1
|
Ma Z, Zhao J, Yu L, Liang L, Liu Z, Gu Y, Wu J, Wang W, Yan S. Piezoelectric Energy Harvesting from the Thorax Vibration of Freely Flying Bees. CYBORG AND BIONIC SYSTEMS 2025; 6:0210. [PMID: 40017697 PMCID: PMC11861424 DOI: 10.34133/cbsystems.0210] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/11/2024] [Revised: 08/23/2024] [Accepted: 12/23/2024] [Indexed: 03/01/2025] Open
Abstract
Insect cyborgs have been proposed for application in future rescue operations, environmental monitoring, and hazardous area surveys. An energy harvester for insect carrying is critical to the long-lasting life of insect cyborgs, and designing an energy harvester with superior energy output within the load capacity of tiny flying insects is very important. In this study, we measured the thorax vibration frequency of bees during loaded flight conditions. We propose a piezoelectric vibration energy harvester for bees that has a mass of only 46 mg and can achieve maximum effective output voltage and energy density of 5.66 V and 1.27 mW/cm3, respectively. The harvester has no marked effect on the bees' normal movement, which is verified by experiments of mounting the harvester on bees. These results indicate that the proposed harvester is expected to realize a self-power supply of tiny insect cyborgs.
Collapse
Affiliation(s)
- Zhiyun Ma
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Jieliang Zhao
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Li Yu
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Lulu Liang
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Zhong Liu
- School of Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, P. R. China
| | - Yongxia Gu
- School of Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, P. R. China
| | - Jianing Wu
- Department of Advanced Manufacturing,
Sun Yat-sen University, Shenzhen 518107, P. R. China
| | - Wenzhong Wang
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Shaoze Yan
- Department of Mechanical Engineering,
Tsinghua University, Beijing 100084, P. R. China
| |
Collapse
|
2
|
Shen H, Cao K, Liu C, Mao Z, Li Q, Han Q, Sun Y, Yang Z, Xu Y, Wu S, Xu J, Ji A. Kinematics and Flow Field Analysis of Allomyrina dichotoma Flight. Biomimetics (Basel) 2024; 9:777. [PMID: 39727781 PMCID: PMC11727282 DOI: 10.3390/biomimetics9120777] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/09/2024] [Revised: 12/15/2024] [Accepted: 12/16/2024] [Indexed: 12/28/2024] Open
Abstract
In recent years, bioinspired insect flight has become a prominent research area, with a particular focus on beetle-inspired aerial vehicles. Studying the unique flight mechanisms and structural characteristics of beetles has significant implications for the optimization of biomimetic flying devices. Among beetles, Allomyrina dichotoma (rhinoceros beetle) exhibits a distinct wing deployment-flight-retraction sequence, whereby the interaction between the hindwings and protective elytra contributes to lift generation and maintenance. This study investigates A. dichotoma's wing deployment, flight, and retraction behaviors through motion analysis, uncovering the critical role of the elytra in wing folding. We capture the kinematic parameters throughout the entire flight process and develop an accurate kinematic model of A. dichotoma flight. Using smoke visualization, we analyze the flow field generated during flight, revealing the formation of enhanced leading-edge vortices and attached vortices during both upstroke and downstroke phases. These findings uncover the high-lift mechanism underlying A. dichotoma's flight dynamics, offering valuable insights for optimizing beetle-inspired micro aerial vehicles.
Collapse
Affiliation(s)
- Huan Shen
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Kai Cao
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Chao Liu
- School of Mechanical and Electrical Engineering, Soochow University, No. 8, Jixue Road, Suzhou 215131, China;
| | - Zhiyuan Mao
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Qian Li
- College of Mechanical and Electrical Engineering, China Jiliang University, 258 Xueyuan Street, Hangzhou 310018, China;
| | - Qingfei Han
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Yi Sun
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Zhikang Yang
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Youzhi Xu
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Shutao Wu
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Jiajun Xu
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| | - Aihong Ji
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; (H.S.); (K.C.); (Z.M.); (Q.H.); (Y.S.); (Z.Y.); (Y.X.); (S.W.); (J.X.)
