Controlling Underwater Robots with Electronic Nervous Systems

Abstract

We are developing robot controllers based on biomimetic design principles. The goal is to realise the adaptive capabilities of the animal models in natural environments. We report feasibility studies of a hybrid architecture that instantiates a command and coordinating level with computed discrete-time map-based (DTM) neuronal networks and the central pattern generators with analogue VLSI (Very Large Scale Integration) electronic neuron (aVLSI) networks. DTM networks are realised using neurons based on a 1-D or 2-D Map with two additional parameters that define silent, spiking and bursting regimes. Electronic neurons (ENs) based on Hindmarsh-Rose (HR) dynamics can be instantiated in analogue VLSI and exhibit similar behaviour to those based on discrete components. We have constructed locomotor central pattern generators (CPGs) with aVLSI networks that can be modulated to select different behaviours on the basis of selective command input. The two technologies can be fused by interfacing the signals from the DTM circuits directly to the aVLSI CPGs. Using DTMs, we have been able to simulate complex sensory fusion for rheotaxic behaviour based on both hydrodynamic and optical flow senses. We will illustrate aspects of controllers for ambulatory biomimetic robots. These studies indicate that it is feasible to fabricate an electronic nervous system controller integrating both aVLSI CPGs and layered DTM exteroceptive reflexes.

Societal Risk Evaluation Scheme (SRES): Scenario-Based Multi-Criteria Evaluation of Synthetic Biology Applications

“…It was chosen as a true example of a synthetic organism and because it was funded and is in development, but further away from deployment than the others. Uses of the micro-robot were described for healthcare and environmental remediation, and the parts were described as coming from bacteria, yeast, and mammalian cells [38]. This case study was typed by the project team as “Unknown/Controllable” for its very high degree of novelty, but inability of the robots to self-replicate (like living genetically engineered organisms) and settings in which they deployed.…”

A Conserved Network for Control of Arthropod Exteroceptive Optical Flow Reflexes during Locomotion

“…The individual neurons and synapses are instantiated as LabVIEW Virtual Instruments and connected by LabVIEW "wire" in the G Programming language. A complete explanation of the neuron and synapse equations and their software implementation has been previously described [30]. The DTM mathematical model is well suited for robotic implementation because it uses computationally-efficient difference equations that mimic neural dynamics rather than processor-intensive differential equations that model ionic conductances.…”

A Biomimetic Neuronal Network-Based Controller for Guided Helicopter Flight

“…Advances in nonlinear dynamics [29,30] have yielded technologies that allow for the control of robots by synaptic networks in real time [1,23]. Controlling robots with neuronal and synaptic networks provides a powerful heuristic framework to compare and evaluate different hypothetical network topologies and candidate mechanisms for the control of behavior [2,43].…”

“…Our studies have shown [1,43] that numerical simulations of networks needed to control a biomimetic robot can be implemented in real time using standard microprocessors. The hardware layout for the helicopter control system is shown in Figure 1.…”

“…The NS IC runs the DTM neurons and synapses. The connectors are outlined by boxes: [1] 5ch RC receiver; [2] output to rotors and servos; [3] two UART lines to processor SP; [4] SPI programming jack for processor SP; [5] programming jack for processor NS; [6] I2C bus for SP processor/UART to NS processor. B.…”