Name: insect-controlled robot: a mobile robot platform to evaluate the odor-tracking capability of an insect
Uploaded: 2016-12-19T15:00:00
Description: Watch this Scientific Journal Video about Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect at JoVE.com

We thank Shigeru Matsuyama for providing purified bombykol. This work was supported by the Japan Society for the Promotion of Science KAKENHI (grant numbers 22700197 and 24650090) and the Human Frontier Science Program (HFSP).

1. प्रायोगिक पशु <ol><li> उनकी eclosion जब तक पुरुष silkmoths की pupae (बी मोरी) रखने के लिए एक प्लास्टिक के डिब्बे तैयार करें। नीचे डाल कागज तौलिए और बॉक्स (चित्रा 1 ए) के भीतरी दीवार के चारों ओर गत्ते के टुकड़े। <str...

एक silkmoth से रोबोट के सफल नियंत्रण के लिए सबसे महत्वपूर्ण बिंदुओं दे रहे हैं कीट हवा-समर्थित गेंद पर सुचारू रूप से चलने के लिए और स्थिरतापूर्वक गेंद रोटेशन को मापने। इसलिए, silkmoth tethering और उचित स्थान पर गेंद पर ?...

Autonomous robots capable of finding an odor source can be important for the safety and security of society. They can be used for the detection of disaster victims, of drugs or explosive materials at an airport, and of hazardous material spills or leaks in the environment. At present, we rely entirely on well-trained animals (e.g., dogs) for these tasks, and robotic odor source localization has been strongly expected to relieve the workload of these animals. Finding an odor source is a challenging task for robots because odorants are distributed intermittently in an atmosphere1; therefore, continuous sampling of the odor concentration gradient is not always possible. Thus, a search strategy using intermittent odor cues is necessary for the achievement of robotic odor source localization2-4.
Odor source localization is essential for organism survival and includes tasks such as finding food, mating partners, and sites for oviposition. To overcome the difficulty in tracking patchy distributed odorants, organisms have evolved various behavioral strategies consisting of two fundamental behaviors: moving upstream during odor reception and cross-stream during cessation of odor reception5,6. These reactive strategies have been well-documented in insects and further combined with other modalities, such as wind direction and vision5-8. The insect behavioral models have also been useful examples for robotics3,9-11, in which behavioral algorithms or neural circuit models are implemented into mobile robots for the evaluation of odor source localization abilities10,12-15. From biomimetic perspectives, this "bottom-up" approach is certainly a fundamental way to develop biomimetic robots. However, the bottom-up approach is not a shortcut to obtaining a useful search strategy, because biological analyses are still ongoing, and the modeling of the sensory-motor systems behind insect behaviors has not been completed. Therefore, it is still unknown how such a biological system actually works as a controller of a robotic platform.
In this article, we demonstrate the protocol of a straightforward "top-down" approach to develop an odor-tracking mobile robot controlled by a biological system16,17. The robot is controlled by a real insect and can be regarded as a prototype of future insect-mimetic robots. In the robot's cockpit, a tethered adult male silkmoth (Bombyx mori) walked on an air-supported ball in response to the female sex pheromone, which was delivered to each antenna through air suction tubes. The ball rotations caused by the walking of the onboard moth were measured by an optical sensor and were translated into the movement of the two-wheeled robot. The advantage of this "hybrid" approach is that experimenters can investigate how the insect sensory-motor system works on the robotic platform where a pilot insect is in a closed loop between the robot and a real odor circumstance. The manipulation of the robotic hardware alters the closed loop; therefore, the insect-controlled robot is a useful platform for both engineers and biologists. For engineering, the robot represents the first steps of applying a biological model to meet the requirements for robotic tasks. For biology, the robot is an experimental platform for studying sensory-motor control under a closed loop.

