STOČ 2013 - STOČ FAI 2013
Transkript
STOČ 2013 - STOČ FAI 2013
Studentská tvůrčí a odborná činnost STOČ 2013 BIONICS: NATURAL NAVIGATION Bartłomiej GÓRALSKI AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Department of Process Control 25. dubna 2013 FAI UTB ve Zlíně STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně Klíčová slova: bioinspiration, flight navigation, robotics, drones Anotace: Evolution supplied many species with the ability to navigate, the aim of this project is to develop ways to naturally navigate by adapting and learning from nature. First of all, a research was conducted to determine how animals such as: whales, birds and insects are able to determine their exact position using Earth’s magnetic field. The most effective system was then developed and subjected to tests. In the future it will be used onboard an experimental airplane, in addition a GPS module will also be added to enable control over the device. 2 STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně Obsah 1. 2. Introduction ............................................................................................................ 4 Nature’s way of navigating .................................................................................... 4 2.1. Insects………………………………………………………………………....4 2.2. Birds……………………………………………………………………………5 2.3. Fish……………………………………………………..……………………...5 2.4. Whales………………………………………………………………………....5 3. Device conception………………………………..........................................6 4. Field studies ........................................................................................................... 6 5. Prototype ................................................................................................................ 7 6. Working device ...................................................................................................... 7 7. Conception of the positioning algorithm ............................................................... 7 8. Possible applications .............................................................................................. 9 Literatura ........................................................................................................................... 9 3 STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně 1. Introduction Creating a nature-inspired navigation system is a challenging task. Living organisms are incredibly complex and had millions of years to develop and perfect various methods of determining their position. It only seems natural to focus on them in search of inspiration. Nature’s way of navigating The focus of this paragraph will be determining the most efficient and easy to implement solution through careful observation of nature. Taking into account the massive amounts of animals are able to navigate the research was limited to five groups: insects, birds, fish and whales. 2. 2.1 Insects Used sources: [1], [2] and [3]. Skylight compass Many insects have the ability to determine their position using polarized light. Part of the compound eye has the ability to perform compass tasks. That part has the ability to sense polarized UV-light. That allows the insect to see mosaic of polarized light which is constant and only changes when the creature changes position. Sufficient amount of light is needed to be able to use this method of navigation. The odometer Insects have many ways of determining traveled distance. For example ants use pedometer – in was proven in an experiment by manipulating their legs length. Use of landmark information The ability to determine position by remembering landmarks. By using an image-matching mechanism ants can return to their nests even when placed 30 meters from the. Magnetic compass The ability to sense magnetic field is achieved by: - cryptochromes – a blue light sensitive proteins - greigite or magnetite – ferromagnetic compounds This allows for detection of direction, polarization and strength of magnetic fields. Integrating inclined paths Allows for the create a home vector (shortest way back to the nest) by remembering the covered path [1]. Navigation by the stars Some insects are able to determine their position using stars. A dung beetle can travel on a straight path only by seeing the glow of the Milky Way. Pheromones Insects excrete various chemical compounds. This compounds can mark the path to food, nest or to inform other members of the spices of the need to attack an intruder. 4 STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně 2.2 Birds Used sources: [4] and [5]. Skylight compass Being able to see patterns of polarized light allows to determine the apparent position and direction of flight. In addition birds also use a combination of internal clock and sun position to navigate. Magnetic Compass By using same compounds as insects birds are able to sense Earth’s magnetic field. Cells containing those compounds are found in brains, eyes or bills. By being imprinted by the magnetic field of their place of origin pigeons are able to successfully return to it. Use of landmark information During yearly migrations routs birds are able to recognize various landmarks and so are able to create a map of landmarks which is helpful in navigating through their journey. Star Orientation For night-migrating birds it is essential to be able to navigate by the star position and the orientation of the constellations. Learned Routes Some species learn their migration routes from their parents and repeat them yearly. 