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1
Smith, Lincoln. "Insect inspired visual homing." Thesis, University of Sussex, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.443981.
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Guo, Shishi. "Biologically-inspired control framework for insect animation." Thesis, Bournemouth University, 2015. http://eprints.bournemouth.ac.uk/22502/.
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Insects are common in our world, such as ants, spiders, cockroaches etc. Virtual representations of them have wide applications in Virtual Reality (VR), video games and films. Compared with the large volume of works in biped animation, the problem of insect animation was less explored. Their small body parts, complex structures and high-speed movements challenge the standard techniques of motion synthesis. This thesis addressed the aforementioned challenge by presenting a framework to efficiently automate the modelling and authoring of insect locomotion. This framework is inspired by two key observations of real insects: fixed gait pattern and distributed neural system. At the top level, a Triangle Placement Engine (TPE) is modelled based on the double-tripod gait pattern of insects, and determines the location and orientation of insect foot contacts, given various user inputs. At the low level, a Central Pattern Generator (CPG) controller actuates individual joints by mimicking the distributed neural system of insects. A Controller Look-Up Table (CLUT) translates the high-level commands from the TPE into the low-level control parameters of the CPG. In addition, a novel strategy is introduced to determine when legs start to swing. During high-speed movements, the swing mode is triggered when the Centre of Mass (COM) steps outside the Supporting Triangle. However, this simplified mechanism is not sufficient to produce the gait variations when insects are moving at slow speed. The proposed strategy handles the case of slow speed by considering four independent factors, including the relative distance to the extreme poses, the stance period, the relative distance to the neighbouring legs, the load information etc. This strategy is able to avoid the issues of collisions between legs or over stretching of leg joints, which are produced by conventional methods. The framework developed in this thesis allows sufficient control and seamlessly fits into the existing pipeline of animation production. With this framework, animators can model the motion of a single insect in an intuitive way by specifying the walking path, terrains, speed etc. The success of this framework proves that the introduction of biological components could synthesise the insect animation in a naturalness and interactive fashion.
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Strübbe, Simon [Verfasser]. "Insect-Inspired Visual Self-Motion Estimation / Simon Strübbe." Bielefeld : Universitätsbibliothek Bielefeld, 2019. http://d-nb.info/1184476365/34.
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Chatterjee, Krishnashis. "Analytical and Experimental Investigation of Insect Respiratory System Inspired Microfluidics." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/85688.
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Microfluidics has been the focal point of research in various disciplines due to its advantages of portability and cost effectiveness, and the ability to perform complex tasks with precision. In the past two decades microfluidic technology has been used to cool integrated circuits, for exoplanetary chemical analysis, for mimicking cellular environments, and in the design of specialized organ-on-a-chip devices. While there have been considerable advances in the complexity and miniaturization of microfluidic devices, particularly with the advent of microfluidic large-scale integration (mLSI) and microfluidic very-large-scale-integration (mVLSI), in which there are hundreds of thousands of flow channels per square centimeter on a microfluidic chip, there remains an actuation overhead problem: these small, complex microfluidic devices are tethered to extensive off-chip actuation machinery that limit their portability and efficiency. Insects, in contrast, actively and efficiently handle their respiratory air flows in complex networks consisting of thousands of microscale tracheal pathways. This work analytically and experimentally investigates the viability of incorporating some of the essential kinematics and actuation strategies of insect respiratory systems in microfluidic devices. Mathematical models of simplified individual tracheal pathways were derived and analyzed, and insect-mimetic PDMS-based valveless microfluidic devices were fabricated and tested. It was found that not only are these devices are capable of pumping fluids very efficiently using insect-mimetic actuation techniques, but also that the fluid flow direction and magnitude could be controlled via the actuation frequency alone, a feature never before realized in microfluidic devices. These results suggest that insect-mimicry may be a promising direction for designing more efficient microfluidic devices.Ph. D.
