Robotic Bug Gets Wings, Sheds Light On Evolution of Flight

Adding wings to a robotic bug improved running performance and stability. However, the boost may not have been good enough for flight. (Credit: Image by Kevin Peterson, UC Berkeley Biomimetic Millisystems Lab, All rights reserved.)

Science Daily  — When engineers at the University of California, Berkeley, outfitted a six-legged robotic bug with wings in an effort to improve its mobility, they unexpectedly shed some light on the evolution of flight.

The research team, led by Ron Fearing, professor of electrical engineering and head of the Biomimetic Millisystems Lab at UC Berkeley, reports its conclusions online on Oct. 18, in the peer-reviewed journal Bioinspiration and Biomimetics.

Even though the wings significantly improved the running performance of the 10-centimeter-long robot -- called DASH, short for Dynamic Autonomous Sprawled Hexapod -- they found that the extra boost would not have generated enough speed to launch the critter from the ground. The wing flapping also enhanced the aerial performance of the robot, consistent with the hypothesis that flight originated in gliding tree-dwellers.

Using robot models could play a useful role in studying the origins of flight, particularly since fossil evidence is so limited, the researchers noted.

First unveiled by Fearing and graduate student Paul Birkmeyer in 2009, DASH is a lightweight, speedy robot made of inexpensive, off-the-shelf materials, including compliant fiber board with legs driven by a battery-powered motor. Its small size makes it a candidate for deployment in areas too cramped or dangerous for humans to enter, such as collapsed buildings.

A robot gets its wings

But compared with its biological inspiration, the cockroach, DASH had certain limitations as to where it could scamper. Remaining stable while going over obstacles is fairly tricky for small robots, so the researchers affixed DASH with lateral and tail wings borrowed from a store-bought toy to see if that would help.

"Our overall goal is to give our robots the same all-terrain capabilities that other animals have," said Fearing. "In the real world, there will be situations where flying is a better option than crawling, and other places where flying won't work, such as in confined or crowded spaces. We needed a hybrid running-and-flying robot."

The researchers ran tests on four different configurations of the robotic roach, now called DASH+Wings. The test robots included one with a tail only and another that just had the wing's frames, to determine how the wings impacted locomotion.

With its motorized flapping wings, DASH+Wings' running speed nearly doubled, going from from 0.68 meters per second with legs alone to 1.29 meters per second. The robot could also take on steeper hills, going from an incline angle of 5.6 degrees to 16.9 degrees.

"With wings, we saw improvements in performance almost immediately," said study lead author Kevin Peterson, a Ph.D. student in Fearing's lab. "Not only did the wings make the robot faster and better at steeper inclines, it could now keep itself upright when descending. The wingless version of DASH could survive falls from eight stories tall, but it would sometimes land upside down, and where it landed was partly guided by luck."

The flapping wings improved the lift-drag ratio, helping DASH+Wings land on its feet instead of just plummeting uncontrolled. Once it hit the ground, the robot was able to continue on its way. Wind tunnel experiments showed that it is aerodynamically capable of gliding at an angle up to 24.7 degrees.

Tree-dwellers vs. ground-runners

The engineering team's work caught the attention of animal flight expert Robert Dudley, a UC Berkeley professor of integrative biology, who noted that the most dominant theories on flight evolution have been primarily derived from scant fossil records and theoretical modeling.

He referenced previous computer models suggesting that ground-dwellers, given the right conditions, would need only to triple their running speed in order to build up enough thrust for takeoff. The fact that DASH+Wings could maximally muster a doubling of its running speed suggests that wings do not provide enough of a boost to launch an animal from the ground. This finding is consistent with the theory that flight arose from animals that glided downwards from some height.

"The fossil evidence we do have suggests that the precursors to early birds had long feathers on all four limbs, and a long tail similarly endowed with a lot of feathers, which would mechanically be more beneficial for tree-dwelling gliders than for runners on the ground," said Dudley.

Dudley said that the winged version of DASH is not a perfect model for proto-birds -- it has six legs instead of two, and its wings use a sheet of plastic rather than feathers -- and thus cannot provide a slam-dunk answer to the question of how flight evolved.

"What the experiments did do was to demonstrate the feasibility of using robot models to test hypotheses of flight origins," he said. "It's the proof of concept that we can actually learn something useful about biological performance through systematic testing of a physical model."

