New Perspectives on g y p MAVs Biologically-Inspired (bio motivation rather than bio mimicry) Robert R b t C. C Mi Michelson h l GTRI PRE Emeritus President,, Millennial Vision,, LLC
© 2008 R.C. Michelson
Traditional Approaches •
Fixed and Rotary Wing MAVs
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Flapping Wing MAVs (convenional biomimetic designs)
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Flapping Wing MAVs (biologically-inspired designs)
2 © 2008 R.C. Michelson
Biomimetic Flapping Wing MAVs © 2001 California Institute of Technology / Aerovironment
MICROBAT
3 © 2008 R.C. Michelson
Biologically-Inspired Flapping Wing MAVs ENTOMOPTER
4 © 2008 R.C. Michelson
Another Approach: Bio Motivation Bio-Motivation rather than
Bio Mimicry or Bio-Mimicry Bio-Inspiration o sp at o 5 © 2008 R.C. Michelson
Instead of an Insect Insectlike MAV... How about a MAV-like Insect? (Let a live insect carry a payload) 6 © 2008 R.C. Michelson
The DARPA Solutions
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Pheromone Trails
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Training
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Implantation 7 © 2008 R.C. Michelson
Pheromone Trails ANTHERAEA POLYPHEMUS (Silk Moth)
Issues: •
Open Loop control
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Must be able to seed target site with attractant
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Insects don’t fly straight to source, instead, casting based on wind direction (anemotaxis (ref. Bombyx mori)) 8 © 2008 R.C. Michelson
Pheromone Trails Issues (continued): •
Competition with predators attracted could affect mission
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Competing attractive or repulsive pheromones in the environment. environment
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Difficulties in applying pp y g pheromones p or artificially stimulating olfactory nodes
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Visual over ride
9 © 2008 R.C. Michelson
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Issues:
Training g
Time-to-train shortlived insects
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Specific S ifi to t training t i i (TNT bees don’t expect to be reward rewarded from C4)
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Plume trails are wind-dependent
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Competition from alternate natural attractants could derail mission
Sandia National Laboratories and the University of Montana determine whether foraging bees can detect d t tb buried i d landmines. l d i 10 © 2008 R.C. Michelson
Implantation DARPA HI-MEMS Vision Create technology to reliably integrate microsystems payloads on insects to enable insect cyborgs
OBJECTIVES • Develop technology to enable highly coupled electro mechanical interfaces to insect anatomy • Demonstrate MEMS p platforms for electronic locomotion control, power harvesting from insect, and eliminate extraneous biological functions • D Determine t i operational ti l limitations li it ti off insect i t cyborgs b f for future programs .
Amit Lal, DARPA-MTO. DARPA Case 9927. Approved for Public Release. Distribution Unlimited
11 © 2008 R.C. Michelson
Insect Sentinals
B BorgNe ess
MEMS size, power, and weight is a natural fit to enable insect cyborgs
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Mmachine/Mbiology
∞
Amit Lal, DARPA-MTO. DARPA Case 9927. Approved for Public Release. Distribution Unlimited.
INSECT WITHOUT LAST FEW ABDOMINAL SEGMENTS Additional payload can be attached in the place of original abdominal segments leading to enhanced payload carrying capacity.
Pupae of manduca with a cover slide attached at one end
Emerged healthy adults with intact wings Amit Lal, DARPA-MTO. DARPA Case 9927. Approved for Public Release. Distribution Unlimited.
BTI: Microsystem implementation
PM: Amit Lal
X-ray images of probes in muscles show good tissue growth around inserted probes
Microsystem platform inserted into moth in pupae stage, and successful emergence of adult moth with microsystem
Amit Lal, DARPA-MTO. DARPA Case 9927. Approved for Public Release. Distribution Unlimited.
Implantation
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Issues:
Labor intensive microsurgery on live insects during early instar stages
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Time to grow to adulthood means that useable harvest may not coincide with mission priorities
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Viable cyborg adults may die of old age prior to being put into service
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Cyborg insects are laboratory creations and can not be created quickly in the field 15 © 2008 R.C. Michelson
DARPA’s biologically-inspired approaches h to t rapid id covertt ingress into denied areas/structures / t t are nott the th only ones...
A living biological entity that is motivated to act, can also serve as a cooperative agent.
Insects in flight navigate by various means: 1. Pheromone trails (volatile plume = “active space ) space”)
2 Vision 2. (sight distance = “active space”)
1.