Microfluidics or the study of fluids at the microscale has gained a lot of interest in the recent past due to its various applications starting from electronic chip cooling to biomedical diagnostic devices and exoplanetary chemical analysis. Though there has been a lot of advancements in the functionality and portability of microfluidic devices, little has been achieved in the improvement of the peripheral machinery needed to operate these devices. On the other hand insects can expertly manipulate fluids, in their body, at the microscale with the help of their efficient respiratory capabilities. In the present study we mimic some essential features of the insect respiratory system by incorporating them in microfluidic devices. The feasibility of practical application of these techniques have been tested, at first, analytically by mathematically modeling the fluid flow in insect respiratory tract mimetic microchannels and tubes and then by fabricating, testing and analyzing the functionality of microfluidic devices. The mathematical models, using slip boundary conditions, showed that the volumetric fluid flow through a trachea mimetic tube decreased with the increase in the amount of slip. Apart from that it also revealed a fundamental difference between shear and pressure driven flow at the microscale. The microfluidic devices exhibited some unique characteristic features never seen before in valveless microfluidic devices and have the potential in reducing the actuation overhead. These devices can be used to simplify the operating procedure and subsequently decrease the production cost of microfluidic devices for various applications.
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Haenicke, Joachim [Verfasser]. "Modeling insect inspired mechanisms of neural and behavioral plasticity / Joachim Haenicke." Berlin : Freie Universität Berlin, 2015. http://d-nb.info/1079841504/34.
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Nguyen, Xuan Thong. "Smart VLSI micro-sensors for velocity estimation inspired by insect vision /." Title page, contents and abstract only, 1996. http://web4.library.adelaide.edu.au/theses/09PH/09phn5769.pdf.
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Mackie, David J. "Biologically inspired acoustic systems : from insect ears to MEMS microphone structures." Thesis, University of Strathclyde, 2015. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=26578.
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Although difficult to notice initially, examples of bioinspired technology have now become commonplace in society today. Construction materials, aerodynamic transport design, photography equipment and robot technology are among many research fields which have benefitted from studying evolution-driven solutions to common engineering problems. One field of engineering research which has recently begun to take inspiration from the natural world is that of acoustical systems such as microphones and loudspeakers. Specifically, to solve the problems involved in the miniaturisation of these systems, the auditory organs of insects are inspiring new design strategies. In this thesis, one such insect auditory system, that of the desert locust Schistocerca gregaria, was extensively studied beginning with a comprehensive review of the historical observations of the system. Micro-scanning laser Doppler vibrometry was then used to characterise the response of the locust ear, providing an explanation for the method behind frequency discrimination in the ear. Afterwards, finite element models, simulating the ear's features, were constructed with a view to furthering the understanding of each component of the hearing system. Directionality of the locust hearing system was also briefly investigated through computational modelling. All of these studies were performed with the overall aim of feeding into the future design of bioinspired acoustic sensors. Devices constructed using micro-electro-mechanical systems fabrication techniques, with similar dimensions to the ear of the parasitoid fly, Ormia ochracea, were then experimentally tested using laser vibrometry and simulated using finite element analysis. Although not originally designed to operate as such, one MEMS structure exhibited some element of mechanical directionality in its response, found to be both predictable and repeatable. The objective of this section of the PhD research was to test the hypothesis that any system with sufficient degrees of freedom is capable of displaying an element of directionality in its vibrational response.
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Phillips, N. "Experimental unsteady aerodynamics relevant to insect-inspired flapping-wing micro air vehicles." Thesis, Cranfield University, 2011. http://dspace.lib.cranfield.ac.uk/handle/1826/5824.
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Small hand-held micro air vehicles (MAVs) can serve many functions unsuitable for a manned vehicle, and can be inexpensive and easily deployed. MAVs for indoor applications are underdeveloped due to their demanding requirements. Indoor requirements are best met by a flapping-wing micro air vehicle (FMAV) based on insect-like flapping-wing flight, which offers abilities of sustained hover, aerial agility, and energy efficiency. FMAV development is hampered by a lack of understanding of insect-like flapping-wing aerodynamics, particularly at the FMAV scale. An experimental programme at the FMAV scale (Reynolds number on the order of 104) was undertaken, investigating: leading-edge vortex (LEV) stability, flapping kinematic effects on lift and the flowfield, and wing planform shape effects on the flowfield. For these experiments, an apparatus employing a novel flapping mechanism was developed, which achieved variable three-degreeof- freedom insect-like wing motions (flapping kinematics) with a high degree of repeatability in air up to a 20Hz flapping frequency. Mean lift measurements and spatially dense volumetric flowfield measurements using stereoscopic particle image velocimetry (PIV) were performed while various flapping kinematic parameters and wing planform were altered, to observe their effects. Three-dimensional vortex axis trajectories were reconstructed, revealing vortex characteristics such as axial velocity and vorticity, and flow evolution patterns. The first key result was the observation of a stable LEV at the FMAV scale which contributed to half of the mean lift. The LEV exhibited vortex breakdown, but still augmented lift as Reynolds number was increased indicating that FMAVs can exploit this lifting mechanism. The second key result was the identification of the trends of mean lift versus the tested kinematic parameters at the FMAV scale, and appropriate values for FMAV design. Appropriate values for lift generation, while taking mechanical practicalities into account, included a flat wingtip trajectory with zero plunge amplitude, angle of attack at mid-stroke of 45 degrees , rotation phase of +5:5%, and maximum flapping frequency and stroke amplitude.
