Submitted by:Submitted to:Prof.tilak thakur Ankita_Bhagat 10106004 I.

ACKNOWLEDGEMENTS:I am thankful to sir for for giving me this topic combinining both biology and electronics technology ..The base provided by sir was really helpful and thankyou sir for helping me..

CONTENTS:-INTRODUCTION
Origin, systematics and distribution Composition of a bee as sensor assembley APPLICATIONS Some facts about great sense of navigation of bees:_ Braitenberg-vehicles

THE HIDE AND SEEK OPERATION

IOMIMICRY B

OF

HONEYBEE

EYE

CAN

IMPROVE ROBOTIC VISION

HONEY BEES CAN BE TRAINED AS WELLBEHAVED BOMB-SNIFFERS !!!!! PRINCIPAL PROCEDURE

INTRODUCTION
Honey bees are a subset of bees in the genus Apis, primarily distinguished by the production and storage of honey and the construction of perennial, colonial nests out of wax. Honey bees are the only extant members of the tribe Apini, all in the genus Apis. Currently, there are only seven recognised species of honey bee with a total of 44 subspeciesthough historically, anywhere from six to eleven species have been recognised. Honey bees represent only a small fraction of the approximately 20,000 known species of bees. Some other types of related bees produce and store honey, but only members of the genus Apis are true honey bees..

ORIGIN, SYSTEMATICS DISTRIBUTION

AND

Honey bees as a group appear to have their centre of origin in South and South East Asia (including the Philippines), as all but one of the extant species are native to that region, notably the most plesiomorphic living species (Apis florea and Apis

andreniformis).[2] The first Apis bees appear in the fossil record at the Eocene Oligocene boundary, in European deposits. The origin of these prehistoric honey bees does not necessarily indicate that Europe is where the genus originated, only that it occurred there at that time. There are few known fossil deposits in the suspected region of honey bee origin, and fewer still have been thoroughly studied. There is only one fossil species documented from the New World, Apis nearctica, known from a single 14-million-year old specimen from Nevada.[3] The close relatives of modern honey bees - e.g. bumblebees and stingless bees - are also social to some degree, and social behavior seems a plesiomorphic trait that predates the origin of the genus. Among the extant members of Apis, the more basal species make single, exposed combs, while the more recently evolved species nest in cavities and have multiple combs, which has greatly facilitated their domestication. Most species have historically been cultured or at least exploited for honey and beeswax by humans indigenous to their native ranges. Only two of these species have been truly domesticated, one (Apis mellifera) at least since the time of the building of the Egyptian pyramids, and only that species has been moved extensively beyond its native range. Today's honey bees constitute three clades

COMPOSITION OF A BEE AS SENSOR ASSEMBLEY

Ample of Sensors present in bees is the main reason why modern research is having so much focus over bees and their way of living .

Bees have many sensors, such as:

y

y y y y y y

complex eyes, allowing a sight from orange (650 nm wavelength) unto UV (=300 nm), 4000-5000 pixels. ocelli (3 point eyes), which are light-sensors (bees need 200 Lux for flight activity) sense of hearing (which was only proved in 1993 by Kirchner et al) touch-sense sense of smell sense of taste gravitation sense magnetic sense coldness sensors (as insects, bees are unable to fly below 12o C, unable to move below 7o C) CO2-sensors (within the hive, bees may survive even concentrations of CO2 of 9%), which intervene in the temperature-regulation of the hive. (Bees are able to produce a constant nest-temperature of 33-36oC. This is only possible by social behaviour of the bees. Taken as a whole, a bee colony just acts like a warmblooded animal.)

A bee's brain and ganglions are made of about 800.000 neurons. This is remarkable for all the tasks they have to fulfil, isn't it? How the hierarchy of the tasks is set up, isn't known yet. Since every I/O-system is mainly analyzed separately by scientists, there remains plenty of work for interdisciplinary research. Nevertheless, some general rules do appear as real cybernetic laws.

APPLICATIONS
#How can honey bee inprove robot navigation??
The well known dance of honey bee is a way of information exchange among their sisters. They share 3 following informations during that dance:1.) 2.) 3.) Regarding the distance of great nector source. Regarding the path to reach the great nector source. Regarding the quality of great nector source.

Recent research made it possible for the first time to communicate these informations directly to the bees by simulating the dance by a robot. So, once again, technical support allowed a real breakthrough in a science domain that was reserved for exact observation and description.

during their dance in the dark of the beehive they transpose the course-angle to the sun relatively to the earth's gravitation field and the distance to a certain rythme of the 'belly dance'.

is the angle of the sun with the source of nector

arrows show the sense of

rotation in their movement ..

