
  • FIGS. 7A-7H illustrate a series of x-ray and white light images of neural robe implants, silicon chip implants, and LED implants in beetle pupae and adults;
  • FIGS. 8A-8C illustrate an assembled visual stimulator disposed on a beetle according to the principles of the present teachings
  • FIG. 9A illustrates a cross-sectional view of a Michigan neural probe
  • FIG. 9B is a photograph of the Michigan neural probe of FIG. 9A;
  • FIG. 9C is an enlarged view of a probe tip illustrating a plurality of stimulation sights;
  • FIGS. 10A-10H illustrate a series of fabrication steps for forming a Michigan neural probe
  • FIG. 11 A illustrates a neural stimulation waveform
  • FIG. 1 1 B illustrates the recorded audio tracks responsive to application of the neural stimulation waveform of FIG. 1 1 A;
  • FIG. 12 is a plot setting forth a measured yaw angle of a beetle responsive to an LED indication with respect to time;
  • FIGS. 13A and 13B illustrate a remote controlled flight control system according to the priciples of the present teachings
  • FIG. 14A illustrates a circuit diagram of an RF receiver assembly according to the principles of the present disclosure
  • FIGS. 14B and 14C are photographs of the control system according to the principles of the present teachings.
  • FIGS. 15A-15C are various photographs illustrating the brain and optic lobe implant sites (FIG. 15A), saggital section of the pronotum showing the posterior pronotum implant (counter electrode) (FIG. 15B) and the pronotum also showing the basalar muscle stimulator site and relevant internal regions, wherein the basalar muscle stimulator was inserted rostral-caudal on either side of the insect, about midway between sternum and notum of pronotum to a depth of approximately 1 cm whereby the letters X and bars indicate implant sites and approximate implant length, respectively;
  • FIG. 16A illustrates alternating positive and negative potential pulse trains (100 Hz) applied between the left and right optic lobes for initiation of flight;
  • FIG. 16B illustrates a typical current wave monitored when applying the pulse train of FIG. 16A
  • FIG. 16C illustrates positive potential pulse trains (100 Hz) applied between either left or right basalar flight muscle and the posterior pronotum (counter electrode) for eliciting turns;
  • FIG. 16D illustrates a typical current wave monitored when applying the pulse train of FIG. 16C
  • FIGS. 17A-17C illustrates photographs of a standing position, illumination of the LED indicating initiation of stimulation, and wings unfolded and flight started 0.27 sec after control signal being sent, respectively;
  • FIG. 18 is a photograph illustrating the flight path of a wirelessly controlled beetle, wherein the beetle was initially flying towards the operator where T 0 (0.00 sec) is the start time of the filming, at Ti (0.6 sec), the operator signaled a left turn from the base station (right basalar muscle stimulation), at T 2
  • Micro and nano air vehicles defined as aircraft having a total mass less than 100 g and wingspans less than 15 cm — are the subject of intense research and development. Despite major advances, MAVs and NAVs still present significant trade-offs between payload mass, flight range, and speed. Currently, the principal limiting factors are the energy and power density of existing fuel sources and the efficiency of flight dynamics. However, many species of insects, including flies (Diptera), moths (Lepidoptera), dragonflies (Odonata) and beetles (Coleoptera), have flight performance (as measured by distance and speed vs.
  • insects and similar insects may be used in accordance with the present teachings. Both the flight dynamics and the neurophysiology of some of these organisms — principally the locust, the fruit fly, and the moth — are now relatively well understood.
  • beetles will be the focus of the present discussion. Beetles were selected primarily because more species of beetle exists than any other organism. Their size ranges from approximately 1 mm to 10cm and thus provides a wide selection of investigative platforms. Strong flyers can typically achieve average velocities of about 2-6 km/hr, with maximum velocities of 7 -14 km/hr possible, for durations of about 10 minutes to 3 hours. Beetles experience a complete metamorphosis, which can be useful for implantation of the present flight control system. Moreover, beetles are easy to rear and are typically harmless to humans.
