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2023年1月2日发(作者:wed)

HYDRA:FromCellularBiologyto

Shape-ChangingArtefacts

EsbenH.Østergaard1,enn1,PeterEggenberger2,Tim

Taylor3,1

1AdapTronicsgroup,MaerskMc-KinneyMollerInstituteforProduction

Technology,UniversityofSouthernDenmark

2ArtificialIntelligenceLaboratory,DepartmentofInformationTechnology,

UniversityofZ¨urich

3MobileRoboticsRearchgroup,InstituteofPerception,ActionandBehaviour,

UniversityofEdinburgh

RAworkprovidesinsightintotheexploitationof

holisticbehaviouralandmorphologicaladaptationinthedesignofnew

entialofthenewdesignprinciplehasbeenexemplified

throughtheconstructionofroboticsystemsthatcanchangemorphology.

Twoprototypebuildingblocksystemshasbeendeveloped,HYDRONfor

afluidscenario,YDRON

ca,theindividualmodulecanperform3Dmotionandisabletoar-

rangeinclustersofspecificformationwithoutthenecessityofphysical

TRONca,themodulesareindividuallysimpler,

attachthroughphysicalconnections,andperform3Dmotionsbycol-

lmechanismsidentifiedfromcellularbiologyhas

beensuccessfullytransferredtothephysicalbuildingblocks.

1Introduction

TheHYDRAprojectfocusonthedesignofbuildingblocksforlf-reconfigu-

ldingblocksallowrobustandefficientmorphologicalde-

velopmentofartefacts,inordertoallowend-urstodesignnewartefactsinan

edbybiologicalprinciples,theHYDRAprojectrealingi-

neeringstructureswiththepropertiesofdifferentiationandlf-reconfiguration.

Investigationsofbiologicalprinciplesrevealthatthecellisanappropriate

basisforthiswork,ads

tocontrolmechanismsbadoninspirationfromcellularmechanismssuchas

celldivision,cellmotion,celldeath,celladhesion,changeofcellshape,andcell

differentiationandinduction[6].

Byexploringdifferentpossiblebuildingblocksinsoftwareandhardwarede-

velopment,theprojectdefinesphysicalbuildingblocksthatallowdevelopmentof

systemscomprisinghundredsofbasicbuildingblocksthatexhibitlf-asmbly,

lf-repair,entialofthenewdesignstandardhasbeen

exemplifiedthroughtheconstructionoftworoboticsystemsthatcanchange

morphology.

Thecontrollingmechanismfoundinsimulationhasbeenmodified,imple-

ally,the

abstractgradient-badcontrolmechanismsfromthesimulationshasproven

:uralgenes(AandI),arecontrolledby

responsiveelements(RE).Aishereatranscriptionfactorregulatingitsownsynthesis

:Interactionsofgenes,morphogensandcellular

alstrainsofcellsarecontrolledbythetwochemicalgradients,shown

ina)andb).a)aloneproducestheshapeind),whiletheircombinationproducesthe

shapeshownine).From[3].

RAhardwareincludes20HY-

DRONmodulesforaquaticuand100ATRONmodulesforterrestrialu,

bothsystemscapableoflf-reconfigurationin3D.

2CellularBiology

Thebiologicalmechanismsoflf-asmblyandlf-repairwereinvestigatedand

modeledwithinanartificialevolutionarysysteminthecontextofcellularsys-

cprinciplesidentifiedfromthedevelopmentalmechanismswere

udtoimplementcontrolalgorithmsforthetwoHYDRAhardwareplatforms.

Havingchonthecellasourlevelofabstraction,ourmaintaskwasto

identifythodevelopmentalprocess,whichallowedanartificialevolution-

arysystemtomimicgrowthandregeneration[4]s

purpo,differentdevelopmentalprocessweresimulatedandexploredbyevo-

basiccellularmechanismswasidentified,whichcouldbeudto

simulateawiderangeofhigherlevelmechanismssuchaspatterngenerationor

co-evolutionofmorphologyandbehaviour.

