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A viewgraph presentation (with an explanation for each slide) gives an overview of biomorphic systems and missions. Biomorphic explorers are classified, and the challenge to obtain a biomorphic robot is described. Characteristics of biomorphic explorers are described, and biomorphic missions are discussed.
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This paper presents viewgraphs of biomorphic explorers as they provide extended survival and useful life of robots in ecology. The topics include: 1) Biomorphic Explorers; 2) Advanced Mobility for Biomorphic Explorers; 3) Biomorphic Explorers: Size Based Classification; 4) Biomorphic Explorers: Classification (Based on Mobility and Ambient Environment); 5) Biomorphic Flight Systems: Vision; 6) Biomorphic Glider Deployment Concept: Larger Glider Deploy/Local Relay; 7) Biomorphic Glider Deployment Concept: Balloon Deploy/Dual Relay; 8) Biomorphic Exlplorer: Conceptual Design; 9) Biomorphic Gliders; and 10) Applications.
Biomorphic flyers have recently been demonstrated that utilize the approach described earlier in "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), NASA Tech Briefs, Vol. 27, No. 5 (May 2003), page 54, to distill the principles found in successful, nature-tested mechanisms of flight control. Two types of flyers are being built, corresponding to the imaging and shepherding flyers for a biomorphic mission described earlier in "Cooperative Lander- Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), NASA Tech Briefs, Vol. 28, No. 5 (May 2004), page 36. The common features of these two types of flyers are that both are delta-wing airplanes incorporating bio-inspired capabilities of control, navigation, and visual search for exploration. The delta-wing design is robust to approx.40 G axial load and offers ease of stowing and packaging. The prototype that we have built recently is shown in the figure. Such levels of miniaturization and autonomous navigation are essential to enable biomorphic microflyers (<1 kg) that can be deployed in large numbers for distributed measurements and exploration of difficult terrain while avoiding hazards. Individual bio-inspired sensors that will be incorporated in a biomorphic flyer have been demonstrated recently. These sensors include a robust, lightweight (~6 g), and low-power (~40 mW) horizon sensor for flight stabilization. It integrates successfully the principles of the dragonfly ocelli. The ocelli are small eyes on the dorsal and forward regions of the heads of many insects. The ocelli are distinct from the compound eyes that are most commonly associated with insect vision. In many insects, the ocelli are little more than single-point detectors of short-wavelength light and behavioral responses to ocelli stimuli are hard to observe. The notable exception is found in dragonflies, where flight control is notably degraded by any interference with the ocellar system. Our team has discovered recently that the ocelli are a dedicated horizon sensor, with substantial optical processing and multiple spectral sensitivity. To our knowledge, this is the world s first demonstrated use of a "biomorphic ocellus" as a flight-stabilization system. The advantage of the ocelli over a similarly sized system of rate gyroscopes is that both attitude control and rate damping can be realized in one device. A full inertial unit and significant processing would otherwise be required to achieve the same effect. As a prelude to full autonomy, substantial stability augmentation is provided to the pilot at very low cost in terms of space, power, and mass. The sensor is about 40 times lighter than a comparable inertial attitude reference system. Other significant features of the biomorphic flyer shown in the figure include its ability to fly at high angles of attack ~30 and a deep wing chord which allows scaling to small size and low Reynold s number situations. Furthermore, the placement of the propulsion system near the center of gravity allows continued control authority at low speeds. These attributes make such biomorphic flyers uniquely suited to planetary and terrestrial exploration where small size and autonomous airborne operation are required.
This paper presents, in viewgraph form, the first NASA/JPL workshop on Biomorphic Explorers for future missions. The topics include: 1) Biomorphic Explorers: Classification (Based on Mobility and Ambient Environment); 2) Biomorphic Flight Systems: Vision; 3) Biomorphic Explorer: Conceptual Design; 4) Biomorphic Gliders; 5) Summary and Roadmap; 6) Coordinated/Cooperative Exploration Scenario; and 7) Applications. This paper also presents illustrations of the various biomorphic explorers.