<table border="0" cellpadding="0" cellspacing="0" width="961">
	<colgroup>
		<col />
		<col />
		<col />
		<col />
	</colgroup>
	<tbody>
		<tr height="43">
			<td height="43" style="height:43px;width:267px;">Male adult silkmoth 
			&#160;(Bombyx mori)</td>
			<td style="width:159px;"></td>
			<td style="width:171px;"></td>
			<td style="width:365px;">Rear from eggs, or purchase as pupae.</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">Incubator</td>
			<td style="width:159px;">Panasonic</td>
			<td style="width:171px;">MIR-254</td>
			<td style="width:365px;">Store pupae or adult silkmoths at a constant temperature, 238 L.</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">Plastic box</td>
			<td style="width:159px;">Sunplatec</td>
			<td style="width:171px;">O-3</td>
			<td style="width:365px;">Store pupae or adult silkmoths, 299 &#215; 224 &#215; 62 mm L &#215; W &#215; H.</td>
		</tr>
		<tr height="63">
			<td height="63" style="height:63px;width:267px;">Copper wire</td>
			<td style="width:159px;"></td>
			<td style="width:171px;"></td>
			<td style="width:365px;">2-mm diameter for the attachment. Any rigid bar can be used as an alternative for making the attachment to tether a silkmoth.&#160;</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">Plastic sheet</td>
			<td style="width:159px;">Kokuyo</td>
			<td style="width:171px;">VF-1420N</td>
			<td style="width:365px;">Sold as overhead projector film with thickness of 0.1 mm. Use at the tip of the attachment.</td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:267px;">Forceps</td>
			<td style="width:159px;">As one</td>
			<td style="width:171px;">5SA</td>
			<td style="width:365px;">Remove scales on the thorax.</td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:267px;">Adhesive</td>
			<td style="width:159px;">Konishi</td>
			<td style="width:171px;">G17</td>
			<td style="width:365px;">Bond a silkmoth to the attachment.</td>
		</tr>
		<tr height="93">
			<td height="93" style="height:93px;width:267px;">Insect-controlled robot</td>
			<td style="width:159px;">Custom</td>
			<td style="width:171px;"></td>
			<td style="width:365px;">Bearing an air-supported treadmill, an optical sensor, custom-built AVR-based microcontroller boards, and two DC brushless motors. It is powered by 8 &#215; AA and 3 &#215; 006P batteries.</td>
		</tr>
		<tr height="28">
			<td height="28" style="height:28px;width:267px;">Microcontroller</td>
			<td style="width:159px;">Atmel</td>
			<td style="width:171px;">ATMEGA8</td>
			<td style="width:365px;">A component of the insect-controlled robot.</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">DC blower</td>
			<td style="width:159px;">Nidec</td>
			<td style="width:171px;">A34342-55</td>
			<td style="width:365px;">A component of the insect-controlled robot for floating a ball in an air-supported treadmill.&#160;</td>
		</tr>
		<tr height="40">
			<td height="40" style="height:40px;width:267px;">DC fan</td>
			<td style="width:159px;">Minebea</td>
			<td style="width:171px;">1606KL-04W-B50</td>
			<td style="width:365px;">A component of the insect-controlled robot for suctioning air containing an odor.</td>
		</tr>
		<tr height="65">
			<td height="65" style="height:65px;width:267px;">Optical mouse sensor</td>
			<td style="width:159px;">Agilent technologies</td>
			<td style="width:171px;">HDNS-2000</td>
			<td style="width:365px;">A component of the insect-controlled robot, obtained from an optical mouse (M-GUWSRSV, Elecom, Japan).</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">Brushless motor</td>
			<td style="width:159px;">Maxon</td>
			<td style="width:171px;">EC-45</td>
			<td style="width:365px;">A component of the insect-controlled robot for driving a wheel.</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">White polystyrene ball</td>
			<td style="width:159px;"></td>
			<td style="width:171px;"></td>
			<td style="width:365px;">A component of the insect-controlled robot. Diameter 50 mm, mass approximately 2 g.</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">Bombykol: 
			&#160;(E,Z)-10,12-hexadecadien-1-ol</td>
			<td style="width:159px;">Shin-Etsu chemical</td>
			<td style="width:171px;"></td>
			<td style="width:365px;">Custom synthesis.</td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:267px;">n-hexane</td>
			<td style="width:159px;">Wako</td>
			<td style="width:171px;">085-00416</td>
			<td style="width:365px;">Solvent for bombykol.</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:267px;">Wind tunnel</td>
			<td style="width:159px;">Custom</td>
			<td style="width:171px;"></td>
			<td style="width:365px;">Pulling-air type, sized 1800 &#215; 900 &#215; 300 mm L &#215; W &#215; H.</td>
		</tr>
		<tr height="105">
			<td height="105" style="height:105px;width:267px;">BioSignal program</td>
			<td style="width:159px;">Custom</td>
			<td style="width:171px;"></td>
			<td style="width:365px;">A program to establish serial communication between the insect-controlled robot and a PC via Bluetooth. Used for sending commands to start/stop the robot or configuring its motor properties.&#160;</td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:267px;">Camcorder</td>
			<td style="width:159px;">Sony</td>
			<td style="width:171px;">HDR-XR520V</td>
			<td style="width:365px;">Capture robot movements.</td>
		</tr>
	</tbody>
</table>

