Biomimetic and Biohybrid Systems [[electronic resource] ] : 4th International Conference, Living Machines 2015, Barcelona, Spain, July 28 - 31, 2015, Proceedings / / edited by Stuart P. Wilson, Paul F.M.J. Verschure, Anna Mura, Tony J. Prescott |
Edizione | [1st ed. 2015.] |
Pubbl/distr/stampa | Cham : , : Springer International Publishing : , : Imprint : Springer, , 2015 |
Descrizione fisica | 1 online resource (XIII, 474 p. 240 illus.) |
Disciplina | 660.6 |
Collana | Lecture Notes in Artificial Intelligence |
Soggetto topico |
Artificial intelligence
Optical data processing Computers Data mining Artificial Intelligence Computer Imaging, Vision, Pattern Recognition and Graphics Theory of Computation Data Mining and Knowledge Discovery |
ISBN | 3-319-22979-6 |
Formato | Materiale a stampa ![]() |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Intro -- Preface -- Organization -- Contents -- A Model of Larval Biomechanics Reveals Exploitable Passive Properties for Efficient Locomotion -- 1 Introduction -- 2 Model Construction -- 3 Results -- 3.1 Passive Dynamics of a Single Segment -- Role of Model Parameters -- 3.2 Passive Dynamics of the Whole Body -- 3.3 Resonance and Preferred Input Timing -- 3.4 Generating Locomotion Through Local Positive Feedback -- 4 Discussion -- References -- Dynamic Walking with a Soft Limb Robot -- 1 Introduction -- 2 Design and Fabr rication -- 3 Control -- 4 Experimental Se et-up -- 5 Results and Disc cussion -- 5.1 Trotting -- 5.2 Pacing -- 5.3 Galloping -- 5.4 Stance and Flight Phase -- 5.5 Similarity to Biological Systems -- 6 Conclusion and Future Work -- References -- Worm-Like Robotic Locomotion with a Compliant Modular Mesh -- 1 Introduction -- 2 Design -- 2.1 Bi-directional Actuation -- 2.2 Mesh Structure -- 2.3 Electronics and Control -- 3 Robot Performance -- 4 Sensing -- 5 Conclusions -- References -- WormTIP: An Invertebrate Inspired Active Tactile Imaging Pneumostat -- 1 Introduction -- 2 Active Touch -- 2.1 Electro-Active Polymers -- 2.2 Pressurised Antagonistic DEAs -- 2.3 WormTIP -- 3 Methods and Experimental Setup -- 3.1 Fabrication -- 4 Results -- 4.1 Image Processing -- 4.2 Square Object -- 4.3 Circular Object -- 4.4 Flat Surface -- 5 Conclusion -- References -- Copying Nature - A Design of Hyper-Redundant Robot Joint/Support Based on Hydrostatic Skeleton -- 1 Introduction -- 2 The Design of the Artificial Muscular Hydrostatic Joint/Support -- 2.1 Strength and Weakness of the Evolved Artificial Muscular Hydrostatic Joint/Support -- 2.2 Some Hyper-redundant Bodies that can Make Use of this Design -- 3 An Adaptation of the Design to a Planar Biological Model -- 4 Tests, Results and Discussion -- 4.1 Biomimicry of the Joints.
