(Research / Inspiration)
 
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== WORM ROBOT ==
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== WORM ROBOT==
  
[[File:Screen Shot 2021-01-28 at 6.20.44 PM.png|600px]]
 
  
Worm Robot is a bio inspired robot that simulates the neuromuscular function of a C. elegans as closely as possible. Its main goal is to stay alive. 
 
  
  
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{{#ev:youtube|G5y-PV4oP6U|700}}   
  
C. elegans are nematodes about 1 mm in length, and lives in the soil, especially rotting vegetation, in many parts of the world. Its average life span is about 2-3 weeks.
 
  
It has a nervous system with a ‘brain’ (the circumpharyngeal nerve ring). It exhibits behavior and is even capable of rudimentary learning. Neural structures include sensing organs in the head which responses to taste, smell, temperature and touch—and although C. elegans has no eyes, it can respond slightly to light. Caenorhabditis elegans is very well studied. Their whole genome was sequenced and it is the only creature to have had its neural system completely simulated. [https://http://openworm.org/ Open Worm Project]
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The first prototype of a #bioinspired worm #celegans robot made of 6 motors edited with microscopy images I took in our diy Bio-lab. This prototype is made during the Robotic Workshop held by Filipe Pais at Interface Cultures program at Kunst Universitat Linz.  
  
Here are some microscopy images and videos I took. (will be updated shortly)
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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.
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[[File:toolkit.jpg|700px]]
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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.
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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:controler2.jpg|700px]]
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[[File:worm4.jpg|700px]]
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== Initial Idea / First Design==
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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.)
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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.
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[[File:1st prototype.jpg|700px]]
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==C. elegans==
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===Experiments===
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The nematode worm C. elegans is a very simple organism with some moderately complex behavior. Its primitive behaviors are feeding, reproduction and locomotion and it exhibits complex behavior such as smell/taste, touch, slight response to light, sensing temperature, robust escape responses and rudimentary learning.
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Here are some microscopy images and videos I took.
  
 
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===Research / Inspiration===
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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.
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{{#ev:youtube|SaovWiZJUWY|700}}
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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.
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{{#ev:youtube|lLULRlmXkKo|700}}
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===Preperation/ Design===
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[[File:Slide03.jpeg|900px]]
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[[File:Slide04.jpeg|900px]]
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[[File:Slide05.jpeg|900px]]
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[[File:Slide09.jpeg|900px]]
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===References===
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Open Worm Project, http://browser.openworm.org/
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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
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Computational Rules for Chemotaxis in the Nematode C. elegans, THOMAS C. FERR ´EE, SHAWN R. LOCKERY
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Mimicking Evolution with Reinforcement Learning, João P. Abrantes_Arnaldo J. Abrantes,Frans A. Oliehoek
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Deep Reinforcement Learning for Neural Control, Jimin Kim, Eli Shlizerman
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The Surprising Creativity of Digital Evolution: A Collection of Anecdotes from the Evolutionary Computation and Artificial Life
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Research Communities, Joel Lehman, Jeff Clune, Dusan Misevic
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A Natural Lottery TicketWinner: Reinforcement Learning with Ordinary Neural Circuits, Ramin Hasani, Mathias Lechner, Alexander Amini , Daniela Rus, Radu Grosu
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Latest revision as of 19:50, 12 October 2021

WORM ROBOT


The first prototype of a #bioinspired worm #celegans robot made of 6 motors edited with microscopy images I took in our diy Bio-lab. This prototype is made during the Robotic Workshop held by Filipe Pais at Interface Cultures program at Kunst Universitat Linz.

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. Toolkit.jpg

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. 

Controler2.jpg

Worm4.jpg

Initial Idea / First 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.


1st prototype.jpg

C. elegans

Experiments

The nematode worm C. elegans is a very simple organism with some moderately complex behavior. Its primitive behaviors are feeding, reproduction and locomotion and it exhibits complex behavior such as smell/taste, touch, slight response to light, sensing temperature, robust escape responses and rudimentary learning.

Here are some microscopy images and videos I took.



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 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.


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.

Preperation/ Design

Slide03.jpeg Slide04.jpeg Slide05.jpeg Slide09.jpeg

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



__________________