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Conn, Andrew T. "Development of novel flapping mechanism technologies for insect-inspired micro air vehicles." Thesis, University of Bristol, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.492441.
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Insect-inspired micro air vehicles (MAVs) have the capacity for higher lift forces and greater manoeuvrability at low flight speeds compared to conventional flight platforms, making them suitable for novel indoor flight applications. This thesis presents development studies of an actuated flapping mechanism for an insect-inspired MAV. An original theoretical understanding has shown that the kinematical constraint of a flapping mechanism fundamentally determines its complexity and performance. An under-constrained mechanism is optimal but almost always requires a linear input. A power optimisation study has demonstrated that the only technologically mature actuation devices with viable power densities for flight are rotary. Consequently, previous airborne flapping MAVs utilised constrained rotary-input mechanisms which require conventional control surfaces that significantly reduce flight manoeuvrability.
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Albert-Davie, Florence. "Insect wing design and its application to bio-inspired Unmanned Air Systems." Thesis, Royal Veterinary College (University of London), 2018. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.766323.
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Gami, A. "Experimental and computational analysis for insect inspired flapping wing micro air vehicles." Thesis, City, University of London, 2016. http://openaccess.city.ac.uk/17454/.
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Many creatures in nature have evolved the ability to fly and some seem to do so effortlessly with captivating movement. The flight characteristics of these natural fliers have greatly fascinated biologists and engineers for a long time that to this day researchers continue to actively work in this field of science with the aim of one day developing a Flapping Wing Micro Aerial Vehicle (FWMAV) which can replicate the flight of nature's creatures. These types of autonomous robotic vehicles can fulfil tasks which are not suitable for manned vehicles especially when risks to human safety are present. Flight techniques such as control, stability and manoeuvrability are flight characteristics which an FWMAV must possess if such a device is employed for various rescue missions. With this in mind symmetrical and asymmetrical wing motions are studied experimentally in the current research programme in such a way that the methodology employed for this type of flight can be implemented into future FWMAVs. In summary, the research performed during the course of this project produced innovative results in the form of the creation of two micro air vehicles with a thorough explanation of the development process and examination under experimental tests. Various parameters were analysed during the experimental tests such as force, moment, power and wing position measurements. The tests were performed on both models, one of which has the functionality to perform asymmetrical flapping and successfully generate moments about two different axes. A unique wing motion which favoured the upward vertical force production was investigated under various scenarios. The wings keep a fixed angle of attack during the downwards flapping motion and are allowed to passively rotate during the upstroke motion. Computational simulations were performed to investigate the hovering fluid dynamics, forces, moments and power required for various chordwise rotational positions and durations of wing rotation. This investigation aided in understanding the full effects of altering these parameters under hovering conditions for a rectangular wing. The valuable results found from this research program provide a better insight into various topics involving micro air vehicles in addition to developing future flight worthy insect inspired vehicles.
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Espenschied, Kenneth Scot. "Biologically-inspired control of an insect-like hexapod robot on rough terrain." Case Western Reserve University School of Graduate Studies / OhioLINK, 1994. http://rave.ohiolink.edu/etdc/view?acc_num=case1061220984.
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Wilkins, P. C. "Some unsteady aerodynamics relevant to insect-inspired flapping-wing micro air vehicles." Thesis, Cranfield University, 2008. http://hdl.handle.net/1826/2913.
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Flapping-wing micro air vehicles, based on insect-like apping, could potentially
ll a niche in the current market by o ering the ability to gather information from
within buildings. The aerodynamics of insect-like apping are dominated by a
large, lift-enhancing leading-edge vortex (LEV). Historically, the cause and structure
of this vortex have been the subject of controversy. This thesis is primarily
intended to provide insight into the LEV, using computational uid dynamics coupled
with validating experiments. The problem is simpli ed by breaking down the
complex kinematics involved in insect-like apping and examining only a part of
these kinematics; rstly in 2D, before progressing to 3D sweeping wing motions.
