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(12) Patent Application Publication (10) Pub. No.: US 2010/0025527 A1 Lal Et Al US 2010.0025527A1 (19) United States (12) Patent Application Publication (10) Pub. No.: US 2010/0025527 A1 Lal et al. (43) Pub. Date: Feb. 4, 2010 (54) SURGICALLY IMPLANTED Related U.S. Application Data MICRO-PLATFORMS AND MICROSYSTEMS IN ARTHROPODS AND METHODS BASED (60) Provisional application No. 60/874,433, filed on Dec. THEREON 12, 2006. Publication Classification (76) Inventors: Amit Lal, Ithaca, NY (US); John Ewer, Valparaiso (CL): Ayesa Paul, (51) Int. Cl. Ithaca, NY (US); Alper Bozkurt, B64C 33/00 (2006.01) Ithaca, NY (US) B64C39/02 (2006.01) B25.J II/OO (2006.01) Correspondence Address: (52) U.S. Cl. .............................. 244/1 R: 244/22; 901/50 MARJAMA MULDOON BLASAK & SULL VAN LLP (57) ABSTRACT 250 SOUTHCLINTON STREET, SUITE 300 A method is provided for producing an arthropod comprising SYRACUSE, NY 13202 (US) introducing a microsystem such as a MEMS device into an (21) Appl. No.: 12/518,847 immature arthropod under conditions that result in producing an adult arthropod with a functional microSystem perma (22) PCT Filed: Dec. 11, 2007 nently attached to its body. A method is also provided for producing a robotic apparatus. The method can comprise (86). PCT No.: PCT/US07/25437 introducing a microsystem such as a MEMS device into an immature arthropod under conditions that result in producing S371 (c)(1), a robotic apparatus with the microsystem permanently (2), (4) Date: Sep. 24, 2009 attached to the body of the adult arthropod. Patent Application Publication Feb. 4, 2010 Sheet 1 of 23 US 2010/0025527 A1 &VISNIdue ×) **, -*~~~~ Patent Application Publication Feb. 4, 2010 Sheet 2 of 23 US 2010/0025527 A1 £2301-1 Patent Application Publication Feb. 4, 2010 Sheet 3 of 23 US 2010/0025527 A1 s Patent Application Publication Feb. 4, 2010 Sheet 4 of 23 US 2010/0025527 A1 Patent Application Publication Feb. 4, 2010 Sheet 5 of 23 US 2010/0025527 A1 29301-1 Patent Application Publication Feb. 4, 2010 Sheet 6 of 23 US 2010/0025527 A1 (Ss: : . ki: ) S. -sig (rs &s S - S. () ^ \ 3. Patent Application Publication Feb. 4, 2010 Sheet 7 of 23 US 2010/0025527 A1 Patent Application Publication Feb. 4, 2010 Sheet 8 of 23 US 2010/0025527 A1 Patent Application Publication Feb. 4, 2010 Sheet 9 of 23 US 2010/0025527 A1 &VISNIanz avisni duevaeva VA?VI(VISNI?uº Patent Application Publication Feb. 4, 2010 Sheet 10 of 23 US 2010/0025527 A1 N Patent Application Publication Feb. 4, 2010 Sheet 11 of 23 US 2010/0025527 A1 Patent Applica US 2010/0025527 A1 Patent Application Publication Feb. 4, 2010 Sheet 13 of 23 US 2010/0025527 A1 gario02 Patent Application Publication Feb. 4, 2010 Sheet 14 of 23 US 2010/0025527 A1 ax x: s s r Patent Application Publication Feb. 4, 2010 Sheet 15 of 23 US 2010/0025527 A1 y Patent Application Publication Feb. 4, 2010 Sheet 16 of 23 US 2010/0025527 A1 s : Patent Application Publication Feb. 4, 2010 Sheet 17 of 23 US 2010/0025527 A1 Patent Application Publication Feb. 4, 2010 Sheet 18 of 23 US 2010/0025527 A1 (Mud)&#23/MOd } Hol {{{} (yuu) Patent Application Publication Feb. 4, 2010 Sheet 19 of 23 US 2010/0025527 A1 961 ae^xaTiogunoooºoiw Patent Application Publication Feb. 4, 2010 Sheet 20 of 23 US 2010/0025527 A1 Patent Application Publication Feb. 4, 2010 Sheet 21 of 23 US 2010/0025527 A1 e 9 R Q S S Patent Application Publication Feb. 4, 2010 Sheet 22 of 23 US 2010/0025527 A1 s Patent Application Publication Feb. 4, 2010 Sheet 23 of 23 US 2010/0025527 A1 US 2010/0025527 A1 Feb. 4, 2010 SURGICALLY MPLANTED mately been unsuccessful (Ellington C P 1999. The novel MICRO-PLATFORMS AND MICROSYSTEMS aerodynamics of insect flight: applications to micro-air IN ARTHROPODS AND METHODS BASED vehicles. The Journal of Experimental Biology. 202:3439 THEREON 348), however, because the power sources needed for power ing flight have not been Sufficiently miniaturized, even CROSS-REFERENCE TO RELATED though micro-scale actuators such as MEMS (Micro-Electro APPLICATIONS Mechanical Systems), have existed for decades. 0001. This application claims priority to and the benefit of 0006 Insects can provide models for robotics as “biobots' co-pending U.S. provisional patent application Ser. No. (Crary, S. B., Moore, T. E., Conklin, T. A., Sukardi, F., and 60/874,433, filed Dec. 12, 2006, which is incorporated herein Kotiditschek, D. E. 1996. Insect Biorobotics: Electro-neural by reference in its entirety. control of cockroach walking, Abstr. IEEE Int. Conf. Robot STATEMENT REGARDING FEDERALLY ics and Automation, Workshop WT3, Bio-Mechanics, pp. SPONSORED RESEARCH ORDEVELOPMENT 42-54; Louden, C. 1995. Insect morphology above the molecular level: biomechanics. Ann. entomol. Soc. Am..., 88: 0002 The disclosed invention was made with government 1-4), in which an intact (or nearly intact) biological system is Support under grants from the National Science Foundation incorporated into the design of a microdevice Such as a and the Defense Advanced Research Projects Agency MEMS device (Cary 1996 supra; Louden 1995 supra). (DARPA), Microsystems Technology Office. The govern Insects are autonomous flying machines and have aerody ment has rights in this invention. namic performance Superior to that of existing unmanned mechanical flying machines. Insects also exist in diverse REFERENCE TO APPENDIX shapes and sizes. 