Fully decentralized control of a soft-bodied robot inspired by true slime mold

Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement many degrees of freedom, equivalent to animals, into the robots’ bodies. For taming many degrees of freedom, the concept of autonomous decentralized control plays a pivotal role. However a systematic way of designing such autonomous decentralized control system is still missing. Aiming at understanding the principles that underlie animals’ locomotion, we have focused on a true slime mold, a primitive living organism, and extracted a design scheme for autonomous decentralized control system. In order to validate this design scheme, this article presents a soft-bodied amoeboid robot inspired by the true slime mold. Significant features of this robot are twofold: (1) the robot has a truly soft and deformable body stemming from real-time tunable springs and protoplasm, the former is used for an outer skin of the body and the latter is to satisfy the law of conservation of mass; and (2) fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts stemming from the law of conservation of protoplasmic mass. Simulation results show that this robot exhibits highly supple and adaptive locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design methodology for autonomous decentralized control system.     

Modeling locomotion of a soft-bodied arthropod using inverse dynamics

Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of animals in natural environments by incorporating compliant materials into the locomotory system. However, the mechanics of moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for the soft-bodied tobacco hornworm caterpillar, Manduca sexta, to provide insight for biologists and engineers studying locomotion by highly deformable animals and caterpillar-like robots. Using inverse dynamics to process experimentally acquired point-tracking data, ground reaction forces and internal forces were determined for a crawling caterpillar. Computed ground reaction forces were compared to experimental data to validate the model. The results show that a system of linked extendable joints can faithfully describe the general form and magnitude of the contact forces produced by a crawling caterpillar. Furthermore, the model can be used to compute internal forces that cannot be measured experimentally. It is predicted that between different body segments in stance phase the body is mostly kept in tension and that compression only occurs during the swing phase when the prolegs release their grip. This finding supports a recently proposed mechanism for locomotion by soft animals in which the substrate transfers compressive forces from one part of the body to another (the environmental skeleton) thereby minimizing the need for hydrostatic stiffening. The model also provides a new means to characterize and test control strategies used in caterpillar crawling and soft robot locomotion.     

Phosphatized soft-bodied squids from the Jurassic Oxford Clay

A diagenetic case study of phosphatized soft-bodied squids from the lower part of the Oxford Clay of Christian Malford, Wiltshire, has dated mineralization in relation to burial history. Complete squids with mantle tissues were examined under the SEM as uncoated specimens at low KV. A simple stage attachment designed for this purpose is described. Soft-parts are preserved in three dimensions and must therefore have been mineralized prior to decay-induced tissue collapse. Such mineralization occurred near to the anoxic/oxic boundary in the 'soupy' upper layer of organic-rich sediment. In acrobic conditions, phosphates were liberated to pore-water solution from decomposing organic matter and became adsorbed to ferric hydroxides within sediment. The reduction of these ferric hydroxides at the anoxic-oxic interface liberated phosphates to solutions which were conccntrated in the decomposing carcasses of the squids. This mineral concentration was favoured by the development of a high pH reducing environment around the carcass and possibly by complexing with protcolipids liberated by decomposition of animal matter. ▭ Soft-part preservation, phosphatization, SEM techniques, cephatopod. Oxford Clay, Wiltshire, England.     

A soft-bodied lophophorate from the Silurian of England

Soft-bodied taxa comprise an important component of the extant lophophorate fauna, but convincing fossils of soft-bodied lophophorates are extremely rare. A small fossil lophophorate, attached to a brachiopod dorsal valve, is described from the Silurian (Wenlock Series) Herefordshire Lagerstätte of England. This unmineralized organism was bilaterally symmetrical and comprised a subconical body attached basally to the host and partially enclosed by a broad ‘hood’; the body bore a small, coiled lophophore. Where the hood attached laterally, there is a series of transverse ridges and furrows. The affinities of this organism probably lie with Brachiopoda; the hood is interpreted as the homologue of a dorsal valve/mantle lobe, and the attachment as the homologue of the ventral valve and/or pedicle. The ridges are arranged in a manner that suggests constructional serial repetition, indicating that they are unlikely to represent mantle canals. Extant brachiopods are not serially structured, but morphological and molecular evidence suggests that their ancestors were. The new organism may belong to the brachiopod stem group, and might also represent a significant element of the Palaeozoic lophophorate fauna.     

Late Jurassic soft-bodied wood epibionts preserved by bioimmuration

While the encrustation of floating driftwood by pseudoplankton has attracted much debate, the utilization of benthic xylic substrata by sessile organisms has received scant attention. Here we record a benthic woodground fauna, including weakly mineralized and entirely soft-bodied taxa, which have been preserved within the cement of an overgrowing oyster. This process, bioimmuration, is ubiquitous in marine hard-substrate communities but is recorded here on a xylic substrate for the first time. Comparison of bioimmured communities will allow investigation of changes in woodground fauna through time and offers the potential for a fuller understanding of the effect of substrate texture on community composition.     

