Skip to main content
SpringerLink
Log in
Book cover

Conference on Biomimetic and Biohybrid Systems

Living Machines 2018: Biomimetic and Biohybrid Systems pp 213–222Cite as

Active Collision Free Closed-Loop Control of a Biohybrid Fly-Robot Interface

  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10928))

Abstract

We implemented a closed-loop control algorithm that uses information on the turning radius of a biohybrid fly-robot interface (FRI) to interpret the spike rate of a motion sensitive interneuron, the H1-cell, as a function of distance from a patterned wall. The fly-robot interface repeatedly triggers collision avoidance manoeuvres during an oscillatory forward movement with bias towards the wall whenever the H1-cell spiking activity exceeds a certain threshold value. In addition, we further investigated the parameters which will ultimately enable the system to manoeuvre autonomously, and in an energy-efficient way within arbitrary visual environments.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Taylor, G.K., Krapp, H.G.: Sensory systems and flight stability: what do insects measure and why? In: Casas, J., Simpson, S.J. (ed.) Advances in Insect Physiology, pp. 231–316. Academic Press (2007)

    Google Scholar 

  2. Huang, J.V., Krapp, H.G.: Closed-loop control in an autonomous bio-hybrid robot system based on binocular neuronal input. In: Wilson, S.P., Verschure, P.F.M.J., Mura, A., Prescott, T.J. (eds.) LIVINGMACHINES 2015. LNCS (LNAI), vol. 9222, pp. 164–174. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-22979-9_17

    Chapter  Google Scholar 

  3. Parsons, M.M., Krapp, H.G., Laughlin, S.B.: A motion-sensitive neurone responds to signals from the two visual systems of the blowfly, the compound eyes and ocelli. J. Exp. Biol. 209, 4464–4474 (2006)

    Article  Google Scholar 

  4. Huston, S.J., Krapp, H.G.: Nonlinear integration of visual and haltere inputs in fly neck motor neurons. J. Neurosci. 29, 13097–13105 (2009)

    Article  Google Scholar 

  5. Fuller, S.B., Straw, A.D., Peek, M.Y., Murray, R.M., Dickinson, M.H.: Flying Drosophila stabilize their vision-based velocity controller by sensing wind with their antennae. Proc. Natl. Acad. Sci. 111, E1182–E1191 (2014)

    Article  Google Scholar 

  6. Gabbiani, F., Krapp, H.G., Hatsopoulos, N., Mo, C.-H., Koch, C., Laurent, G.: Multiplication and stimulus invariance in a looming-sensitive neuron. J. Physiol.-Paris. 98, 19–34 (2004)

    Article  Google Scholar 

  7. Krapp, H.G., Taylor, G.K., Humbert, J.S.: The mode-sensing hypothesis: matching sensors, actuators and flight dynamics. In: Frontiers in Sensing. pp. 101–114. Springer, Vienna (2012). https://doi.org/10.1007/978-3-211-99749-9_7

    Chapter  Google Scholar 

  8. Huang, J.V., Krapp, H.G.: Miniaturized electrophysiology platform for fly-robot interface to study multisensory integration. In: Lepora, N.F., Mura, A., Krapp, H.G., Verschure, P.F.M.J., Prescott, T.J. (eds.) Living Machines 2013. LNCS (LNAI), vol. 8064, pp. 119–130. Springer, Heidelberg (2013). https://doi.org/10.1007/978-3-642-39802-5_11

    Chapter  Google Scholar 

  9. Hausen, K.: Functional characterization and anatomical identification of motion sensitive neurons in the lobula plate of the blowfly Calliphora erythrocephala. Z Naturforsch, pp. 629–633 (1976)

    Google Scholar 

  10. Krapp, H.G., Hengstenberg, R., Egelhaaf, M.: Binocular contributions to optic flow processing in the fly visual system. J. Neurophysiol. 85, 724–734 (2001)

    Article  Google Scholar 

  11. Maddess, T., Laughlin, S.B.: Adaptation of the motion-sensitive neuron H1 is generated locally and governed by contrast frequency. Proc. R. Soc. Lond. B Biol. Sci. 225, 251–275 (1985)

    Article  Google Scholar 

  12. Haag, J., Borst, A.: Recurrent network interactions underlying flow-field selectivity of visual interneurons. J. Neurosci. 21, 5685–5692 (2001)

    Article  Google Scholar 

  13. Huang, J.V., Krapp, H.G.: A predictive model for closed-loop collision avoidance in a fly-robotic interface. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds.) Living Machines 2014. LNCS (LNAI), vol. 8608, pp. 130–141. Springer, Cham (2014). https://doi.org/10.1007/978-3-319-09435-9_12