| |
Collapse
|
3
|
Liu Z, Gu Y, Yu L, Yang X, Ma Z, Zhao J, Gu Y. Locomotion Control of Cyborg Insects by Charge-Balanced Biphasic Electrical Stimulation. CYBORG AND BIONIC SYSTEMS 2024; 5:0134. [PMID: 38975251 PMCID: PMC11223913 DOI: 10.34133/cbsystems.0134] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/02/2024] [Accepted: 05/09/2024] [Indexed: 07/09/2024] Open
Abstract
The integration of electronic stimulation devices with insects in the context of cyborg insect systems has great application potential, particularly in the fields of environmental monitoring, urban surveillance, and rescue missions. Despite considerable advantages compared to the current robot technology, including flexibility, durability, and low energy consumption, this integration faces certain challenges related to the potential risk of charge accumulation caused by prolonged and repetitive electrical stimulations. To address these challenges, this study proposes a universal system for remote signal output control using infrared signals. The proposed system integrates high-precision digital-to-analog converters capable of generating customized waveform electrical stimulation signals within defined ranges. This enhances the accuracy of locomotion control in cyborg insects while maintaining real-time control and dynamic parameter adjustment. The proposed system is verified by experiments. The experimental results show that the signals generated by the proposed system have a success rate of over 76.25% in controlling the turning locomotion of cyborg insects, which is higher than previously reported results. In addition, the charge-balanced characteristics of these signals can minimize muscle tissue damage, thus substantially enhancing control repeatability. This study provides a comprehensive solution for the remote control and monitoring of cyborg insects, whose flexibility and adaptability can meet various application and experimental requirements. The results presented in this study lay a robust foundation for further advancement of various technologies, particularly those related to cyborg insect locomotion control systems and wireless control mechanisms for cyborg insects.
Collapse
Affiliation(s)
- Zhong Liu
- School of Computing and Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, China
| | - Yongxia Gu
- School of Computing and Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, China
| | - Li Yu
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Xiang Yang
- School of Computing and Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, China
| | - Zhiyun Ma
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Jieliang Zhao
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Yufei Gu
- New York University Abu Dhabi, Abu Dhabi 129188, United Arab Emirates
| |
Collapse
|
4
|
Li Y, Li K, Fu F, Li Y, Li B. The Functions of Phasic Wing-Tip Folding on Flapping-Wing Aerodynamics. Biomimetics (Basel) 2024; 9:183. [PMID: 38534868 DOI: 10.3390/biomimetics9030183] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/27/2023] [Revised: 03/14/2024] [Accepted: 03/14/2024] [Indexed: 03/28/2024] Open
Abstract
Insects produce a variety of highly acrobatic maneuvers in flight owing to their ability to achieve various wing-stroke trajectories. Among them, beetles can quickly change their flight velocities and make agile turns. In this work, we report a newly discovered phasic wing-tip-folding phenomenon and its aerodynamic basis in beetles. The wings' flapping trajectories and aerodynamic forces of the tethered flying beetles were recorded simultaneously via motion capture cameras and a force sensor, respectively. The results verified that phasic active spanwise-folding and deployment (PASFD) can exist during flapping flight. The folding of the wing-tips of beetles significantly decreased aerodynamic forces without any changes in flapping frequency. Specifically, compared with no-folding-and-deployment wings, the lift and forward thrust generated by bilateral-folding-and-deployment wings reduced by 52.2% and 63.0%, respectively. Moreover, unilateral-folding-and-deployment flapping flight was found, which produced a lateral force (8.65 mN). Therefore, a micro-flapping-wing mechanism with PASFD was then designed, fabricated, and tested in a motion capture and force measurement system to validate its phasic folding functions and aerodynamic performance under different operating frequencies. The results successfully demonstrated a significant decrease in flight forces. This work provides valuable insights for the development of flapping-wing micro-air-vehicles with high maneuverability.
