GMU:Flagelates, Nematodes, and I/F.Z.Ayguler - Revision history

Fzayguler: /* Research / Inspiration */

2021-10-12T19:50:19Z

Research / Inspiration

← Older revision		Revision as of 19:50, 12 October 2021
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	Wiliam Grey Walter's well known autonomous robot works (tortoises) was another inspiration for me. He built some of the first artificial animals in 1940s. He was a neurophysiologists and developed these robot tortoises using purely analog electronics to simulate brain process. His robots responded touch and light.		Wiliam Grey Walter's well known autonomous robot works (tortoises) was another inspiration for me. He built some of the first artificial animals in 1940s. He was a neurophysiologists and developed these robot tortoises using purely analog electronics to simulate brain process. His robots responded touch and light.


	{{#ev:youtube\|lLULRlmXkKo\|700}}		{{#ev:youtube\|lLULRlmXkKo\|700}}

Fzayguler: /* Research / Inspiration */

2021-10-12T19:50:00Z

Research / Inspiration

← Older revision		Revision as of 19:50, 12 October 2021
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	What is special about C. Elegans is that they are among the best understood animal. Its whole genome was sequenced and it is the only creature to have had its neural system completely simulated. It has 302 neurons hard wired with around 8000 connections. We have a complete map of C. Elegan's admittedly simple, neural circuit created by [https://http://openworm.org/ Open Worm Project] .This model has been used to implement the worm's brain in a number of ways including building an artificial version of the worm's brain and building devices seem to behave like the worm. The researches concerning how the neural system of C. Elegans uploaded to a computer to solve a problem and mimiking digital evolutionary process of C. Elegans using deep reinforcement learning in in a nature-like simulation are the main inspirations for my project. You will see details of these researches in my references and research notes section. Below is a simulation of worms body interacted with fluid environment around it.		What is special about C. Elegans is that they are among the best understood animal. Its whole genome was sequenced and it is the only creature to have had its neural system completely simulated. It has 302 neurons hard wired with around 8000 connections. We have a complete map of C. Elegan's admittedly simple, neural circuit created by [https://http://openworm.org/ Open Worm Project] .This model has been used to implement the worm's brain in a number of ways including building an artificial version of the worm's brain and building devices seem to behave like the worm. The researches concerning how the neural system of C. Elegans uploaded to a computer to solve a problem and mimiking digital evolutionary process of C. Elegans using deep reinforcement learning in in a nature-like simulation are the main inspirations for my project. You will see details of these researches in my references and research notes section. Below is a simulation of worms body interacted with fluid environment around it.

			{{#ev:youtube\|SaovWiZJUWY\|700}}

	~~{{#ev:youtube\|SaovWiZJUWY\|700}}~~

	Wiliam Grey Walter's well known autonomous robot works (tortoises) was another inspiration for me. He built some of the first artificial animals in 1940s. He was a neurophysiologists and developed these robot tortoises using purely analog electronics to simulate brain process. His robots responded touch and light.		Wiliam Grey Walter's well known autonomous robot works (tortoises) was another inspiration for me. He built some of the first artificial animals in 1940s. He was a neurophysiologists and developed these robot tortoises using purely analog electronics to simulate brain process. His robots responded touch and light.


	{{#ev:youtube\|lLULRlmXkKo\|700}}		{{#ev:youtube\|lLULRlmXkKo\|700}}

Fzayguler: /* Research */

2021-10-12T19:49:24Z

Research

← Older revision		Revision as of 19:49, 12 October 2021
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	===Research===		===Research / Inspiration===

	What is special about C. Elegans is that they are among the best understood animal. Its whole genome was sequenced and it is the only creature to have had its neural system completely simulated. It has 302 neurons hard wired with around 8000 connections. We have a complete map of C. Elegan's admittedly simple, neural circuit created by [https://http://openworm.org/ Open Worm Project] .This model has been used to implement the worm's brain in a number of ways including building an artificial version of the worm's brain and building devices seem to behave like the worm. The researches concerning how the neural system of C. Elegans uploaded to a computer to solve a problem and mimiking digital evolutionary process of C. Elegans using deep reinforcement learning in in a nature-like simulation are the main inspirations for my project. You will see details of these researches in my references and research notes section. Below is a simulation of worms body interacted with fluid environment around it.		What is special about C. Elegans is that they are among the best understood animal. Its whole genome was sequenced and it is the only creature to have had its neural system completely simulated. It has 302 neurons hard wired with around 8000 connections. We have a complete map of C. Elegan's admittedly simple, neural circuit created by [https://http://openworm.org/ Open Worm Project] .This model has been used to implement the worm's brain in a number of ways including building an artificial version of the worm's brain and building devices seem to behave like the worm. The researches concerning how the neural system of C. Elegans uploaded to a computer to solve a problem and mimiking digital evolutionary process of C. Elegans using deep reinforcement learning in in a nature-like simulation are the main inspirations for my project. You will see details of these researches in my references and research notes section. Below is a simulation of worms body interacted with fluid environment around it.
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	{{#ev:youtube\|SaovWiZJUWY\|700}}		{{#ev:youtube\|SaovWiZJUWY\|700}}