4.2 Stress Within the Most Critical Part -- 4.3 Field Test -- 5 Conclusions and Recommendation -- An Under-Actuated and Adaptable Soft Robotic Gripper -- 1 Introduction -- 2 Materials and Methods -- 2.1 Design Concept of the Mechanical Structure -- 2.2 Cable-Driven Under-Actuated Mechanism -- 2.3 Material Choice and Finger Fabrication Process -- 3 Results and Discussions -- 4 Conclusions -- References -- Measuring the Local Viscosity and Velocity of Fluids Using a Biomimetic Tactile Whisker -- 1 Introduction and Motivation -- 2 Background -- 3 Method -- 3.1 Experiment 1: Flow Tank -- 3.2 Experiment 2: Whisk Tank -- 4 Results -- 5 Analysis -- 6 Conclusion -- References -- Biomimicry of the Manduca Sexta Forewing Using SRT Protein Complex for FWMAV Development -- 1 Introduction -- 2 Recombinant Squid Ring Teeth (SRT) Protein Complex -- 3 Wing Design an nd Fabrication -- 4 Summary and Future Work -- References -- Correlating Kinetics and Kinematics of Earthworm Peristaltic Locomotion -- 1 Introduction -- 2 Methods -- 3 Results -- 4 Discussion -- References -- Visualizing Wakes in Swimming Locomotion of Xenopus-Noid by Using PIV -- 1 Introduction -- 2 Method -- 3 Result -- References -- Biomimetic Approach for the Creation of Deployable Canopies Based on the Unfolding of a Beetle Wing and the Blooming of a Flower -- Introduction -- Literature Review -- Wing Folding -- Flower Blooming -- Methodology -- The Beetle Wing -- The Flower -- Results -- Discussion -- Conclusion -- References -- Biomimetic Tactile Sensing Capsule -- 1 Introduction -- 2 Biologically-Inspired Tactile Sensing Device -- 3 Experiment Design -- 3.1 Sensing Algorithm -- 4 Results -- 5 Conclusion -- 6 Future Work -- References -- Wings of a Feather Stick Together: Morphing Wings with Barbule-Inspired Latching -- 1 Introduction -- 2 Technical Approach -- 2.1 Controllable Dry Adhesives. 2.2 Wing Prototype Design Description -- 3 Experimental Setup -- 3.1 Interlocking Adhesives Limit Curve -- 3.2 Wind Tunnel Test Experimental Procedure -- 4 Results and Discussion -- 4.1 Interlocking Adhesive Limit Curve Results -- 4.2 Aerodynamic Performance of the Latched and Unlatched Wing Prototype -- 5 Conclusions and Future Work -- References -- Obstacle-Avoidance Navigation by an Autonomous Vehicle Inspired by a Bat Biosonar Strategy -- 1 Introduction -- 2 Obstacle-Aiming System for Autonomous Vehicles -- 2.1 Vehicle Design -- 2.2 Measurement System -- 2.3 Results -- 3 Multi-Object-Detecting Navigation System -- 3.1 Vehicle Navigation Algorithm -- 3.2 Results -- 4 Discussion -- References -- Development of Piezoelectric Artificial Cochlea Inspired by Human Hearing Organ -- 1 Introduction -- 2 Design and Fabrication -- 3 Experimental Results -- 4 Conclusion -- References -- Visual Odometry and Low Optic Flow Measurement by Means of a Vibrating Artificial Compound Eye -- 1 Introduction -- 2 Eye Movements Inspired by the Fly's Visual Micro-scanning Movements -- 3 Insights Into the Visual Processing Algorithm -- 3.1 Edge and Bar Location by an Active Compound Eye -- 3.2 Hyperacute Localization of Contrasting Bars and Edges -- 3.3 Merging the Output of Local Pairs of Processing Units -- 4 Experimental Results -- 4.1 Measurement of Very Low Optic Flow -- 4.2 Short Range Visual Odometry -- 5 Conclusion -- References -- Closed-Loop Control in an Autonomous Bio-hybrid Robot System Based on Binocular Neuronal Input -- 1 Introduction -- 2 Methods -- 2.1 Bio-hybrid Robot System -- 2.2 Blowfly Preparation -- 2.3 Control Algorithm Design -- 3 Results -- 3.1 Robot Trajectory -- 3.2 H1-cell Responses -- 4 Discussion -- 4.1 Control Loop Analysis -- 4.2 Towards Collision Avoidance -- 5 Conclusion -- References. MantisBot: A Platform for Investigating Mantis Behavior via Real-Time Neural Control -- 1 Introduction -- 2 Robot Hardware -- 2.1 Mechanical and Electrical Design -- 2.2 Mantis Kinematics -- 2.3 Robot Kinematics -- 3 Robot Control Architecture -- 3.1 AnimatLab-MantisBot Interface -- 3.2 Neural Controller - Single Joint Control -- 3.3 Neural Controller - Intraleg Control -- 4 Conclusions -- References -- The Vertical Optic Flow: An Additional Cue for Stabilizing Beerotor Robot's Flight Without IMU -- 1 Introduction -- 2 Beerotor's Airframe -- 3 Beerotor's Main Visuomotor Control Loops -- 4 Definition of the Vertical Ventral or Dorsal OF -- 5 Feedforward Control Based on the Vertical OF -- 6 Regulation of the Vertical OF During Landing -- 7 Conclusion -- References -- Route Following Without Scanning -- 1 Introduction -- 2 Methods -- 2.1 Navigation Algorithms -- 2.2 Robot Study -- 2.3 Simulation Study -- 3 Results -- 3.1 Successful Route Following by a Robot in the Real Ant Habitat -- 3.2 Klinokinesis Produces Accurate and Rapid Route Following in Simulation -- 4 Discussion -- References -- Using Animal Data and Neural Dynamics to Reverse Engineer a Neuromechanical Rat Model -- 1 Introduction -- 2 Model Description -- 3 Designing and Training Neural Output -- 3.1 Calculating Motor Neuron Activations -- 3.2 Designing CPGs -- 3.3 CPG Entrainment and Output -- 3.4 Afferent Influence of MN Activation -- 3.5 Additional Modifications -- 4 Walking Comparison -- 5 Conclusions -- References -- Entraining and Copying of Temporal Correlations in Dissociated Cultured Neurons -- References -- Remodeling Muscle Cells by Inducing Mechanical Stimulus -- 1 Introduction -- 2 Method -- 3 Results -- References -- Integration of Biological Neural Models for the Control of Eye Movements in a Robotic Head -- 1 Introduction -- 2 Robotic Setup -- 3 Neurocontroller. 3.1 Eye Movements Integration -- 3.2 Saccades -- 3.3 Smooth Pursuit -- 3.4 Vergence -- 3.5 Vestibular-Ocular Reflex (VOR) -- 3.6 Microsaccades -- 4 Validation -- 5 Conclusions -- References -- Saying It with Light: A Pilot Study of Affective Communication Using the MIRO Robot -- 1 Introduction -- 2 MIRO -- 2.1 Aesthetics and Morphology -- 2.2 Platform -- 2.3 Control Architecture and Gross Behaviour -- 2.4 Modelling and Expressing Affect -- 3 Experimental Study -- 3.1 Methods -- 3.2 Results -- 4 Discussion -- References -- Integrating Feedback and Predictive Control in a Bio-inspired Model of Visual Pursuit Implemented on a Humanoid Robot -- 1 Introduction -- 2 Model -- 2.1 Predictor -- 2.2 Weighted Sum -- 3 Implementation -- 3.1 Backstepping-Based Controller as IDC -- 3.2 Neurocontroller as IDC -- 4 Results -- 4.1 Results for the Backstepping-Based Controller as IDC -- 4.2 Results for the Neurocontroller as IDC -- 5 Conclusions -- References -- Knowledge Transfer in Deep Block-Modular Neural Networks -- 1 Introduction -- 1.1 Block-Modular Network Architecture -- 2 Methods -- 2.1 Tasks -- 2.2 Neural Network Details -- Original Neural Networks. -- Block Neural Networks. -- Cost Function. -- Training. -- Implementation. -- 3 Results -- Original Neural Networks. -- Adding 0-50-50 and 0-100-50 Blocks to Original Networks. -- Adding 50-50-50 and 100-50-50 Blocks to Original Networks. -- Adding Blocks to Pairs of Networks. -- Adding Blocks to Triplets of Networks. -- 4 Conclusions -- References -- A Top-Down Approach for a Synthetic Autobiographical Memory System -- 1 Introduction and Motivation -- 2 Requirements for a Top-Down SAM System -- 3 A Top-Down Approach to SAM -- 3.1 Properties -- 3.2 Gaussian Processes -- 3.3 Top-Down SAM Architecture -- 4 Demonstration Using Human Faces Data -- 4.1 Face Rotations Experiment. 4.2 Light Angle and Morphing Experiment. |
