Name: insect-machine hybrid system: remote radio control of a freely flying beetle (mercynorrhina torquata)
Uploaded: 2016-09-02T13:00:00.000+00:00
Duration: 10 min 17 s
Description: Watch this Scientific Journal Video about Insect-machine Hybrid System: Remote Radio Control of a Freely Flying Beetle Mercynorrhina torquata at JoVE.com

This material is based on the works supported by Nanyang Assistant Professorship (NAP, M4080740), Agency for Science, Technology and Research (A*STAR) Public Sector Research Funding (PSF, M4070190), A*STAR-JST (The Japan Science and Technology Agency) joint grant (M4070198), and Singapore Ministry of Education (MOE2013-T2-2-049). The authors would like to thank Mr. Roger Tan Kay Chia, Prof. Low Kin Huat, Mr. Poon Kee Chun, Mr. Chew Hock See, Mr. Lam Kim Kheong and Dr. Mao Shixin at School of MAE for their support in setting up and maintaining the research facilities. The authors thank Prof. Michel Maharbiz (U.C. Berkeley) his advice and discussion, Prof. Kris Pister and his group (U.C. Berkeley) for their support in providing the GINA used in this study.

1. 연구 동물 <ol><li> 후면 개별 Mecynorrhina의 torquata 딱정벌레 나무 펠렛 침구 별도의 플라스틱 용기에 (6cm, 8g). </li><li> 각 딱정벌레에게 설탕 젤리 (12 ml)을 3 일마다 한 잔을 공급. </li><li> 각각 25 ° C, 60 %로 사육 실내의 온도와 습도를 유지한다. </li><li> 얇은 와이어 전극을 주입하기 전에 각 딱정벌레의 비행 능력을 테스트합니다. <ol><li> 부드럽게 공기에 딱정벌레를 throw합니다. 딱정벌레는 5 연속 시험에 대한 이상 10 초 동안 비행 할 수있는 경우, 딱정벌레 일반 비행 기능을 가지고 결론 및 후속 비행 실험을 위해 그것을 사용한다. 어두워하기 위해 방에있는 모든 조명을 끄고, 딱정벌레를 탈환합니다. 이 비행을 종료 할 딱정벌레가 발생합니다. 참고 : 공기 중으로 방출 할 때 딱정벌레가 자발적으로 멀리 비행을 시작합니다. 예컨대도 1 (16 × 8 × 4m에 도시 한 바와 같이 큰 폐 공간에서 비행 실험을 실시하는 것이 좋다 <su의 모션 캡처 공간 P&gt; 3 12.5 X 8 × 4m 3), 공중에서 회전 할 때 비행 딱정벌레 이동 매우 빠르게 (약 3-5m / 초)과 큰 호를 그립니다. </li></ol></li></ol> 2. 전극 주입 <ol><li> 1 분 13,16,20-24에 대한 CO 2로 채워진 플라스틱 용기에 배치하여 벌레를 마취. </li><li> 10 초 동안 온수에 침지하여 치과 용 왁스를 발라. 나무 블록에 마취 딱정벌레를 놓고 연화 치과 왁스로 고정시킨다. 치과 왁스는 자연적으로 냉각하고 몇 분 이내에 굳은. </li><li> 25mm의 길이로 잘라 절연은 전선 (127 μm의 맨 직경, 퍼플 루오로 코팅 된 178 μm의 직경) 주입을위한 얇은 와이어 전극을 사용할 수 있습니다. </li><li> 각 와이어의 양 단부에 상기 절연체를 화염에 의해 베어 실버 3mm 노출. </li><li> SMA를 만들 뾰족한 가위를 이용하여 딱정벌레의 큐티클의 표면을 해부하다metepisternum (그림 2C)에 약 4 × 4mm의 LL 창. 참고 :도 2c에 도시 된 바와 같이 부드러운 갈색 색상의 표피가 다음 노출 - 전자. 3AX 근육은 부드러운 표피 아래에 있습니다. </li><li> 피어스 개의 구멍 (도 2D) 사이에 2mm의 거리 곤충 핀 (크기 00)를 사용하여 노출 된 갈색 표피 두 구멍. </li><li> 주의 깊게 관통 구멍 (단계 2.4에서 제조 한 액티브 한 귀환 전극을 포함)이 와이어 전극을 넣고, 3 mm의 깊이로 각 3AX 근육로 이식. </li><li> 이식 된 전극을 고정하고 구멍에 녹은 밀랍을 놓아 연락처 및 단락을 방지하기 위해 장소에 개최합니다. 필요한 경우, 뜨거운 납땜 인두의 끝과 밀랍을 터치하여 표피를 통해 밀랍을 리플 로우. 밀랍 빠르게 굳은 및 주입을 강화. 참고 : 주입이 올 경우 무의 딱지 날개를 확인하려면제작 전기 자극 중 3AX 근육의 움직임을 관찰하기 위해 해제 될 수있다. </li></ol> 3. 무선 배낭 조립 주 : 배낭 내장 무선 마이크로 4 층 FR-4 기판 상에 (1.6 X 1.6 cm 2)로 구성되었다. 배낭은 리튬 폴리머 microbattery (3.7 V, 350 ㎎, 10 MAH)에 의해 구동되었다. 전지를 포함하는 배낭의 총 질량은 비틀 (10 g 체중의 30 %)의 페이로드 용량 미만 1.2 ± 0.26 g이었다. 배낭은 무선 통신을 수신하기 위해 미리 프로그램과 2 개의 출력 채널이었다. <ol><li> 앞가슴 등판의 표면을 청소 양면 테이프를 사용하여 (표피의 왁스 층을 제거). 