MEC.

I531
Mechanical Biomimetics
機械バイオミメティクス

第7回

Associate Prof. Hiroto Tanaka

E-mail: tanaka.h.cb@m.titech.ac.jp
 Today’s contents

1. Sensory hairs of crickets

2. Halteres of flies
3. Compound eyes of insects
 Sensory hairs of crickets

CAUTION!
Large image of a crickets will be opened
コオロギの画像を見せます
 Sensory hairs of crickets 感覚毛

Cerci
尾葉

Black cricket, Gryllus bimaculatus

フタホシコオロギ

100 μm
10 μm

T. Shimozawa and M. Kanou, "VARIETIES OF FILIFORM HAIRS - RANGE FRACTIONATION BY SENSORY AFFERENTS
AND CERCAL INTERNEURONS OF A CRICKET," Journal of Comparative Physiology, vol. 155, pp. 485-493, 1984.
 Sensory hairs of crickets 感覚毛

Cerci
尾葉

100 μm 10 μm

Diameter: 1.5 – 9 μm
Length: 30-1500 μm
Numbers: 400-500
T. Shimozawa and M. Kanou, "VARIETIES OF FILIFORM HAIRS - RANGE FRACTIONATION BY SENSORY AFFERENTS
AND CERCAL INTERNEURONS OF A CRICKET," Journal of Comparative Physiology, vol. 155, pp. 485-493, 1984.
 Structure of the sensory hair

Support
spring
Cuticle
Air flow

Sensory cillium Sensory cell Neural pulse

下澤 夫, "動物の習性とその神経基盤," 計測と制御, vol. 30, pp. 426-435, 1991 1991.

 Structure of the sensory hair

Response range
- Frequency: 1 – 100 Hz
Support
spring - Velocity: 0.1 – 100
Cuticle mm/s
Air flow

Reynolds number
< 10-2
Sensory cillium Sensory cell Neural pulse
Acting force:
Viscous force
下澤 夫, "動物の習性とその神経基盤," 計測と制御, vol. 30, pp. 426-435, 1991 1991.
 Mechanical model

下澤 夫, "第6章 コオロギ気流センサの機械設計の解析," in インスツルメンテーションの視点から

見たバイオミメティクス. vol. , ed 東京: シーエムシー・リサーチ, 2016, pp. 104-115.
 Artificial sensory hairs

- SU-8 hairs
- Length: 470 μm

M. Dijkstra, J. J. v. Baar, R. J. Wiegerink, T. S. J. Lammerink, J. H. d. Boer, and G. J. M. Krijnen, "Artificial

sensory hairs based on the flow sensitive receptor hairs of crickets," Journal of Micromechanics and
Microengineering, vol. 15, p. S132, 2005.
 Capacitance sensor

(Electrode)

Capacitor (Electrode)

C=εS/d

M. Dijkstra, J. J. v. Baar, R. J. Wiegerink, T. S. J. Lammerink, J. H. d. Boer, and G. J. M. Krijnen, "Artificial

sensory hairs based on the flow sensitive receptor hairs of crickets," Journal of Micromechanics and
Microengineering, vol. 15, p. S132, 2005.
 Process

LPCVD of Poly-Si Spincoating of SU-8

sacrificial layer

Etching of Poly-Si
Exposure and
development of
LPCVD of silicon SU-8
nitride

Sputtering of Dry etching of

chromium Poly-Si
Calculated torque and capacitance

Sensitivity: ~ 1 m/s
Cricket’s response range
- Frequency: 1 – 100 Hz
- Velocity: 0.1 – 100 mm/s
 Today’s contents

1. Sensory hairs of crickets

2. Halteres of flies
3. Compound eyes of insects
 Halteres 平均棍
Soldier fly, Hermetia illucens
アメリカミズアブ
- Body length: 15-20 mm
- > 100 Hz

T. Deora, A. K. Singh, and S. P. Sane, "Biomechanical basis of wing and haltere coordination in flies," Proceedings of
the National Academy of Sciences, vol. 112, pp. 1481-1486, February 3, 2015 2015.
 Mechanical synchronization

T. Deora, A. K. Singh, and S. P. Sane, "Biomechanical basis of wing and haltere coordination in flies," Proceedings of
the National Academy of Sciences, vol. 112, pp. 1481-1486, February 3, 2015 2015.
 Strain sensor

Evolved from a hind wing

H. Droogendijk, R. A. Brookhuis, M. J. de Boer, R. G. P. Sanders, and G. J. M. Krijnen, "Towards a biomimetic gyroscope

inspired by the fly's haltere using microelectromechanical systems technology," Journal of The Royal Society Interface,
vol. 11, 2014.
 Vibrating structure gyroscope