Record Nr. | UNISA-996215641403316 |
Cham : , : Springer International Publishing : , : Imprint : Springer, , 2015 | ||
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Lo trovi qui: Univ. di Salerno | ||
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Biomimetic and Biohybrid Systems : 4th International Conference, Living Machines 2015, Barcelona, Spain, July 28 - 31, 2015, Proceedings / / edited by Stuart P. Wilson, Paul F.M.J. Verschure, Anna Mura, Tony J. Prescott |
Edizione | [1st ed. 2015.] |
Pubbl/distr/stampa | Cham : , : Springer International Publishing : , : Imprint : Springer, , 2015 |
Descrizione fisica | 1 online resource (XIII, 474 p. 240 illus.) |
Disciplina | 660.6 |
Collana | Lecture Notes in Artificial Intelligence |
Soggetto topico |
Artificial intelligence
Optical data processing Computers Data mining Artificial Intelligence Computer Imaging, Vision, Pattern Recognition and Graphics Theory of Computation Data Mining and Knowledge Discovery |
ISBN | 3-319-22979-6 |
Formato | Materiale a stampa ![]() |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Intro -- Preface -- Organization -- Contents -- A Model of Larval Biomechanics Reveals Exploitable Passive Properties for Efficient Locomotion -- 1 Introduction -- 2 Model Construction -- 3 Results -- 3.1 Passive Dynamics of a Single Segment -- Role of Model Parameters -- 3.2 Passive Dynamics of the Whole Body -- 3.3 Resonance and Preferred Input Timing -- 3.4 Generating Locomotion Through Local Positive Feedback -- 4 Discussion -- References -- Dynamic Walking with a Soft Limb Robot -- 1 Introduction -- 2 Design and Fabr rication -- 3 Control -- 4 Experimental Se et-up -- 5 Results and Disc cussion -- 5.1 Trotting -- 5.2 Pacing -- 5.3 Galloping -- 5.4 Stance and Flight Phase -- 5.5 Similarity to Biological Systems -- 6 Conclusion and Future Work -- References -- Worm-Like Robotic Locomotion with a Compliant Modular Mesh -- 1 Introduction -- 2 Design -- 2.1 Bi-directional Actuation -- 2.2 Mesh Structure -- 2.3 Electronics and Control -- 3 Robot Performance -- 4 Sensing -- 5 Conclusions -- References -- WormTIP: An Invertebrate Inspired Active Tactile Imaging Pneumostat -- 1 Introduction -- 2 Active Touch -- 2.1 Electro-Active Polymers -- 2.2 Pressurised Antagonistic DEAs -- 2.3 WormTIP -- 3 Methods and Experimental Setup -- 3.1 Fabrication -- 4 Results -- 4.1 Image Processing -- 4.2 Square Object -- 4.3 Circular Object -- 4.4 Flat Surface -- 5 Conclusion -- References -- Copying Nature - A Design of Hyper-Redundant Robot Joint/Support Based on Hydrostatic Skeleton -- 1 Introduction -- 2 The Design of the Artificial Muscular Hydrostatic Joint/Support -- 2.1 Strength and Weakness of the Evolved Artificial Muscular Hydrostatic Joint/Support -- 2.2 Some Hyper-redundant Bodies that can Make Use of this Design -- 3 An Adaptation of the Design to a Planar Biological Model -- 4 Tests, Results and Discussion -- 4.1 Biomimicry of the Joints.
