Design and preliminary application of outdoor flying pigeon-robot_Journal of Biomedical Engineering

Authors：

 WANG Hao ^1,2 , WANG Shaokang ¹ , QIU Zhaocheng ¹ , ZHANG Qi ¹ , XU Shuai ¹

1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P. R. China;
2. Biology Institute, Shandong Academy of Sciences, Jinan 250353, P. R. China;

Corresponding?author：

WANG Hao, Email: haowang@nuaa.edu.cn

Keywords：

Animal-robot; Pigeon; Brain-computer interface; Neuromodulation; Outdoor flying

DOI：

10.7507/1001-5515.202207077

Video：

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Control at beyond-visual ranges is of great significance to animal-robots with wide range motion capability. For pigeon-robots, such control can be done by the way of onboard preprogram, but not constitute a closed-loop yet. This study designed a new control system for pigeon-robots, which integrated the function of trajectory monitoring to that of brain stimulation. It achieved the closed-loop control in turning or circling by estimating pigeons’ flight state instantaneously and the corresponding logical regulation. The stimulation targets located at the formation reticularis medialis mesencephali (FRM) in the left and right brain, for the purposes of left- and right-turn control, respectively. The stimulus was characterized by the waveform mimicking the nerve cell membrane potential, and was activated intermittently. The wearable control unit weighted 11.8 g totally. The results showed a 90% success rate by the closed-loop control in pigeon-robots. It was convenient to obtain the wing shape during flight maneuver, by equipping a pigeon-robot with a vivo camera. It was also feasible to regulate the evolution of pigeon flocks by the pigeon-robots at different hierarchical level. All of these lay the groundwork for the application of pigeon-robots in scientific researches.

Citation： WANG Hao, WANG Shaokang, QIU Zhaocheng, ZHANG Qi, XU Shuai. Design and preliminary application of outdoor flying pigeon-robot. Journal of Biomedical Engineering, 2022, 39(6): 1209-1217. doi: 10.7507/1001-5515.202207077 Copy

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1. 彭勇, 王愛迪, 王婷婷, 等. 面向生物控制的鯉魚腦組織及腦電極三維重建. 生物醫學工程學雜志, 2020, 37(5): 885-891.
2. 蘇學成, 槐瑞托, 楊俊卿, 等. 控制動物機器人運動行為的腦機制和控制方法. 中國科學: 信息科學, 2012, 42: 1130-1146.
3. Talwar S K, Xu S, Hawley E S, et al. Rat navigation guided by remote control. Nature, 2002, 417: 37-38.
4. 張韶岷, 王鵬, 江君, 等. 大鼠遙控導航及其行為訓練系統的研究. 中國生物醫學工程學報, 2007, 26(6): 830-836.
5. Kim C H, Choi B, Kim D G, et al. Remote navigation of turtle by controlling instinct behaviour via human brain–computer interface. J Bionic Eng, 2016, 13(3): 491-503.
6. Ichi-Ribault S, Alcaraz J P, Boucher F, et al. Remote wireless control of an enzymatic biofuel cell implanted in a rabbit for 2 months. Electrochim Acta, 2018, 269: 360-366.
7. Kobayashi N, Yoshida M, Matsumoto N, et al. Artificial control of swimming in goldfish by brain stimulation: confirmation of the midbrain nuclei as the swimming center. Neurosci Lett, 2009, 452(1): 42-46.
8. Kim C, Ruberto T, Phamduy P, et al. Closed-loop control of zebrafish behaviour in three dimensions using a robotic stimulus. Sci Rep, 2018, 8(1): 657.
9. 彭勇, 王婷婷, 閆艷紅, 等. 鯉魚機器人無線遙控系統設計與應用. 中國生物醫學工程學報, 2019, 38(4): 431-437.
10. Choo H Y, Li Y, Cao F, et al. Electrical stimulation of coleopteran muscle for initiating flight. PLoS ONE, 2016, 11(4): e0151808.
11. Griparic K, Haus T, Miklic D, et al. A robotic system for researching social integration in honeybees. PLoS ONE, 2017, 12(8): e0181977.
12. Wang H, Yang J Q, Lv C, et al. Intercollicular nucleus electric stimulation encoded “walk forward” commands in pigeons. Brill, 2018, 68(2): 213-225.
13. 朱志堅, 王浩, 王文波, 等. 面向動物機器人的遙測遙控技術研究發展. 機械制造與自動化, 2013, 42(3): 151-154.
14. Seo J, Choi G J, Park S, et al. Wireless navigation of pigeons using polymer-based fully implantable stimulator: A pilot study using depth electrodes// IEEE Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Jeju Island: IEEE, 2017: 917-920.
15. Yang J, Huai R, Wang H, et al. Global positioning system-based stimulation for robo-pigeons in open space. Front Neurorobot, 2017, 11: 40.
16. Zhao K, Wan H, Shang Z, et al. Intracortical microstimulation parameters modulate flight behavior in pigeon. J Integr Neurosci, 2019, 18: 23-32.
17. Wang H, Li J J, Cai L, et al. Flight control of robo-pigeon using a neural stimulation algorithm. J Integr Neurosci, 2018, 17: 337-342.
18. Bozkurt A, Lobaton E, Sichitiu M. A biobotic distributed sensor network for under-rubble search and rescue. Computer, 2016, 49(5): 38-46.
19. Latif T, Whitmire E, Novak T, et al. Sound localization sensors for search and rescue biobots. IEEE Sens J, 2016, 16(10): 3444-3453.
20. Garnier S. From ants to robots and back: How robotics can contribute to the study of collective animal behaviour. Bio-inspired self-organizing robotic systems. Berlin: Springer, 2011.
21. Halloy J, Mondada F, Kernbach S, et al. Towards biohybrid systems made of social animals and robots. Biomimetic and biohybrid systems. Berlin: Springer, 2013.
22. Wang H, Wu J, Fang K, et al. Application of robo-pigeon in ethological studies of bird flocks. J Integr Neurosci, 2020, 19(3): 443-448.
23. 葛寶明, 官天培, 諶利民, 等. GPS項圈系統在野生動物管理與監測中的應用. 四川動物, 2012, 31(2): 311-316.
24. 楊正祥. 北斗與GPS的主要技術和性能比較分析. 電工技術, 2018(6): 99-100, 102.
25. 蔡雷, 王浩, 王文波, 等. 鴿子慢性電刺激用電極轉接裝置及其固定方法. 動物學雜志, 2014, 49(2): 280-285.
26. Nagy M, Akos Z, Biro D, et al. Hierarchical group dynamics in pigeon flocks. Nature, 2010, 464: 890-893.
27. 宋筆鋒, 稂鑫雨, 薛棟, 等. 鳥翼空氣動力學機理的研究現狀和進展綜述. 中國科學: 技術科學, 2022, 52(6): 893-910.
28. Lynch M, Mandadzhiev B, Wissa A. Bioinspired wingtip devices: A pathway to improve aerodynamic performance during low Reynolds number flight. Bioinspir Biomim, 2018, 13: 036003.
29. 李耕, 狄增如, 韓戰鋼. 集群運動: 唯像描述與動力學機制. 復雜系統與復雜性科學, 2016, 13(2): 1-13.
30. Conradt L, Roper T J. Group decision-making in animals. Nature, 2003, 421: 155-158.

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Design and preliminary application of outdoor flying pigeon-robot

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