Among other robotic insects being tested in the Biomimetic Millisystems Lab is a winged, bipedal robot called BOLT (Bipedal Ornithopter for Locomotion Transitioning) that more closely resembles the size and aerodynamics of precursors to flying birds and insects.

"It's still notable that adding wings to DASH resulted in marked improvements in its ability to get around," said Fearing. "It shows that flapping wings may provide some advantages evolutionarily, even if it doesn't enable flight."

The National Science Foundation's Center of Integrated Nanomechanical Systems and the U.S. Army Research Laboratory helped support this research.

Seeing Through Walls: New Radar Technology Provides Real-Time Video of What’s Going On Behind Solid Walls

Lincoln Lab researchers have built a system that can see through walls from some distance away, giving an instantaneous picture of the activity on the other side. (Credit: Lincoln Lab, MIT)

Science Daily  — The ability to see through walls is no longer the stuff of science fiction, thanks to new radar technology developed at MIT's Lincoln Laboratory.

The researchers' device is an unassuming array of antenna arranged into two rows -- eight receiving elements on top, 13 transmitting ones below -- and some computing equipment, all mounted onto a movable cart. But it has powerful implications for military operations, especially "urban combat situations," says Gregory Charvat, technical staff at Lincoln Lab and the leader of the project.

Much as humans and other animals see via waves of visible light that bounce off objects and then strike our eyes' retinas, radar "sees" by sending out radio waves that bounce off targets and return to the radar's receivers. But just as light can't pass through solid objects in quantities large enough for the eye to detect, it's hard to build radar that can penetrate walls well enough to show what's happening behind. Now, Lincoln Lab researchers have built a system that can see through walls from some distance away, giving an instantaneous picture of the activity on the other side.

Waves through walls

Walls, by definition, are solid, and that's certainly true of the four- and eight-inch-thick concrete walls on which the researchers tested their system.

At first, their radar functions as any other: Transmitters emit waves of a certain frequency in the direction of the target. But in this case, each time the waves hit the wall, the concrete blocks more than 99 percent of them from passing through. And that's only half the battle: Once the waves bounce off any targets, they must pass back through the wall to reach the radar's receivers -- and again, 99 percent don't make it. By the time it hits the receivers, the signal is reduced to about 0.0025 percent of its original strength.

But according to Charvat, signal loss from the wall is not even the main challenge. "[Signal] amplifiers are cheap," he says. What has been difficult for through-wall radar systems is achieving the speed, resolution and range necessary to be useful in real time. "If you're in a high-risk combat situation, you don't want one image every 20 minutes, and you don't want to have to stand right next to a potentially dangerous building," Charvat says.

The Lincoln Lab team's system may be used at a range of up to 60 feet away from the wall. (Demos were done at 20 feet, which Charvat says is realistic for an urban combat situation.) And, it gives a real-time picture of movement behind the wall in the form of a video at the rate of 10.8 frames per second.

Filtering for frequencies

One consideration for through-wall radar, Charvat says, is what radio wavelength to use. Longer wavelengths are better able to pass through the wall and back, which makes for a stronger signal; however, they also require a correspondingly larger radar apparatus to resolve individual human targets. The researchers settled on S-band waves, which have about the same wavelength as wireless Internet -- that is, fairly short. That means more signal loss -- hence the need for amplifiers -- but the actual radar device can be kept to about eight and a half feet long. "This, we believe, was a sweet spot because we think it would be mounted on a vehicle of some kind," Charvat says.

Even when the signal-strength problem is addressed with amplifiers, the wall -- whether it's concrete, adobe or any other solid substance -- will always show up as the brightest spot by far. To get around this problem, the researchers use an analog crystal filter, which exploits frequency differences between the modulated waves bouncing off the wall and those coming from the target. "So if the wall is 20 feet away, let's say, it shows up as a 20-kilohertz sine wave. If you, behind the wall, are 30 feet away, maybe you'll show up as a 30-kilohertz sine wave," Charvat says. The filter can be set to allow only waves in the range of 30 kilohertz to pass through to the receivers, effectively deleting the wall from the image so that it doesn't overpower the receiver.

"It's a very capable system mainly because of its real-time imaging capability," says Robert Burkholder, a research professor in Ohio State University's Department of Electrical and Computer Engineering who was not involved with this work. "It also gives very good resolution, due to digital processing and advanced algorithms for image processing. It's a little bit large and bulky for someone to take out in the field," he says, but agrees that mounting it on a truck would be appropriate and useful.

Monitoring movement

In a recent demonstration, Charvat and his colleagues, Lincoln Lab assistant staff John Peabody and former Lincoln Lab technical staff Tyler Ralston, showed how the radar was able to image two humans moving behind solid concrete and cinder-block walls, as well as a human swinging a metal pole in free space. The project won best paper at a recent conference, the 2010 Tri-Services Radar Symposium.

Because the processor uses a subtraction method -- comparing each new picture to the last, and seeing what's changed -- the radar can only detect moving targets, not inanimate objects such as furniture. Still, even a human trying to stand still moves slightly, and the system can detect these small movements to display that human's location.

The system digitizes the signals it receives into video. Currently, humans show up as "blobs" that move about the screen in a bird's-eye-view perspective, as if the viewer were standing on the wall and looking down at the scene behind. The researchers are currently working on algorithms that will automatically convert a blob into a clean symbol to make the system more end-user friendly. "To understand the blobs requires a lot of extra training," Charvat says.

With further refinement, the radar could be used domestically by emergency-response teams and others, but the researchers say they developed the technology primarily with military applications in mind. Charvat says, "This is meant for the urban war fighter … those situations where it's very stressful and it'd be great to know what's behind that wall."

Dark Matter Mystery Deepens

Science Daily — Like all galaxies, our Milky Way is home to a strange substance called dark matter. Dark matter is invisible, betraying its presence only through its gravitational pull. Without dark matter holding them together, our galaxy's speedy stars would fly off in all directions. The nature of dark matter is a mystery that a new study has only deepened.

The standard cosmological model describes a universe dominated by dark energy and dark matter. Most astronomers assume that dark matter consists of "cold" (i.e. slow-moving) exotic particles that clump together gravitationally. Over time, these dark matter clumps have grown and attracted normal matter, forming the galaxies we see today.

"After completing this study, we know less about dark matter than we did before," said lead author Matt Walker, a Hubble Fellow at the Harvard-Smithsonian Center for Astrophysics.

Cosmologists use powerful computers to simulate this process. Their simulations show that dark matter should be densely packed in the centers of galaxies. Instead, new measurements of two dwarf galaxies show that they contain a smooth distribution of dark matter. This suggests that the standard cosmological model may be wrong.

"Our measurements contradict a basic prediction about the structure of cold dark matter in dwarf galaxies. Unless or until theorists can modify that prediction, cold dark matter is inconsistent with our observational data," Walker stated.

Dwarf galaxies are composed of up to 99 per cent dark matter and only one per cent normal matter, like stars. This disparity makes dwarf galaxies ideal targets for astronomers seeking to understand dark matter.

Walker and his co-author Jorge Peñarrubia (University of Cambridge, UK) analyzed the dark matter distribution in two Milky Way neighbours: the Fornax and Sculptor dwarf galaxies. These galaxies hold one million to 10 million stars, compared to about 400 billion in our galaxy. The team measured the locations, speeds and basic chemical compositions of 1500 to 2500 stars.

"Stars in a dwarf galaxy swarm like bees in a beehive instead of moving in nice, circular orbits like a spiral galaxy," explained Peñarrubia. "That makes it much more challenging to determine the distribution of dark matter."

Their data showed that dark matter is distributed uniformly in both cases over a relatively large region, several hundred light-years across. This contradicts the prediction that the density of dark matter should increase sharply toward the centers of these galaxies.

"If a dwarf galaxy were a peach, the standard cosmological model says we should find a dark matter 'pit' at the center. Instead, the first two dwarf galaxies we studied are like pitless peaches," said Peñarrubia.

Some have suggested that interactions between normal and dark matter could spread out the dark matter, but current simulations don't indicate that this happens in dwarf galaxies. The new measurements imply that either normal matter affects dark matter more than expected, or dark matter isn't "cold." The team hopes to determine which is true by studying more dwarf galaxies, particularly galaxies with an even higher percentage of dark matter.

The paper discussing this research was accepted for publication in The Astrophysical Journal.