insect-controlled robot: a mobile robot platform to evaluate the odor-tracking capability of an insect

Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor sources is an essential task for organism survival. Insects are well-studied organisms with regard to odor tracking, and their behavioral strategies have been applied to mobile robots for evaluation. This "bottom-up" approach is a fundamental way to develop biomimetic robots; however, the biological analyses and the modeling of behavioral mechanisms are still ongoing. Therefore, it is still unknown how such a biological system actually works as the controller of a robotic platform. To answer this question, we have developed an insect-controlled robot in which a male adult silkmoth (Bombyx mori) drives a robot car in response to odor stimuli; this can be regarded as a prototype of a future insect-mimetic robot. In the cockpit of the robot, a tethered silkmoth walked on an air-supported ball and an optical sensor measured the ball rotations. These rotations were translated into the movement of the two-wheeled robot. The advantage of this "hybrid" approach is that experimenters can manipulate any parameter of the robot, which enables the evaluation of the odor-tracking capability of insects and provides useful suggestions for robotic odor-tracking. Furthermore, these manipulations are non-invasive ways to alter the sensory-motor relationship of a pilot insect and will be a useful technique for understanding adaptive behaviors.

हम यहाँ कीट नियंत्रित रोबोट एक गंध के स्रोत के सफल स्थानीयकरण के लिए आवश्यक बुनियादी विशेषताओं प्रस्तुत करते हैं। रोबोट और silkmoths, गंध वितरण प्रणाली की प्रभावशीलता, और सटीक द्विपक्षीय घ्राण...

Watch this Scientific Journal Video about Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect at JoVE.com

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

क्षमता एक गंध स्रोत स्थानीयकरण करने के लिए कीट अस्तित्व के लिए आवश्यक है और कृत्रिम गंध से ट्रैकिंग के लिए लागू होने की उम्मीद है। कीट नियंत्रित रोबोट एक वास्तविक silkmoth द्वारा संचालित है और एक रोबोट मंच के माध्यम से कीड़ों की गंध-ट्रैकिंग क्षमता का मूल्यांकन करने के लिए सक्षम बनाता है।

कीट-नियंत्रित रोबोट: एक मोबाइल रोबोट मंच एक कीट की गंध-ट्रैकिंग क्षमता का मूल्यांकन करने के लिए

Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor ...

Research

JoVE Journal

Neuroscience

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces

ब्रेन मशीन इंटरफेस के बंद लूप प्रदर्शन का अध्ययन करने के लिए एक प्रायोगिक प्लेटफार्म

The non-stationary nature and variability of neuronal signals is a fundamental problem in brain-machine interfacing. We developed a brain-machine ...

Identification of Olfactory Volatiles using Gas Chromatography-Multi-unit Recordings (GCMR) in the Insect Antennal Lobe

Identification of Olfactory Volatiles using Gas Chromatography-Multi-unit Recordings GCMR in the Insect Antennal Lobe

घ्राण कीट antennal पालि में गैस क्रोमैटोग्राफी मल्टी इकाई रिकॉर्डिंग (GCMR) का उपयोग वाष्पशील की पहचान

All  organisms inhabit a world full of sensory stimuli that determine their  behavioral and physiological response to their environment. Olfaction is ...

