Research On Motion Control Of Bees Based On Electrophysiological Response Mechanism Of Antennae

Insects have excellent motion characteristics,which is a research hotspot in the field of bionic machinery nowadays.In this paper,the sensitivities of bees to different odors were investigated,and the potential response characteristics of excised antennae stimulated by different odors were found.A micro-electromechanical control system was built to simulate the odor stimulation of the bee antennae by electric stimulation.The control scheme of semi-biological and semi-mechanical robots with bees as carriers was preliminarily explored.The main contents of the study are as follows:A research platform for the electrophysiological response mechanism of the antennae was constructed to reveal the conduction pathway and olfactory response mechanism of odor in the olfactory nerve of bees.Insect maze system was set up to study bees' preference for different odors.The results showed that the order of the bees from liking to disliking was honey,1-hexanol and formic acid.By comparing and analyzing the potential measurement results of living antennae and the excised antennae,it can be seen that the potential of excised antennae can more truly reflect the potential changes when the antennae are stimulated by the odors.The evaluation index reflecting bee's preference mood was put forward,and the mapping relationship between the electrophysiological changes of bee antennae and their emotional changes was established.Volatile gases of different concentrations and odors were used to stimulate the excised antennae,and measuring its potential change.The response of antenna potential is described from five aspects: potential amplitude,depolarization time,repolarization time,falling slope and rising slope.The eigenvalue ranges of antennal potentials for favorite and aversive odors were obtained,and a preference factor F was defined to describe the preference of honeybees for different odors.A magnetic suspension electrical stimulation experimental platform with remote wireless control was built to induce the bee to fly by using electrical stimulation simulates odor stimulation.The motion responses of bees to different electrical stimulations were studied.The semi-free state radio stimulation system based on the magnetic levitation technology includes a push-down type magnetic levitation system,an arbitrary waveform signal generating system,a wireless control module,and a power supply,which can realize the output of arbitrary waveform characteristic potential and effectively reduce the bee's own weight.The range of potential eigenvalues obtained from the electroantennogram experiments was used to stimulate the antennae of bees,and the response mechanism of bees to different parameters of electrical stimulation was explored.