그런 다음, 양면 테이프의 조각을 가진 딱정벌레의 앞가슴 등판의 배낭을 연결합니다. </li><li> 배낭의 출력에 이식 된 전극의 끝을 연결합니다. </li><li> fo를 마커를 생성하기 위해 microbattery 주위에 역 반사 테이프를 감싸R 모션 캡쳐 카메라를 검출한다. </li><li> 되 반사 테이프가 모션 캡쳐 카메라에 의해 검출 할 수 있으므로, 양면 테이프의 조각을 사용하여 가방의 상부에 microbattery 첨부. </li></ol> 4. 무선 제어 시스템 주의 : 이러한 경우에, 용어 무선 제어 장치는 원격 제어기를위한 수신기를 포함하는, 커스텀 비행 제어 소프트웨어를 실행하기위한 노트북 컴퓨터, 기지국, 배낭 및 모션 캡쳐 시스템. <ol><li> USB 포트를 통해 랩탑 컴퓨터의 리모트 컨트롤러의 기지국 수신기에 연결한다. </li><li> 모션 캡쳐 시스템에서 스위치 및 이더넷 포트를 통해 노트북 컴퓨터에 연결합니다. </li><li> 완전 모션 캡쳐 공간을 커버 (모션 캡쳐 시스템의 공급 회사가 제공하는) 보정 지팡이를 흔들며 부피 보정을 수행한다. <ol><li> 노트북의 바탕 화면에서 모션 캡쳐 소프트웨어를 엽니 다. 클릭 한 박사AG는 &quot;자원&quot;패널의 &quot;시스템&quot;메뉴에서 모든 카메라를 선택합니다. </li><li> 은 &quot;3D 관점&quot;메뉴를 클릭하고 카메라보기로 변경 &quot;카메라&quot;를 선택합니다. 교정 설정을 표시하는 &quot;도구&quot;패널에서 &quot;카메라&quot;탭을 클릭합니다. 카메라에서 잡음을 제거하기 위해 &quot;카메라 마스크 만들기&quot;메뉴에서 &quot;시작&quot;버튼을 클릭 잡음이 파란색 마스크 후 다음 &quot;정지&quot;. </li><li> 클릭하고 &quot;지팡이&quot;메뉴와 &quot;카메라&quot;탭에서 &quot;L-프레임&quot;메뉴에서 &quot;5 마커 지팡이 &amp; L-프레임&quot;을 선택합니다. 2500에 &quot;지팡이 카운트를&quot;설정은 &quot;교정 카메라&quot;메뉴의 &quot;시작&quot;을 클릭하고 전체 모션 캡처 공간을 통해 교정 지팡이를 흔들어. 막대 수가 2,500에 도달하면 교정 프로세스가 중지됩니다. </li><li> ( &quot;도구&quot;패널의 &quot;카메라&quot;탭의 하단에있는) 이미지 오류가보다 높은 0.3 F 인 경우 교정 과정을 반복또는 카메라. 교정 후, 모션 캡처 공간의 중앙에 바닥에 지팡이를 넣어 모션 캡쳐 공간의 원점을 설정하려면 &quot;설정 볼륨 기원&quot;메뉴의 &quot;시작&quot;을 클릭합니다. </li></ol></li><li> 모션 캡쳐 공간에서 사용자에 의해 흔들어 마커의 이동 경로를 기록하고 마커가 검출 및 추적 여부를 확인하기 위해 테스트 더미를 이용하여 모션 캡쳐 시스템의 범위를 확인한다. 마커가 자주 검색하는 동안 손실 된 경우 더미 테스트가 성공할 때까지, 볼륨 교정을 반복합니다. <ol><li> &quot;도구&quot;패널에서 &quot;캡처&quot;탭을 클릭 한 다음 그 궤적을 기록 전체 모션 캡처 공간을 통해 샘플 마커를 흔들며하기 전에 &quot;캡처&quot;메뉴의 &quot;시작&quot;. </li><li> 기록 후, 클릭 마커의 위치를​​ 재구성하고 기록의 품질을 확인하기 &quot;를 재구성 파이프 라인을 실행합니다.&quot; </li></ol></li><li> microb의 단자에 연결attery 배낭의 전원 핀 (단계 3.4에서 배낭에 부착). </li><li> 랩톱과 맞춤 비행 제어 소프트웨어를 사용하여 배낭 사이의 무선 통신을 테스트한다. 소프트웨어의 &quot;시작&quot;명령을 클릭하고 표시된 연결 상태를 확인합니다. </li></ol> 5. 무료 비행 실험 <ol><li> 16 × 8 × 4m (3)을 측정하는 비행 분야에서 자유 비행 실험을 실시하고 있습니다. </li><li> 입력 비행 제어 소프트웨어 (전압, 펄스 폭, 주파수 및 자극 지속 시간)에 해당하는 파라미터. 참고 : 데모, 우리는 3 밀리로 3 V까지 펄스 폭의 전압을 고정하고, 자극 지속 시간이 1 초에 60 내지 100 Hz로 주파수를 변경. <ol><li> 은 &quot;전압&quot;상자에 3 V에 대한 소프트웨어 화면, 유형 3은 &quot;자극 기간&quot;상자에 1,000 밀리의 &quot;펄스 폭&quot;상자에 3 밀리 3 1,000, 및에서 Hz 단위 원하는 주파수에서 &quot; 주파수 &quot;박스 오n은 명령 창을여십시오. </li></ol></li><li> 이 비행 경기장 내에서 자유롭게 비행 할 수 있도록 공중으로 배낭에 장착 된 딱정벌레를 놓습니다. 딱정벌레는 모션 캡쳐 공간에 진입 할 때 수동 자극을 발생시킨다. 를 눌러 원격에서 해당 명령 단추 (왼쪽 또는 오른쪽)는 딱정벌레의 왼쪽이나 오른쪽에있는 대상 근육을 자극합니다. 주의 :이 버튼이 눌러지면, 랩톱에서 실행되는 비행 제어 소프트웨어 명령을 생성하고, 배낭으로 보낸다. 배낭은 (왼쪽 또는 오른쪽) 관심의 근육에 전기 자극을 출력한다. </li><li> 자극하는 동안 실시간으로 딱정벌레의 반응을 관찰하고 3D 그래프 소프트웨어를 사용하여 데이터를 재구성. <ol><li> 은 &quot;비틀 디스플레이&quot;윈도우의 데이터 목록에 기록 된 시험 중 하나를 선택하고 분석 폴더에 그 재판의 데이터를 복사하고 3 차원 그래프 모듈을 실행하는 &quot;수출 팬더&quot;를 클릭합니다. </li><li> 눌러 &quot;N&quot;키보드 기록 궤도에 자극 신호를 결합한다. I를 눌러 강조 표시된 자극 기간이 딱정벌레의 궤도를 표시합니다. </li></ol></li></ol>