Mass

Coriolis force

Angular velocity

Velocity
 MEMS gyroscope
Detector
composed of parallel plates

Drive:
Sensitive direction

Electrostatic force

Sensing:
Capacitance

Vibration

External angular velocity

いまさら聞けないジャイロセンサー入門 (1/3)
http://ednjapan.com/edn/articles/1406/09/news014.html
 Tuning-fork MEMS gyroscope
音叉型
Sensing mode Angular
Driving mode
velocity

Drive & Sensing: Piezo effect

パナソニック
https://industrial.panasonic.com/jp/products/sensors/sensors/angular-rate-sensors
 Today’s contents

1. Sensory hairs of crickets

2. Halteres of flies
3. Compound eyes of insects
 Evolution of eye
Brightness and Low resolution High resolution
Brightness direction vision vision
Simple Complex

Light
Optic nerves Goblet eye
Lenses
Compound eye
Photoreceptor Pigment

ナショナルジオグラフィクス, 2016年2月号
 Human eye

http://www.allaboutvision.com/resources/anatomy.htm
 Human eye

（ちゅうしんか）

https://commons.wikimedia.org/wiki/File:Schematic_diagram_of_the_human_eye_ja.svg
 Human eye and camera

Conjunctiva Cornea Iris lens retina

Body Front lens Aperture Back lens Film or photosensor

アジョック共栄会: http://www.vc-p.jp/vcd/
 Compound eye of insects
個眼 Facet
- ヤンマ科 Aeshnidae:
> 20,000
- ナミアゲハ Swallowtail
> 12,000
- ショウジョウバエ Drosophila:
800
- A few photoreceptor cells per
facet

単眼 Ocellus (複 Ocelli)
- 3 ocelli
- 102 ~104 photoreceptor
cells per ocellus

Compound eye of dragonfly ( ja.wikipedia.org)

 Insect vision system
Optic lobe 視葉
Compound eye - 60% neurons of the brain
Center brain

Lamina 第一次中枢
- Contrast enhancement

Lamina Lobular
Medulla 第二次中枢
Medulla Optic lobe - Motion and color in the
Lobular plate narrow region

Lobular 第三次中枢
- Information integration in
the wide region

昆虫ミメティクス, エヌ・ティー・エス, 2008

Ommatidium (複 Ommatidia)
Cornea 角膜
(Facet)

感桿
Rhabdom

9 optic cells

昆虫ミメティクス, エヌ・ティー・エス, 2008, p. 274

 Ommatidium (複 Ommatidia)
Cornea 角膜
感桿分体 (Facet)
Rhabdomere

微絨毛 感桿
Micro villus Rhabdom

1 μm

- Membrane of micro villus includes complex of photosensitive protein

ロドプシン Rhodopsin = Opsin （タンパク質）+ Retinal（ビタミンＡ）
- Refraction index of the rhabdom increases by phospholipid (リン脂質) in
the cell membrane of micro villus
RI of rhabdom 1.36 > RI of cell cytoplasm (細胞質) 1.34 Optical fiber
昆虫ミメティクス, エヌ・ティー・エス, 2008, p. 275
 Ommatidium (複 Ommatidia)
Cornea 角膜
感桿分体 (Facet)
rhabdomere

微絨毛 感桿
micro villus rhabdom

1 μm

- 微絨毛の膜が，光受容タンパク質複合体を含む
ロドプシン rhodopsin = Opsin （タンパク質）+ Retinal（ビタミンＡ）
- 感桿の屈折率は，微絨毛の細胞膜が含むリン脂質によって，大きくなる
感桿の屈折率 1.36 > 細胞質の屈折率 1.34 ⇒ 光ファイバー
昆虫ミメティクス, エヌ・ティー・エス, 2008, p. 275
 Tapetum
- Layer structure of air and cell cytoplasm (細胞
質)
- Light with specific wave length is reflected due
to interference at the bottom of the rhabdom
⇒ Effective length of the rhabdom is doubled

K. Arikawa, P. Pirih, and D. G. Stavenga, “Rhabdom constriction enhances filtering by the red
screening pigment in the eye of the Eastern Pale Clouded yellow butterfly, Colias erate (Pieridae),"
Journal of Experimental Biology, vol. 212, p. 2057, 2009.
 Spectral sensitivity 分光感度
Insects can sense ultra violet
Ultra violet, violet, blue, yellow green, red, dark red

Sensitivity characteristic of optic cells of a cabbage butterfly

Human has 4 different photoreceptor cell:

420 nm, *498 nm, 534 nm, 564 nm
昆虫ミメティクス, エヌ・ティー・エス, 2008, p.277
 Apposition eye and superposition eye
Apposition eye (Daylight insects) Superposition eye (Night insects)
連立像眼（昼光性昆虫） 重複像眼（夜行性昆虫）

水晶錐体
Crystalline cone
吸光性遮 色素
Light-absorbing shield pigment

昆虫ミメティクス, エヌ・ティー・エス, 2008, p.287

 Spatial resolution
1°
Spatial resolution: 1°
視力 0.02 相当

Spatial resolution of human eye

- 0.007 °
→ 理論上の最高視力 2.5

(night insect)

ナショナルジオグラフィクス, 2016年2月号

昆虫ミメティクス, エヌ・ティー・エス, 2008

 Pros and cons of the compound eye

Brain

Single eye

Compound eye
Pros: Wide view, short focal length, high-speed processing
ex) Flies can detect 300 Hz flashing light
Cons: Low spatial resolution
 Artificial compound eye

K. H. Jeong, J. Kim, and L. P. Lee, "Biologically inspired artificial compound eyes,"

Science, vol. 312, pp. 557-561, 2006.
 Simulated
reflective index

Dark filed image

Dark filed image 暗視野顕鏡 暗視野顕鏡
 2.5 mm
in diameter

K. H. Jeong, J. Kim, and L. P. Lee, "Biologically inspired artificial compound eyes,"

Science, vol. 312, pp. 557-561, 2006.
Process for hemispherical compound eye

Prebake

K. H. Jeong, J. Kim, and L. P. Lee, "Biologically inspired artificial compound eyes,"

Science, vol. 312, pp. 557-561, 2006.
Angular sensitivity function (ASF)
 Comparison between artificial and
natural compound eyes
Artificial eyes Natural eyes (bees)
Shape of lens aperture Hexagon Hexagon
Maximal lens diameter 25 μm 20∼36 μm
F number 1.8∼2.9 2.7∼3.3
NF at 635 nm 3.4∼5.5 2.4∼5.3
Number of lenses 8370 3421∼4883
Refractive index of lens 1.584 1.363
Index difference 0.029 (1.614/1.584) 0.023 (1.363/1.340)
(core/cladding)
Waveguide shape Cylindrical Cylindrical
Waveguide core 5.1∼6.3 μm 2∼8 μm
Waveguide length 150∼300 μm 220∼350 μm
ASF 1.1°∼4.4° 1.6°∼4.7°
 Process for micro lens array

Melting (Reflow)
L. Hao, C. Sihai, D. Shan, and Y. Xinjian, "Bionic ommatidia based on microlens
array," Optical Engineering, vol. 48, pp. 063401-063401-5, 2009.
 Self-assembly of micro particles

Formed by dip-drawing process

stirring rates of (a) 100 rpm, (b) 200 rpm, and (c) 300 rpm

Drawing rate: 1 μm/s

K. Wen-Kai, K. Guan-Fu, L. Syuan-You, and Y. Hsin Her, "Fabrication and characterization of

artificial miniaturized insect compound eyes for imaging," Bioinspiration & Biomimetics, vol.
10, p. 056010, 2015.
 Ocellus
Cornea lens

Photoreceptor cells

~103
Synapse layer
~101

Focal point

Field of view of 3 ocelli of a migratory locust

- Low resolution
- Wide field of view
- Higher processing speed
- Detecting the horizon
than the compound eye
昆虫ミメティクス, エヌ・ティー・エス, 2008, p. 669
Supplement for today’s lecture
 Measurement of angular displacement

- Air velocity
- Hair shaft
tangential velocity

下澤 夫, "第6章 コオロギ気流センサの機械設計の解析," in インスツルメンテーションの視点から

見たバイオミメティクス. vol. , ed 東京: シーエムシー・リサーチ, 2016, pp. 104-115.
 Block diagram

下澤 夫, "第6章 コオロギ気流センサの機械設計の解析," in インスツルメンテーションの視点から

見たバイオミメティクス. vol. , ed 東京: シーエムシー・リサーチ, 2016, pp. 104-115.
Air velocity-angular displacement characteristic

下澤 夫, "第6章 コオロギ気流センサの機械設計の解析," in インスツルメンテーションの視点から

見たバイオミメティクス. vol. , ed 東京: シーエムシー・リサーチ, 2016, pp. 104-115.
 Boundary layer

Flow velocity on a flat plate:

= sin 2 +

= 1− cos + cos
sin
= tan
1− cos

下澤 夫, "第6章 コオロギ気流センサの機械設計の解析," in インスツルメンテーションの視点から

見たバイオミメティクス. vol. , ed 東京: シーエムシー・リサーチ, 2016, pp. 104-115.