			Wiliam Grey Walter's well known autonomous robot works (tortoises) was another inspiration for me. He built some of the first artificial animals in 1940s. He was a neurophysiologists and developed these robot tortoises using purely analog electronics to simulate brain process. His robots responded touch and light.

			{{#ev:youtube\|lLULRlmXkKo\|700}}

	===Preperation/ Design===		===Preperation/ Design===

Fzayguler: /* Initial Idea / First Design */

2021-10-10T20:30:37Z

Initial Idea / First Design

← Older revision		Revision as of 20:30, 10 October 2021
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	My first idea was to design a ~~bio inspired~~ robot that simulates the neuromuscular function of a C. elegans. The design was a bio-inspired agent living a simplified bio-inspired environment. The robot would be trained with deep reinforcement learning which is an area of machine learning concerned with how intelligent agents learn to achieve a goal in a potentially complex environment with trial and error ~~and come up with a solution to the problem~~. The agent wants to achieve staying alive as long as possible. Finding bacteria and avoiding heat helps it to stay alive. It gets either rewards or penalties for the actions it performs. Its goal is to maximize the total reward. (At the end of the page you will find a presentation about this design.)		My first idea was to design a robot that simulates the neuromuscular function of a C. elegans. The design was a bio-inspired agent living a simplified bio-inspired environment. The robot would be trained with deep reinforcement learning which is an area of machine learning concerned with how intelligent agents learn to achieve a goal in a potentially complex environment with trial and error. The agent wants to achieve staying alive as long as possible. Finding bacteria and avoiding heat helps it to stay alive. It gets either rewards or penalties for the actions it performs. Its goal is to maximize the total reward. (At the end of the page you will find a presentation about this design.)

	The first robot design is equipped with wheels, on board processor, voltage regulator, batteries, distance sensor, color sensor, thermo sensor which allows it to locomote in a snakelike manner, find food sources (bacteria) and avoid heat.		The first robot design is equipped with wheels, on board processor, voltage regulator, batteries, distance sensor, color sensor, thermo sensor which allows it to locomote in a snakelike manner, find food sources (bacteria) and avoid heat.

Fzayguler: /* ROBOT WORM */

2021-10-10T20:28:07Z

ROBOT WORM

← Older revision		Revision as of 20:28, 10 October 2021
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	== ROBOT ~~WORM~~==		== WORM ROBOT==

Fzayguler: /* ROBOT WORM */

2021-10-10T20:21:18Z

ROBOT WORM

← Older revision		Revision as of 20:21, 10 October 2021
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	For the creation of the prototype, I used MisB Kit which is an open-source building blocks kit that allows quick prototypes of animated “behavioral” objects. The kit has been developed by the Reflective Interaction team from Ensadlab, under the direction of Samuel Bianchini and Filipe Pais.		For the creation of the prototype, I used MisB Kit which is an open-source building blocks kit that allows quick prototypes of animated “behavioral” objects. The kit has been developed by the Reflective Interaction team from Ensadlab, under the direction of Samuel Bianchini and Filipe Pais.
	[[File:toolkit.jpg\|700px]]		[[File:toolkit.jpg\|700px]]
	6 servo motors are connected to each other (electrically/mechanically). The last motor at the tail is connected to the mainboard which is also the power supply. I covered motors and some other elements with carbon sticks for an easy and fast assemble and smooth movement on the floor.
			Six servo motors are connected to each other (electrically/mechanically). The last motor at the tail is connected to the mainboard which is also the power supply. I covered motors and some other elements with carbon sticks for an easy and fast assemble and smooth movement on the floor.

