A new meta-module design for efficient reconfiguration of modular robots
Ontology highlight
ABSTRACT: Supplementary Information
The online version supplementary material available at 10.1007/s10514-021-09977-6.
SUBMITTER: Parada I
PROVIDER: S-EPMC8549976 | biostudies-literature |
REPOSITORIES: biostudies-literature
Similar Datasets
Project description:Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually determined by a human designer after several months or years of iterative ideation, prototyping, and testing. Inspired by evolutionary design in nature, the automated design of robots using evolutionary algorithms has been attempted for two decades, but it too remains inefficient: days of supercomputing are required to design robots in simulation that, when manufactured, exhibit desired behavior. Here we show de novo optimization of a robot's structure to exhibit a desired behavior, within seconds on a single consumer-grade computer, and the manufactured robot's retention of that behavior. Unlike other gradient-based robot design methods, this algorithm does not presuppose any particular anatomical form; starting instead from a randomly-generated apodous body plan, it consistently discovers legged locomotion, the most efficient known form of terrestrial movement. If combined with automated fabrication and scaled up to more challenging tasks, this advance promises near-instantaneous design, manufacture, and deployment of unique and useful machines for medical, environmental, vehicular, and space-based tasks.
| S-EPMC10576117 | biostudies-literature
Project description:Many RNA-binding proteins have modular structures and are composed of multiple repeats of just a few basic domains that are arranged in various ways to satisfy their diverse functional requirements. Recent studies have investigated how different modules cooperate in regulating the RNA-binding specificity and the biological activity of these proteins. They have also investigated how multiple modules cooperate with enzymatic domains to regulate the catalytic activity of enzymes that act on RNA. These studies have shown how, for many RNA-binding proteins, multiple modules define the fundamental structural unit that is responsible for biological function.
| S-EPMC5507177 | biostudies-literature
Project description:We study evolutionary robot systems where not only the robot brains but also the robot bodies are evolvable. Such systems need to include a learning period right after 'birth' to acquire a controller that fits the newly created body. In this paper we investigate the possibility of bootstrapping infant robot learning through employing Lamarckian inheritance of parental controllers. In our system controllers are encoded by a combination of a morphology dependent component, a Central Pattern Generator (CPG), and a morphology independent part, a Compositional Pattern Producing Network (CPPN). This makes it possible to transfer the CPPN part of controllers between different morphologies and to create a Lamarckian system. We conduct experiments with simulated modular robots whose fitness is determined by the speed of locomotion, establish the benefits of inheriting optimized parental controllers, shed light on the conditions that influence these benefits, and observe that changing the way controllers are evolved also impacts the evolved morphologies.
| S-EPMC7805734 | biostudies-literature
Project description:Robots performing automated tasks in uncontrolled environments need to adapt to environmental changes. Through building large collectives of robots, this robust and adaptive behavior can emerge from simple individual rules. These collectives can also be reconfigured, allowing for adaption to new tasks. Larger collectives are more robust and more capable, but the size of existing collectives is limited by the cost of individual units. In this article, we present a soft, modular robot that we have explicitly designed for manufacturability: Linbots. Linbots use multifunctional voice coils to actuate linearly, to produce audio output, and to sense touch. When used in collectives, the Linbots can communicate with neighboring Linbots allowing for isolated behavior as well as the propagation of information throughout a collective. We demonstrate that these collectives of Linbots can perform complex tasks in a scalable distributed manner, and we show transport of objects by collective peristalsis and sorting of objects by a two-dimensional array of Linbots.
| S-EPMC6486669 | biostudies-literature
Project description:Magnetically responsive composites can impart maneuverability to miniaturized robots. However, collective actuation of these composite robots has rarely been achieved, although conducting cooperative tasks is a promising strategy for accomplishing difficult missions with a single robot. Here, we report multimodal collective swimming of ternary-nanocomposite-based magnetic robots capable of on-demand switching between rectilinear translational swimming and rotational swimming. The nanocomposite robots comprise a stiff yet lightweight carbon nanotube yarn (CNTY) framework surrounded by a magnetic polymer composite, which mimics the hierarchical architecture of musculoskeletal systems, yielding magnetically articulated multiple robots with an agile above-water swimmability (~180 body lengths per second) and modularity. The multiple robots with multimodal swimming facilitate the generation and regulation of vortices, enabling novel vortex-induced transportation of thousands of floating microparticles and heavy semi-submerged cargos. The controllable collective actuation of these biomimetic nanocomposite robots can lead to versatile robotic functions, including microplastic removal, microfluidic vortex control, and transportation of pharmaceuticals.
| S-EPMC9643480 | biostudies-literature
Project description:Speech comprehension in noisy, multitalker situations poses a challenge. Successful behavioral adaptation to a listening challenge often requires stronger engagement of auditory spatial attention and context-dependent semantic predictions. Human listeners differ substantially in the degree to which they adapt behaviorally and can listen successfully under such circumstances. How cortical networks embody this adaptation, particularly at the individual level, is currently unknown. We here explain this adaptation from reconfiguration of brain networks for a challenging listening task (i.e., a linguistic variant of the Posner paradigm with concurrent speech) in an age-varying sample of n = 49 healthy adults undergoing resting-state and task fMRI. We here provide evidence for the hypothesis that more successful listeners exhibit stronger task-specific reconfiguration (hence, better adaptation) of brain networks. From rest to task, brain networks become reconfigured toward more localized cortical processing characterized by higher topological segregation. This reconfiguration is dominated by the functional division of an auditory and a cingulo-opercular module and the emergence of a conjoined auditory and ventral attention module along bilateral middle and posterior temporal cortices. Supporting our hypothesis, the degree to which modularity of this frontotemporal auditory control network is increased relative to resting state predicts individuals' listening success in states of divided and selective attention. Our findings elucidate how fine-tuned cortical communication dynamics shape selection and comprehension of speech. Our results highlight modularity of the auditory control network as a key organizational principle in cortical implementation of auditory spatial attention in challenging listening situations.
