Efficient autonomous navigation for terrestrial insect-machine hybrid systems
While bio-inspired and biomimetic systems draw inspiration from living materials, biohybrid systems incorporate them with synthetic devices, allowing the exploitation of both organic and artificial advantages inside a single entity. In the challenging development of centimeter-scaled mobile robots s...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Online Access: | https://hdl.handle.net/10356/170441 |
| _version_ | 1826121288698036224 |
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| author | Nguyen, Huu Duoc Dung, Van Than Sato, Hirotaka Vo-Doan, T. Thang |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Nguyen, Huu Duoc Dung, Van Than Sato, Hirotaka Vo-Doan, T. Thang |
| author_sort | Nguyen, Huu Duoc |
| collection | NTU |
| description | While bio-inspired and biomimetic systems draw inspiration from living materials, biohybrid systems incorporate them with synthetic devices, allowing the exploitation of both organic and artificial advantages inside a single entity. In the challenging development of centimeter-scaled mobile robots serving unstructured territory navigations, biohybrid systems appear as a potential solution in the forms of terrestrial insect-machine hybrid systems, which are the fusion of living ambulatory insects and miniature electronic devices. Although their maneuver can be deliberately controlled via artificial electrical stimulation, these hybrid systems still inherit the insects’ outstanding locomotory skills, orchestrated by a sophisticated central nervous system and various sensory organs, favoring their maneuvers in complex terrains. However, efficient autonomous navigation of these hybrid systems is challenging. The struggle to optimize the stimulation parameters for individual insects limits the reliability and accuracy of navigation control. This study overcomes this problem by implementing a feedback control system with an insight into tunable navigation control for an insect-machine hybrid system based on a living darkling beetle. Via a thrust controller for acceleration and a proportional controller for turning, the system regulates the stimulation parameters based on the instantaneous status of the hybrid robot. While the system can provide an overall success rate of ~ 71% for path-following navigations, fine tuning its control parameters could further improve the outcome’s reliability and precision to up to ∼ 94% success rate and ∼ 1/2 body length accuracy, respectively. Such tunable performance of the feedback control system provides flexibility to navigation applications of insect-machine hybrid systems. |
| first_indexed | 2024-10-01T05:29:56Z |
| format | Journal Article |
| id | ntu-10356/170441 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:29:56Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | ntu-10356/1704412023-09-12T05:19:48Z Efficient autonomous navigation for terrestrial insect-machine hybrid systems Nguyen, Huu Duoc Dung, Van Than Sato, Hirotaka Vo-Doan, T. Thang School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Biohybrid Systems Zophobas Morio While bio-inspired and biomimetic systems draw inspiration from living materials, biohybrid systems incorporate them with synthetic devices, allowing the exploitation of both organic and artificial advantages inside a single entity. In the challenging development of centimeter-scaled mobile robots serving unstructured territory navigations, biohybrid systems appear as a potential solution in the forms of terrestrial insect-machine hybrid systems, which are the fusion of living ambulatory insects and miniature electronic devices. Although their maneuver can be deliberately controlled via artificial electrical stimulation, these hybrid systems still inherit the insects’ outstanding locomotory skills, orchestrated by a sophisticated central nervous system and various sensory organs, favoring their maneuvers in complex terrains. However, efficient autonomous navigation of these hybrid systems is challenging. The struggle to optimize the stimulation parameters for individual insects limits the reliability and accuracy of navigation control. This study overcomes this problem by implementing a feedback control system with an insight into tunable navigation control for an insect-machine hybrid system based on a living darkling beetle. Via a thrust controller for acceleration and a proportional controller for turning, the system regulates the stimulation parameters based on the instantaneous status of the hybrid robot. While the system can provide an overall success rate of ~ 71% for path-following navigations, fine tuning its control parameters could further improve the outcome’s reliability and precision to up to ∼ 94% success rate and ∼ 1/2 body length accuracy, respectively. Such tunable performance of the feedback control system provides flexibility to navigation applications of insect-machine hybrid systems. Ministry of Education (MOE) This work was supported by the Singapore Ministry of Education (RG140/20) (Corresponding authors: Hirotaka Sato, T.T. Vo-Doan). T.T. Vo-Doan was supported by Human Frontier Science Program Cross-disciplinary Fellowship (LT000221/2019-C). 2023-09-12T05:19:48Z 2023-09-12T05:19:48Z 2022 Journal Article Nguyen, H. D., Dung, V. T., Sato, H. & Vo-Doan, T. T. (2022). Efficient autonomous navigation for terrestrial insect-machine hybrid systems. Sensors and Actuators B: Chemical, 376, 132988-. https://dx.doi.org/10.1016/j.snb.2022.132988 0925-4005 https://hdl.handle.net/10356/170441 10.1016/j.snb.2022.132988 2-s2.0-85141959644 376 132988 en RG140/20 Sensors and Actuators B: Chemical © 2022 Elsevier B.V. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Biohybrid Systems Zophobas Morio Nguyen, Huu Duoc Dung, Van Than Sato, Hirotaka Vo-Doan, T. Thang Efficient autonomous navigation for terrestrial insect-machine hybrid systems |
| title | Efficient autonomous navigation for terrestrial insect-machine hybrid systems |
| title_full | Efficient autonomous navigation for terrestrial insect-machine hybrid systems |
| title_fullStr | Efficient autonomous navigation for terrestrial insect-machine hybrid systems |
| title_full_unstemmed | Efficient autonomous navigation for terrestrial insect-machine hybrid systems |
| title_short | Efficient autonomous navigation for terrestrial insect-machine hybrid systems |
| title_sort | efficient autonomous navigation for terrestrial insect machine hybrid systems |
| topic | Engineering::Mechanical engineering Biohybrid Systems Zophobas Morio |
| url | https://hdl.handle.net/10356/170441 |
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