  • flight control of insects requires a) on-demand flight initiation and cessation, b) elevation adjustment and c) attitude adjustment. Untethered operation further requires means of communication between the insect and a controller or pre-programmed flight instructions loaded before takeoff.
  • a control system 10 for insect flight can comprise a programmable microcontroller 12 powered by a microbattery 14, such as a rechargeable lithium ion coin battery.
  • a microbattery 14 such as a rechargeable lithium ion coin battery.
  • Recent advances in low power electronics have made commercially available a class of microcontroller that is less than 100 mg in mass and requiring less than 900 ⁇ W power consumption during active operation (0.9 nJ / operation @ 1 MHz) and 1.5 ⁇ W power consumption during standby operation. This allows for operational lifetimes ranging from 1 1 hours (continuous active operation) to 6800 hours (continuous standby operation) on commercial off-the-shelf batteries with energy densities of greater than 230 J/g, less than 160 mg total mass and greater than 3 V.
  • control system 10 can weigh 230 mg or less.
  • Potential pulses of 3V (mean power consumption of 80 ⁇ W per pulse) applied to the brain can elicit or suppress flight depending on polarity, as shown in FIG. 2. In many insect species, a response time (t ⁇ ag ) of about 150 ms is experienced between the start of stimulation and the onset of oscillation.
  • the beetle may be incapable of fully starting or stopping wing motion and the oscillation frequency can be modulated by the stimulation frequency.
  • wings exhibit an oscillatory mechanical response without an oscillating neural input. Instead, neural signals from the brain trigger initiation or cessation of flight behavior, and stretch activation of antagonistic muscle groups thereby creating rhythmic flight output.
  • the input signal applied to the brain induces or ceases flight behavior, depending on the polarity of the stimulus. Stimulated flight initiation and cessation occur regardless of whether the beetle is standing, strongly or weakly tethered, or in free flight.
  • Beetles can be made to cease flight in mid-air, or attempt to oscillate wings even when loaded so excessively that flight is not possible.
  • Bipolar pulse trains modulate wing oscillations if the interval between pulses drops below the beetle's response time (FIG. 2).
  • the wing oscillator system essentially receives 'on' and 'off cues faster than it can respond to them, resulting in the wing oscillator frequency being mixed with the stimulation frequency.
  • Beetles climbed whenever 10 Hz potential pulse trains were applied to the brain, while returning to normal flight when un-stimulated (FIG. 3).
  • a right turn can be triggered by stimulating the left flight muscle which then produces more power than the right flight muscle and results in a right turn; the electrode at the right flight muscle is kept at the same potential as the counter-electrode 20.
  • the total angle of flight rotation can be set by the duration of the stimulation.
  • the present teachings are capable of controlling a 2 gram insect in flight with multiple degrees of freedom for more than 24 hours.
  • the present control system 10 can be constructed from off-the-shelf parts and implanted using a drilling tool with a basic knowledge of insect anatomy.
  • Cotinis texana (2 - 4 cm, 1 - 2 g Green June Beetle) were collected at a fruit garden in Texas, USA. Beetles were kept in groups of 30 - 40 in terrariums (40 cm x 27 cm x 32 cm) with quarter-full amount of organic peat and fed sliced apples once per week. Temperature was kept about 28 0 C through daytime with filament lamps positioned above the terrarium; the same lamps maintained a 15 hour / 9 hour day / night cycle. The terrarium walls were covered with black paper on the outside. Water was misted daily over the peat to keep humidity around 60%. B) Measurement of payload capacity
  • the payload capacity of the beetles was determined by tying a piece of string around the beetle between the pronotum and thorax, and a loop was made at the opposing end of the string. The beetle was allowed to fly freely. Lengths of thin metal wire weighing 10 mg each were added to the beetle's center of mass stepwise until the beetle was unable to lift the weight in flight. The total weight of added thin metal wires was then measured and recorded as payload capacity.
