鸽子机器人户外飞行磁调控方法探索

发布时间：2018-07-12 16:41

本文选题：鸽子机器人 + 户外飞行机载装置　；参考：《南京航空航天大学》2017年硕士论文

【摘要】：生物机器人一般指利用生物良好的运动机能以及动力供给特点,从动物本身的感受器官感受信息传入或者神经支配入手,实现人为控制生物的某些行为或者运动的机器人。鸽子能够在三维空间进行活动不受地形因素的影响,且具有飞行速度快,负载能力强,易繁殖和有归巢能力等特点,在生物机器人研究中具有很大的潜力。以前针对鸽子机器人的研究都是针对鸽子脑电的刺激,即侵入式刺激,这不光对鸽子本身具有伤害且在应用中存在刺激点磨损等不可控的因素,而科学家们发现鸽子归巢飞行时主要依据地磁信息,它们的磁导航能力使鸽子机器人的磁调控研究具有很大的潜力,但地磁信息是怎么帮助鸽子进行导航定位的却仍然是个迷。针对鸽子机器人户外飞行磁调控方法探索,本文研制的户外飞行机载装置尺寸为50.0mm×30.0mm×15.0mm,重量仅为19.6g,该装置不仅能够实时采集并记录下鸽子飞过地点的地磁场信息、姿态信息(稳定状态下)和GPS信息,而且能够依据预编程的判别条件产生三通道可调的人工磁场刺激。本文针对装置的功能可靠性进行了一系列的验证实验,最终利用研制的装置进行了关于鸽子磁导航的初步实验,包括鸽子户外飞行地磁场采集实验和晴天、阴天条件下的单轴磁场刺激实验。本文研制的装置和进行的鸽子户外实验为研究鸽子归巢飞行时磁导航机制以及未来基于磁场刺激的鸽子机器人提供了基础,为推动鸽子机器人户外飞行磁调控的研究提供了有力的工具。
[Abstract]:The biological robot generally refers to the robot which makes use of the good movement function and the power supply characteristic of the biology, starts with the sensory information of the animal's own sense organ, or the nerve innervation, realizes the artificial control biological certain behavior or the movement robot. Pigeons can operate in three-dimensional space without the influence of terrain factors, and have the characteristics of fast flight speed, strong load capacity, easy reproduction and homing ability, which has great potential in the research of biological robots. Previous studies of pigeon robots were aimed at the stimulation of pigeon brain electricity, that is, invasive stimulation, which is not only harmful to the pigeon itself, but also has uncontrollable factors such as irritant wear and tear in application. The scientists found that pigeon homing flight is mainly based on geomagnetic information, their magnetic navigation ability makes pigeon robot magnetic control research has great potential, but how geomagnetic information to help pigeon navigation and positioning is still a mystery. In this paper, the dimension of the airborne device is 50.0mm 脳 30.0mm 脳 15.0mm, and the weight is only 19.6g. the device can not only collect and record the geomagnetic field information of pigeon's flying spot in real time. Attitude information (in stable state) and GPS information can generate three channels adjustable artificial magnetic field stimuli according to pre-programmed discriminant conditions. In this paper, a series of verification experiments have been carried out on the functional reliability of the device. Finally, a preliminary experiment on pigeon magnetic navigation has been carried out by using the developed device, including the experiment of collecting geomagnetic field of pigeon outdoor flight and the sunny day. Experiment of uniaxial magnetic field stimulation under overcast conditions. The device developed in this paper and the dove outdoor experiment provided the basis for studying the magnetic navigation mechanism of pigeon homing flight and the future pigeon robot based on magnetic field stimulation. It provides a powerful tool for the research of outdoor flight magnetic control of pigeon robot.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;V249

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