Neuromimetic Robots inspired by Insect Vision

International audienceEquipped with a less-than-one-milligram brain, insects fly autonomously in complex environments without resorting to any Radars, Ladars, Sonars or GPS. The knowledge gained during the last decades on insects' sensory-motor abilities and the neuronal substrates involved provides us with a rich source of inspiration for designing tomorrow's self-guided vehicles and micro-vehicles, which are to cope with unforeseen events on the ground, in the air, under water or in space. Insects have been in the business of sensory-motor integration for several 100 millions years and can therefore teach us useful tricks for designing agile autonomous vehicles at various scales. Constructing a "biorobot" first requires exactly formulating the signal processing principles at work in the animal. It gives us, in return, a unique opportunity of checking the soundness and robustness of those principles by bringing them face to face with the real physical world. Here we describe some of the visually-guided terrestrial and aerial robots we have developed on the basis of our biological findings. These robots (Robot Fly, SCANIA, FANIA, OSCAR, OCTAVE and LORA) all react to the optic flow (i.e., the angular speed of the retinal image). Optic flow is sensed onboard the robots by miniature vision sensors called Elementary Motion Detectors (EMDs). The principle of these electro-optical velocity sensors was derived from optical/electrophysiological studies where we recorded the responses of single neurons to optical microstimulation of single photoreceptor cells in a model visual system: the fly's compound eye. Optic flow based sensors rely solely on contrast provided by reflected (or scattered) sunlight from any kind of celestial bodies in a given spectral range. These nonemissive, powerlean sensors offer potential applications to manned or unmanned aircraft. Applications can also be envisaged to spacecraft, from robotic landers and rovers to asteroid explorers or space station dockers, with interesting prospects as regards reduction in weight and consumption

Optic Flow Based Visual Guidance: From Flying Insects to Miniature Aerial Vehicles

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Biologically-Inspired Visual Scanning Sensor for Stabilization and Tracking

International audienceHere we describe a new sensor designed to ensure the non contact stabilization of a craft and especially to deal with disturbance problems such as those resulting from slow speed angular drift. A low-cost, low-complexity active vision system is described, which is based on the specific eye movements occurring in the compound eye of the fly. In our system, motion is detected and processed by a Local Motion Detector circuit (LMD). First, the rotation of two photosensors at a constant angular speed was simulated, which empasized motion processing as a useful means of detecting variably contrasted objects, however far ahead they are located. Secondly, we reasoned that if the pair of photosensors turns at a varying angular speed, the signal delivered by the LMD will vary depending on the position of the contrast feature located in the sensor's visual field. The validity of this reasoning was then tested by constructing a miniature scanning sensor, the output voltage of which turned out to be a quasi-linear function of the position of the contrast feature present in the visual field and to be largely independent of the distance and the level of contrast. This output can therefore be used to generate the appropriate motor commands for stabilizing a sensory platform subject to yaw, pitch, or roll in relation to environmental features and/or for tracking contrasting objects

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Systematic design of biologically-inspired engineering solutions

Biological organisms, phenomena and strategies, herein referred to as biological systems, provide a rich set of analogies that can be used to inspire engineering innovation. Biologically-inspired, or biomimetic, designs are publicly viewed as creative and novel solutions to human problems. Moreover, some biomimetic designs have become so commonplace that it is hard to image life without them (e.g. velcro, airplanes). Although the biologically- inspired solutions are innovative and useful, the majority of inspiration taken from nature has happened by chance observation, dedicated study of a specific biological entity (e.g., gecko), or asking a biologist to explain the biology in simple terms. This reveals a fundamental problem of working across the engineering and biological domains. The effort and time required to become a competent engineering designer creates significant obstacles to becoming sufficiently knowledgeable about biological systems (the converse can also be said). This research aims to remove the element of chance, reduce the amount of time and effort required to developing biologically-inspired solutions, and bridge the seemingly immense disconnect between the engineering and biological domains. To facilitate systematic biologically-inspired design, a design methodology that relies on a framework of tools and techniques that bridge the two domains is established. The design tools and techniques that comprise the framework achieve: Identification of relevant biological solutions based on function; translation of identified biological systems of interest; functional representation of biological information such that it can be used for engineering design activities; and conceptualization of biomimetic engineering designs. Using functional representation and abstraction to describe biological systems presents the natural designs in an engineering context and allows designers to make connections between biological and engineered systems. Thus, the biological information is accessible to engineering designers with varying biological knowledge, but a common understanding of engineering design methodologies. This work has demonstrated the feasibility of using systematic design for the discovery of innovative engineering designs without requiring expert-level knowledge, but rather broad knowledge of many fields