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, 王爱迪, 王婷婷, 等. 面向生物控制的鲤鱼脑组织及脑电极三维重建. 生物医学工程学杂志, 2020, 37(5): 885-891.
2. 苏学成, 槐瑞托, 杨俊卿, 等. 控制动物机器人运动行为的脑机制和控制方法. 中国科学: 信息科学, 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. 张韶岷, 王鹏, 江君, 等. 大鼠遥控导航及其行为训练系统的研究. 中国生物医学工程学报, 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, 闫艳红, 等. 鲤鱼机器人无线遥控系统设计与应用. 中国生物医学工程学报, 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. 朱志坚, 王浩, 王文波, 等. 面向动物机器人的遥测遥控技术研究发展. 机械制造与自动化, 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. 葛宝明, 官天培, 谌利民, 等. GPS项圈系统在野生动物管理与监测中的应用. 四川动物, 2012, 31(2): 311-316.
24. 杨正祥. 北斗与GPS的主要技术和性能比较分析. 电工技术, 2018(6): 99-100, 102.
25. 蔡雷, 王浩, 王文波, 等. 鸽子慢性电刺激用电极转接装置及其固定方法. 动物学杂志, 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. 宋笔锋, 稂鑫雨, 薛栋, 等. 鸟翼空气动力学机理的研究现状和进展综述. 中国科学: 技术科学, 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, 韩战钢. 集群运动: 唯像描述与动力学机制. 复杂系统与复杂性科学, 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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