Patterns of diversity in soft-bodied meiofauna: dispersal ability and body size matter

Background

Biogeographical and macroecological principles are derived from patterns of distribution in large organisms, whereas microscopic ones have often been considered uninteresting, because of their supposed wide distribution. Here, after reporting the results of an intensive faunistic survey of marine microscopic animals (meiofauna) in Northern Sardinia, we test for the effect of body size, dispersal ability, and habitat features on the patterns of distribution of several groups.

Methodology/Principal Findings

As a dataset we use the results of a workshop held at La Maddalena (Sardinia, Italy) in September 2010, aimed at studying selected taxa of soft-bodied meiofauna (Acoela, Annelida, Gastrotricha, Nemertodermatida, Platyhelminthes and Rotifera), in conjunction with data on the same taxa obtained during a previous workshop hosted at Tjärnö (Western Sweden) in September 2007. Using linear mixed effects models and model averaging while accounting for sampling bias and potential pseudoreplication, we found evidence that: (1) meiofaunal groups with more restricted distribution are the ones with low dispersal potential; (2) meiofaunal groups with higher probability of finding new species for science are the ones with low dispersal potential; (3) the proportion of the global species pool of each meiofaunal group present in each area at the regional scale is negatively related to body size, and positively related to their occurrence in the endobenthic habitat.

Conclusion/Significance

Our macroecological analysis of meiofauna, in the framework of the ubiquity hypothesis for microscopic organisms, indicates that not only body size but mostly dispersal ability and also occurrence in the endobenthic habitat are important correlates of diversity for these understudied animals, with different importance at different spatial scales. Furthermore, since the Western Mediterranean is one of the best-studied areas in the world, the large number of undescribed species (37%) highlights that the census of marine meiofauna is still very far from being complete.     

Composition and preservation of the Chengjiang fauna –a Lower Cambrian soft-bodied biota

The Lower Cambrian Chengjiang fauna is reviewed and shown to be closely comparable with the younger Burgess Shale fauna. but with various differences in detail. A diverse group of more or less annulated lobopod animals including 'armoured lobopods' are regarded as representatives of the phylum Onychophora. 'Trilobitomorphs' include several new types. Probable protaspides of the trilobitomorph Naraoia are described. No molluses or deuterostomes have been identified. The preservational orientations of the various taxa are reviewed and compared with orientations of the Burgess Shale taxa. Orientation in the sediment is found to be closely correlated to the original shape of individuals. Several new genera and species are described: the segmented. worm-shaped Yunnanozoon lividum gen. et sp.n., the 'armoured lobopods' Onychodictyon ferox gen. et sp.n. and Cardiodictyon catenulum gen. et sp.n. and the arthropods Saperion glumaceum gen. et sp.n., Sinoburius Iunaris gen. et sp.n., and Xandarella spectaculum gen. et sp.n.     

Coupling non-destructive DNA extraction and voucher retrieval for small soft-bodied Arthropods in a high-throughput context: the example of Collembola

Here, we describe a simple method adapted for high-throughput protocols allowing voucher specimen recovery for Collembola and by extension for other soft-bodied small arthropods. A standard extraction protocol was tested to examine the effects of lysis duration (1, 2, 4, 12 h) on DNA concentration, amplification success and specimen condition. Good quality DNA was obtained after 1 h of lysis, while voucher condition was fine for up to 12 h. The lysis step substantially shortens the clearing process necessary for morphological examination.     

Kinematics of soft-bodied, legged locomotion in Manduca sexta larvae

Caterpillar crawling is distinct from that of worms and molluscs; it consists of a series of steps in different body segments that can be compared to walking and running in animals with stiff skeletons. Using a three-dimensional kinematic analysis of horizontal crawling in Manduca sexta, the tobacco hornworm, we found that the phase of vertical displacement in the posterior segments substantially led changes in horizontal velocity and the segments appeared to pivot around the attached claspers. Both of the motions occur during vertebrate walking. In contrast, vertical displacement and horizontal velocity in the anterior proleg-bearing segments were in phase, as expected for running gaits coupled by elastic storage. We propose that this kinematic similarity to running results from the muscular compression and release of elastic tissues. As evidence in support of this proposal, the compression and extension of each segment were similar to harmonic oscillations in a spring, although changes in velocity were 70 degrees out of phase with displacement, suggesting that the spring was damped. Measurements of segment length within, and across, intersegmental boundaries show that some of these movements were caused by folding of the body wall between segments. These findings demonstrate that caterpillar crawling is not simply the forward progression of a peristaltic wave but has kinetic components that vary between segments. Although these movements can be compared to legged locomotion in animals with stiff skeletons, the underlying mechanisms of caterpillar propulsion, and in particular the contribution of elastic tissues, remain to be discovered.     

First detection of Rickettsia in soft-bodied ticks associated with seabirds, Japan

Rickettsia was first detected in seabird soft-bodied ticks, Carios capensis and C. sawaii in Japan. According to sequence analysis, Rickettsia in Japan was identical to Rickettsia scc31 in C. capensis in the U.S.A. This suggested that an environmental circulation had consisted among microorganisms, ticks and long distance migratory seabirds around the Pacific Ocean.     