  • each microcontroller (Texas Instruments, MSP430F2012IPWR, 63 mg, 5.0 mm x 4.5 mm x 1.0 mm) was preloaded with a flight program using the interface provided with Tl MSP430 14 Pin Package Board and USB Programmer (MSP-FET430U14). Once loaded, 6 silver wires (075 ⁇ m) were soldered onto different pins of the microcontroller. In some cases (as in FIG. 3), a small LED (Lite-On Inc., LTST-C171 GKT, 3 mg, 2.0 mm x 1.2 mm x 0.7 mm) was also soldered in parallel as an indicator of stimulation.
  • a small LED (Lite-On Inc., LTST-C171 GKT, 3 mg, 2.0 mm x 1.2 mm x 0.7 mm) was also soldered in parallel as an indicator of stimulation.
  • PDMS silicone elastomer flexures 106
  • a beetle was attached to the center pole 108 of inner ring 104 (FIG. 6) such that the inner ring was at an initial angle of -25 degrees to the horizon before the beetle flew, and it showed angle between 10 and 20 degrees to horizon during the flight (FIG. 3).
  • a color dot was painted on one corner of the inner ring, and each frame was digitized.
  • the rotation angle of the gimbal was extracted from the movement of the maker relative to the center of rotation (set by user) using custom code in MATLAB (The Mathworks) to track the change of the ring angle to the horizon.
  • Beetle flight was filmed with a video camera (Victor, GZ-MG275-S, 30 frames per second, shutter speed 1/2 - 1/4000 second, resolution 720 x 480 pixels) or a high speed camera (Motion Engineering, FASTCAM-X 1024PCI, 6000 frames per second, shutter speed 1/6000 second, resolution 256 x 256 pixels).
  • the frame rate of the high speed camera was approximately 85 times the wing beat rate.
  • wing beat frequency and the delay between stimulations (as indicated by the LED indicator, see for example FIG. 3) and response can be recorded.
  • some or all of the components of flight control system 10 can be implanted within the insect.
  • silicon chips 1.5 mm x 3.0 mm x 0.5 mm
  • silicon neural probes/stimulators were implanted into Zophobas morio beetles at pupal stages to determine whether coleopterans generally were tolerant of pupal surgical disturbances.
  • Zophobas morio can also be employed, which is readily available in large numbers and has a shorter rearing time. For each implant, a slit was made through the pupal cover at the position of interest with fine microscissors.
  • the silicon chip was carefully inserted into the slit and under the pupal cover at the dorsal abdomen, pronotum, ventral abdomen, or ventral pronotum.
  • the neural probe was inserted through a slit into the brain at exactly the same location as the wire electrodes used elsewhere herein.
  • the microfluidic glass tube was inserted into the pronotum. Consequently, most pupae successfully emerged to regular adults.
  • Success rate and average life time for all implants are summarized in Table 1. The success rate is defined as the rate of the successful emergence to all emergences including malformations.
  • FIGS. 7A-7H illustrate X-ray and white light images of representative implants at both pupal and adult stages. Specifically, FIGS. 7A- 7C illustrate neural probe implants in beetle pupae and adult. FIGS. 7D-7F illustrate silicon chip implants in beetle pupae and adult. FIGS. 7G and 7H illustrate an LED implant at pupal stage and the function thereof in adult stage. In some embodiments, to test whether electrical connections are possible with implanted devices, an LED was implanted and made to blink through the pupal cover (and later, the cuticle of the adult) to provide visual confirmation. Table 1. Summary of implant survival by implant type and insertion location.
  • the neural stimulation system 200 comprises four neural stimulators of silver thin wire electrodes ( ⁇ 75 ⁇ m): one implanted dorsally behind eye 200; one implanted in the flight control area of the insect brain 204; two implanted on opposing sides, anterior to posterior, extending under the flight muscles 206; and a fourth 208 inserted into the pronotum used as a counter electrode.
  • a visual stimulator 210 (FIGS.
  • the 8B and 8C can comprise one or more white SMT LEDs 212 (Light Emitting Diode, LTST-C171 YKT) assembled onto a polyimide flexible PCB (Print Circuit Board) 214.
  • the microcontroller 216 can drive the LEDs 212 through metal interconnects on the polyimide.
