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.実験動物<ol><li>その羽化まで男性silkmoths（ カイコ ）の蛹を維持するためにプラスチックの箱を用意します。ボックス（ 図1A）の内壁の周りに段ボールの底部との作品で紙タオルを置きます。 注：羽化（ 図1A）の間に彼らの翼を拡張しながら大人の蛾は、保持するために段ボールのピースが必要です。 </li><li>ボックス内の男性カイコガ（ ...

カイコガによってロボットの制御の成功のための最も重要な点は蛾が空気でサポートされているボールにスムーズに歩くせると安定したボールの回転を測定しています。したがって、カイコガをテザリングして、適切な位置にボールにマウントすることは、このプロトコルで重要なステップです。添付ファイルまたはボールに蛾の不適切なポジショニングに蛾の不適切な密着性は通常の歩行?...

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.

ここでは臭気源の成功ローカライズするために必要な昆虫制御ロボットの基本的な特性を提示します。ロボットとsilkmoths、臭気デリバリーシステムの有効性、および正確なバイラテラル嗅覚および視覚インプットの重要性との間の比較を検討しています。 自由に歩行蛾や昆虫制御のロボットと臭気トラッキングビヘイビ?...

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

臭気源を局在化する能力は、昆虫の生存のために必要であり、人工的な匂いトラッキングに適用可能であることが期待されています。昆虫制御のロボットは、実際のカイコガによって駆動され、ロボットプラットフォームを通して昆虫の匂い追跡能力を評価することを可能にされています。

昆虫制御のロボット：移動ロボットプラットフォーム昆虫の匂い追跡能力を評価します

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

ブレインマシンインタフェースの閉ループ性能を研究する実験プラットフォーム

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

昆虫の触角葉でガスクロマトグラフィー - マルチユニットレコーディング（GCMR）を使用して、嗅覚揮発性物質の同定

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

昆虫モデルにおける視細胞分光感度の決意から<em&gt;インビボ</em&gt;細胞内記録

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

の記録細胞内の電圧応答のための電気生理学的手法<em&gt;ショウジョウバエ</em&gt;光刺激に感光体と介在ニューロン<em&gt;インビボ</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

記録と刺激アプリケーションの高接触密度、フラットインターフェイスの神経電極の作製

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

麻酔下のマウスから脳脊髄液のコレクションのための改良法

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

ラット モデル改良を使用して中枢性疲労の複数プラットフォーム メソッド

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

最小限の脊髄損傷のマウス モデルにおける内因性神経幹細胞の活性化を評価する Neurosphere アッセイ

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

くも膜下出血のマウスモデルにおける脳血管攣縮の定量化法の体積

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

手のグリップの欠陥から回復する個人のリハビリテーションを評価する新しいMRI互換手誘導ロボット装置と連動した機能MRI

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