Allthebiologicalmechanismsthatareesntialfordevelopment,celldivi-

sion,growth,differentiation,patternformationandmorphogenesisaremediated

teitherdirectlyoranzymestoproduceother

roteinsareencodedbygenes,sodevelopmentiscontrolled

ternofgeneexpressioninthe

embryodetermineswhere,whenandinwhatquantityparticularproteinsare

roteinsplaysuch

animportantrolefordevelopment,themechanismligand-receptorinteractions

::CellularAdhesionControlin2Dofa

gingtheattractiveandrepulsive

forcebetweentypesofcells,differentconfigurationscanbeachieved.

wasimplemented,whichcanmimicmanyspecificinteractionsamongproteins

torisusuallyalargeprotein,foldedinawaytobeableto

recognizespecifigand(asignalingmolecule)to

beufulitmustactlectivelyonparticulartargetssuchasgeneregulatorsor

ansthatareceptorwillonlyrecognizeligandsofacertain

incipleofbinding-site

andligandspecificitycanbefoundalmosteverywhereinmulticellularorganisms.

Thiscomplementaryspecificity,whichisbadontheveryexactmolecularrecog-

nitionpropertiesofmolecules,iscentraltoexplainingmanyofthephenomena

ofdevelopmentalbiology.

Thebasicmechanismsidentifiedincells-celldivision,celldeath,celladhe-

sion,expressionofreceptors,andproductionofsignalingmolecules-wereud

toevolveandsimulatehigher-levelprocesssuchascelldifferentiation,pattern

generation,morphogenesis,growthofneuralnetworkswithinter-neuronalcom-

1providesan

overviewofthesimulatedcellularmechanisms.

3TheHYDRONModule

AHYDRONunitisshowninfiitisroughlyspherical,with

adiameterofapproximately11cm,suspendedinwater,andactuatedinthe

Nunithasfournozzleswhichexpelwaterdrawn

throughanimpelleratthebottomoftheunitwhenactivated,andwhichare

gedrawsorexpelswaterthroughthebottom

oftheunittocontrolunitbuoyancy,andtherebyactuatetheunitalongthe

itshullalsosupportsasmalltofswitchableoptical

l

nsorsandtransmitterswerechonbecautheyprovideasimpleandflexible

underwatercommunicationmechanism.

SimulationworkonaCellularAdhesionMolecule(CAM)badcontrolap-

proach[8]showshowthissimple,biologically-inspiredapproachtodecentralized

multi-robotcontrolcanbeudforformingavarietyofspatialpatterns,as

showninfinbeachievedinmoduleswithlimitedcapacityfor

ulationresultsarealsoconsistentwith

thepredictionsofSteinberg’sDifferentialAdhesionHypothesisforsortingof

biologicalcellularaggregates[9].Theapproachisflexibleandrobust,andthe

designofthecontrollerpermitasytransfertotherealHYDRONrobots.

ThecombinationoftheCAMcontrollerwiththeGeneticRegulatoryNet-

work(GRN)controller[10]showsthattheGRNcanbeevolvedtoproduce

time-varyingexpressionofCAMsonarobots(virtual)membraneinorderto

achievespecifiallyformorecomplextasks(suchasreact-

ingtoanexternalsignal,orproducingdifferentiatedbehaviourfromaninitially

homogeneouscluster),theevolutionarypowerofthecombinedGRN-CAMcon-

trollerisabletoproducebetterperformancethancouldbeachievedbyeither

oftheprimitivecontrollersindividually.

4TheATRONModule

TheATRONmodules,showninfigure3andfurtherdescribedin[5],arelattice

badlf-reconfigurablerobotmodulesfor3Doperationinlandenvironments.