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C., Herrera, M., Bustamante, M., Shingiro, A., Bowen, T. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Effective+Stimulus+Parameters+for+Directed+Locomotion+in+Madagascar+Hissing+Cockroach+Biobot.">Effective Stimulus Parameters for Directed Locomotion in Madagascar Hissing Cockroach Biobot.</a> PLoS ONE. 10 (8), e0134348 (2015).</li><li>Zhaolin, Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+preliminary+study+of+motion+control+patterns+for+biorobotic+spiders.">A preliminary study of motion control patterns for biorobotic spiders.</a> , 128-132 (2014).</li><li>Feng, C., Chao, Z., Hao Yu, C., Sato, H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Insect-machine+hybrid+robot:+Insect+walking+control+by+sequential+electrical+stimulation+of+leg+muscles.">Insect-machine hybrid robot: Insect walking control by sequential electrical stimulation of leg muscles.</a> , 4576-4582 (2015).</li><li>Cao, F., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+Biological+Micro+Actuator:+Graded+and+Closed-Loop+Control+of+Insect+Leg+Motion+by+Electrical+Stimulation+of+Muscles.">A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles.</a> PLoS ONE. 9 (8), e105389 (2014).</li><li>Zhao, H., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Neuromechanism+Study+of+Insect-Machine+Interface:+Flight+Control+by+Neural+Electrical+Stimulation.">Neuromechanism Study of Insect-Machine Interface: Flight Control by Neural Electrical Stimulation.</a> PLoS ONE. 9 (11), e113012 (2014).</li><li>Tsang, W. M., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Flexible+Split-Ring+Electrode+for+Insect+Flight+Biasing+Using+Multisite+Neural+Stimulation.">Flexible Split-Ring Electrode for Insect Flight Biasing Using Multisite Neural Stimulation.</a> IEEE Trans. Biomed. Eng. 57 (7), 1757-1764 (2010).</li><li>Barron, A. B. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Anaesthetising+Drosophila+for+behavioural+studies.">Anaesthetising Drosophila for behavioural studies.</a> J. Insect Physiol. 46 (4), 439-442 (2000).</li><li>Cooper, J. 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A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> Insect neurophysiological techniques. , (2012).</li><li>Leary, S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> AVMA guidelines for the euthanasia of animals. , (2013).</li><li>Heath, B., West, G., Heard, D., Caulkett, N. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Mobile+Inhalant+Anesthesia+Techniques.">Mobile Inhalant Anesthesia Techniques.</a> in Zoo Animal and Wildlife Immobilization and Anesthesia. , 75-80 (2008).</li><li>Mischiati, M., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Internal+models+direct+dragonfly+interception+steering.">Internal models direct dragonfly interception steering.</a> Nature. 517 (7534), 333-338 (2015).</li><li>Kutsch, W., Berger, S., Kautz, H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Turning+Manoeuvres+in+Free-Flying+Locusts:+Two-Channel+Radio-Telemetric+Transmission+of+Muscle+Activity.">Turning Manoeuvres in Free-Flying Locusts: Two-Channel Radio-Telemetric Transmission of Muscle Activity.</a> J. Exp. Zoolog. Part A Comp. Exp. Biol. 299 (2), 139-150 (2003).</li><li>Wang, H., Ando, N., Kanzaki, R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Active+Control+of+Free+Flight+Manoeuvres+in+a+Hawkmoth,+Agrius+Convolvuli.">Active Control of Free Flight Manoeuvres in a Hawkmoth, Agrius Convolvuli.</a> J. Exp. Biol. 211 (3), 423-432 (2008).</li><li>Sato, H., Maharbiz, M. M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Recent+developments+in+the+remote+radio+control+of+insect+flight.">Recent developments in the remote radio control of insect flight.</a> Front. Neurosci. 4, (2010).</li><li>Tien Van, T., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Flight+behavior+of+the+rhinoceros+beetle+Trypoxylus+dichotomus+during+electrical+nerve+stimulation.">Flight behavior of the rhinoceros beetle Trypoxylus dichotomus during electrical nerve stimulation.</a> Bioinsp. Biomim. 7 (3), 036021 (2012).</li><li>Sane, S. P., Dickinson, M. H. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=The+control+of+flight+force+by+a+flapping+wing:+lift+and+drag+production.">The control of flight force by a flapping wing: lift and drag production.</a> J. Exp. Biol. 204 (15), 2607-2626 (2001).</li><li>de Croon, G. C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Design,+aerodynamics+and+autonomy+of+the+DelFly.">Design, aerodynamics and autonomy of the DelFly.</a> Bioinsp. Biomim. 7 (2), 025003 (2012).</li><li>Ma, K. Y., Chirarattananon, P., Fuller, S. B., Wood, R. J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Controlled+Flight+of+a+Biologically+Inspired,+Insect-Scale+Robot.">Controlled Flight of a Biologically Inspired, Insect-Scale Robot.</a> Science. 340 (6132), 603-607 (2013).</li></ol>

The authors declare that there are no conflicts of interest.

이 실험의 신뢰도에 영향을 미치는, 상기 주입 공정은 중요하다. 전극은 3mm 비틀 (주변 근육과의 접촉을 회피)의 크기에 따라 이하의 깊이에서 근육에 삽입되어야한다. 전극이 근처의 근육을 터치하면 바람직하지 않은 모터 행동과 행동은 주변 근육의 수축으로 인해 발생할 수 있습니다. 두 개의 전극이 아니라 더 단락이 발생하지 않도록 정렬되어야합니다. 용융 및 납땜을 사용하여 밀랍을 리플 ...

An insect-machine hybrid system, often referred to as a cyborg insect or biobot, is the fusion of a living insect platform with a miniature mounted electronic device. The electronic device, which is wirelessly commanded by a remote user, outputs an electrical signal to electrically stimulate neuromuscular sites in the insect via implanted wire electrodes to induce user desired motor actions and behaviors. In the early stages of this research field, researchers were limited to conducting wireless recording of the muscular action of an insect, using simple analog circuits comprised of surface-mounted components1-3. The development of system-on-a-chip technology with radio frequency functionality enabled not only the wireless recording of neuromuscular signals but also the electrical stimulation of the neuromuscular sites in living insects. At present, a built-in radio microcontroller is small enough to be mounted on living insects without causing any obstructions to their locomotion4-13.
The development of the built-in radio microcontroller allows researchers to determine electrical stimulation protocols to induce desired motor actions to control the locomotion of the insect of interest. On the ground, researchers have demonstrated walking control by stimulating the neuromuscular sites of cockroaches4,12,14, spiders15, and beetles16,17. In the air, the initiation and cessation of flight were achieved using different methods such as the stimulation of the optic lobes (the massive neural cluster of a compound eye) in beetles7,9 and brain sub-regions in bees18, whereas turning control has been demonstrated by stimulating the antennae muscles and nervous system of the abdomens in moths11,19 and the flight muscles of beetles7,9,13. In most cases, a built-in radio microcontroller was integrated on a custom-designed printed circuit board to produce a miniature wireless stimulator (backpack), which was mounted on the insect of interest. This allows wireless electrical stimulation to be applied to a freely walking or flying insect. Such a microcontroller-mounted insect is what is referred to as an insect-machine hybrid system. 
This study describes the experimental protocols for building an insect-machine hybrid system, wherein a living beetle is employed as the insect platform, and instructs on how to operate the robot and test its flight control systems. The third axillary sclerite (3Ax) muscle was chosen as the muscle of interest for electrical stimulation and demonstration of left or right turning control13. A pair of thin silver wire electrodes was implanted in both the left and right 3Ax muscles. Moreover, a backpack was mounted on the living beetle. The other ends of the wire electrode were connected to the output pins of the microcontroller. The backpack was small enough for the beetle to carry in flight. Thus, this allows an experimentalist to remotely stimulate the muscle of interest of an insect in free flight and investigate its reactions to the stimulations.