Some facts about great sense of navigation of bees:_

# In order to remember their way back home ,they memorise the angle of flight with the position of sun. # They even compute the sun's movement in the sky. # They know how to measure the flight-distance, involving the wind's force

# modern research removed myths about complex inner nest location~~~

Elder scientists like Gerstung believed that queen bee represented the complex inner nest order. But with the help of computer stimulation and modern research it has been shown that no complex representation exists..and only with 2 simple instructions the virtual queen bee stimulated perfectly the complex nest order.the two simple instructions are:1.) Search for empty cells in order to lay eggs. 2.) Stay as close as possible to the nest-order.

BRAITENBERG-VEHICLES
There exist various other simulations which all have in common to reduce complex animal behaviour to simple elementary behaviour components. For instance Valentino Braitenberg from the famous Max-Planck-Institut for Biological Cybernetics made lots of studies in this direction. His "Braitenberg vehicles" are well-known in both robotics and biology. Many of the Lego Mindstorms robots are real "Braitenberg-vehicles". These robots are equipped with simple sensors such as touchsensors, light-sensor or temperature-sensor and programmed accordingly, a Lego-robot just behaves like a very primitive animal. Let's take a example. The following robot will be able to avoid obstacles and walls. The simple reasoning is:
y

If the left touch-sensor is activated, turn to the right. If released, go on ahead. If the right touch-sensor is activated, turn to the left. If released, go on ahead.

Of course there must be some initilization and definition ..and can be done with simple programming and coding.. Another example could be Paul-Nicolas' Firefighter, a simple light-follower. The behaviour of such a robot might seem very complex to an extraterrestral observer, who doesn't know Braitenberg and his collegues. Until better comprehension of

the robot's sensors and neurons, he might think the vehicle has an internal representation of its environment.

THE HIDE AND SEEK OPERATION

continuously operates the distance measurement (there must be a certain time dt between two measurements) and computes both the actual position and the new course direction. This is done by:
.
y

WHERE_AM_I?

y y

read the second Lego rotation sensor's value, which is connected to the drive motors determine the angle Theta=Lambda-90 (picture above), check the quadrant of this angle for perfect sign management compute the sinus and cosinus -->this is done in a subroutine called SINUS, cos(x)=sin(90-x), so we don't need the cosinus function calculate the new location Mi+1(xi+1,yi+1) as shown above check if this new location is sensibly equal to the targetpoint. If the target is reached the drive_command variable is set to comm_stop value; if not drive_comm:=comm_forward. [In the first version an additionnal flag target_reached has been introduced to

permit LOGI2 compatibility. The disadvantage is an imperfect subsumption architecture.]

calculate the quadrant and the tangens of the angle phi as delta_y / delta_x determine the arctan of phi (function explained at the compass_sensor2 page!)

calculate the angle alpha out of phi and the quadrant. Alpha is the new course to the target-point T(a,b). As you can see, the angle alpha turns clockwise, just as compass-values do. In fact, since alpha represents the new course-direction, the angle lambda, which is the actual clockwise course-direction must be replaced every time there is a new course. This clockwise and

anti-clockwise problem must not be forgot, if a compass-sensor is used or if targets are programmed by LOGI2.

BIOMIMICRY OF HONEYBEE EYE CAN IMPROVE ROBOTIC VISION

The capabilities and behavior of bees have inspired scientists in various fields as swarm movement and cooperation. Neurobiologists from Bielefeld University, Germany, have been researching the computational mechanisms that allow the nervous system to extract behaviorally relevant information from the retinal input and to use this information in behavioral control. In their previous research, the folks from Department of Neurobiology and Center of Excellence Cognitive Interaction Technology from Bielefeld University focused on flies but since 2007 they widen their research with the honeybee as an experimental model system.

Lead researcher Wolfgang Strzl and his colleagues wanted to capture the largest possible wide-angled view of the world they could, because they wanted to use a single camera in order to minimize the weight of a small robotic aircraft. Consisting of a light-weight mirror-lens combination attached to a USB video camera, the artificial eye manages to achieve a field of vision comparable to that of a bee. In combining a curved reflective surface that is built into acrylic glass with lenses covering the frontal field, the bee eye camera has allowed the researchers to take unique images showing the world from an insect s viewpoint.