Determination of Photoreceptor Cell Spectral Sensitivity in an Insect Model from In Vivo Intracellular Recordings

Determination of Photoreceptor Cell Spectral Sensitivity in an Insect Model from In Vivo Intracellular Recordings

से एक कीट मॉडल में फोटोरिसेप्टर सेल स्पेक्ट्रल संवेदनशीलता का निर्धारण<em&gt; Vivo</em&gt; Intracellular रिकॉर्डिंग

Intracellular recording is a powerful technique used to determine how a single cell may respond to a given stimulus. In vision research, intracellular ...

Electrophysiological Method for Recording Intracellular Voltage Responses of Drosophila Photoreceptors and Interneurons to Light Stimuli In Vivo

Electrophysiological Method for Recording Intracellular Voltage Responses of Drosophila Photoreceptors and Interneurons to Light Stimuli In Vivo

की प्रतिक्रिया रिकॉर्डिंग Intracellular वोल्टेज के लिए electrophysiological विधि<em&gt; ड्रोसोफिला</em&gt; फोटोरिसेप्टर और लाइट उत्तेजनाओं को इन्तेर्नयूरोंस<em&gt; Vivo</em

Voltage responses of insect photoreceptors and visual interneurons can be accurately recorded with conventional sharp microelectrodes. The method ...

Fabrication of High Contact-Density, Flat-Interface Nerve Electrodes for Recording and Stimulation Applications

उच्च संपर्क घनत्व का निर्माण, रिकॉर्डिंग और उत्तेजना अनुप्रयोगों के लिए फ्लैट इंटरफेस तंत्रिका इलेक्ट्रोड

Many attempts have been made to manufacture multi-contact nerve cuff electrodes that are safe, robust and reliable for long term neuroprosthetic ...

An Improved Method for Collection of Cerebrospinal Fluid from Anesthetized Mice

Anesthetized चूहों से मस्तिष्कमेरु द्रव के संग्रह के लिए एक बेहतर तरीका

The cerebrospinal fluid (CSF) is a valuable body fluid for analysis in neuroscience research. It is one of the fluids in closest contact with the central ...

A Rat Model of Central Fatigue Using a Modified Multiple Platform Method

केंद्रीय थकान का एक चूहा मॉडल एक संशोधित एकाधिक प्लेटफ़ॉर्म विधि का उपयोग

In this article, we introduced a rat model of central fatigue using the modified multiple platform method (MMPM). The Multiple Platform box was designed ...

A Neurosphere Assay to Evaluate Endogenous Neural Stem Cell Activation in a Mouse Model of Minimal Spinal Cord Injury

एक Neurosphere परख का मूल्यांकन करने के लिए अंतर्जात तंत्रिका कोशिका सक्रियकरण कम रीढ़ की हड्डी की चोट के एक माउस मॉडल में स्टेम

Neural stem cells (NSCs) in the adult mammalian spinal cord are a relatively mitotically quiescent population of periventricular cells that can be studied ...

A Volumetric Method for Quantification of Cerebral Vasospasm in a Murine Model of Subarachnoid Hemorrhage

अवजालतनिका नकसीर के एक Murine मॉडल में सेरेब्रल Vasospasm के ठहराव के लिए एक Volumetric विधि

Subarachnoid hemorrhage (SAH) is a subtype of hemorrhagic stroke. Cerebral vasospasm that occurs in the aftermath of the bleeding is an important factor ...

Functional MRI in Conjunction with a Novel MRI-compatible Hand-induced Robotic Device to Evaluate Rehabilitation of Individuals Recovering from Hand Grip Deficits

हाथ पकड़ घाटे से उबरने वाले व्यक्तियों के पुनर्वास का मूल्यांकन करने के लिए एक उपन्यास एमआरआई संगत हाथ से प्रेरित रोबोट डिवाइस के साथ संयोजन के रूप में कार्यात्मक एमआरआई

Functional magnetic resonance imaging (fMRI) is a non-invasive magnetic resonance imaging technique that images brain activation in vivo, using endogenous ...