<table><tbody><tr><td>Mecynorrhina torquata beetle</td><td>Kingdom of Beetle Taiwan</td><td></td><td>10 g, 8 cm, pay load capacity is 30% of the body mass&lt;br/&gt; Aproval of importing and using by Agri-Food and Veterinary Authority of Singapore (AVA; HS code: 01069000, product code: ALV002).</td></tr><tr><td>Wireless backpack stimulator</td><td>Custom</td><td></td><td>TI CC2431 micocontroler&lt;br/&gt; The board is custom made based on the GINA board from Prof. Kris Pister&amp;rsquo;s lab. The layout of GINA board can be found at&amp;nbsp;&amp;nbsp;&amp;nbsp; https://openwsn.atlassian.net/wiki/display/OW/GINA</td></tr><tr><td>Wii Remote control</td><td>Nintendo</td><td></td><td>Bluetooth remote control to send the command to the operator laptop</td></tr><tr><td>BeetleCommander v1.8</td><td>Custom. Maharbiz group at UC Berkeley and Sato group at NTU</td><td></td><td>Establish the wireless communication of the backpack and the operator laptop. Configure the stimulus parameters and log the positional data. Visualize the flight data.</td></tr><tr><td>GINA base station</td><td>Kris Pister group at UC Berkeley</td><td></td><td>TI MSP430F2618 and AT86RF231</td></tr><tr><td>Motion capture system</td><td>VICON</td><td>T160</td><td>8 cameras for a flight arena of 12.5 m x 8 m x 4 m</td></tr><tr><td>Motion capture system</td><td>VICON</td><td>T40s</td><td>12 cameras for a flight arena of 12.5 x 8 x 4 m</td></tr><tr><td>Micro battery</td><td>Fullriver</td><td>&amp;nbsp;201013HS10C&amp;nbsp;</td><td>3.7V, 10 mAh</td></tr><tr><td>Retro reflective tape</td><td>Reflexite</td><td>V92-1549-010150</td><td>V92 reflective tape, silver color</td></tr><tr><td>PFA-Insulated Silver Wire&amp;nbsp;</td><td>A-M systems</td><td>786000</td><td>127 &amp;micro;m bare, 177.8 &amp;micro;m coated, 3 mm bare silver flame exposed at tips</td></tr><tr><td>SMT Micro Header&amp;nbsp;</td><td>SAMTEC</td><td>FTSH-110-01-L-DV</td><td>0.3 mm x 6 mm, bend to make a 3 mm long slider to secure the electrode into the PCB header.</td></tr><tr><td>Beeswax</td><td></td><td></td><td>Secure the electrodes</td></tr><tr><td>Dental Wax</td><td>Vertex</td><td></td><td>Immobilize the beetle</td></tr><tr><td>Insect pin</td><td>ROBOZ</td><td>RS-6082-30</td><td>Size&amp;nbsp; 00; 0.3 mm Rod diameter; 0.03 mm tip width; 38 mm Length&amp;nbsp;&lt;br/&gt; Make electrode guiding holes on cuticle</td></tr><tr><td>Tweezers</td><td>DUMONT</td><td>RS-5015</td><td>Pattern #5; .05 mm x .01 mm Tip Size; 110 mm Length&lt;br/&gt; Dissecting and implantation</td></tr><tr><td>Scissors</td><td>ROBOZ</td><td>RS-5620</td><td>Vannas Micro Dissecting Spring Scissors; Straight; 3mm Cutting Edge; 0.1 mm Tip Width; 3&quot; Overall Length&amp;nbsp;&lt;br/&gt; Dissecting and implantation</td></tr><tr><td>Potable soldering iron</td><td>DAIYO</td><td>DS241</td><td>Reflow beeswax</td></tr><tr><td>Hotplate&amp;nbsp;</td><td>CORNING</td><td>PC-400D</td><td>Melting beeswax and dental wax</td></tr><tr><td>Flourescent lamp</td><td>Philips</td><td>TL5 14W</td><td>Light the entire flight arena with 30 panels (60 x 60 cm&lt;sup&gt;2&lt;/sup&gt;). Each panel has 3 lamps.&lt;br/&gt; 14 W, 549 mm x 17 mm&amp;nbsp;</td></tr></tbody></table>

insect-machine hybrid system: remote radio control of a freely flying beetle (mercynorrhina torquata)

무선 호환 디지털 전자 기기의 상승은 비행 곤충의 행동을 연구하기위한 작은 무선 신경 근육 레코더 및 자극의 사용을 묻는 메시지가있다. 이 기술은이 프로토콜에서 설명 살아있는 곤충의 플랫폼을 사용하여 곤충 기계 하이브리드 시스템의 개발을 가능하게한다. 더욱이,이 프로토콜은 시스템 구성 및 풀려 곤충의 비행 근육의 기능을 평가하기위한 자유 비행 실험 절차를 나타낸다. 데모를 위해, 우리는 제어 및 비행 딱정벌레의 왼쪽 또는 오른쪽으로 회전을 달성하기 위해 세 번째 겨드랑이 sclerite (3AX) 근육을 대상으로. 얇은 실버 와이어 전극은 딱정벌레의 각 측면에 3AX 근육에 이식했다. 이들은 무선 배낭의 출력에 연결되어 (즉, 신경 근육 전기 자극)는 딱정벌레의 앞가슴 등판에 장착. 근육은 (왼쪽 또는 오른쪽) 자극 측 교대 또는 stimulatio를 변화시킴으로써 자유 비행 자극했다n 개의 주파수. 근육이 자극 증가 주파수에 대한 등급 화 반응을 나타냈다 때 딱정벌레는 동측 측에 돌렸다. 주입 공정 및 3 차원 모션 캡쳐 카메라 시스템의 볼륨 조정을 각각 근육 손상 및 마커 트랙의 손실을 방지하기 위해주의 깊게 수행되어야한다. 무료로 비행에 대한 관심의 비행 근육의 기능을 공개하는 데 도움이 방법은, 곤충 비행을 연구하는 것이 매우 유리하다.

전극 주입 절차는 그림 2에 제시되어 얇은 실버 와이어 전극 근육 (도 2D - 전자)의 부드러운 표피에 피어싱 작은 구멍을 통해 딱정벌레의 3AX 근육에 이식했다.. 이 부드러운 표피는 metepisternum의 앞쪽 부분을 제거한 후 바로 basalar 근육의 apodema 위에서 발견된다 (도 2 차원을 - 다). 전극은 다음 밀랍 (도 2F)?...