To do this, the team used a so-called catadioptric imaging system, which captures an image using both mirrors and lenses. A dome-shaped mirror, with a lens at its centre, was placed 20 millimeters in front of the camera s charge-coupled device (CCD) image sensor chip, with its convex surface facing towards the camera. The lens focuses light from in front of the camera onto the CCD to create an image with a 110-degree field of view. At the same time, the convex face of the mirror captures

a reflection of the world behind the camera and focuses this light onto the CCD, widening the field of view to 280 degrees. In the future, the researchers hope to include UV to fully reflect a bee s color vision, which is important to honeybees for flower recognition and discrimination and also polarization vision, which bees use for orientation. They also hope to incorporate models of the subsequent neural processing stages. Despite the limitations of their model of the spatial resolution of the honeybees compound eyes, the researchers are confident that it is useful for many purposes, e.g. for the simulation of bee-like agents in virtual environments and, in combination with presented imaging system, for testing beeinspired visual navigation strategies on mobile robots.

The theory behind Kisdi s robots incorporates the idea of quorum sensing, similar to that used by honey bees. Quorum sensing is a type of decision-making process used by groups to coordinate behavior and can be seen with honey bees when worker bees scout for new nest areas. Bees will leave the nest, gather information, and determine the best new location. Kisdi s theory works on this same principle. A computer program has been created that functions in a similar way to the honey bees. The robots, called Jollbot, are a rolling and jumping robots.

HONEY BEES CAN BE TRAINED AS WELLBEHAVED BOMB-SNIFFERS !!!!!

Bees are now a days called

Winged Warriors Train for

Terror
. A British company has successfully trained bees to sniff out explosives, drugs and other hazardous materials, and their winged warriors could soon be on duty at airports, train stations and other potential terrorism or trafficking sites.

PRINCIPAL
Inscentinel's bees are taught to identify suspicious substances using Pavlovian conditioning. (Up to 500 insects are placed in a special "bee hotel" and exposed to a certain odor -- such as a key ingredient of TNT -- and simultaneously rewarded with a sugary liquid. The process is repeated up to five times, says Mathilde Briens, head of R&D at Inscentinel, by which point, "the bees associate the smell with food. So next time they sniff this particular smell, they will stick their tongues out because they expect food."

PROCEDURE
Once their odorous education is over, the bees are ready for work. Thirty-six bugs are transferred from the bee hotel into a hand-held device that resembles a portable vacuum cleaner and gently strapped down with plastic ties. That loading process is entirely automated, so non-bee experts can operate the machine without getting stung. Once they're seated in the machine -- called a VASOR (for Volatile Analysis by Specific Olfactory Recognition) -- a fan sucks air past the immobilized bugs' antennae.

If they detect a trace of Semtex, for example, the bees will extend their tongues in hunger, breaking beams of light that run in front of their heads and sending a signal to the VASOR operator. That automatic warning system means that anyone can use the gadget after a few hours of basic training. In contrast, learning how to handle a sniffer dog can take many months. And as the gadget contains 36 bees, all individually testing the atmosphere, the VASOR offers greater accuracy than a single explosives hound's nose. "It's almost like having a pack of well-behaved sniffer dogs," Briens says.
We are very excited at the success of our research as it could have far-reaching implications for both defense and homeland security, Haarmann said.

these bees are harnessed and are ready to be trained

At Los Alamos National Laboratory,

Advantages of using sniffer bees instead of sniffer dogs:-

# the bees could be carried in hand-held detectors the size of a shoe box # could be used to sniff out explosives in airports, roadside security checks, or even placed in robot bomb disposal equipment

# no training to is requires to work with sniffer bees. Anyone can work with them. # It is very difficult to control aggressive sniffer dogs and requires lot of training. # You don t have to be an expert in animal behavior to understand it as there is no ambiguity.

# bees can recognize substances ranging from dynamite and C4 plastic explosives to the Howitzer propellant grains used in improvised explosive devices in Iraq. An example of a performed practical in warzone:Years earlier, a DARPA-funded project trained honeybees to be attracted to explosives instead of pollen using the same sugarwater-reward process. This study trained them to swarm around the location of the scent of 2,4-dinitrotoluene, a chemical residue left by several different types of bombs. The uncontained bees worked very well in small, outdoor areas, where security guards could easily see where they were swarming, but were harder to track when they were used to detect explosives in large, uncontained spaces. So researchers fitted the bees with tiny radio transmitters to find them -- and the bomb -- when they swarmed. Uncontained, trained bees wouldn't be very welcome at airport security checkpoints, but they could potentially work wonders in a war zone..