# Miyazaki Vermin Repulsion Robot and Its Adjustable Acousto-Optic Stimulus Generation Scheme
###### Abstract  
One of the most pressing issues in livestock farming is the protection of economically valuable livestock. The prevention and the treatment of infectious diseases are directly related to maintaining stable livestock output. Vermin is a primary source of livestock infection, resulting in the occurrence and expansion of epidemic diseases. To protect livestock against infections caused by epidemic diseases, this study proposes a vermin repulsion system called the Miyazaki Vermin Repulsion Robot (MiVeRef). Different from existing vermin repulsion systems, the development objective of MiVeRef is to repel vermin rather than kill them. In particular, MiVeRef generates changeable acousto-optic signals as repulsion signals for wild animals. Furthermore, MiVeRef employs image data to monitor the invasion of wild animals and their location data to track them, and accurately focuses the generated signals on them. These acousto-optic stimuli can be changed based on the reactions of the intruder through the feedback of the image data to ensure the effectiveness of the repulsion motions for vermin. Details on the hardware configuration of MiVeRef and its control scheme are explained. As a first step to develop MiVeRef, we attempted to repel vermin such as mice and wild cats from farm environments. Extensive experiments were conducted to verify the effectiveness of MiVeRef and the proposed control solution. Through experiments in wild environments, the feasibility of MiVeRef was inspected. The results of this study are concretely described. vermin; repelling; Miyazaki vermin repulsion robot; changeable stimulation; acousto-optic signals +
Footnote †: journal: Applied sciences  
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fences with power grids and/or artificial lights [15; 16; 17]. With the advances of IoT technologies, automatic monitoring methods using camera systems installed on the fences have been reported [18; 19; 20]. Based on artificial intelligence, the methods generate expulsion sounds according to the types of vermin that have been detected [21; 22; 23]. However, installation and maintenance costs are high, and it is difficult to change the location and size after placement. Regarding the second approach, vermin can be killed in many ways, such as by using weapons, traps, and drugged baits [24; 25; 26; 27]. This approach is highly effective in controlling the number of vermin in a certain area. However, it requires the disposal of dead vermin bodies. Poisonous baits can lead to death or injury. This method may endanger the consumers of livestock that have ingested baits. The method is not suitable for wild animal preservation. As the third approach, the signals used in existing vermin expulsion methods primarily include sound [28; 29; 30], flash (light), appearance that imitates fierce predators [14], such as wolves and eagles, and smell [31] stimuli. Among these signals, sound and/or flash stimuli, known as acousto-optic signals, are widely used. Examples of vermin expulsion sounds include the cry of a beast [29], gun explosions [30], and air-raid sirens. Examples of optical signals include visible light and laser beams [32; 33]. This approach causes less harm to wild animals, livestock, and the natural environment than the killing approach. The installation of sound or light sources is convenient for changing the irradiation location based on the situation. However, when wild animals repeatedly experience the same acousto-optic signals, they can adapt to these signals. Accordingly, the repeated use of the same stimuli gradually reduces the effectiveness of this approach. In addition, for fixed artifact predators, vermin may learn to avoid areas facing the predators. Ultimately, these methods are ineffective in the long term; thus, vermin must be repelled by human force [34]. Unfortunately, to the best of our knowledge, no approaches have been reported as considering these limitations.