Cyborg Beetles生醫實驗 Group3

電機三 劉維凱電機三 張景程電機三 解正平

Introduction• Cyborg = cybernetic (控制論的) + organism (生物)

• A living insect-machine hybrid robot

Outline• What is Cyborg Beetles

• How does it work

• Walking beetle

• Flying beetle

• Experiment

• Compare

• Future

• Reference

What is Cyborg Beetles ? • Control the locomotion of a beetle

• Implanted with electronic components

• Components receive signals to command the beetle

• Candidates : locusts, moths, dragonflies, flies, and beetles.

• Although flies have many advantages, they’re too SMALL.

• Beetles’ flight mode and the types of muscles and positions

seemed similar to flies.

• Large enough (ranging from 1 mm to more than 10 cm)

✗✗✗✗Why is Cyborg Beetles?

How does it work – Prepared

• Antennae stimulation can induce contralateral turning in a walking insect

• Optic lobe stimulation can induce flight initiation and cessation

• Flight muscle stimulation contains subalar muscle(b), basalar muscle(c),

wing-folding muscle (3Ax muscle)(a), etc.

Walking beetle

How does it work – stimulation

• Antennae stimulation

• Muscle stimulation

How does it work – Muscle

• Tripod walking gait

• Galloping walking gait

• Video example

• Four kinds of muscle

• Protraction for the forward swing

• Retraction for the backward swing

• Elevation lifting the leg from the ground

• Depression for the ground contact

How does it work – Muscle

How does it work – Muscle

Tripod walking gait

Tripod walking gait

• Four kinds of muscle

• Will use eight pairs of electrodes for the two-leg-based walking

• Hardware and the control systems are complicated

How does it work – Muscle

• Only two pairs of electrodes for the antennae

• Mimic the escape mechanism, high level controls

• Sending an electric pulse to its right makes it turn left, and vice versa.

• Sending to both antennae causes to back up

• Moves forward by default

• Increasing the frequency induces a sharp turn

How does it work – Antennae

Flying Beetle

How does it work – Initial and cessate

• the Optic lobe triggered the flight

initiation and cessation

• negative start the wing muscle oscillators

positive shut the oscillation down

• thrust and lift modulated by the

applied pulse frequency

• Once flight was initiated, it tends to

persist without additional stimulation

• Occasionally, stimulation resulted in flight cessation.

• This corresponded to a controllable drop in altitude when stimulated

How does it work – Pitch angle

How does it work – Muscle control

• Direct：

possess synchronous flight muscles which oscillate under direct

flight control with one-to-one matches, such as dragonflies

• Indirect：

possess asynchronous flight muscles which oscillate under indirect

control, motor neurons to the flight muscles fire at much lower

frequencies than the wing oscillation frequencies, such as beetles

contracting relaxing longitudinalvertical

How does it work – Speed

• the subalar muscle showed a clear decrease of flight speed

• 80 Hz – 100 Hz show clearer effect induced more deceleration to the

flying beetle

How does it work – Contralateral turn• The beetle turned in a direction opposite to the stimulated

basalar muscle side with a positive pulse

How does it work – Ipsilateral turn

• 3Ax muscle is not always required for wing folding but could be involved in

flight course control

• After 3Ax muscle was cut, all the beetles lost the ability to steer

How does it work – Ipsilateral turn• 3Ax muscle is correlated with a reduction in ipsilateral wing beat amplitude

• reduction of wing stroke amplitude by 3Ax muscle is graded with frequency

Experiment

Experiment – Study Animal • Mecynorrhina torquata beetles

• Test the flight capability of each beetle before implanting thin

wire electrodes

• Flying space = 12.5 x 8 x 4 m3

velocity = 3-5 m/sec

size = 6 cm 8 g (2nd)

Experiment– Implant Electrode• Anesthetize the beetle by placing it in a plastic container filled with

CO2 for 1 min

• Immobilize it with the softened dental wax

• Cut insulated silver wires and Expose 3 mm of bare silver

• Dissect the surface of the metepisternum. The 3Ax muscle is located

underneath the soft cuticle

• Insert wire electrodes and hold them in place to avoid contact and

short-circuits by dropping melted beeswax on the holes

Active Return

Experiment – Wireless Backpack• radio microcontroller + lithium polymer microbattery = 1.2 ± 0.26 g

• double-sided tape to attach the backpack

• Wrap retro-reflective tape around the microbattery to produce a

marker for motion capture cameras to detect.

