Screening system of behavior modifying chemicals for insects by using a locomotion compensator.

克雷默于1975年发明的运动补偿器，在昆虫定向机制的各种研究中发挥了重要作用，但在我国，除了一个原型模型外，还没有使用过这种装置。在计划制作一种新的运动补偿器的项目中，对该装置的控制系统进行了彻底的审查，并将其更新为数字控制系统。视频跟踪器追踪移动昆虫的图像，并每1/60秒向个人计算机报告对象的X、Y坐标，然后计算机在处理坐标后向电机控制板报告目的地位置。该板根据数字数据驱动一对数控交流伺服电机，每个电机轴上的轮子驱动一个塑料球。由轮子和万向轴承支撑的球体旋转，使得昆虫在球体上的每个位置替换都是负反馈的。该方案采用了现代数字设备，如报告视频跟踪器，具有高性能CPU的个人计算机，智能电机控制板和全数字控制的交流伺服电机。通过合理的仪器配置、独特的机械设计和优化的驱动软件，实现了高性能、平稳、快速的响应。为了便于实际使用，用面向GUI的语言编制了数据分析软件。通过对软件的完善和包括样品施加器在内的气流系统的改进，建立了昆虫行为调节剂的筛选系统。

Although locomotion compensators, invented by Kramer in 1975, have been facilitating researchers in various study of orientation mechanism of walking insects, no such apparatus has been utilized in our country except for one prototype model. In the planning of this project of making a new locomotion compensator, the control system of the apparatus was thoroughly reviewed and updated into a numerical one. A video-tracker chases the image of a moving insect and reports X-, Y-coordinates of the object to a personal computer every 1/60 s, and then the computer, after processing the coordinates, reports the destination position to a motor-control board. The board drives a pair of digitally controlled AC servo-motors according to the numerical data, and a wheel on the axis of each motor drives a plastic sphere. The sphere, supported by the wheels and a universal bearing, is rotated so as that every positional replacement of the insect on the sphere is negatively fed back. This plan was realized with modern digital equipments as a reporting video tracker, a personal computer with a high performance CPU,an intelligent motor control board and full digitally controlled AC servo-motors. As a result of organized instrumentation, a unique mechanical design and an optimized driving software, a high performance instrument with smooth and quick response was accomplished. A data analysis software was programd in a GUI oriented language for the convenience of practical use. By perfecting the software and an air flow system including sample applicators, the screening system of behavior modifying chemicals for walking insects was established.