Watch this Scientific Journal Video about Insect-machine Hybrid System: Remote Radio Control of a Freely Flying Beetle Mercynorrhina torquata at JoVE.com

Insect-machine Hybrid System: Remote Radio Control of a Freely Flying Beetle Mercynorrhina torquata

This protocol describes the process of constructing an insect-machine hybrid system and carrying out wireless electrical stimulation of the flight muscles required to control the turning motion of a flying insect.

곤충 - 기계 하이브리드 시스템 : 자유롭게 비행 비틀의 원격 무선 제어 (<em&gt; Mercynorrhina의 torquata</em&gt;)

The rise of radio-enabled digital electronic devices has prompted the use of small wireless neuromuscular recorders and stimulators for studying in-flight ...

insect-machine-hybrid-system-remote-radio-control-freely-flying

Universidad de Cartagena UDEC

Research

JoVE Journal

Neuroscience

Insect-machine Hybrid System: Remote Radio Control of a Freely Flying Beetle (Mercynorrhina torquata)

12.2K 조회수.  Nanyang Technological University. This protocol describes the process of constructing an insect-machine hybrid system and carrying out wireless electrical stimulation of the flight muscles required to control the turning motion of a flying insect.

비디오: Insect-machine Hybrid System: Remote Radio Control of a Freely Flying Beetle Mercynorrhina torquata

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

The non-stationary nature and variability of neuronal signals is a fundamental problem in brain-machine interfacing. We developed a brain-machine interface to assess the robustness of different control-laws applied to a closed-loop image stabilization task. Taking advantage of the well-characterized fly visuomotor pathway we record the electrical activity from an identified, motion-sensitive neuron, H1, to control the yaw rotation of a two-wheeled robot. The robot is equipped with 2 high-speed video cameras providing visual motion input to a fly placed in front of 2 CRT computer monitors. The activity of the H1 neuron indicates the direction and relative speed of the robot's rotation. The neural activity is filtered and fed back into the steering system of the robot by means of proportional and proportional/adaptive control. Our goal is to test and optimize the performance of various control laws under closed-loop conditions for a broader application also in other brain machine interfaces.

We use a closed-loop fly-machine interface to investigate general principles in neuronal control.

뇌 - 기계 인터페이스의 폐쇄 루프 성능을 연구하기 위해 실험 플랫폼

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

연구

신경과학

Early Metamorphic Insertion Technology for Insect Flight Behavior Monitoring

Early Metamorphosis Insertion Technology (EMIT) is a novel methodology for integrating microfabricated neuromuscular recording and actuation platforms on insects during their metamorphic development. Here, the implants are fused within the structure and function of the neuromuscular system as a result of metamorphic tissue remaking. The implants emerge with the insect where the development of tissue around the electronics during pupal development results in a bioelectrically and biomechanically enhanced tissue interface. This relatively more reliable and stable interface would be beneficial for many researchers exploring the neural basis of the insect locomotion with alleviated traumatic effects caused during adult stage insertions. In this article, we implant our electrodes into the indirect flight muscles of Manduca sexta. Located in the dorsal-thorax, these main flight powering dorsoventral and dorsolongitudinal muscles actuate the wings and supply the mechanical power for up and down strokes. Relative contraction of these two muscle groups has been under investigation to explore how the yaw maneuver is neurophysiologically coordinated. To characterize the flight dynamics, insects are often tethered with wires and their flight is recorded with digital cameras. We also developed a novel way to tether Manduca sexta on a magnetically levitating frame where the insect is connected to a commercially available wireless neural amplifier. This set up can be used to limit the degree of freedom to yawing &#8220;only&#8221; while transmitting the related electromyography signals from dorsoventral and dorsolongitudinal muscle groups.

We present a novel surgical procedure to implant electrodes in Manduca sexta during its early metamorphic stages. This technique allows mechanically stable and electrically reliable coupling with the neuromuscular tissue to study flight neurophysiology dynamics. We also present a novel magnetic levitation platform for tethered studies of insect yaw.

곤충 비행 동작 모니터링에 대한 초기 변성 삽입 기술

Early Metamorphosis Insertion Technology (EMIT) is a novel methodology for integrating microfabricated neuromuscular recording and actuation platforms on ...

행동분석학

Measuring the Flight Ability of the Ambrosia Beetle, Platypus Quercivorus (Murayama), Using a Low-Cost, Small, and Easily Constructed Flight Mill

The ambrosia beetle, Platypus quercivorus (Murayama), is the vector of a fungal pathogen that causes mass mortality of Fagaceae trees (Japanese oak wilt). Therefore, knowing the dispersal capacity may help inform trapping/tree removal efforts to prevent this disease more effectively. In this study, we measured the flight velocity and duration and estimated the flight distance of the beetle using a newly developed flight mill. The flight mill is low cost, small, and constructed using commonly available items. Both the flight mill arm and its vertical axis comprise a thin needle. A beetle specimen is glued to one tip of the arm using instant glue. The other tip is thick due to being covered with plastic, thus it facilitates the detection of rotations of the arm. The revolution of the arm is detected by a photo sensor mounted on an infrared LED, and is indicated by a change in the output voltage when the arm passed above the LED. The photo sensor is connected to a personal computer and the output voltage data are stored at a sampling rate of 1 kHz. By conducting experiments using this flight mill, we found that P. quercivorus can fly at least 27 km. Because our flight mill comprises cheap and small ordinary items, many flight mills can be prepared and used simultaneously in a small laboratory space. This enables experimenters to obtain a sufficient amount of data within a short period.