The thesis includes discussion of published literature in the eld, highlighting gaps
and inconsistencies in the current knowledge. Among the contributions of this thesis
are: descriptions of the e ects of changing Reynolds number and angle of attack
for 2D and 3D ows; clari cation of terminology and phenomenology, particular in
the context of 2D ows; and detailed descriptions of the development and structure
of the LEV in both 2D and 3D cases, including discussion of Kelvin-Helmholtz instability.
The issues of Strouhal number, delayed leading-edge separation, dynamic
stall and the Wagner e ect are also considered. Generally, the LEV is shown to
be unstable in 2D cases. However, in 3D cases the LEV is seen to be stable, even
if Reynolds number is increased. The stability of the LEV is found to be critically dependent on wing aspect ratio.
14
Karalarli, Emre. "Intelligent Gait Control Of A Multilegged Robot Used In Rescue Operations." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1056860/index.pdf.
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In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting the new gaits.
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Mamrak, Justin. "MARK II a biologically-inspired walking robot /." Ohio : Ohio University, 2008. http://www.ohiolink.edu/etd/view.cgi?ohiou1226694264.
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Taylor, Brian Kyle. "TRACKING FLUID-BORNE ODORS IN DIVERSE AND DYNAMIC ENVIRONMENTS USING MULTIPLE SENSORY MECHANISMS." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1341601566.
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Daltorio, Kathryn A. "Obstacle Navigation Decision-Making: Modeling Insect Behavior for Robot Autonomy." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1365157897.
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Engels, Thomas. "Numerical modeling of fluid-structure interaction in bio-inspired propulsion." Thesis, Aix-Marseille, 2015. http://www.theses.fr/2015AIXM4773/document.
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Les animaux volants et flottants ont développé des façons efficaces de produire l'écoulement de fluide qui génère les forces désirées pour leur locomotion. Cette thèse est placée dans ce contexte interdisciplinaire et utilise des simulations numériques pour étudier ces problèmes d'interaction fluides-structure, et les applique au vol des insectes et à la nage des poissons. Basée sur les travaux existants sur les obstacles mobiles rigides, une méthode numérique a été développée, permettant également la simulation des obstacles déformables et fournissant une polyvalence et précision accrues dans le cas des obstacles rigides. Nous appliquons cette méthode d'abord aux insectes avec des ailes rigides, où le corps et d'autres détails, tels que les pattes et les antennes, peuvent être inclus. Après la présentation de tests de validation détaillée, nous procédons à l'étude d'un modèle de bourdon dans un écoulement turbulent pleinement développé. Nos simulations montrent que les perturbations turbulentes affectent les insectes volants d'une manière différente de celle des avions aux ailes fixées et conçues par l'humain. Dans le cas de ces derniers, des perturbations en amont peuvent déclencher des transitions dans la couche limite, tandis que les premiers ne présentent pas de changements systématiques dans les forces aérodynamiques. Nous concluons que les insectes se trouvent plutôt confrontés à des problèmes de contrôle dans un environnement turbulent qu'à une détérioration de la production de force. Lors de l‘étape suivante, nous concevons un modèle solide, basé sur une équation de barre monodimensionnelle, et nous passons à la simulation des systèmes couplés fluide–structureFlying and swimming animals have developed efficient ways to produce the fluid flow that generates the desired forces for their locomotion. These bio-inspired problems couple fluid dynamics and solid mechanics with complex geometries and kinematics. The present thesis is placed in this interdisciplinary context and uses numerical simulations to study these fluid--structure interaction problems with applications in insect flight and swimming fish. Based on existing work on rigid moving obstacles, using an efficient Fourier discretization, a numerical method has been developed, which allows the simulation of flexible, deforming obstacles as well, and provides enhanced versatility and accuracy in the case of rigid obstacles. The method relies on the volume penalization method and the fluid discretization is still based on a Fourier discretization. We first apply this method to insects with rigid wings, where the body and other details, such as the legs and antennae, can be included. After presenting detailed validation tests, we proceed to studying a bumblebee model in fully developed turbulent flow. Our simulations show that turbulent perturbations affect flapping insects in a different way than human-designed fixed-wing aircrafts. While in the latter, upstream perturbations can cause transitions in the boundary layer, the former do not present systematical changes in aerodynamic forces. We conclude that insects rather face control problems in a turbulent environment than a deterioration in force production. In the next step, we design a solid model, based on a one--dimensional beam equation, and simulate coupled fluid--solid systems
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Guo, Pin-yi, and 郭品易. "Insect-Inspired Control for Implementing Curve Walking of a Hexapod." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/87425029369379756220.