Silicon carbide based, environment friendly, biomorphic ceramics have been fabricated by the pyrolysis and infiltration of natural wood (maple and mahogany) precursors. This technology provides an eco-friendly route to advanced ceramic materials. These biomorphic silicon carbide ceramics have tailorable properties and behave like silicon carbide based materials manufactured by conventional approaches. The elastic moduli and fracture toughness of biomorphic ceramics strongly depend on the properties of starting wood preforms and the degree of molten silicon infiltration. Mechanical properties of silicon carbide ceramics fabricated from maple wood precursors indicate the flexural strengths of 3441+/-58 MPa at room temperature and 230136 MPa at 1350C. Room temperature fracture toughness of the maple based material is 2.6 +/- 0.2 MPa(square root of)m while the mahogany precursor derived ceramics show a fracture toughness of 2.0 +/- 0.2 Mpa(square root of)m. The fracture toughness and the strength increase as the density of final material increases. Fractographic characterization indicates the failure origins to be pores and chipped pockets of silicon.
Environmentally conscious, biomorphic ceramics (Ecoceramics) are a new class of materials that are manufactured from renewable resources and wastes. In this study, silicon carbide and oxide-based biomorphic ceramics have been fabricated from pine and jelutong wood precursors. A carbonaceous preform is produced through wood pyrolysis and subsequent infiltration with oxides (ZrO2 sols) and liquid silicon to form ceramics. These biomorphic ceramics show a wide variety of microstructures, densities, and hardness behavior that are determined by the type of wood and infiltrants selected.
Inspired by the immense variety of naturally curious explorers (insects, animals, and birds), their well integrated biological sensor-processor suites that are efficiently packaged in compact but highly dexterous forms, and their complex, intriguing, cooperative behaviors, this study focuses on Biomorphic Explorers and presents cooperative biomorphic planetary exploration scenarios.
Modern space tool design is the science of making a machine both massively complex while at the same time extremely robust and dependable. We propose a novel nonlinear control technique that produces capable, self-organizing, micron-scale space machines at low cost and in large numbers by parallel silicon assembly. Experiments using biomorphic architectures (with ideal space attributes) have produced a wide spectrum of survival-oriented machines that are reliably domesticated for work applications in specific environments. In particular, several one-chip satellite prototypes show interesting control properties that can be turned into numerous application-specific machines for autonomous, disposable space tasks. We believe that the real power of these architectures lies in their potential to self-assemble into larger, robust, loosely coupled structures. Assembly takes place at hierarchical space scales, with different attendant properties, allowing for inexpensive solutions to many daunting work tasks. The nature of biomorphic control, design, engineering options, and applications are discussed.
Inspired by the immense variety of naturally curious explorers (insects, animals, and birds), their wellintegrated biological sensor-processor suites, efficiently packaged in compact but highly dexterous forms, and their complex, intriguing, cooperative behavior, this paper focuses on "Biomorphic Explorers", their defination/classification, their designs, and presents planetary exploration scenarios based on the designs. Judicious blend of bio-inspired concepts and recent advances in micro-air vehicles, microsensors, microinstruments, MEMS, and microprocessors clearly suggests that the time of small, dedicated, low cost explorers that capture some of the key features of biological systems has arrived. Just as even small insects like ants, termites, honey bees etc working cooperatively in colonies can achieve big tasks, the biomorphic explorers hold the potential for obtaining science in-accessible by current large singular exploration platforms.
Environment conscious, biomorphic ceramics have been fabricated from pine and jelutong wood precursors. A carbonaceous preform is produced through wood pyrolysis and subsequent infiltration with oxides (ZrO2 sols) and liquid silicon to form ceramics. These biomorphic ceramics show a wide variety of microstructures, densities, and hardness behavior that are determined by the type of wood and infiltrants selected.
Biomorphic explorers are small, dedicated, low-cost explorers that capture some of the key features of biological systems.
In the meteorites - Murchison, Efremovka, Murray, Nagoya etc. - was found biomorphic structures like cyanobacteria and other microorganisms. Additional information is contained in the original extended abstract.
Biomorphic SiC ceramics have been fabricated using different wood precursors. The evolution of volume, density and microstructure of the woods, carbon performs, and final SiC products are systematically studied in order to establish experimental guidelines that allow materials selection. The wood density is a critical characteristic, which results in a particular final SiC density, and the level of anisotropy in mechanical properties in directions parallel (axial) and perpendicular (radial) to the growth of the wood. The purpose of this work is to explore experimental laws that can help choose a type of wood as precursor for a final SiC product, with a given microstructure, density and level of anisotropy. Preliminary studies of physical properties suggest that not only mechanical properties are strongly anisotropic, but also electrical conductivity and gas permeability, which have great technological importance.