Experiment – Wireless Control

Experiment - Methods• Free flight in a flight arena, Input parameters to software

• Voltage = 3V，pulse width = 3msec，simulation duration = 1 sec

• Release the beetle in the air while trigger the simulation to fly left or right

• Reconstruct the data using 3D graphing software

Experiment - Result• The activation of the 3Ax muscle was found to cause a reduction in the wing

beat amplitude of the ipsilateral side, thus resulting in the beetle performing

an ipsilateral turn in free flight.

• The turning rate of the beetle was graded as a function of the stimulation

frequency.

Compare• High controllability and low power consumption, superior to

current artificial flapping robots

• muscular system as the soft actuators and flexible joints and

nervous system as part of the control system

Future

Q：How does it compare to Draper’s DragonflEye project？A： The cyborg dragonfly based on optogenetic for neural stimulation requires gene modulation.

Q： How would they be controlled in a disaster scenario?A： We could release hundreds of flying and crawling cyborg insects to the sites. Once an insect detects

a victim, send back maps of their positions and environmental conditions to the rescue team.

Q：What are you working on next?A：a feedback control system to precisely control the insect locomotion.

a new backpack with a navigation system and sensors designed to promote fully autonomous. a biofuel cell which is able to convert biofuel inside the insect to electric current.

Reference • Insect-machine Hybrid System: Remote Radio Control of a Freely Flying Beetle

https://www.jove.com/video/54260/?language=Chinese• Controllable Cyborg Beetles for Swarming Search and Rescue

https://spectrum.ieee.org/automaton/robotics/robotics-hardware/cyborg-beetles-for-swarming-search-and-rescue• Cyborg beetles in search and rescue missions

https://www.straitstimes.com/singapore/cyborg-beetles-in-search-and-rescue-missions• Controllable Cyborg Beetles for Swarming Search and Rescue

https://spectrum.ieee.org/automaton/robotics/robotics-hardware/cyborg-beetles-for-swarming-search-and-rescue• smallest cyborg insect

https://www.straitstimes.com/sites/default/files/attachments/2017/11/29/st_20171129_vninsect4_3593104.pdf• Cyborg Beetles: The Remote Radio Control of Insect Flight

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5690991&tag=1• CYBORG BEETLE: THRUST CONTROL OF FREE FLYING BEETLE VIA

A MINIATURE WIRELESS NEUROMUSCULAR STIMULATORhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7051142

• A CYBORG BEETLE: INSECT FLIGHT CONTROL THROUGH AN IMPLANTABLE, TETHERLESS MICROSYSTEM https://people.eecs.berkeley.edu/~maharbiz/Sato_2008_CyborgBeetle.pdf

Reference • Cyborg Beetles

https://www.cs.virginia.edu/~robins/Cyborg_Beetles.pdf• The Cyborg Beetles Designed to Save Human Lives

https://www.youtube.com/watch?v=tgLjhT7S15URADIO-CONTROLLED CYBORG BEETLES:• A RADIO-FREQUENCY SYSTEM FOR INSECT NEURAL FLIGHT CONTROL

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4805357• Deciphering the Role of a Coleopteran Steering Muscle via Free Flight Stimulatio

https://ac.els-cdn.com/S0960982215000834/1-s2.0-S0960982215000834-main.pdf?_tid=5b2fcf5c-fe33-4b19-86a4-111edb78e698&acdnat=1524902237_02c20bece765a1e969f47e9653a7e258

• A Beetle Flight Muscle Displays Leg Muscle Microstructurehttps://ac.els-cdn.com/S0006349516307019/1-s2.0-S0006349516307019-main.pdf?_tid=849ad6a5-9d4c-437f-b1e0-a3f71a4df832&acdnat=1524894088_fc41534fe247a06ca1a5852940630c02

• Remote Radio Control of Insect Flighthttps://www.ncbi.nlm.nih.gov/pmc/articles/PMC2821177/