  • Both the neural and visual stimulators are driven by a microcontroller (Texas Instrument, MSP430), and some characterization can be conducted by a function generator. Flight command sequences can be stored in a 2 KB memory (about 1000 flight commands with current program).
  • Michigan neural probes (FIGS. 9A-9C) with flexible parylene cables can be fabricated and assembled onto polyimide PCB with a microbattery. The neural probe fabrication process is shown in FIG. 10.
  • FIGS. 11 A and 1 1 B show flight initiation results using the brain stimulators, wherein FIG. 1 1 A illustrates the neural stimulation waveform and FIG. 1 1 B illustrates the recorded audio track of wingbeats.
  • FIG. 1 1 A illustrates the neural stimulation waveform
  • FIG. 1 1 B illustrates the recorded audio track of wingbeats.
  • approximately 1.5 V negative voltage pulses have been found to initiate wing muscle oscillations and similar potential positive pulses have been found to cease wing muscle oscillations; this can be repeated virtually indefinitely or until exhaustion.
  • the first 0.3 sec of every flight resulted in larger amplitudes that then decayed to a steady- state.
  • Stimulator average power consumption is 80 ⁇ W for a worst- case of 10 neural pulses/second while an average microcontroller consumption of 250 ⁇ W was determined. Therefore, the 3.7 mA hr microbattery can supply power for 31 hours under these conditions.
  • optical stimulation was explored as an alternate method of flight control. Initial characterization was performed by projecting a series of vertical black and white stripes with a DLP onto a paper screen located approximately 15 cm in front of Cotinis texana, which was mounted on gimbal 100 (but rotated 90 degrees so as to allow for yaw or roll rotations). During flight, all beetles (N > 15) consistently tracked the stripe motions with their heads, then initiated a turn, wherein the delay when switching directions was typically about 2 seconds. This same phenomenon has been demonstrated and characterized in fruit flies. The miniature optical stimulation system is shown in FIGS. 8B and 8C.
  • ten columns of three LEDs are driven by the microcontroller. Each column of LEDs can be illuminated independently to create the illusion of motion.
  • the base of the device can be mounted to the pronotum of the beetle and the array of LEDs can hang in front of the beetle's head.
  • Response to the optical stimulation using the current device varies from beetle to beetle and is susceptible to interference from ambient light. There are beetles which exhibit a strong turning response, but only in the dark.
  • FIG. 12 provides data for a representative experiment setting forth a measured yaw angle of a beetle responsive to an LED indication with respect to time.
  • the beetle and optical stimulation device were mounted in the dark onto a miniature ball bearing, which allows for continuous yaw rotation about the beetle's vertical axis.
  • the device alternatively illuminated LEDs on the left (6 sec), progressed illumination towards the right side (0.5 - 1.5 sec), illuminated the right side (6 sec), then transited back left (0.5 - 1.5 sec); this sequence was repeated indefinitely.
  • the beetle's flight consistently turned away from the side of the illuminated LEDs. Delays of up to 4 seconds were observed between the time that the LEDs changed sides to the time that the beetle began turning away from them.
  • FIG. 7 shows X-ray and white light images of representative implants at both pupal and adult stages.
  • encapsulated SMT LEDs were implanted into pupae and attached to commercial pin headers protruding through the cuticle. During pupation, the cuticle fused with the pin header. Upon emergence, the header was used to blink the internal LED (3V, 1 mA) with no adverse affect on the insect.
  • an implantable flight control microsystem for a beetle is disclosed that is capable of modulating flight starts, stops, throttle / lift, and turning.
  • the system consists of multiple inserted neural and muscular stimulators, a visual stimulator, a polyimide assembly, and a microcontroller and can run for longer than a day with continuous stimulation of the beetle.
  • the system can be powered by two size 5 cochlear microbatteries.
  • the insect platform was Cotinis texana ⁇ a 2 cm long, 1 -2 gram Green June Beetle - although alternative insects can be used.
  • the capability to remotely control the flight of insects, and receive information from on-board sensors can be applied to a wide variety of applications, including entertainment, surveillance, rescue, testing, and the like.