Control of a robot dinosaur

The Palaiomation Consortium, supported by the European Commission, is building a robot Iguanodon atherfieldensis for museum display that is much more sophisticated than existing animatronic exhibits. The current half-size (2.5 m) prototype is fully autonomous, carrying its own computer and batteries. It walks around the room, choosing its own path and avoiding obstacles. A bigger version with a larger repertoire of behaviours is planned. Many design problems have had to be overcome. A real dinosaur would have had hundreds of muscles, and we have had to devise means of achieving life-like movement with a much smaller number of motors; we have limited ourselves to 20, to keep the control problems manageable. Realistic stance requires a narrower trackway and a higher centre of mass than in previous (often spider-like) legged robots, making it more difficult to maintain stability. Other important differences from previous walking robots are that the forelegs have to be shorter than the hind, and the machinery has had to be designed to fit inside a realistically shaped body shell. Battery life is about one hour, but to achieve this we have had to design the robot to have very low power consumption. Currently, this limits it to unrealistically slow movement. The control system includes a high-level instructions processor, a gait generator, a motion-coordination generator, and a kinematic model.     

Operating room scheduling and rescheduling: a rolling horizon approach

In this work we consider the problem of selecting a set of patients among a given waiting list of elective patients and assigning them to a set of available operating room blocks. We assume a block scheduling strategy in which the number and the length of available blocks are given. As each block is related to a specific day, by assigning a patient to a block his/her surgery date is fixed, as well. Each patient is characterized by a recommended maximum waiting time and an uncertain surgery duration. In practical applications, new patients enter the waiting list continuously. Patient selection and assignment is performed by surgery departments on a short-term, usually a week, regular base. We propose a so-called rolling horizon approach for the patient selection and assignment. At each iteration short-term patient assignment is decided. However, in a look-ahead perspective, a longer planning horizon is considered when looking for the patient selection. The mid-term assignment over the next \(n\) weeks is generated by solving an ILP problem, minimizing a penalty function based on total waiting time and tardiness of patients. The approach is iteratively applied by shifting ahead the mid-term planning horizon. When applying the first week solution, unpredictable extensions of surgeries may disrupt the schedule. Such disruptions are recovered in the next iteration: the mid-term solution is rescheduled limiting the number of variations from the previously computed plan. Besides, the approach allows to deal with new patient arrivals. To keep limited the number of disruptions due to uncertain surgery duration, we propose also a robust formulation of the ILP problem. The deterministic and the robust formulation based frameworks are compared over a set of instances, including different stochastic realization of surgery times.     

Gelatinous and soft-bodied zooplankton in the Northeast Pacific Ocean: Phosphorus content and potential resilience to phosphorus limitation

Hydrobiologia - Marine ecosystems on continental shelves face multiple challenges due to anthropogenic disturbances, many of which can change the seawater stoichiometry (C:N:P) and consequently...     

Kilogrid: a novel experimental environment for the Kilobot robot

We present the Kilogrid, an open-source virtualization environment and data logging manager for the Kilobot robot, Kilobot for short. The Kilogrid has been designed to extend the sensory-motor abilities of the Kilobot, to simplify the task of collecting data during experiments, and to provide researchers with a tool to fine-control the experimental setup and its parameters. Based on the design of the Kilobot and compatible with existing hardware, the Kilogrid is a modular system composed of a grid of computing nodes, or modules that provides a bidirectional communication channel between the Kilobots and a remote workstation. In this paper, we describe the hardware and software architecture of the Kilogrid system as well as its functioning to accompany its release as a new open hardware tool for the swarm robotics community. We demonstrate the capabilities of the Kilogrid using a 200-module Kilogrid, swarms of up to 100 Kilobots, and four different case studies: exploration and obstacle avoidance, site selection based on multiple gradients, plant watering, and pheromone-based foraging. Through this set of case studies, we show how the Kilogrid allows the experimenter to virtualize sensors and actuators not available to the Kilobot and to automatize the collection of data essential for the analysis of the experiments.     

Active navigation with a monocular robot

 A scheme is presented that uses the self-motion of a robot, equipped with a single visual sensor, to navigate in a safe manner. The motion strategy used is modelled on the motion of insects that effectively have a single eye and must move in order to determine range. The essence of the strategy is to employ a zigzag motion in order to (a) estimate the range to objects and (b) know the safe distance of travel in the present direction. An example is presented of a laboratory robot moving in a cluttered environment. The results show that this motion strategy can be successfully employed in an autonomous robot to avoid collisions. Received: 17 August 1993/Accepted: 2 May 1994     

Path formation in a robot swarm

We present two swarm intelligence control mechanisms used for distributed robot path formation. In the first, the robots form linear chains. We study three variants of robot chains, which vary in the degree of motion allowed to the chain structure. The second mechanism is called vectorfield. In this case, the robots form a pattern that globally indicates the direction towards a goal or home location. We test each controller on a task that consists in forming a path between two objects which an individual robot cannot perceive simultaneously. Our simulation experiments show promising results. All the controllers are able to form paths in complex obstacle environments and exhibit very good scalability, robustness, and fault tolerance characteristics. Additionally, we observe that chains perform better for small robot group sizes, while vectorfield performs better for large groups.