Development of Active Antennase based on The Nesting Behavior of Wasps

1黄蜂可以构建排列规则的六角形细胞梳子。在本研究中，观察了天线在筑巢过程中的运动，并对施工方法进行了讨论。基于天线运动的筑巢行为和梳子的建造过程被记录在录像带上，以供分析和讨论。在筑巢过程中，触角的运动是主动的，在各个筑巢过程中，天线的运动是有规律和有特色的。观察结果表明，触角的特征运动可能是决定如何形成巢的关键，筑巢行为与所谓的“趋势性”有关。2.通过计算机模拟讨论了蜂群的建造方法。进行了模拟，以确定构造的形状和简单的移动规则之间的关系，如“出租车”。仿真结果表明，基于蜂巢行为的建筑机器人以底部形状为导向，利用排序等简单的运动规律构造出直线、曲线和六边形。建筑机器人有两个传感器，类似于黄蜂的触角。进行了施工试验。以基本形状为导向，基于传感器运动和简单移动规则的构造算法，实现了相似形状和不同形状的构造。4.尝试得到一种能够跟踪基本形状的最优构造规则。机器人的构造规则用神经网络表示。进行了计算机模拟，以确定可以追踪基本形状的规则。利用遗传算法确定了最优的跟踪规则。对最优规则进行了分析。分析表明，遗传操作产生的规律与“出租车”有关。

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."