3,811 research outputs found
Towards adaptive multi-robot systems: self-organization and self-adaptation
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG gefÜrderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible
HyperCell: A Bio-inspired Design Framework for Real-time Interactive Architectures
This pioneering research focuses on Biomimetic Interactive Architecture using âComputationâ, âEmbodimentâ, and âBiologyâ to generate an intimate embodied convergence to propose a novel rule-based design framework for creating organic architectures composed of swarm-based intelligent components. Furthermore, the research boldly claims that Interactive Architecture should emerge as the next truly Organic Architecture. As the world and society are dynamically changing, especially in this digital era, the research dares to challenge the Utilitas, Firmitas, and Venustas of the traditional architectural Weltanschauung, and rejects them by adopting the novel notion that architecture should be dynamic, fluid, and interactive. This project reflects a trajectory from the 1960âs with the advent of the avant-garde architectural design group, Archigram, and its numerous intriguing and pioneering visionary projects. Archigramâs non-standard, mobile, and interactive projects profoundly influenced a new generation of architects to explore the connection between technology and their architectural projects. This research continues this trend of exploring novel design thinking and the framework of Interactive Architecture by discovering the interrelationship amongst three major topics: âComputationâ, âEmbodimentâ, and âBiologyâ. The project aims to elucidate pioneering research combining these three topics in one discourse: âBio-inspired digital architectural designâ. These three major topics will be introduced in this Summary.
âComputationâ, is any type of calculation that includes both arithmetical and nonarithmetical steps and follows a well-defined model understood and described as, for example, an algorithm. But, in this research, refers to the use of data storage, parametric design application, and physical computing for developing informed architectural designs. âFormâ has always been the most critical focus in architectural design, and this focus has also been a major driver behind the application computational design in Architecture. Nonetheless, this research will interpret the term âFormâ in architecture as a continual âinformation processorâ rather than the result of information processing. In other words, âFormâ should not be perceived only as an expressive appearance based computational outcome but rather as a real-time process of information processing, akin to organic âFormationâ. Architecture embodying kinetic ability for adjusting or changing its shape with the ability to process the surroundings and feedback in accordance with its free will with an inherent interactive intelligent movement of a living body. Additionally, it is also crucial to address the question of whether computational technologies are being properly harnessed, if they are only used for form-generating purposes in architecture design, or should this be replaced with real-time information communication and control systems to produce interactive architectures, with embodied computation abilities?
âEmbodimentâ in the context of this research is embedded in Umberto Ecoâs vision on Semiotics, theories underlying media studies in Marshall McLuhanâs âBody Extensionâ (McLuhan, 1964), the contemporary philosophical thought of âBody Without Organsâ (Gilles Deleuze and FĂŠlix Guattari, 1983), the computational Logic of âSwarm Behaviorâ and the philosophical notion of âMonadologyâ proposed by Gottfried Leibniz (Leibniz, 1714). Embodied computation and design are predominant today within the wearable computing and smart living domains, which combine Virtual and Real worlds. Technical progress and prowess in VR development also contribute to advancing 3D smart architectural design and display solutions. The proposed âOrganic body-like architectural spacesâ emphasize upon the realization of a body-like interactive space. Developing Interactive Architecture will imply eliciting the collective intelligence prevalent in nature and the virtual world of Big Data. Interactive Architecture shall thus embody integrated Information exchange protocols and decision-making systems in order to possess organic body-like qualities.
âBiologyâ, in this research explores biomimetic principles intended to create purposedriven kinetic and organic architecture. This involves a detailed study/critique of organic architecture, generating organic shapes, performance optimization based digital fabrication techniques and kinetic systems. A holistic bio-inspired architecture embodies multiple performance criteria akin to natural systems, which integrate structural, infrastructure performances throughout the growth of an organic body. Such a natural morphogenesis process of architectural design explores what Janine M. Benyus described as âlearning the natural processâ. Profoundly influenced by the processes behind morphogenesis, the research further explores Evolutionary Development Biology (Evo-Devo) explaining how embryological regulation strongly affect the resulting formations. Evo-Devo in interactive architecture implies the development of architecture based on three fundamental principles: âSimple to Complexâ, âGeometric Information Distributionâ, and âOn/Off Switch and Trigger.â
The research seeks to create a relatively intelligent architectural body, and the tactile interactive spatial environment by applying the extracted knowledge from the study of the aforementioned principles of Evo-Devo in the following fashion:
A. Extract a Self-Similar Componential System based approach from the âSimple to Complexâ principle of Evo-Devo
B. Extract the idea of âCollective Intelligenceâ from âGeometric information Distributionâ principle of Evo-Devo
C. Extract the principle of âAssembly Regulationâ from âOn/Off switch and triggerâ principle of Evo-Devo
The âHyperCellâ research, through an elaborate investigation on the three aforementioned topics, develops a design framework for developing real-time adaptive spatial systems. HyperCell does this, by developing a system of transformable cubic elements which can self-organize, adapt and interact in real-time. These Hypercells shall comprise an organic space which can adjust itself in relation to our human bodies. The furniture system is literally reified and embodied to develop an intra-active space that proactively provokes human movement. The space thus acquires an emotive dimension and can become your pet, partner, or even friend, and might also involve multiple usabilities of the same space. The research and its progression were also had actively connected with a 5-year collaborative European Culture project: âMetaBodyâ.
