Modeling and implementation of a networked system of bio-inspired autonomous mobile sensors with applications to real time angiogenesis, drug delivery, and environmental monitoring.

仿生自主移动传感器网络系统的建模和实现，应用于实时血管生成、药物输送和环境监测。

• 批准号: RGPIN-2016-05783
• 负责人: Spinello, Davide
• 金额: $ 1.89万
• 依托单位: University of Ottawa
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638671
• 关键词: Modeling; implementation; networked; system; bio

Systems of interacting living organisms display a variety of cooperative strategies and collective behaviours, as well as fine adaptations to their environments, as individuals sense each other and the environment through different communication channels. The wide range of spatial and temporal scales at which these systems operate motivates multidisciplinary studies to understand and model their peculiar characteristics. At the evolutionary time scales, all organisms from very simple to complex, adapt to their environment through behaviours that allow them to navigate through their environments. The mechanics of biological systems locomotion is studied to understand the structure of interactions with diverse environments, which in turn can inform robotic design in the attempt of adopting the same solutions that are often characterized by robustness, adaptability, and extensibility to a variety of scenarios. In the context of this research, the physics and mechanics of millipedes and centipedes has been used to elaborate a mathematical model for a robotic device, targeting the following main characteristics: (1) Autonomous operation; (2) Capability of navigating in different environments; (3) Capability of sensing properties of the environment, as for example stiffness and density of the substrate. Millipedes and centipedes posses elongated flexible bodies, sustained by distributions of legs in contact with the environment. The redundancy of the legs ensures persistent contact and therefore the capability of moving in uneven terrains. Moreover, the bodies' flexibility allows for shape morphing with respect to the substrate, facilitating the navigation.

相互作用的生物体系统表现出各种合作策略和集体行为，以及对环境的良好适应，因为个体通过不同的沟通渠道感知彼此和环境。这些系统运行的广泛的空间和时间尺度促使多学科研究来理解和模拟其特有的特征。在进化的时间尺度上，所有生物从非常简单到复杂，通过行为适应环境，使它们能够在环境中导航。研究生物系统运动的机制，以了解与不同环境的相互作用的结构，这反过来又可以为机器人设计提供信息，试图采用相同的解决方案，这些解决方案通常具有鲁棒性，适应性和可扩展性。在本研究的背景下，千足虫和蜈蚣的物理学和力学已被用于阐述机器人设备的数学模型，目标是以下主要特征：（1）自主操作;（2）在不同环境中导航的能力;（3）感测环境特性的能力，例如基底的刚度和密度。千足虫和蜈蚣的身体细长而灵活，靠分布在与环境接触的腿来维持。腿的冗余确保了持久的接触，因此能够在不平坦的地形中移动。此外，主体的柔性允许相对于基底的形状变形，从而促进导航。