4.2 Stress Within the Most Critical Part -- 4.3 Field Test -- 5 Conclusions and Recommendation -- An Under-Actuated and Adaptable Soft Robotic Gripper -- 1 Introduction -- 2 Materials and Methods -- 2.1 Design Concept of the Mechanical Structure -- 2.2 Cable-Driven Under-Actuated Mechanism -- 2.3 Material Choice and Finger Fabrication Process -- 3 Results and Discussions -- 4 Conclusions -- References -- Measuring the Local Viscosity and Velocity of Fluids Using a Biomimetic Tactile Whisker -- 1 Introduction and Motivation -- 2 Background -- 3 Method -- 3.1 Experiment 1: Flow Tank -- 3.2 Experiment 2: Whisk Tank -- 4 Results -- 5 Analysis -- 6 Conclusion -- References -- Biomimicry of the Manduca Sexta Forewing Using SRT Protein Complex for FWMAV Development -- 1 Introduction -- 2 Recombinant Squid Ring Teeth (SRT) Protein Complex -- 3 Wing Design an nd Fabrication -- 4 Summary and Future Work -- References -- Correlating Kinetics and Kinematics of Earthworm Peristaltic Locomotion -- 1 Introduction -- 2 Methods -- 3 Results -- 4 Discussion -- References -- Visualizing Wakes in Swimming Locomotion of Xenopus-Noid by Using PIV -- 1 Introduction -- 2 Method -- 3 Result -- References -- Biomimetic Approach for the Creation of Deployable Canopies Based on the Unfolding of a Beetle Wing and the Blooming of a Flower -- Introduction -- Literature Review -- Wing Folding -- Flower Blooming -- Methodology -- The Beetle Wing -- The Flower -- Results -- Discussion -- Conclusion -- References -- Biomimetic Tactile Sensing Capsule -- 1 Introduction -- 2 Biologically-Inspired Tactile Sensing Device -- 3 Experiment Design -- 3.1 Sensing Algorithm -- 4 Results -- 5 Conclusion -- 6 Future Work -- References -- Wings of a Feather Stick Together: Morphing Wings with Barbule-Inspired Latching -- 1 Introduction -- 2 Technical Approach -- 2.1 Controllable Dry Adhesives. 2.2 Wing Prototype Design Description -- 3 Experimental Setup -- 3.1 Interlocking Adhesives Limit Curve -- 3.2 Wind Tunnel Test Experimental Procedure -- 4 Results and Discussion -- 4.1 Interlocking Adhesive Limit Curve Results -- 4.2 Aerodynamic Performance of the Latched and Unlatched Wing Prototype -- 5 Conclusions and Future Work -- References -- Obstacle-Avoidance Navigation by an Autonomous Vehicle Inspired by a Bat Biosonar Strategy -- 1 Introduction -- 2 Obstacle-Aiming System for Autonomous Vehicles -- 2.1 Vehicle Design -- 2.2 Measurement System -- 2.3 Results -- 3 Multi-Object-Detecting Navigation System -- 3.1 Vehicle Navigation Algorithm -- 3.2 Results -- 4 Discussion -- References -- Development of Piezoelectric Artificial Cochlea Inspired by Human Hearing Organ -- 1 Introduction -- 2 Design and Fabrication -- 3 Experimental Results -- 4 Conclusion -- References -- Visual Odometry and Low Optic Flow Measurement by Means of a Vibrating Artificial Compound Eye -- 1 Introduction -- 2 Eye Movements Inspired by the Fly's Visual Micro-scanning Movements -- 3 Insights Into the Visual Processing Algorithm -- 3.1 Edge and Bar Location by an Active Compound Eye -- 3.2 Hyperacute Localization of Contrasting Bars and Edges -- 3.3 Merging the Output of Local Pairs of Processing Units -- 4 Experimental Results -- 4.1 Measurement of Very Low Optic Flow -- 4.2 Short Range Visual Odometry -- 5 Conclusion -- References -- Closed-Loop Control in an Autonomous Bio-hybrid Robot System Based on Binocular Neuronal Input -- 1 Introduction -- 2 Methods -- 2.1 Bio-hybrid Robot System -- 2.2 Blowfly Preparation -- 2.3 Control Algorithm Design -- 3 Results -- 3.1 Robot Trajectory -- 3.2 H1-cell Responses -- 4 Discussion -- 4.1 Control Loop Analysis -- 4.2 Towards Collision Avoidance -- 5 Conclusion -- References. MantisBot: A Platform for Investigating Mantis Behavior via Real-Time Neural Control -- 1 Introduction -- 2 Robot Hardware -- 2.1 Mechanical and Electrical