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Behavioral Response Controllers

Conventional controller designs have typically confined themselves to artificial systems, i.e. robotic systems, mechanical systems, etc. Within this program of creating hybrid insects, a controller is required to be onboard than can manipulate the actions, or flight, of the insect itself. An approach by the Garcia Group to build such behavioral controllers is to first study the environmental stimuli that trigger responses by the insects, and then to statistically determine the command that excites the primary desired action with respect to its natural behavioral response. Typical environmental stimuli used by insects for daily activities are olfactory, visual, and auditory queues, among many more. The key to the successful implementation of these behavioral controllers is to not only mimic the primary components that trigger a response but to also be able to design the system be light and compact so that it can be packaged on the insect, so that the hybrid insect can still function, i.e. fly from point to point.

Visual and acoustic studies conducted by the Garcia Group are shown here. Visual studies entail the motion of projected white and black lines on a surface and their relation to how the insect responds to these moving horizons. A fine tuning of the speed at which a set of lights are pulsed, as well as the intensities needed, will lend to a onboard light emitter controller that could possibly direct the steering of the flight path of the insect itself.

Figure 1: Acoustic Chart

Figure 1: Hybrid insect acoustic responses


Figure 2: Acoustic Schematic

Figure 2: Acoustic behavioral controller schematic


Acoustic studies entail a tuned range of ultrasonic frequencies with varying sound pressure levels (SPLs) being transmitted to the insect and its relation to how the insect responds. With proper tuning of these emitted sounds, an ultrasonic speaker system could be implemented that would create a negative phonotactic response, an opposing motion from the sound source, or an escape response, an evasive dive to the ground.

Figure 3: Visual Chart

Figure 3: Hybrid insect visual responses


Figure 4: Visual Schematic

Figure 4: Visual behavioral controller schematic


Behavioral Response Motion Analysis Technique

Behavioral response studies of insects are performed by the Garcia Group within a controlled sound and lighting environment. Insects are placed into a flight chamber with 3 cameras monitoring the central volume. The cameras are mounted in a tri-axial Cartesian coordinate frame. At the conclusion of a test, images of the insects from each of the cameras are then sent to an image processing algorithm to determine the motion of the moth. Flight paths are then plotted using analysis software.

Figure 5: Motion Tracking Setup

Figure 5: Motion tracking setup

Figure 6: Moth Flight Trajectory

Figure 6: Moth flight trajectory


Moth Drop Experiment

link to video

Published work:

  • Reissman, T. and Garcia, E. "Insect Cyborgs: A New Frontier in Flight Control Systems", Smart Structures and Materials 2007: Active and Passive Smart Structures and Integrated Systems, March 18-22, San Diego, CA. published in: Proc. SPIE Vol. 6525, 65250N, 2007.