| S-EPMC6329957 | biostudies-literature
Project description:Prodrug strategies that facilitate localized and controlled activity of small-molecule therapeutics can reduce systemic exposure and improve pharmacokinetics, yet limitations in activation chemistry have made it difficult to assign tunable multifunctionality to prodrugs. Here, we present the design and application of a modular small-molecule caging strategy that couples bioorthogonal cleavage with a self-immolative linker and an aliphatic anchor. This strategy leverages recently discovered in vivo catalysis by a nanoencapsulated palladium compound (Pd-NP), which mediates alloxylcarbamate cleavage and triggers release of the activated drug. The aliphatic anchor enables >90% nanoencapsulation efficiency of the prodrug, while also allowing >104-fold increased cytotoxicity upon prodrug activation. We apply the strategy to a prodrug formulation of monomethyl auristatin E (MMAE), demonstrating its ability to target microtubules and kill cancer cells only after selective activation by Pd-NP. Computational pharmacokinetic modeling provides a mechanistic basis for the observation that the nanotherapeutic prodrug strategy can lead to more selective activation in the tumor, yet in a manner that is more sensitive to variable enhanced permeability and retention (EPR) effects. Combination treatment with the nanoencapsulated MMAE prodrug and Pd-NP safely blocks tumor growth, especially when combined with a local radiation therapy regimen that is known to improve EPR effects, and represents a conceptual step forward in prodrug design.
| S-EPMC6307086 | biostudies-literature
Project description:Efficient biosynthesis of the plant polyphenol pinosylvin, which has numerous applications in nutraceuticals and pharmaceuticals, is necessary to make biological production economically viable. To this end, an efficient Escherichia coli platform for pinosylvin production was developed via a rational modular design approach. Initially, different candidate pathway enzymes were screened to construct de novo pinosylvin pathway directly from D-glucose. A comparative analysis of pathway intermediate pools identified that this initial construct led to the intermediate cinnamic acid accumulation. The pinosylvin synthetic pathway was then divided into two new modules separated at cinnamic acid. Combinatorial optimization of transcriptional and translational levels of these two modules resulted in a 16-fold increase in pinosylvin titer. To further improve the concentration of the limiting precursor malonyl-CoA, the malonyl-CoA synthesis module based on clustered regularly interspaced short palindromic repeats interference was assembled and optimized with other two modules. The final pinosylvin titer was improved to 281 mg/L, which was the highest pinosylvin titer even directly from D-glucose without any additional precursor supplementation. The rational modular design approach described here could bolster our capabilities in synthetic biology for value-added chemical production.
| S-EPMC5431097 | biostudies-literature
Project description:In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consists of three-dimensional printed voice coil actuators, which are connected by flexible silicone membranes. Each electromagnetic actuator engages with its neighbor to compress or extend the membrane of each segment, and the sequence in which they are actuated results in an earthworm-inspired peristaltic motion. We find that a minimum of three segments is required for locomotion, but due to our modular design, robots of any length can be quickly and easily assembled. In addition to actuation, voice coils provide audio input and output capabilities. We demonstrate transmission of data between segments by high-frequency carrier waves and, using a similar mechanism, we note that the passing of power between coupled coils in neighboring modules-or from an external power source-is also possible. Voice coils are a convenient multifunctional alternative to existing soft robot actuators. Their self-contained nature and ability to communicate with each other are ideal for modular robotics, and the additional functionality of sound input/output and power transfer will become increasingly useful as soft robots begin the transition from early proof-of-concept systems toward fully functional and highly integrated robotic systems.
| S-EPMC5180079 | biostudies-literature
Project description:A major goal of autonomous robot collectives is to robustly perform complex tasks in unstructured environments by leveraging hardware redundancy and the emergent ability to adapt to perturbations. In such collectives, large numbers is a major contributor to system-level robustness. Designing robot collectives, however, requires more than isolated development of hardware and software that supports large scales. Rather, to support scalability, we must also incorporate robust constituents and weigh interrelated design choices that span fabrication, operation, and control with an explicit focus on achieving system-level robustness. Following this philosophy, we present the first iteration of a new framework toward a scalable and robust, planar, modular robot collective capable of gradient tracking in cluttered environments. To support co-design, our framework consists of hardware, low-level motion primitives, and control algorithms validated through a kinematic simulation environment. We discuss how modules made primarily of flexible printed circuit boards enable inexpensive, rapid, low-precision manufacturing; safe interactions between modules and their environment; and large-scale lattice structures beyond what manufacturing tolerances allow using rigid parts. To support redundancy, our proposed modules have on-board processing, sensing, and communication. To lower wear and consequently maintenance, modules have no internally moving parts, and instead move collaboratively via switchable magnets on their perimeter. These magnets can be in any of three states enabling a large range of module configurations and motion primitives, in turn supporting higher system adaptability. We introduce and compare several controllers that can plan in the collective's configuration space without restricting motion to a discrete occupancy grid as has been done in many past planners. We show how we can incentively redundant connections to prevent single-module failures from causing collective-wide failure, explore bad configurations which impede progress as a result of the motion constraints, and discuss an alternative "naive" planner with improved performance in both clutter-free and cluttered environments. This dedicated focus on system-level robustness over all parts of a complete design cycle, advances the state-of-the-art robots capable of long-term exploration.
| S-EPMC7805808 | biostudies-literature