The research thus involves exploration of Interactive Architecture from the following perspectives: architectural design, digital architectural history trajectory, computational technology, philosophical discourse related to the embodiment, media and digital culture, current VR and body-related technology, and Evolutionary Developmental Biology. âHyperCellâ will encourage young architects to pursue interdisciplinary design initiatives via the fusion of computational design, embodiment, and biology for developing bio-inspired organic architectures
HyperCell: A Bio-inspired Design Framework for Real-time Interactive Architectures
This pioneering research focuses on Biomimetic Interactive Architecture using ââŹĹComputationââŹ, ââŹĹEmbodimentââŹ, and ââŹĹBiologyâ⏠to generate an intimate embodied convergence to propose a novel rule-based design framework for creating organic architectures composed of swarm-based intelligent components. Furthermore, the research boldly claims that Interactive Architecture should emerge as the next truly Organic Architecture. As the world and society are dynamically changing, especially in this digital era, the research dares to challenge the Utilitas, Firmitas, and Venustas of the traditional architectural Weltanschauung, and rejects them by adopting the novel notion that architecture should be dynamic, fluid, and interactive. This project reflects a trajectory from the 1960ââŹâ˘s with the advent of the avant-garde architectural design group, Archigram, and its numerous intriguing and pioneering visionary projects. ArchigramââŹâ˘s non-standard, mobile, and interactive projects profoundly influenced a new generation of architects to explore the connection between technology and their architectural projects. This research continues this trend of exploring novel design thinking and the framework of Interactive Architecture by discovering the interrelationship amongst three major topics: ââŹĹComputationââŹ, ââŹĹEmbodimentââŹ, and ââŹĹBiologyââŹ. The project aims to elucidate pioneering research combining these three topics in one discourse: ââŹĹBio-inspired digital architectural designââŹ. These three major topics will be introduced in this Summary.
ââŹĹComputationââŹ, is any type of calculation that includes both arithmetical and nonarithmetical steps and follows a well-defined model understood and described as, for example, an algorithm. But, in this research, refers to the use of data storage, parametric design application, and physical computing for developing informed architectural designs. ââŹĹFormâ⏠has always been the most critical focus in architectural design, and this focus has also been a major driver behind the application computational design in Architecture. Nonetheless, this research will interpret the term ââŹĹFormâ⏠in architecture as a continual ââŹĹinformation processorâ⏠rather than the result of information processing. In other words, ââŹĹFormâ⏠should not be perceived only as an expressive appearance based computational outcome but rather as a real-time process of information processing, akin to organic ââŹĹFormationââŹ. Architecture embodying kinetic ability for adjusting or changing its shape with the ability to process the surroundings and feedback in accordance with its free will with an inherent interactive intelligent movement of a living body. Additionally, it is also crucial to address the question of whether computational technologies are being properly harnessed, if they are only used for form-generating purposes in architecture design, or should this be replaced with real-time information communication and control systems to produce interactive architectures, with embodied computation abilities?
ââŹĹEmbodimentâ⏠in the context of this research is embedded in Umberto EcoââŹâ˘s vision on Semiotics, theories underlying media studies in Marshall McLuhanââŹâ˘s ââŹĹBody Extensionâ⏠(McLuhan, 1964), the contemporary philosophical thought of ââŹĹBody Without Organsâ⏠(Gilles Deleuze and FĂŠlix Guattari, 1983), the computational Logic of ââŹËSwarm BehaviorââŹâ˘ and the philosophical notion of ââŹĹMonadologyâ⏠proposed by Gottfried Leibniz (Leibniz, 1714). Embodied computation and design are predominant today within the wearable computing and smart living domains, which combine Virtual and Real worlds. Technical progress and prowess in VR development also contribute to advancing 3D smart architectural design and display solutions. The proposed ââŹËOrganic body-like architectural spacesââŹâ˘ emphasize upon the realization of a body-like interactive space. Developing Interactive Architecture will imply eliciting the collective intelligence prevalent in nature and the virtual world of Big Data. Interactive Architecture shall thus embody integrated Information exchange protocols and decision-making systems in order to possess organic body-like qualities.
ââŹĹBiologyââŹ, in this research explores biomimetic principles intended to create purposedriven kinetic and organic architecture. This involves a detailed study/critique of organic architecture, generating organic shapes, performance optimization based digital fabrication techniques and kinetic systems. A holistic bio-inspired architecture embodies multiple performance criteria akin to natural systems, which integrate structural, infrastructure performances throughout the growth of an organic body. Such a natural morphogenesis process of architectural design explores what Janine M. Benyus described as ââŹĹlearning the natural processââŹ. Profoundly influenced by the processes behind morphogenesis, the research further explores Evolutionary Development Biology (Evo-Devo) explaining how embryological regulation strongly affect the resulting formations. Evo-Devo in interactive architecture implies the development of architecture based on three fundamental principles: ââŹĹSimple to ComplexââŹ, ââŹĹGeometric Information DistributionââŹ, and ââŹĹOn/Off Switch and Trigger.ââŹ
The research seeks to create a relatively intelligent architectural body, and the tactile interactive spatial environment by applying the extracted knowledge from the study of the aforementioned principles of Evo-Devo in the following fashion:
A. Extract a Self-Similar Componential Systembased approach from the ââŹĹSimple to Complexâ⏠principle of Evo-Devo
B. Extract the idea of ââŹĹCollective Intelligenceâ⏠from ââŹĹGeometric information Distributionâ⏠principle of Evo-Devo
C. Extract the principle of ââŹĹAssembly Regulationâ⏠from ââŹĹOn/Off switch and triggerâ⏠principle of Evo-Devo
The ââŹĹHyperCellâ⏠research, through an elaborate investigation on the three aforementioned topics, develops a design framework for developing real-time adaptive spatial systems. HyperCell does this, by developing a system of transformable cubic elements which can self-organize, adapt and interact in real-time. These Hypercells shall comprise an organic space which can adjust itself in relation to our human bodies. The furniture system is literally reified and embodied to develop an intra-active space that proactively provokes human movement. The space thus acquires an emotive dimension and can become your pet, partner, or even friend, and might also involve multiple usabilities of the same space. The research and its progression were also had actively connected with a 5-year collaborative European Culture project: ââŹĹMetaBodyââŹ.
The research thus involves exploration of Interactive Architecture from the following perspectives: architectural design, digital architectural history trajectory, computational technology, philosophical discourse related to the embodiment, media and digital culture, current VR and body-related technology, and Evolutionary Developmental Biology. ââŹĹHyperCellâ⏠will encourage young architects to pursue interdisciplinary design initiatives via the fusion of computational design, embodiment, and biology for developing bio-inspired organic architectures
Defining a Novel Meaning of the New Organic Architecture
Starting an overall investigation by categorizing current bio-inspired architectural design developments into âMaterialâ, âMorphologicalâ, and âBehavioralâ to explore a novel definition of the âNew Generation Organic Architectureâ.
At present, people are confronting the unprecedented unification of machine and biology which has been revealed by the means of advancing industrial processes towards the organic model. In his remarkable publication, âOut of Control: The New Biology of Machines, Social Systems, and the Economic Worldâ (Kelly, 1995), Kevin Kelly makes an interesting observation that âMachines are becoming biological and the biological is becoming engineeredâ. In other words, the clear boundary of machine vs biology is blurring through current technological developments. In âOut of Controlâ, Kevin Kelly has further made several explicit points to support his views, that Industry will inevitably adopt bio-inspired methods:
It takes less material to do the same job better.
The complexity of built things now reaches biological complexity.
Nature will not move, so it must be accommodated.
The natural world itselfâgenes and life formsâcan be engineered (and patented) just like industrial systems.
All the crucial points described above can be easily observed in the architectural industry as well. Each statement corresponds with material optimization, multidisciplinary technologies, evolutionary processes, and genetic engineering which are all involved in current digital architectural design developments. After years of evolution, the developments of âOrganic Architectureâ have been now separated into various research focuses which are distant from the original idea coined by the well-known American architect, Frank Lloyd Wright. A group of followers still insist on maintaining Wrightâs original idea to develop buildings which are green and sustainable, they fit or even blend into the surrounding environment as a whole. But since the power of personal computers and sophisticated modeling software has become relatively easy to access and is employed in all aspects of architectural design, various experiments have been conducted in the last decade, which try to outline a number of new definitions pertaining to âwhat are the essential ideas/principles of âOrganic Architectureâ?â. Nature has undoubtedly always been the greatest inspiration for the manmade industry, technology, and architecture. This development has only escalated with the assistance from computational technology over the last few decades. The thesis will preview the pros and cons of current design developments under the big umbrella of digital organic/bio-inspired architecture. This discussion will be categorized into three major divisions: âMorphologicalâ, âMaterialâ, and âBehavioralâ owing to the different focus of computational applications within each one of them
On microelectronic self-learning cognitive chip systems
After a brief review of machine learning techniques and applications, this Ph.D. thesis examines several approaches for implementing machine learning architectures and algorithms into hardware within our laboratory.
From this interdisciplinary background support, we have motivations for novel approaches that we intend to follow as an objective of innovative hardware implementations of dynamically self-reconfigurable logic for enhanced self-adaptive, self-(re)organizing and eventually self-assembling machine learning systems, while developing this new particular area of research.
And after reviewing some relevant background of robotic control methods followed by most recent advanced cognitive controllers, this Ph.D. thesis suggests that amongst many well-known ways of designing operational technologies, the design methodologies of those leading-edge high-tech devices such as cognitive chips that may well lead to intelligent machines exhibiting
conscious phenomena should crucially be restricted to extremely well defined constraints.
Roboticists also need those as specifications to help decide upfront on otherwise infinitely free hardware/software design details.
In addition and most importantly, we propose these specifications as methodological guidelines tightly related to ethics and the nowadays well-identified workings of the human body and of its psyche
Morphogenesis in robot swarms
Morphogenesis allows millions of cells to self-organize into intricate structures with a wide variety of functional shapes during embryonic development. This process emerges from local interactions of cells under the control of gene circuits that are identical in every cell, robust to intrinsic noise, and adaptable to changing environments. Constructing human technology with these properties presents an important opportunity in swarm robotic applications ranging from construction to exploration. Morphogenesis in nature may use two different approaches: hierarchical, top-down control or spontaneously self-organizing dynamics such as reaction-diffusion Turing patterns. Here, we provide a demonstration of purely self-organizing behaviors to create emergent morphologies in large swarms of real robots. The robots achieve this collective organization without any self-localization and instead rely entirely on local interactions with neighbors. Results show swarms of 300 robots that self-construct organic and adaptable shapes that are robust to damage. This is a step toward the emergence of functional shape formation in robot swarms following principles of self-organized morphogenetic engineering
Opinions and Outlooks on Morphological Computation
Morphological Computation is based on the observation that biological systems seem to carry out relevant computations with their morphology (physical body) in order to successfully interact with their environments. This can be observed in a whole range of systems and at many different scales. It has been studied in animals â e.g., while running, the functionality of coping with impact and slight unevenness in the ground is "delivered" by the shape of the legs and the damped elasticity of the muscle-tendon system â and plants, but it has also been observed at the cellular and even at the molecular level â as seen, for example, in spontaneous self-assembly. The concept of morphological computation has served as an inspirational resource to build bio-inspired robots, design novel approaches for support systems in health care, implement computation with natural systems, but also in art and architecture. As a consequence, the field is highly interdisciplinary, which is also nicely reflected in the wide range of authors that are featured in this e-book. We have contributions from robotics, mechanical engineering, health, architecture, biology, philosophy, and others
Embryomorphic Engineering: Emergent innovation through evolutionary development
Embryomorphic Engineering, a particular instance of Morpho-genetic Engineering, takes its inspiration directly from biological development
to create new hardware, software or network architectures by decentralized self-assembly of elementary agents. At its core, it combines three key principles of multicellular embryogenesis: chemical gradient di usion (providing
positional information to the agents), gene regulatory networks (triggering their diferentiation into types, thus patterning), and cell division (creating
structural constraints, thus reshaping). This chapter illustrates the potential
of Embryomorphic Engineering in di erent spaces: 2D/3D physical swarms,
which can nd applications in collective robotics, synthetic biology or nan-
otechnology; and nD graph topologies, which can nd applications in dis-
tributed software and peer-to-peer techno-social networks. In all cases, the
speci c genotype shared by all the agents makes the phenotype's complex
architecture and function modular, programmable and reproducible
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