Measuring the Flight Ability of the Ambrosia Beetle, Platypus Quercivorus Murayama, Using a Low-Cost, Small, and Easily Constructed Flight Mill

We developed a low cost and small flight mill, constructed with commonly available items and easily used in experimentation. Using this apparatus, we measured the flight ability of an ambrosia beetle, Platypus quercivorus.

저가, 소형, 그리고 쉽게 생성 된 비행 밀을 사용 하 여 신들의 딱정벌레, 오리너구리 Quercivorus (무라야마)의 비행 능력을 측정

The ambrosia beetle, Platypus quercivorus (Murayama), is the vector of a fungal pathogen that causes mass mortality of Fagaceae trees (Japanese oak wilt). ...

환경과학

A Precise and Autonomous System for the Detection of Insect Emergence Patterns

Existing systems to measure insect emergence patterns have limitations; they are only partially automated and are limited in the maximum number of emerging insects they can detect. In order to obtain precise measurement of insect emergence, it is necessary for systems to be semi-automated and able to measure large numbers of emerging insects. We addressed these issues by designing and building a system that is automated and can measure emergence of up to 1200 insects. We modified the existing &#34;falling-ball&#34; system using Arduino microcontrollers to automate data collection and expand the sample size through multiple data channels. Multiple data channels enable the user to not only increase their sample size, but also allows for multiple treatments to be run simultaneously in a single experiment. Furthermore, we created an R script to automatically visualize the data as a bubble plot, while also calculating the median day and time of emergence. The current system was designed using 3D printing so the user can modify the system to be adjusted for different species of insects. The goal of this protocol is to investigate important questions in chronobiology and stress physiology, using this precise and automated system to measure insect emergence patterns.

Measurement of insect emergence patterns requires precision. Existing systems are only semi-automated and sample size is limited. We addressed these issues by designing a system using microcontrollers to precisely measure the time of emergence of large numbers of emerging insects.

곤충 출현 패턴의 검출을 위한 정확 하 고 자치 시스템

Existing systems to measure insect emergence patterns have limitations; they are only partially automated and are limited in the maximum number of ...

Flying Insect Detection and Classification with Inexpensive Sensors

An inexpensive, noninvasive system that could accurately classify flying insects would have important implications for entomological research, and allow for the development of many useful applications in vector and pest control for both medical and agricultural entomology. Given this, the last sixty years have seen many research efforts devoted to this task. To date, however, none of this research has had a lasting impact. In this work, we show that pseudo-acoustic optical sensors can produce superior data; that additional features, both intrinsic and extrinsic to the insect&#8217;s flight behavior, can be exploited to improve insect classification; that a Bayesian classification approach allows to efficiently learn classification models that are very robust to over-fitting, and a general classification framework allows to easily incorporate arbitrary number of features. We demonstrate the findings with large-scale experiments that dwarf all previous works combined, as measured by the number of insects and the number of species considered.

We proposed a system that uses inexpensive, noninvasive pseudo-acoustic optical sensors to automatically and accurately detect, count, and classify flying insects based on their flying sound.

저렴한 센서와 곤충 검출 및 분류 플라잉

An inexpensive, noninvasive system that could accurately classify flying insects would have important implications for entomological research, and allow ...

생체공학

Building an Enhanced Flight Mill for the Study of Tethered Insect Flight

Makerspaces have a high potential of enabling researchers to develop new techniques and to work with novel species in ecological research. This protocol demonstrates how to take advantage of the technology found in makerspaces in order to build a more versatile flight mill for a relatively low cost. Given that this study extracted its&#160;prototype from flight mills built in the last decade, this protocol focuses more on outlining divergences made from the simple, modern flight mill. Previous studies have already shown how advantageous flight mills are to measuring flight parameters such as speed, distance, or periodicity. Such mills have allowed researchers to associate these parameters with morphological, physiological, or genetic factors. In addition to these advantages, this study discusses the benefits of using the technology in makerspaces, like 3D printers and laser cutters, in order to build a more flexible, sturdy, and collapsible flight mill design. Most notably, the 3D printed components of this design allow the user to test insects of various sizes by making the heights of the mill arm and infrared (IR) sensors adjustable. The 3D prints also enable the user to easily disassemble the machine for quick storage or transportation to the field. Moreover, this study makes greater use of magnets and magnetic paint to tether insects with minimal stress. Lastly, this protocol details a versatile analysis of flight data through computer scripts that efficiently separate and analyze differentiable flight trials within a single recording. Although more labor-intensive, applying the tools available in makerspaces and on online 3D modeling programs facilitates multidisciplinary and process-orientated practices and helps researchers avoid costly, premade products with narrowly adjustable dimensions. By taking advantage of the flexibility and reproducibility of technology in makerspaces, this protocol promotes creative flight mill design and inspires open science.

This protocol uses three-dimensional (3D) printers and laser cutters found in makerspaces in order to create a more flexible flight mill design. By using this technology, researchers can reduce costs, enhance design flexibility, and generate reproducible work when constructing their flight mills for tethered insect flight studies.

테더드 곤충 비행 연구를 위한 향상된 비행 밀 구축

Makerspaces have a high potential of enabling researchers to develop new techniques and to work with novel species in ecological research. This protocol ...