    Chapter  Google Scholar 

  14. Huang, J.V., Wang, Y., Krapp, H.G.: Wall following in a semi-closed-loop fly-robotic interface. In: Lepora, N.F.F., et al. (eds.) Living Machines 2016. LNCS (LNAI), vol. 9793, pp. 85–96. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-42417-0_9

    Chapter  Google Scholar 

  15. Huang, J.V., Krapp, H.G.: Neuronal distance estimation by a fly-robot interface. In: Mangan, M., Cutkosky, M., Mura, A., Verschure, P.F.M.J., Prescott, T., Lepora, N. (eds.) Living Machines 2017. LNCS (LNAI), vol. 10384, pp. 204–215. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-63537-8_18

    Chapter  Google Scholar 

  16. Franceschini, N.: Pupil and pseudopupil in the compound eye of drosophila. In: Wehner, R. (ed.) Information Processing in the Visual Systems of Anthropods, pp. 75–82. Springer, Heidelberg (1972). https://doi.org/10.1007/978-3-642-65477-0_10

    Chapter  Google Scholar 

  17. Karmeier, K., Tabor, R., Egelhaaf, M., Krapp, H.G.: Early visual experience and the receptive-field organization of optic flow processing interneurons in the fly motion pathway. Vis. Neurosci. 18, 1–8 (2001)

    Article  Google Scholar 

  18. Chahl, J.S.: Range and egomotion estimation from compound photodetector arrays with parallel optical axis using optical flow techniques. Appl. Opt. 53, 368–375 (2014)

    Article  Google Scholar 

  19. Krapp, H.G., Wicklein, M.: 1.06 - central processing of visual information in insects. In: Masland, R.H., Albright, T.D., Albright, T.D., Masland, R.H., Dallos, P., Oertel, D., Firestein, S., Beauchamp, G.K., Bushnell, M.C., Basbaum, A.I., Kaas, J.H., Gardner, E.P. (eds.) The Senses: A Comprehensive Reference, pp. 131–203. Academic Press, New York (2008)

    Google Scholar 

  20. Buchner, E.: Behavioural analysis of spatial vision in insects. In: Ali, M.A. (ed.) Photoreception and Vision in Invertebrates, pp. 561–621. Springer, US (1984)

    Chapter  Google Scholar 

  21. De Ruyter Van Steveninck, R.R., Laughlin, S.B.: Light adaptation and reliability in blowfly photoreceptors. Int. J. Neural Syst. 07, 437–444 (1996)

    Google Scholar 

  22. Borst, A., Weber, F.: Neural action fields for optic flow based navigation: a simulation study of the fly lobula plate network. PLoS ONE 6, e16303 (2011)

    Article  Google Scholar 

  23. Bertrand, O.J.N., Lindemann, J.P., Egelhaaf, M.: A bio-inspired collision avoidance model based on spatial information derived from motion detectors leads to common routes. PLoS Comput. Biol. 11, e1004339 (2015)

    Article  Google Scholar 

  24. Kern, R., Boeddeker, N., Dittmar, L., Egelhaaf, M.: Blowfly flight characteristics are shaped by environmental features and controlled by optic flow information. J. Exp. Biol. 215, 2501–2514 (2012)

    Article  Google Scholar 

Download references

Acknowledgments

The authors would like to thank Peter Swart for proofreading the manuscript. This work was partially supported by US AFOSR/EOARD grant FA8655-09-1-3083 (HGK).

Author information

Authors and Affiliations

  1. Department of Bioengineering, Imperial College London, London, SW7 2AZ, UK

    Jiaqi V. Huang, Yiran Wei & Holger G. Krapp

Authors
  1. Jiaqi V. Huang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yiran Wei
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Holger G. Krapp
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jiaqi V. Huang .

Editor information

Editors and Affiliations

  1. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Vasiliki Vouloutsi

  2. Laboratoire Interdisciplinaire des, Université Paris Diderot, Paris Cedex 13, France

    José Halloy

  3. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Anna Mura

  4. University of Sheffield, Sheffield, United Kingdom

    Michael Mangan

  5. Bristol University, Bristol, United Kingdom

    Nathan Lepora

  6. University of Sheffield, Sheffield, United Kingdom

    Tony J. Prescott

  7. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Paul F.M.J. Verschure

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer International Publishing AG, part of Springer Nature

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Huang, J.V., Wei, Y., Krapp, H.G. (2018). Active Collision Free Closed-Loop Control of a Biohybrid Fly-Robot Interface. In: Vouloutsi , V., et al. Biomimetic and Biohybrid Systems. Living Machines 2018. Lecture Notes in Computer Science(), vol 10928. Springer, Cham. https://doi.org/10.1007/978-3-319-95972-6_22

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-95972-6_22

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95971-9

  • Online ISBN: 978-3-319-95972-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation