A Miniaturized Mechatronic System Inspired by Plant Roots for Soil Exploration
A Miniaturized Mechatronic System Inspired by Plant Roots for Soil Exploration
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DOI：
10.1109/tmech.2009.2038997
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发表时间：
2011-04-01
影响因子：
6.4
通讯作者：
Dario, Paolo
中科院分区：
文献类型：
--
作者：
Mazzolai, Barbara;Mondini, Alessio;Dario, Paolo
本文介绍的原则和理论研究，实验测量的支持下，旨在设计和开发一种新的机电一体化系统的土壤勘探，植物根的顶端部分，命名为顶点的启发。每一根植物的根都必须在基质中移动，沿着重力矢量定向，并定位水分和养分。同样，机电顶点可以在所有方向上转向，它嵌入了重力传感器，土壤湿度梯度检测器以及用于传感数据采集和转向控制的电子设备。一个生物启发的算法再现向重力性和向水性行为，典型的植物，开发和测试的机电顶点系统，由液压泵驱动的有目的的原型。此外，设计和测试的一种新的生物启发渗透致动器模块，由三个细胞分离的渗透和离子选择性膜的夫妇，也提出了。显示了在丙烯酸材料中开发的用于测试向重力性和向水性行为的初步原型。
This paper describes the principles and theoretical investigations, supported by experimental measurements, aimed at designing and developing a novel mechatronic system for soil exploration, inspired by the apical part of the plant roots, named apex. Each single plant root has to move through the substrate, orienting itself along the gravity vector and locating water and nutrients. In the same way, the mechatronic apex can steer in all directions and it embeds a gravity sensor, a soil moisture gradient detector, as well as the electronics for sensory data acquisition and steering control. A bio-inspired algorithm reproducing the gravitropism and hydrotropism behaviors, typical of plants, was developed and tested on a purposive prototype of the mechatronic apex system, actuated by hydraulic pumps. Moreover, the design and testing of a novel bio-inspired osmotic actuator module, composed of three cells separated by couples of osmotic and ion-selective membranes, is also presented. Preliminary prototypes developed in acrylic material for testing the gravitropism and hydrotropism behaviors are shown.