Sound Localization Sensors for Search and Rescue Biobots

Latif, Tahmid; Whitmire, Eric; Novak, Tristan; Bozkurt, Alper

doi:10.1109/jsen.2015.2477443

Cited by 96 publications

(53 citation statements)

References 31 publications

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“…Our experiments indicate that Gromphadorhina portentosa biobots have a payload-carrying capacity of up to 15 g. 9 The assembled backpack weighs 300-800 mg without batteries, depending on the number of sensors used. We generally use a lithiumpolymer battery with a capacity of 90 mAh (weight: 2 g) or 20 mAh (weight: 400 mg), depending on the experiment duration.…”

Section: Backpack Technologies For Biobotsmentioning

confidence: 83%

“…We also demonstrated voice-transmission capabilities by replacing this three-microphone directional array with a single omnidirectional microelectromechanical systems microphone using a 6.25-kHz sampling rate. 9 For agent localization, we added extra sensors to the backpack to supplement the received signal strength indicator (RSSI) inherent within the ZigBee-enabled SoC. These sensors include a six-axis inertial measurement unit, a three-axis magnetometer, and a microphone-buzzer couple for acoustic time of flight measurements.…”

Section: Sensors For Distributed Sensing and Localizationmentioning

confidence: 99%

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A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

2016

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Utilizing the latest neural engineering developments, researchers have enabled biobotic insects that would function as search-and-rescue agents to help map under-rubble environments and locate survivors and hazardous conditions. A fter a disaster, the survival of victims trapped under rubble often depends on how quickly they are found, rescued, and treated. First responders use search-and-rescue techniques such as canines, listening devices, and radars, which search the rubble's near-surface regions. However, complementary techniques are needed to penetrate the smaller gaps and voids deep in the rubble.Distributed systems are indisputably superior for tasks such as exploration, mapping, and large-area sensing. Recent achievements in swarm robotics, a new multirobot coordination-system approach, have been inspired by observations of emergent collective behaviors among insects. In swarm robotics, multiple smallerscale robots interacting with one another and the environment could coordinate their actions to help manage the under-rubble environment's uncertain and dynamic conditions. The following hypothetical scenario demonstrates the capability of such an under-rubble robotic sensor network. A major earthquake hits an urban environment, and several survivors are trapped under the collapsed ruins of a -story building. Time is short and limited tools are available for removing debris.A special rst-responder team arrives with a set of insect-sized robots, which they drop at the edge of the rubble pile. These robotic agents carry tiny radios on their backs that, together with other sensors, measure the distance between the agents to localize them with respect to a few reference points. As the robotic agents crawl through the rubble, their task is to keep moving while staying within a certain distance of one another to maintain the radio network.The agents' tiny environmental sensors, including microphones and infrared or gas sensors, monitor the rubble for dangerous gas leaks or victims' cries for help. The swarm moves collectively from one end of the rubble to the other. During this

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Section: Backpack Technologies For Biobotsmentioning

confidence: 83%

Section: Sensors For Distributed Sensing and Localizationmentioning

confidence: 99%

A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

2016

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“…The fi rst walking hybrid robot was demonstrated on a cockroach by Holzer, Shimoyama 13 , who controlled the cockroach's walking direction by stimulating its antenna. A custom printed circuit board with wireless communication and a programmable microcontroller was recently used as the backpack to generate stimulation signals for a cockroach [15][16][17]42 . Yang, Chun 32 stimulated the leg ganglia of a spider to realize left and right steering control.…”

Section: Walking Controlmentioning

confidence: 99%

“…Researchers have demonstrated several wireless microdevices for controlling the walking and fl ying of insects. Electronic backpacks mounted on cockroaches and beetles are designed to transform the insects into controllable walking robots [15][16][17][18][19][20] . Moreover, initiating fl ight and turning in fl ight of moths and beetles have been demonstrated using insect-mountable microdevices with wireless communications, which made the insects into fl ying robots [21][22][23][24][25][26][27][28] .…”

Section: Introductionmentioning

confidence: 99%

Insect-Computer Hybrid Robot

Sato

2018

Mol. Front. J.

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An insect–computer hybrid robot, often referred to as a biological machine or an insect cyborg, is the fusion of a living insect platform and artificial microdevices, including stimulators, sensors, and computers. When compared with the artificial robots, a hybrid robot can be operated as an autonomous mobile machine with low energy consumption and hardware costs. A hybrid machine can verify various biological hypotheses, such as function determination, by stimulating a muscle or any other structure.

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“…Electrodes implanted in certain locations of an insect’s body can be used for applying the required muscular or neural stimulation to evoke predetermined effects. System-on-chip-based electronic backpacks have been proven successful in controlling direction of locomotion in both aerial [ 1 , 2 ] and terrestrial [ 3 – 5 ] biobotic insects. Flight muscle stimulation in moths evokes wing flapping [ 1 ] while antennal neurostimulation in cockroaches leads to changing direction of motion via obstacle simulation [ 3 , 6 ].…”

Section: Introductionmentioning

confidence: 99%

In vitro electrochemical assessment of electrodes for neurostimulation in roach biobots

et al. 2018

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Biobotics investigates the use of live insects as biological robots whose locomotion can be controlled by neurostimulation through implanted electrodes. Inactivity in the biobots (biological robots) can sometimes be noticed following extended neurostimulation, partly owing to incompatibility of implanted electrodes with the biobotic application or gradual degradation of the tissue-electrode interface. Implanted electrodes need to sufficiently exhibit consistent, reliable, and stable performance during stimulation experiments, have low tissue-electrode impedance, facilitate good charge injection capacity, and be compact in size or shape. Towards the goal of finding such electrodes suitable for biobotic applications, we compare electrochemical performances of five different types of electrodes in vitro with a saline based electrolytic medium. These include stainless steel wire electrodes, microfabricated flexible gold electrodes coated with PEDOT:PSS conductive polymer, eutectic gallium indium (EGaIn) in a tube, and “hybrid” stainless steel electrodes coated with EGaIn. We also performed accelerated aging of the electrodes to help estimate their longitudinal performance. Based on our experimentation, microfabricated electrodes with PEDOT:PSS and stainless steel electrodes coated with EGaIn performed remarkably well. This is the first time conductive polymer and liquid metal electrodes were studied comparatively for neurostimulation applications. These in vitro comparison results will be used in the future to provide a benchmark for subsequent in vivo tests with implanted electrodes in cockroach biobots.

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Sound Localization Sensors for Search and Rescue Biobots

Cited by 96 publications

References 31 publications

A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

Insect-Computer Hybrid Robot

In vitro electrochemical assessment of electrodes for neurostimulation in roach biobots

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