Design -- 2.2 Mantis Kinematics -- 2.3 Robot Kinematics -- 3 Robot Control Architecture -- 3.1 AnimatLab-MantisBot Interface -- 3.2 Neural Controller - Single Joint Control -- 3.3 Neural Controller - Intraleg Control -- 4 Conclusions -- References -- The Vertical Optic Flow: An Additional Cue for Stabilizing Beerotor Robot's Flight Without IMU -- 1 Introduction -- 2 Beerotor's Airframe -- 3 Beerotor's Main Visuomotor Control Loops -- 4 Definition of the Vertical Ventral or Dorsal OF -- 5 Feedforward Control Based on the Vertical OF -- 6 Regulation of the Vertical OF During Landing -- 7 Conclusion -- References -- Route Following Without Scanning -- 1 Introduction -- 2 Methods -- 2.1 Navigation Algorithms -- 2.2 Robot Study -- 2.3 Simulation Study -- 3 Results -- 3.1 Successful Route Following by a Robot in the Real Ant Habitat -- 3.2 Klinokinesis Produces Accurate and Rapid Route Following in Simulation -- 4 Discussion -- References -- Using Animal Data and Neural Dynamics to Reverse Engineer a Neuromechanical Rat Model -- 1 Introduction -- 2 Model Description -- 3 Designing and Training Neural Output -- 3.1 Calculating Motor Neuron Activations -- 3.2 Designing CPGs -- 3.3 CPG Entrainment and Output -- 3.4 Afferent Influence of MN Activation -- 3.5 Additional Modifications -- 4 Walking Comparison -- 5 Conclusions -- References -- Entraining and Copying of Temporal Correlations in Dissociated Cultured Neurons -- References -- Remodeling Muscle Cells by Inducing Mechanical Stimulus -- 1 Introduction -- 2 Method -- 3 Results -- References -- Integration of Biological Neural Models for the Control of Eye Movements in a Robotic Head -- 1 Introduction -- 2 Robotic Setup -- 3 Neurocontroller. 3.1 Eye Movements Integration -- 3.2 Saccades -- 3.3 Smooth Pursuit -- 3.4 Vergence -- 3.5 Vestibular-Ocular Reflex (VOR) -- 3.6 Microsaccades -- 4 Validation -- 5 Conclusions -- References -- Saying It with Light: A Pilot Study of Affective Communication Using the MIRO Robot -- 1 Introduction -- 2 MIRO -- 2.1 Aesthetics and Morphology -- 2.2 Platform -- 2.3 Control Architecture and Gross Behaviour -- 2.4 Modelling and Expressing Affect -- 3 Experimental Study -- 3.1 Methods -- 3.2 Results -- 4 Discussion -- References -- Integrating Feedback and Predictive Control in a Bio-inspired Model of Visual Pursuit Implemented on a Humanoid Robot -- 1 Introduction -- 2 Model -- 2.1 Predictor -- 2.2 Weighted Sum -- 3 Implementation -- 3.1 Backstepping-Based Controller as IDC -- 3.2 Neurocontroller as IDC -- 4 Results -- 4.1 Results for the Backstepping-Based Controller as IDC -- 4.2 Results for the Neurocontroller as IDC -- 5 Conclusions -- References -- Knowledge Transfer in Deep Block-Modular Neural Networks -- 1 Introduction -- 1.1 Block-Modular Network Architecture -- 2 Methods -- 2.1 Tasks -- 2.2 Neural Network Details -- Original Neural Networks. -- Block Neural Networks. -- Cost Function. -- Training. -- Implementation. -- 3 Results -- Original Neural Networks. -- Adding 0-50-50 and 0-100-50 Blocks to Original Networks. -- Adding 50-50-50 and 100-50-50 Blocks to Original Networks. -- Adding Blocks to Pairs of Networks. -- Adding Blocks to Triplets of Networks. -- 4 Conclusions -- References -- A Top-Down Approach for a Synthetic Autobiographical Memory System -- 1 Introduction and Motivation -- 2 Requirements for a Top-Down SAM System -- 3 A Top-Down Approach to SAM -- 3.1 Properties -- 3.2 Gaussian Processes -- 3.3 Top-Down SAM Architecture -- 4 Demonstration Using Human Faces Data -- 4.1 Face Rotations Experiment. 4.2 Light Angle and Morphing Experiment. |
Record Nr. | UNINA-9910483457703321 |
Cham : , : Springer International Publishing : , : Imprint : Springer, , 2015 | ||
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Lo trovi qui: Univ. Federico II | ||
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