Journal
IEEE SENSORS JOURNAL
Volume 16, Issue 10, Pages 3444-3453Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2015.2477443
Keywords
Acoustic sensors; robot sensing systems; microphone arrays; neural engineering
Funding
- National Science Foundation under the Cyber-Physical Systems Program through the Division of Computer and Network Systems [1239243]
- Direct For Computer & Info Scie & Enginr
- Div Of Information & Intelligent Systems [1239243] Funding Source: National Science Foundation
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Recent advances in neural engineering have enabled direct control of insect locomotion through neural and muscular stimulation. The resulting insect biobots, with a natural ability to crawl through small spaces, offer unique advantages over traditional synthetic robots. A cyberphysical network of such biobots could prove useful for search and rescue applications in uncertain disaster environments. We present a vision-based automated system for an objective assessment of biobotic navigation capability on Madagascar hissing cockroaches. We report the most precise control results obtained with insect biobots so far both manually and autonomously. We also demonstrate autonomous control capability where a low-power insectmounted array of microphones was used to localize a sound source and guide the biobot toward it. Forming a wireless mobile sensor network with directional and omnidirectional microphones distributed within the structure of a rubble pile could be useful for both environmental mapping and localization of trapped survivors under the rubble.
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