  • on-board sensors i.e., cameras, detectors, sensors, and the like
  • the ability to control insect flight would be useful for studies of insect communication, mating behavior, and flight energetics, and for studying the foraging behavior of insect predators such as birds, as has been done with terrestrial robots.
  • electronically- controllable insects could be useful models for insect-mimicing MAVs and NAVs.
  • tetherless, electrically-controllable insects themselves could be used as MAVs and NAVs and serve as couriers to locations not easily accessible to humans or terrestrial robots.
  • the remote control system of the present case study comprised two Chipcon Texas Instruments CC2431 microcontrollers (6 x 6 mm, 130 mg, 2.4 GHz) - one acting as the beetle-mounted RF receiver and one as the computer-driven RF transmitter base station.
  • a custom PCB's printed circuit boards, 16 x 13 mm, FR4 (rigid) version: 500 mg, polyimide (flexible) version: 70 mg
  • the microcontroller and the other components were assembled on the PCB as shown in FIG. 14B.
  • the microcontroller was powered by a rechargeable micro lithium-polymer-battery (Micro Avionics, 4 V, 8.5 mAh, 350 mg) which was attached on the backside of PCB with a piece of double adhesive tape as shown in FIG. 14C and electrically connected to the PCB when used.
  • the total weight of the assembly was approximately 1331 mg, which included 687mg for the PCB and miscellaneous components, 350mg for the microbattery, 74mg for the antenna, 130 mg for the microcontroller, and 90mg for the adhesive.
  • a Mecynorhina polyphemus or Mecynorhina torquata beetle (4 - 10 g, 4 - 8 cm) was used as the insect platform.
  • the assembly was mounted on the beetle's posterior pronotum (FIGS. 13A-13B) and glued with beeswax.
  • the terminals of 6 output wires from the assembly were inserted into the left 402 and right 404 optic lobes, brain 406, posterior pronotum 408, left 410 and right 412 basalar flight muscles (FIGS. 15A-15C).
  • Flight commands were generated by custom control software (BeetleCommander v1.0) running on a personal computer interfaced via a USB port with the transmitter (CC2431 microcontroller mounted on a Chipcon Texas Instruments SmartRF 04EB). BeetleCommander v1.0 allowed for in-flight control of stimulation parameters including frequency, number, and duty cycle of control voltage pulses to stimulated sites. Signals were transmitted using the CC2431 's built-in 2.4 GHz IEEE 802.15.4 compliant transmitter broadcasting on a single channel (1 A, 2.480 GHz) using direct sequence spread spectrum RF modulation. It should be understood that alternative transmission protocols can be used. The transmitter sent a command to the receiver every 1 ms for 300 ms when instructed to do so.
  • BeetleCommander v1.0 allowed for in-flight control of stimulation parameters including frequency, number, and duty cycle of control voltage pulses to stimulated sites. Signals were transmitted using the CC2431 's built-in 2.4 GHz IEEE 802.15.4 compliant transmitter broadcasting on a single channel (1
  • the flight commands were mapped to appropriate voltage pulse trains at the beetle's neural stimulators by custom signal generating software (BeetleBrain v1.0) running on the receiver.
  • custom signal generating software BeetleBrain v1.0
  • surface mount resistors were soldered in parallel as voltage dividers to each output pin.
  • the working range of the beetle-mounted wireless system was about 10m indoors in a modern office environment and about 20-5Om outdoors, depending on line of sight and objects present. At full power, the receiver consumes about 77 mW. Cycling sleep and receive modes, consumption is 10.95 mW for operation. The optic lobe and basalar flight muscle stimulations consumed about 500 ⁇ W and about 20 ⁇ W, respectively, as shown in FIG. 16A- 16D.
  • Flight initiation was triggered by applying a 4 V, 100 Hz, 20 % duty cycle, alternating positive and negative potential pulses (FIGS. 16A and 16B) to the two neural stimulators implanted into the optic lobes (FIGS. 13, 15A, and 15C) via the mounted receiver.
  • Flight cessation was triggered by a single 4 V, 1 sec pulse applied between the optic lobes.