2.3 Fish Used sources: [6] and [7]. Magnetic Compass Fish also use magnetic field sensing mechanism to navigate. In 2012 magnetic cells containing magnetite were found in trout allowing them to determine their longitude and latitude. Smell Many migrating species, such as salmons, are imprinted with the smell of their home river. That allows them to return to it, after maturation, during migration cycle. Skylight compass The polarization patterns are also used to determine position though exactly how the fish determine the distribution of polarized light, measure its angle, and use that information to navigate is not yet known. 2.4 Whales Used sources: [8] and [9]. Skylight compass and Star Orientation There are theories that both skylight compass and star orientation may play an important role in keeping whales on course. 5 STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně Magnetic Compass Many researchers believe that whales and have a magnetic sense that helps them to determine their position. Cetaceans, the animal family to which whales belong, have magnetic-sensitive in the of their eyes. Use of landmark information Whales depend on landmarks such as: drilling platforms, sea bottom shape and coast shape to help them during navigation. 3. Device conception It is only logical to assume that natures solutions will be used by many organisms. The easiest way to create a navigation system usable all over the globe will be to base it on a magnetic sense so many species share. Of course that sense is never used on its own – all animals use combinations of senses. But instead of using multiple sensors a Earth’s magnetic field map will be implemented. Thanks to the combined venture by United States’ National Geospatial-Intelligence Agency (NGA) and the United Kingdom’s Defence Geographic Centre (DGC) a worlds magnetic model (WMM) was created [10]. It is an algorithm which allows for the calculation of main components of the geomagnetic field in a given location. 4. Field studies On the 17th of April a field study in Niepołomice Forest was conducted to determine the accuracy of the WMM and available magnetometer. Following data was collected: Coordinates and altitude 50o2’3.5268’’N, 20o19’2.946’’E 218 m 50o2’4.1892’’N, 20o19’3.2232’’E 217 m 50o2’4.4882’’N, 20o19’2,802’’E 217 m 50o2’6,0036”N, 20o19’3,4572’’E 216 m o 50 2’8,578’’N, 20o14’3,3972’’E 187 m 50o2’9,5424’’N, 20o14’0,9204’’E 187 m 50o2’8,4696’’N, 20o14’0,,5352’’E 187 m Magnetic field components – measured Magnetic field components – theoretical [uT] X Y Z X Y Z 15,93 5,37 47,565 19,772 1,608 45,129 18,375 3,5 46,125 19,773 1,610 45,130 17 3,125 46,375 19,773 1,610 45,130 20,375 1,56 45,06 19,773 1,610 45,130 22,5 3,5 44,75 19,771 1,610 45,124 22 5,56 44,625 19,770 1,608 45,124 24,68 3,8 44,9 19,771 1,608 45,124 6 STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně Tab.1: Gathered data It was determined that build-in magnetometers used in smart phones do not have the necessary accuracy and low noise level required to perform navigational tasks. 5. Prototype To build a prototype of a working device a miniature 3-axis fluxgate magnetometer model 536 will be used [11]. Connected to Arduino microcontroller through A/D converter. The microcontroller will be used to interpret and send the data from magnetometer to PC. This simple prototype should be able to determine the values of the main components of the geomagnetic field. Then by manually using WMM software and comparing values a fix can be established. During testing it is crucial to ensure that the device is properly orientated. Obr.1: Prototype diagram 6. Working device In a ready to use device many changes will be implemented. Keyboard will be needed to input starting and finishing points. An altimeter will be added for determining altitude. Geographical coordinates will be displayed on an LCD and all of the calculations will be done by the Arduino microcontroller. Obr.2: Working device diagram 7. Conception of the positioning algorithm An algorithm responsible for calculating magnetic and geographical coordinates will be taken out of the WMM software and used to determine position. For every point on the rout a grid of magnetic and corresponding geographical coordinates will be created. Current values from the magnetometer will be matched with the values in the grid thus determining position. Girds have program specified size and number of calculated coordinates. They also overlap 7 STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně each other to prevent the loosing of fix. Then, using magnetometer as a compass, a heading towards the final point is displayed on the LCD. Obr.3: Navigational grid Obr.4: Using grids for navigation 8 STOČ 2013 - Studentská tvůrčí a odborná činnost 25. dubna 2013, FAI UTB ve Zlíně Obr.5: Diagram of the positioning algorithm 8. Possible applications The device is intended to be used as substitute for GPS onboard a drone. There it will be put to a test and all problems that may arise will be worked out. It can also be used for personal navigation in conditions were getting a GPS fix is impossible. It may also help to understand how magnetic interference created by humans can affect animals – since it is extremely sensitive and close in design. Literatura [1] http://www.esa.int/gsp/ACT/doc/BIO/ACT-RPR-BIO-2008-01-Bridge2Space-Seidl.pdf [2] http://dl.dropboxusercontent.com/u/6332212/ant_nav.pdf [3] http://www.guardian.co.uk/science/2013/jan/25/dung-beetles-navigate-stars [4] http://birding.about.com/od/birdbehavior/a/How-Birds-Migrate.htm [5] http://www.lifeslittlemysteries.com/183-how-do-birds-navigate.html [6] http://www.huffingtonpost.com/2012/07/10/fish-use-magnets-navigation-magneticcells_n_1661409.html [7] ttp://www.icr.org/article/7060/ [8] http://www.dailymail.co.uk/sciencetech/article-1378791/Map-No-thanks-Humpbackwhales-use-sun-moon-stars-navigate-ocean.html [9] http://www.pbs.org/kqed/oceanadventures/episodes/whales/indepth-navigation.html [10] http://www.ngdc.noaa.gov/geomag/WMM/DoDWMM.shtml [11] http://www.appliedphysics.com/sites/default/files/documents/Model_536.pdf 9