Collapse
Affiliation(s)
- Yiming Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| | - Keyu Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| | - Fang Fu
- College of Art and Design, Shenzhen University, Shenzhen 518060, China
| | - Yao Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| | - Bing Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots, Harbin Institute of Technology, Shenzhen 518055, China
- Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong, Harbin Institute of Technology, Shenzhen 518055, China
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
| |
Collapse
|
5
|
Ariyanto M, Refat CMM, Yamamoto K, Morishima K. Feedback control of automatic navigation for cyborg cockroach without external motion capture system. Heliyon 2024; 10:e26987. [PMID: 38449606 PMCID: PMC10915385 DOI: 10.1016/j.heliyon.2024.e26987] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/10/2023] [Revised: 12/26/2023] [Accepted: 02/22/2024] [Indexed: 03/08/2024] Open
Abstract
Due to their size and locomotion ability, cockroaches are favorable as hybrid robot platforms in search and rescue (SAR) missions. However, cockroaches most likely approach the corner area and stay for an uncertain time. This natural behavior will hinder the utilization of cyborg cockroaches in SAR missions under rubble, unstructured, and unknown areas. Therefore, we proposed onboard automatic obstacle avoidance and human detection that can run on the wireless backpack stimulator without an external motion capture system. A low-power and small-size Time of Flight (ToF) sensor was selected as a distance measurement sensor, while a low-resolution thermopile array sensor was applied for human presence detection. The implemented feedback control based on IMU and ToF sensors has successfully navigated the cyborg cockroach to avoid obstacles and escape from the sharp corners in the laboratory unstructured area without stopping or being trapped. It could also recognize the human presence when the human was in front of it in real-time. Due to its performance, the random forest classifier was implemented as an embedded human detection system. It could achieve the highest accuracy at a distance of around 25 cm (92.5%) and the lowest accuracy at about 100 cm (70%).
Collapse
Affiliation(s)
- Mochammad Ariyanto
- Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan
- Department of Mechanical Engineering, Faculty of Engineering, Diponegoro University, Semarang, 50275, Indonesia
| | | | - Kotaro Yamamoto
- Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan
| | - Keisuke Morishima
- Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan
| |
Collapse
|
6
|
Ma S, Chen Y, Yang S, Liu S, Tang L, Li B, Li Y. The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli. CYBORG AND BIONIC SYSTEMS 2023; 4:0067. [PMID: 38026542 PMCID: PMC10631459 DOI: 10.34133/cbsystems.0067] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/07/2023] [Accepted: 10/06/2023] [Indexed: 12/01/2023] Open
Abstract
Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various functions. Compared with artificial crawling robots of the same size, they revealed better flexibility, larger payload, and stronger endurance. These features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial systems. In this study, we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing system. Specifically, a micro-camera was mounted on the electronic backpack of the cockroach for image collection, and an IMU sensor was used to compute its body orientation. The electronic backpack transmitted images to the host computer for junction recognition and distance estimation. Meanwhile, the insect's habituation to electrical stimulation has long been an uncertain factor in the control of bio-robots. Here, a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 times. It is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide release. With the integration of synergistic stimulation and autonomous control, we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot, which realized the cycle number of approximately 10 in a roll. This research provides a novel technology that has the potential for practical applications in the future.
Collapse
Affiliation(s)
- Songsong Ma
- State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin, China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,
Harbin Institute of Technology, Shenzhen, China
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen, China
| | - Yuansheng Chen
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen, China
| | - Songlin Yang
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen, China
| | - Shen Liu
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen, China
| | - Lingqi Tang
- The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Bing Li
- State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin, China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,
Harbin Institute of Technology, Shenzhen, China
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen, China
| | - Yao Li
- State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin, China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,
Harbin Institute of Technology, Shenzhen, China
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen, China
| |
Collapse
|
7
|
Ma Z, Zhao J, Yu L, Yan M, Liang L, Wu X, Xu M, Wang W, Yan S. A Review of Energy Supply for Biomachine Hybrid Robots. CYBORG AND BIONIC SYSTEMS 2023; 4:0053. [PMID: 37766796 PMCID: PMC10521967 DOI: 10.34133/cbsystems.0053] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2023] [Accepted: 09/02/2023] [Indexed: 09/29/2023] Open
Abstract
Biomachine hybrid robots have been proposed for important scenarios, such as wilderness rescue, ecological monitoring, and hazardous area surveying. The energy supply unit used to power the control backpack carried by these robots determines their future development and practical application. Current energy supply devices for control backpacks are mainly chemical batteries. To achieve self-powered devices, researchers have developed solar energy, bioenergy, biothermal energy, and biovibration energy harvesters. This review provides an overview of research in the development of chemical batteries and self-powered devices for biomachine hybrid robots. Various batteries for different biocarriers and the entry points for the design of self-powered devices are outlined in detail. Finally, an overview of the future challenges and possible directions for the development of energy supply devices used to biomachine hybrid robots is provided.
Collapse
Affiliation(s)
- Zhiyun Ma
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Jieliang Zhao
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Li Yu
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Mengdan Yan
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Lulu Liang
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Xiangbing Wu
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Mengdi Xu
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Wenzhong Wang
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Shaoze Yan
- Department of Mechanical Engineering, Tsinghua University, Beijing 100084, P. R. China
| |
Collapse
|