  • Turns could be elicited in free flight by applying 2 V, 100 Hz positive potential pulses (FIGS. 16C and 16D) to either left or right basalar flight muscle (working electrode) with respect to posterior pronotum (counter electrode).
  • the beetle turned in a direction opposite to stimulated side: left turn was, for example, elicited by stimulating the right basalar flight muscle.
  • Representative turn control is shown in FIG. 18, wherein the beetle was initially flying towards the operator.
  • T 0 (0.00 sec) is the start time of the filming.
  • T 1 0.6 sec
  • the operator signaled a left turn from the base station (right basalar muscle stimulation).
  • the first- ever wireless flight control microsystem using a small RF receiver mounted on a live insect and an RF transmitter operated from a base station is provided. Flight initiation and cessation are accomplished by neural stimulation of both optic lobes while turns in free flight were elicited by muscular stimulation of basalar flight muscle on either side.

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Abstract

L'invention porte sur une commande à distance de vol d'un insecte - comprenant une initiation de vol, un arrêt, une commande de pas et un guidage - avec un système de stimulation neurale entraîné par microcontrôleur, actionné par une microbatterie. Dans certains modes de réalisation, il est proposé un système monté sur le pronotum miniaturisé, comprenant un simulateur neural, des simulateurs musculaires, un microcontrôleur et une microbatterie capable d'une commande de vol à distance en continu d'un coléoptère de 2 grammes (Cotinis texana) est accompli. L'initiation de vol, l'arrêt et la commande d'élévation sont accomplis par stimulation neurale du cerveau qui déclenche, supprime ou module une oscillation d'aile. Des tours sont déclenchés par la stimulation musculaire directe de l'un ou l'autre des muscles de vol. Des potentiels de stimulation (|3| V) et une puissance (moyenne de 80 µW par impulsion) permettent des temps de fonctionnement supérieurs à 31 heures avec la microbatterie de 160 mg. Des instructions de vol peuvent être pré-chargées dans la mémoire du microcontrôleur ou commandées à distance.
PCT/US2008/086046 2008-01-11 2008-12-09 Système de commande pour un vol d'insecte Ceased WO2009088614A2 (fr)

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JP2010542231A JP2011509216A (ja) 2008-01-11 2008-12-09 昆虫飛行制御システム

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US2049908P 2008-01-11 2008-01-11
US61/020,499 2008-01-11

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WO2009088614A3 WO2009088614A3 (fr) 2009-10-15

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CN110658753A (zh) * 2019-09-17 2020-01-07 东南大学 一种基于电刺激的昆虫飞行行为控制的电路装置
CN112675425A (zh) * 2020-12-10 2021-04-20 黄淮学院 一种适于鸟类的分体式手持远程神经刺激系统
CN113280961A (zh) * 2021-06-28 2021-08-20 河北科技大学 一种测试过程无干扰的微牛级飞行昆虫接触反力测试系统
WO2024220038A1 (fr) * 2023-04-21 2024-10-24 Nanyang Technological University Dispositif de stimulation d'insectes au moyen d'électrodes

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JP3986720B2 (ja) * 1999-11-20 2007-10-03 株式会社バンダイ 昆虫ロボット
EP1471971A4 (fr) * 2002-02-08 2007-01-03 John K Chapin Procede et appareil pour guider le deplacement d'un animal en liberte par stimulation du cerveau
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110658753A (zh) * 2019-09-17 2020-01-07 东南大学 一种基于电刺激的昆虫飞行行为控制的电路装置
CN112675425A (zh) * 2020-12-10 2021-04-20 黄淮学院 一种适于鸟类的分体式手持远程神经刺激系统
CN112675425B (zh) * 2020-12-10 2023-11-17 黄淮学院 一种适于鸟类的分体式手持远程神经刺激系统
CN113280961A (zh) * 2021-06-28 2021-08-20 河北科技大学 一种测试过程无干扰的微牛级飞行昆虫接触反力测试系统
WO2024220038A1 (fr) * 2023-04-21 2024-10-24 Nanyang Technological University Dispositif de stimulation d'insectes au moyen d'électrodes

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