공학

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization

Small drones with chemical or biosensor devices that can detect airborne odorant molecules have attracted considerable attention owing to their applicability in environmental and security monitoring and search-and-rescue operations. Small drones with commercial metal-oxide-semiconductor (MOX) gas sensors have been developed for odor source localization; however, their real-time-odor-detection performance has proven inadequate. However, biosensing technologies based on insect olfactory systems exhibit relatively high sensitivity, selectivity, and real-time response with respect to odorant molecules compared to commercial MOX gas sensors. In such devices, excised insect antennae function as portable odorant biosensor elements and have been found to deliver excellent sensing performance. This study presents experimental protocols for odorant-molecule detection in the air using a small autonomous bio-hybrid drone based on a mountable electroantennography (EAG) device incorporating silkmoth antennae.
We developed a mountable EAG device including sensing/processing parts with a Wi-Fi module. The device was equipped with a simple sensor enclosure to enhance the sensor directivity. Thus, odor source localization was conducted using the spiral-surge algorithm, which does not assume an upwind direction. The experimental bio-hybrid odor-detecting drone identified real-time odorant-concentration differences in a pseudo-open environment (outside a wind tunnel) and localized the source. The developed drone and associated system can serve as an efficient odorant molecule-detection tool and a suitable flight platform for developing odor source localization algorithms owing to its high programmability.

This study introduces experimental protocols for a bio-hybrid odor-detecting drone based on silkmoth antennae. The operation of an experimental electroantennogram device with silkmoth antennae is presented, in addition to the structure of a bio-hybrid drone designed for odor source localization using the spiral-surge algorithm.

악취원 국산화용 실크모스 안테나를 이용한 일탄텐노그래피 기반 바이오 하이브리드 악취 감지 드론

Small drones with chemical or biosensor devices that can detect airborne odorant molecules have attracted considerable attention owing to their ...

Radio Frequency Identification and Motion-sensitive Video Efficiently Automate Recording of Unrewarded Choice Behavior by Bumblebees

We present two methods for observing bumblebee choice behavior in an enclosed testing space. The first method consists of Radio Frequency Identification (RFID) readers built into artificial flowers that display various visual cues, and RFID tags (i.e., passive transponders) glued to the thorax of bumblebee workers. The novelty in our implementation is that RFID readers are built directly into artificial flowers that are capable of displaying several distinct visual properties such as color, pattern type, spatial frequency (i.e., &#8220;busyness&#8221; of the pattern), and symmetry (spatial frequency and symmetry were not manipulated in this experiment). Additionally, these visual displays in conjunction with the automated systems are capable of recording unrewarded and untrained choice behavior. The second method consists of recording choice behavior at artificial flowers using motion-sensitive high-definition camcorders. Bumblebees have number tags glued to their thoraces for unique identification. The advantage in this implementation over RFID is that in addition to observing landing behavior, alternate measures of preference such as hovering and antennation may also be observed. Both automation methods increase experimental control, and internal validity by allowing larger scale studies that take into account individual differences. External validity is also improved because bees can freely enter and exit the testing environment without constraints such as the availability of a research assistant on-site. Compared to human observation in real time, the automated methods are more cost-effective and possibly less error-prone.

This video describes Radio-Frequency Identification (RFID) and motion-sensitive video recording methods to monitor choice behavior by bumblebees.

무선 주파수 식별하고 효율적으로 모션에 민감한 비디오 땅벌에 의해 무보수 선택 행동의 기록을 자동화

We present two methods for observing bumblebee choice behavior in an enclosed testing space. The first method consists of Radio Frequency Identification ...

A Simple Flight Mill for the Study of Tethered Flight in Insects

Flight in insects can be long-range migratory flights, intermediate-range dispersal flights, or short-range host-seeking flights. Previous studies have shown that flight mills are valuable tools for the experimental study of insect flight behavior, allowing researchers to examine how factors such as age, host plants, or population source can influence an insects' propensity to disperse. Flight mills allow researchers to measure components of flight such as speed and distance flown. Lack of detailed information about how to build such a device can make their construction appear to be prohibitively complex. We present a simple and relatively inexpensive flight mill for the study of tethered flight in insects. Experimental insects can be tethered with non-toxic adhesives and revolve around an axis by means of a very low friction magnetic bearing. The mill is designed for the study of flight in controlled conditions as it can be used inside an incubator or environmental chamber. The strongest points are the very simple electronic circuitry, the design that allows sixteen insects to fly simultaneously allowing the collection and analysis of a large number of samples in a short time and the potential to use the device in a very limited workspace. This design is extremely flexible, and we have adjusted the mill to accommodate different species of insects of various sizes.

Flight in insects is influenced by a number of factors and the propensity to disperse is an important variable in understanding insect ecology and biological control strategies. We describe the construction and use of a simple, relatively inexpensive, and flexible flight mill for measuring parameters of tethered flight in insects.

곤충에 닿는 비행의 연구에 대한 간단한 비행 밀

Flight in insects can be long-range migratory flights, intermediate-range dispersal flights, or short-range host-seeking flights. Previous studies have ...

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.

The capability to localize an odor source is necessary for insect survival and is expected to be applicable to artificial odor-tracking. The insect-controlled robot is driven by an actual silkmoth and enables us to evaluate the odor-tracking capability of insects through a robotic platform.

곤충 제어 로봇 : 이동 로봇 플랫폼은 곤충의 냄새 추적 능력을 평가하는

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

곤충 - 기계 하이브리드 시스템 : 자유롭게 비행 비틀의 원격 무선 제어 (

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