undersea robot
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Undersea robot
Biomimetic Underwater
Robot Program
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Biomimetic Robots
We are developing neurotechnology based on the neurophysiology and
behavior of animal models. We developed two classes of biomimetic
autonomous underwater vehicles (see above). The first is an 8-legged
ambulatory vehicle that is based on the lobster and is intended for
autonomous remote-sensing operations in rivers and/or the littoral zone
ocean bottom with robust adaptations to irregular bottom contours,current and surge. The second vehicle is an undulatory system that is
based on the lamprey and is intended for remote sensing operations in the
water column with robust depth/altitude control and high
maneuverability. These vehicles are based on a common biomimetic
control, actuator and sensor architecture that features highly
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modularized components and low cost per vehicle. Operating in concert,
they can conduct autonomous investigation of both the bottom and water
column of the littoral zone or rivers. These systems represent a new class
of autonomous underwater vehicles that may be adapted to operations in
a variety of habitat
Cyberplasm
We are collaborating with investigators at The University of California,
The University of Alabama and Newcastle University to apply principles
of synthetic biology to the integration of a hybrid microbot. The aim of
this research is to construct Cyberplasm, a micro-scale robot integrating
microelectronics with cells in which sensor and actuator genes have been
inserted and expressed. This will be accomplished using a combination of
cellular device integration, advanced microelectronics and biomimicry; an
approach that mimics animal models; in the latter we will imitate some ofthe behavior of the marine animal the sea lamprey. Synthetic muscle will
generate undulatory movements to propel the robot through the water.
Synthetic sensors derived from yeast cells will be reporting signals from
the immediate environment. These signals will be processed by an
electronic nervous system. The electronic brain will, in turn, generate
signals to drive the muscle cells that will use glucose for energy. All
electronic components will be powered by a microbial fuel cell integrated
into the robot body.
This research aims to harness the power of synthetic biology at the
cellular level by integrating specific gene parts into bacteria, yeast and
mammalian cells to carry out device like functions. Moreover this
approach will allow the cells/bacteria to be simplified so that the
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input/output (I/O) requirements of device integration can be addressed.
In particular we plan to use visual receptors to couple electronics to both
sensation and actuation through light signals. In addition synthetic biology
will be carried out at the systems level by interfacing multiple cellular
/bacterial devices together, connecting to an electronic brain and ineffect creating a multi-cellular biohybrid micro-robot. Motile function will
be achieved by engineering muscle cells to have the minimal cellular
machinery required for excitation/contraction coupling and contractile
function. The muscle will be powered by mitochondrial conversion of
glucose to ATP, an energetic currency in biological cells, hence combining
power generation with actuation.
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RoboBees We are collaborating with investigators at Harvard University School of Engineering
and Applied Sciences, the Wyss Institute for Biologically Inspired Engineering andCentEye to develop colonies of Robotic Bees. This project integrates approaches at
the body, brain and colony level. Inspired by the biology of a bee and the insectÕshive behavior, we aim to push advances in miniature robotics and the design of compact high-energy power sources; spur innovations in ultra-low-power computing
and electronic smart sensors; and refine coordination algorithms to manage multiple,independent machines
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Electronic Nervous Systems
We are also developing neuronal circuit based controllers for both robots
and neurorehabilitative devices. These controllers are based on
UCSD Electronic Neurons and and UCSD Discrete Time Map-basedneurons.
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Neurotechnology for Biomimetic Robots
Edited by Joseph Ayers, Joel L. Davis and Alan Rudolph
The goal of neurotechnology is to confer the performance advantages of animal systems on robotic
machines. Biomimetic robots differ from traditional robots in that they are agile, relatively cheap, and able
to deal with real-world environments. The engineering of these robots requires a thorough understanding of
the biological systems on which they are based, at both the biomechanical and physiological levels.
This book provides an in-depth overview of the field. The areas covered include myomorphic actuators,
which mimic muscle action; neuromorphic sensors, which, like animal sensors, represent sensory modalities
such as light, pressure, and motion in a labeled-line code; biomimetic controllers, based on the relatively
simple control systems of invertebrate animals; and the autonomous behaviors that are based on an
animal's selection of behaviors from a species-specific behavioral "library." The ultimate goal is to develop a
truly autonomous robot, one able to navigate and interact with its environment solely on the basis of
sensory feedback without prompting from a human operator.
About the Editors
Joseph Ayers is Director of the Marine Science Center and Associate Professor of Biology at Northeastern
University.
Joel L. Davis is Program Officer, Cognitive, Neural, and Biomolecular Science and Technology Division, Office
of Naval Research.
Alan Rudolph is Program Manager in the Defense Sciences Office at DARPA, the Defense Advanced Research
Projects Agency.