0003) Not applicable 0007. One important challenge that has not been solved, however, has been the permanent attachment of devices to 1. TECHNICAL FIELD adult insects. Several research groups have glued telemetric and electronic devices onto adult insects to track the insects 0004. The present invention relates to methods for produc movements and migratory paths (Riley J.R. 2005. The flight ing arthropods bearing functional and permanently attached paths of honeybees recruited by waggle dance. Nature 435(12 Microsystems such as MEMS devices. The invention also May 2005): 205-207: Riley J. R. Valeur P. Smith A D, Rey relates to methods for permanently attaching devices to adult nolds DR, Poppy G. M. 1998. Harmonic radar as a means of insects. The invention also relates to robotic apparatuses or tracking the pheromone finding and pheromone—following biobots comprising biological and non-biological system flight in male moths. Journal of Insect Behavior 11(2): 287 components. The invention further relates to methods for 296), and have attached miniature “backpacks' for environ producing robotic apparatuses or biobots comprising biologi mental monitoring, wireless communication, or biobotic cal and non-biological system components. The invention manipulation of behavior (Crary 1996 Supra; Mohseni P. also relates to microprobe microSystem platforms used with Nagarajan K. 2001. An ultralight biotelemetry backpack for robotic apparatuses or biobots. recording EMG signals in Moths. IEEE Transactions on Bio medical Engineering 48(6): 734-737; Kuwana Y. Ando N., 2. BACKGROUND OF THE INVENTION Kanzaki R., and Shimoyama 1. 1999. A radio telemetry sys 0005 Over the past four decades, many attempts have tem for muscle potential recordings from freely flying insects. been made to develop Small (centimeter-scale) autonomous Proceedings of IEEEBEMS/EMBS conf, Atlanta, Ga., Oct. flying machines (micro-aerial vehicles “MAV' or unmanned 1999: 846; Kutsch W. Schwarz G, Fischer H, and Kautz H. aerial vehicles “UAV) for applications ranging from recon 1993. Wireless transmission of muscle potentials during free naissance in the battlefield to environmental monitoring. Sig flight of locust. The Journal of Experimental Biology 185: nificant advances in microfabrication technology have made 367-373). it possible to realize mm-scale low-power microSystems 0008 Attachment of devices to insects as adults, however, capable of carrying out a wide array of sensing and actuation leads to reduced flying agility, presumably because the insect tasks. These attempts to create mechanical MAVs have ulti perceives the load as a foreign weight (Table 1). TABLE 1. List of advantages and disadvantages of using robotic MAV and insects as payload carriers. Advantage Disadvantage MAV manual robotics 1. Manipulation of flight is 1. Expensive to design possible. and manufacture 2. Loss of MAV not due to versatile models. external natural stimuli 2. Useful load (pheromone, ultrasound) disappears with decrease in MAV size. Insect as Superficial 1. Versatile MAV models. 1. Lack of control of payload Attachment 2. Can carry a load of half its flight direction. carriers muscle weight 2. Unreliable and prone to dislodge. US 2010/0025527 A1 Feb. 4, 2010 TABLE 1-continued List of advantages and disadvantages of using robotic MAV and insects as payload carriers. Advantage Disadvantage 3. Lightweight power Source not available. Surgical 1. Permanent structure for 1. Lack of control of Attachment attachment of payload. flight direction. 2. Versatile MAV models. 2. Lightweight power 3. Can carry a load of half its Source not available muscle weight. 4. Acclimatization to the extra load is easier when load is attached at a pre-adult stage. 0009 Telemetric devices glued onto insects are temporary 0023. A method is also provided for producing a robotic attachments, and have been reported to fall off when the apparatus comprising: insect is in a confined space or foraging in vegetation. Han 0024 a. introducing a microSystem into an immature dling a mobile and active adult insect to attach a payload is arthropod (or portion thereof) under conditions that result in also difficult for mass production. Furthermore, with typical production of a robotic apparatus, adult insect life spans of 2-3 weeks, delivery to the site of 0025 wherein the robotic apparatus comprises: deployment at the correct time is challenging. 0026 i. the microsystem, and 0027 ii. a biological system, the biological system com 0010. There is therefore a need in the art for methods for prising the adult arthropod (or portion thereof), permanently attaching devices to adult insects.
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