	For live animations, I have connected the mainboard to the software wirelessly. After making the necessary adjustment in the software I used a mini controller to rotate every motor in real-time. I have tried linking the noise of the nearby street to the motor at the tale.		For live animations, I have connected the mainboard to the software wirelessly. After making the necessary adjustment in the software I used a mini controller to rotate every motor in real-time. I have tried linking the noise of the nearby street to the motor at the tale.
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	[[File:worm4.jpg\|700px]]		[[File:worm4.jpg\|700px]]



	== Initial Idea / First Design==		== Initial Idea / First Design==

Fzayguler at 20:20, 10 October 2021

2021-10-10T20:20:53Z

← Older revision		Revision as of 20:20, 10 October 2021
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	== ~~INITIAL IDEA~~/~~FIRST DESIGN~~==		== Initial Idea / First Design==

Fzayguler at 20:18, 10 October 2021

2021-10-10T20:18:41Z

← Older revision		Revision as of 20:18, 10 October 2021
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	~~'''== WORM ROBOT (UNDER CONSTRUCTION)=='''~~


			== ROBOT WORM==


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	[[File:Slide09.jpeg\|900px]]		[[File:Slide09.jpeg\|900px]]

			===References===

			Open Worm Project, http://browser.openworm.org/

			A Worm's Mind In An Arduino Body, https://www.i-programmer.info/news/105-artificial-intelligence/11187-a-worms-mind-in-an-arduino-body.html

			Computational Rules for Chemotaxis in the Nematode C. elegans, THOMAS C. FERR ´EE, SHAWN R. LOCKERY

			Mimicking Evolution with Reinforcement Learning, João P. Abrantes_Arnaldo J. Abrantes,Frans A. Oliehoek

			Deep Reinforcement Learning for Neural Control, Jimin Kim, Eli Shlizerman

			The Surprising Creativity of Digital Evolution: A Collection of Anecdotes from the Evolutionary Computation and Artificial Life
			Research Communities, Joel Lehman, Jeff Clune, Dusan Misevic

			A Natural Lottery TicketWinner: Reinforcement Learning with Ordinary Neural Circuits, Ramin Hasani, Mathias Lechner, Alexander Amini , Daniela Rus, Radu Grosu

Fzayguler at 19:07, 10 October 2021

2021-10-10T19:07:25Z

← Older revision		Revision as of 19:07, 10 October 2021
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			'''== WORM ROBOT (UNDER CONSTRUCTION)=='''
	== WORM ROBOT (UNDER CONSTRUCTION)==


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			== INITIAL IDEA/FIRST DESIGN==


			My first idea was to design a bio inspired robot that simulates the neuromuscular function of a C. elegans. The design was a bio-inspired agent living a simplified bio-inspired environment. The robot would be trained with deep reinforcement learning which is an area of machine learning concerned with how intelligent agents learn to achieve a goal in a potentially complex environment with trial and error and come up with a solution to the problem. The agent wants to achieve staying alive as long as possible. Finding bacteria and avoiding heat helps it to stay alive. It gets either rewards or penalties for the actions it performs. Its goal is to maximize the total reward. (At the end of the page you will find a presentation about this design.)

	~~[[File:Screen Shot 2021-01-28 at 6~~.~~20.44 PM.png\|700px]]~~		The first robot design is equipped with wheels, on board processor, voltage regulator, batteries, distance sensor, color sensor, thermo sensor which allows it to locomote in a snakelike manner, find food sources (bacteria) and avoid heat.


	Worm Robot is a bio inspired robot that simulates the neuromuscular function of a C. elegans as closely as possible. It is a bio-inspired agent to live in a simplified bio-inspired environment. The robot is trained with deep reinforcement learning which is an area of machine learning concerned with how intelligent agents learn to achieve a goal in a potentially complex environment with trial and error and come up with a solution to the problem. To do this the artificial intelligence gets either rewards or penalties for the actions it performs. Its goal is to maximize the total reward.

	My robot is equipped with wheels, on board processor, voltage regulator, batteries, distance sensor, color sensor, thermo sensor which allows it to locomote in a snakelike manner, find food sources (bacteria) and avoid heat. My agent wants to achieve staying alive as long as possible. Finding bacteria and avoiding heat helps it to stay alive.		[[File:1st prototype.jpg\|700px]]

	==C. elegans==		==C. elegans==

Fzayguler: /* WORM ROBOT (UNDER CONSTRUCTION) */

2021-10-10T18:36:53Z

WORM ROBOT (UNDER CONSTRUCTION)

← Older revision		Revision as of 18:36, 10 October 2021
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	[[File:controler2.jpg\|700px]]		[[File:controler2.jpg\|700px]]

	[[File:~~worm2~~.~~JPG~~\|700px]]		[[File:worm4.jpg\|700px]]