title: Bio-inspired modeling and implementation of the ocelli visual system of flying insects.
abstract: Two visual sensing modalities in insects, the ocelli and compound eyes, provide signals used for flight stabilization and navigation. In this article, a generalized model of the ocellar visual system is developed for a 3-D visual simulation environment based on behavioral, anatomical, and electrophysiological data from several species. A linear measurement model is estimated from Monte Carlo simulation in a cluttered urban environment relating state changes of the vehicle to the outputs of the ocellar model. A fully analog-printed circuit board sensor based on this model is designed and fabricated. Open-loop characterization of the sensor to visual stimuli induced by self motion is performed. Closed-loop stabilizing feedback of the sensor in combination with optic flow sensors is implemented onboard a quadrotor micro-air vehicle and its impulse response is characterized.
authors.affiliation: Department of Aerospace Engineering, University of Maryland, College Park, MD, 20742, USA, gmgrem@umd.edu.
authors.forename: Gregory
authors.initials: G
authors.lastname: Gremillion
authors.forename: J Sean
authors.initials: JS
authors.lastname: Humbert
authors.forename: Holger G
authors.initials: HG
authors.lastname: Krapp
mesh_terms: D000818:Animals; D054910:Compound Eye, Arthropod / Q000502:physiology*; D003198:Computer Simulation; D003202:Computers, Analog; D004867:Equipment Design; D056228:Feedback, Sensory; D005426:Flight, Animal / Q000502:physiology*; D008959:Models, Neurological; D009010:Monte Carlo Method; D057849:Optic Flow; D012984:Software; D013037:Spatial Behavior / Q000502:physiology; D014795:Visual Pathways / Q000502:physiology*