Greatlysimplified,anATRONmoduleiscompodoftwohemispheresjoined

togetherbyarotationmechanism

ATRONmodulescanconnectusingmechanicalhookswhichattachtoanar-

rangementofbarsonaneighbour,similarlyadhesionproteinsbindtoligandson

halfmodule,therearetwofemale(bars)

andtwoactuatedmaleconnectors(hooks).Thenovelmechanicalconnectorde-

sign,emaycommunicatewith

neighbouringmodulesthroughIRcommunication.

Whenplacedinthesurface-centredcubiclatticestructure,themodulescan

lf-reconfiguretoachievediff

shapeallowsonemoduletomovetoanadjacentholeinanotherwifullypacked

structure(withoutcollidingwithothermodules).Indeed,thedesignwasguided

byconsiderationsonhowtoreducecontrolcomplexityoflf-reconfiguration,

r,comparedtobiologicalcellsand

theHYDRONmodule,-

ityrelatedrestrictionsincludestaticstabilityoftheconfiguration,notexceeding

motortorquelimits,andobeyingstructuralstiff,careshouldbetaken

duringlf-reconfigurationtoavoidmodulecollisionsandtomaintainstructural

temalsohassimilaritieswithcellularsystems,inthata

questionishowtheprinciplesfrombiologyshouldbetransferredtosuitthehard

constraintsoftheATRONhardware.

In[1]wedescribeaGRN-stylesystem,whereeachmoduleiscontrolledby

simplerulesoftheform{precondition,action},badonthelocalneighbour-

ivationofrulesisdeterminedbythe

hormonegradients,suchthattheeffortofeachindividualmoduleisorchestrated

ongthelineshaveshownthat

suchsimplerulesbadonlocalmorphologycangeneratescalableandrobust

Fig.3.a)ExplodedviewoftheATRONCADdrawing,andb)aphotoofthefinal

hardware.c)ExperimentontheATRONplatformshowingthreewhitemodulesasa

meta-moduleintheprocessofmigratingonasubstrateofmodules.d)Thesimulated

migrationofATRONmeta-modulespermitsapproximationofthetargetshapedefined

asattractionpoints.

behavioratorganismlevel,suchasclusterwalk,obstacleavoidanceandterrain

following[7].

Chemicalgradientsareknowntoguidemigratingcells[6].Inordertoachieve

adesiredlf-reconfiguration,thismechanismhasbeentransferredtotheATRON

platform[2].ATRONmodulescanutheirIR-badneighbour-to-neighbour

ion

isachievedusingameta-moduleconsistingofthreemodules,e3c).Sucha

meta-modulehastheabilitytomoverelativelyfreelyonthesubstrateofother

-modulemergefromthestructureofmodules,migratebadon

cuesfromitnvironment,anddiewhenreachingtheirtarget,onceagainbe-

proachissimilartothedivisionanddeath

binationofgradientsandmigratingmeta-modules

enablethesystemtochangeitsshape,efigure3d),andtherebyadapttothe

requiredfunctionalityofthesystem.

5Conclusion

TheHYDRAworkprovidesinsightintotheexploitationofholisticbehavioural

andmorphologicaladaptationinthedesignofnewartefacts.

Investigationsofbiologicalprincipleshaverevealedthatthecellisanappro-

priatelevelofabstraction,ads

tocontrolmechanismsbadoninspirationfromcellularmechanismssuchascell

division,cellmotion,celldeath,celladhesion,changeofcellshape,andcelldiffer-

imulationworkshowshowsuchmechanisms

trollingmech-

anismfoundinsimulationhasbeenmodified,implementedandtestedascontrol

tion,gradient-badcontrolmechanisms

havebeenabstractedfromthesimulations.

20HYDRONmodulesand100ATRONmoduleshavebeenproduced,and

oticsystem’s

abilitytoreconficessfuloutcome

oftheprojecthasbeenvideotapedforprentationandthephysicalmodules

demonstrationshavebeenshowcadatvariousPReventsandscientificevents

worldwide.

Acknowledgment

ThisworkwasfundedbyEU’sInformationSocietyTechnologiesProgramme,

IST-2001-33060,HYDRA,FutureandEmergingTechnologies.

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