Advantages g of visual control Over rides pheromone attraction
2 Higher bandwidth response 2. Text 3 Ectophoretic interface 3. is noninvasive
4. UC Berkeley/Dickinson experiments p on Drosophila p indicate visual flow field influence is viable.
Proposed Concept Hypothesis:
Variations in optical frame of reference can be exploited for free flightpath control of an appropriate pp p insect. M th d Method:
Superimpose virtual visual cues upon the normal world view of the insect.
“Appropriate Insect” To make a useful demonstration, the insect chosen must have the following characteristics:
• Large enough to support the weight of externally placed equipment and power source. p • Rely upon vision for navigation. • Able to be continuously bred and y sustained in captivity.
“Manduca sexta” (the “Tobacco Tobacco Hornworm Hornworm”, or “Hawkmoth”) Hawkmoth )
1. One of the largest Sphingid moths 2 Used 2. U d as the th biomimetic bi i ti model d l for f the th Entomopter wing 3 Indigenous to Georgia 3. 4. No Federal or GT restrictions on experimentation with these insects 5. Eggs and first/second instar stages available from various supply houses 6. Sex pheromone has been synthesized (can serve as a means of saturating the long range navigation response) 7. One of the most widely studied moths
“Manduca sexta” (the “Tobacco Tobacco Hornworm Hornworm”, or “Hawkmoth”) Hawkmoth )
• A day or night flyer with retinal rhodopsin sensitivity in the green, blue, and UV regions (P520, P450, and P357)
• Shown to make extensive use of optics in local navigation and obstacle avoidance.
Technical Approach
Optical Stimulator Forward Fast
World’s Smallest Receiver? Implementation Ideas: • Ultra Simple p Receiver • Freq. Selective Antennas • Diode Detection • No Stored Power Required • NanoTechnology Fabrication
Implementation Issues: • SPECIFICATION of HARDWARE • Size-Weight-Power • Control Interface •mmW?, IR?, UV?
• IMI: Insect-Machine Interface • RESEARCH TECHNOLOGY • RECOMMEND FAB TECHNOLOGY
Sources of Reference Information Entomopter Web Site:
http://avdil.gtri.gatech.edu/RCM/RCM/Entomopter/EntomopterProject.html DARPA Microsystems Technology Office (MTO) Web Site:
http://www darpa mil/mto/programs/himems/index html http://www.darpa.mil/mto/programs/himems/index.html 1. Kennedy JS, Zigzagging and casting as a programmed response to wind-borne odour: a review. Physiol Ent 8: 109-120, 1983 2 Kennedy 2. Kennedy, J. J S. S & Marsh, Marsh D D., Pheromone-regulated Pheromone regulated anemotaxis in flying moths moths. Science 184: 999-1001, 1974 3. Tomoko Yoshimura, Beckman Institute, University of Illinois at Urbana Champaign, http://soma.npa.uiuc.edu/courses/neuroethol/models/pheromone_searching/pheromone_search ing.html October 1996 4 Borst 4. Borst, A A. and Dickinson Dickinson, M M.H., H Visuo-Motor Visuo Motor Coordination in the fly fly, The Handbook of Brain Theory and Neural Networks, 2nd Edition, M.Arbib (ed), Bradford Books, MIT Press, 1999. 5. Farina, WM, D Varju & Y Zhou, The regulation of distance to dummy flowers during hovering flight in the hawk moth Macroglossum stellatarum. J Comp Physiol A 174:239-247, 1994 6. Chase, MR, Bennett, RR, and White, RH, Three opsin-encoding cDNAs from the compound eye of Manduca sexta. sexta J Exp Biol 200:2469 200:2469-2478 2478, 1997 7. Cutler, DE, RR Bennett, Stevenson, RD, and White, RH, 1995 Feeding behavior in the nocturnal moth Manduca sexta is mediated mainly by blue receptors, but where are they located in the retina? J Exp Biol 198:1909-1917 8. White, RH, Stevenson, RD, Bennett, RR, Cutler, DE, and Haber, WA,1994 Wavelength discrimination and the role of ultraviolet vision in the feeding behavior of hawkmoths. hawkmoths Biotropica 26:427-435 9. Stair & Johnston, Ultraviolet spectral radiant energy reflected from the moon. J Res Natl Bureau Standards 51:81-84, 1953 10. Carolina Biological Supply Company, http://www.carolina.com New Perspectives on Biologically-Inspired MAVs ©2008 R. C. Michelson
