Crayfish Robot Employing Flow Induced by Waving to Locate a Chemical Source

Ohashi, Mari; Minagawa, Yuichi; Myoren, Yuki; Ishida, Hiroshi

doi:10.1109/icmla.2008.93

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…Further, many creatures utilize a variety of means of active intake to enhance olfactory function, including the familiar sniffing characteristic of many mammals and the antennule motion drawing in a stream of water crucial for crustacean olfaction. Such active sensing has been used to advantage in robotic olfactory function (e.g., Ohashi et al, 2008 ). Simulating olfactorimotor behavior which accounts for perturbation of the plume by movement of the agent, as well as incorporates active intake, requires interactive CFD simulation with an update time comparable in speed to the time step update of the sensorimotor control system.…”

Section: Methodsmentioning

confidence: 99%

Evolving a Neural Olfactorimotor System in Virtual and Real Olfactory Environments

Rhodes

Anderson

2012

Front. Neuroeng.

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To provide a platform to enable the study of simulated olfactory circuitry in context, we have integrated a simulated neural olfactorimotor system with a virtual world which simulates both computational fluid dynamics as well as a robotic agent capable of exploring the simulated plumes. A number of the elements which we developed for this purpose have not, to our knowledge, been previously assembled into an integrated system, including: control of a simulated agent by a neural olfactorimotor system; continuous interaction between the simulated robot and the virtual plume; the inclusion of multiple distinct odorant plumes and background odor; the systematic use of artificial evolution driven by olfactorimotor performance (e.g., time to locate a plume source) to specify parameter values; the incorporation of the realities of an imperfect physical robot using a hybrid model where a physical robot encounters a simulated plume. We close by describing ongoing work toward engineering a high dimensional, reversible, low power electronic olfactory sensor which will allow olfactorimotor neural circuitry evolved in the virtual world to control an autonomous olfactory robot in the physical world. The platform described here is intended to better test theories of olfactory circuit function, as well as provide robust odor source localization in realistic environments.

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Section: Methodsmentioning

confidence: 99%

Evolving a Neural Olfactorimotor System in Virtual and Real Olfactory Environments

Rhodes

Anderson

2012

Front. Neuroeng.

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“…Here we report a compact SPR sensor consisting of a periodic gold nanostructure, an LED light source, and a photodiode. This paper is an extended version of the work presented at the Seventh International Conference on Machine Learning and Applications [13]. The fabricated SPR sensors were mounted on the crayfish robot, and their chemical sensing capabilities were compared with those of the amperometric electrochemical sensors.…”

Section: Journal Of Sensorsmentioning

confidence: 99%

Compact Surface Plasmon Resonance Sensor for Underwater Chemical Sensing Robot

Minagawa¹,

Ohashi²,

Kagawa³

et al. 2017

Journal of Sensors

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This paper reports on the development of compact surface plasmon resonance (SPR) sensors for mobile robot olfaction. Underwater robots benefit from olfactory sensing capabilities in various tasks including the search for unexploded ordnance and undersea wreckage. Although the SPR-based chemical sensor is a promising sensing platform, the cumbersome optical setup has been limiting its use on mobile robots. The proposed sensor employs a periodic metal structure formed on a self-assembled layer of polystyrene particles of 200 nm in diameter. With the grating of this size, SPR can be excited even with a simple LED light source. The change in the absorbance is simply measured using a photodiode. Demonstration of the proposed SPR sensor is provided by mounting the sensors on an underwater crayfish robot that autonomously searches for a chemical source. The fabricated sensor shows linear response to ascorbic acid for a concentration range from 20 to 80 mM. Responses of the bare and thiol-coated gold nanostructure to different chemical substances are presented to show the change in the selectivity of the sensor by the coating. Discussions are made on the importance of sample collection for the sensor to attain sensitive chemical detection on a mobile robot.

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Electrochemical sensor to determine direction of chemical flow: Fluid dynamics analysis on sensing probe structure

Makishita

Ishida

2011

2011 IEEE SENSORS Proceedings

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Crayfish Robot Employing Flow Induced by Waving to Locate a Chemical Source

Cited by 3 publications

References 8 publications

Evolving a Neural Olfactorimotor System in Virtual and Real Olfactory Environments

Evolving a Neural Olfactorimotor System in Virtual and Real Olfactory Environments

Compact Surface Plasmon Resonance Sensor for Underwater Chemical Sensing Robot

Electrochemical sensor to determine direction of chemical flow: Fluid dynamics analysis on sensing probe structure

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