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碩士逢甲大學
自動控制工程所
98
The main purpose of this paper is to describe an insect-inspired control strategy making a hexapod capable of curve-walking. Through the use of the relationship of the leg’s swinging angular velocity to swinging angle, which is based on the features obtained by observing an insect’s running ahead and turning, an insect-inspired locomotion controller for legged robots is devised. A test hexapod HexCrawler exhibits the achievement of the degree of walking ahead and turning with variable curvature and stable gait. In addition, a binaural ultrasonic sensor system which is mounted to the front of HexCrawler allows the hexapod to navigate a cluttered environment autonomously.
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Nguyen, Xuan Thong 1965. "Smart VLSI micro-sensors for velocity estimation inspired by insect vision / by Xuan Thong Nguyen." 1996. http://hdl.handle.net/2440/18756.
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Bibliography: leaves 188-203.xxii, 203 leaves : ill. ; 30 cm.
Title page, contents and abstract only. The complete thesis in print form is available from the University Library.
In this thesis insect vision principles are applied to the main mechanism for motion detection. Advanced VLSI technologies are employed for designing smart micro-sensors in which the imager and processor are integrated into one monolithic device.
Thesis (Ph.D.)--University of Adelaide, Dept. of Electrical and Electronic Engineering, 1996
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Harvey, David John. "An investigation into insect chemical plume tracking using a mobile robot." 2007. http://hdl.handle.net/2440/47227.
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Insects are confronted with the problem of locating food, mates, prey and hosts for their young over long distances, which they often overcome using chemical plume tracking. Tracking a plume of chemical back to its source is made difficult due to the complexity of plume structure. Turbulence and shifts in the wind direction prevail over diffusion in the spreading of an airborne chemical from a point in most cases, producing intricate plumes consisting of filaments of high chemical concentration interspersed with regions of clean air. It has been proposed that insects achieve plume tracking in this environment through variations of anemotaxis, which involves travelling upwind when an attractive chemical is perceived. This study aimed to investigate anemotaxis through the use of a mobile robot to test the efficacy of algorithms which mimic the way insects achieve plume tracking and also to determine whether these algorithms are an effective means of plume tracking for a mobile robot under a range of conditions. To achieve the aims of this study, various plume-tracking algorithms were implemented on a mobile robot built to model a plume-tracking insect and their performance was compared under a range of wind conditions. The algorithms tested were based upon a range of plume-tracking hypotheses. The simplest algorithm was surge anemotaxis, where the robot surged upwind in the presence of an attractive chemical and performed crosswind casting (back and forth motion) in the absence of chemical. The other algorithms tested were the counterturner, where the robot zigzagged upwind, and two bounded search methods. To allow these algorithms to be appropriately implemented, a robot model was constructed that could move in two dimensions and sense the wind velocity and ion level at a point in space. An ion plume was used instead of a chemical plume in each test as it behaves in a similar manner to a chemical plume, but ion sensors have response and recovery times far more rapid than conventional chemical sensors, similar to insects. The plume-tracking robot was tested in three series of tests. Initially, the entire range of plume-tracking algorithms was tested in a wind tunnel with fixed wind direction for a range of wind speeds and release positions. The second series of tests compared the performance of the surge anemotaxis and bounded search algorithms, again in a wind tunnel, but with a wind shift of 20° during some of the tests. The algorithms were tested with and without a direct crosswind surge response to detected wind shifts. The third set of tests examined the performance of the simple and wind shift response algorithms outdoors using natural wind to produce the plume. All algorithms tested achieved successful plume tracking in some conditions. The surge anemotaxis and triangular bounded search algorithms were particularly successful. The tests also showed that the paths obtained from tests undertaken in natural outdoor wind conditions varied greatly from those undertaken in a wind tunnel. This indicates the need to test plume-tracking algorithms in natural environments. This is vital both in the investigation of insect plume-tracking behaviour, as insects navigate in these environments, and in the process of producing plume-tracking robots that are capable of operating effectively in these conditions.http://proxy.library.adelaide.edu.au/login?url= http://library.adelaide.edu.au/cgi-bin/Pwebrecon.cgi?BBID=1287973
Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 2007