Development of Active Antennase based on The Nesting Behavior of Wasps

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1 wasps can construct combs of hexagonal cells with a regular arrangement. In this study, the movements of antennae in nesting were observed and construction methods were discussed. Nesting behavior based on the movements of antennae and the process of comb construction were recorded on video tape for analysis and discussion. Antennae are moved actively in nesting and the movements are orderly and characteristic in each process of nesting. Observation results show that characteristic movements of antennae are probably used in determining how to shape the nest and that nesting behavior is connected with so called "taxis."2 Construction methods of wasps were disussed using computer simulation. Simulation was conducted to ascertain relationships between constructed shapes and simple moving rules such as "taxis." The simulation results show that simple moving rules such as "taxis" lead to the construction of straight lines, curved lines and hexagons, starting from the shapes of the base as a guide.3 A construction robot based on the nesting behavior of wasps was developed. The construction robot has two sensors similar to the antennae of wasps. Construction experiments were conducted. Using base shapes as a guide mark, construction algorithms based on the movements of sensors and simple moving rules lead to the construction of similar shapes and different shapes.4 We attempted to obtain an optimal rule that can trace basic shapes for construction. Construction rules of the robot were represented by means of neural networks. Computer simulation was conducted to ascertain a rule that can trace basic shapes. An optimal rule for tracing was determined by genetic algorithms. The optimal rule was analyzed. Analysis shows that the rule that was obtatined as the result of genetic operations is connected with "taxis."