An equation of state for insect swarms

Collective behaviour in flocks, crowds, and swarms occurs throughout the biological world. Animal groups are generally assumed to be evolutionarily adapted to robustly achieve particular functions, so there is widespread interest in exploiting collective behaviour for bio-inspired engineering. However, this requires understanding the precise properties and function of groups, which remains a challenge. Here, we demonstrate that collective groups can be described in a thermodynamic framework. We define an appropriate set of state variables and extract an equation of state for laboratory midge swarms. We then drive swarms through “thermodynamic” cycles via external stimuli, and show that our equation of state holds throughout. Our findings demonstrate a new way of precisely quantifying the nature of collective groups and provide a cornerstone for potential future engineering design

Complexity Measures: Open Questions and Novel Opportunities in the Automatic Design and Analysis of Robot Swarms

Complexity measures and information theory metrics in general have recently been attracting the interest of multi-agent and robotics communities, owing to their capability of capturing relevant features of robot behaviors, while abstracting from implementation details. We believe that theories and tools from complex systems science and information theory may be fruitfully applied in the near future to support the automatic design of robot swarms and the analysis of their dynamics. In this paper we discuss opportunities and open questions in this scenario

Realization of active metamaterials with odd micropolar elasticity

Materials made from active, living, or robotic components can display emergent properties arising from local sensing and computation. Here, we realize a freestanding active metabeam with piezoelectric elements and electronic feed-forward control that gives rise to an odd micropolar elasticity absent in energy-conserving media. The non-reciprocal odd modulus enables bending and shearing cycles that convert electrical energy into mechanical work, and vice versa. The sign of this elastic modulus is linked to a non-Hermitian topological index that determines the localization of vibrational modes to sample boundaries. At finite frequency, we can also tune the phase angle of the active modulus to produce a direction-dependent bending modulus and control non-Hermitian vibrational properties. Our continuum approach, built on symmetries and conservation laws, could be exploited to design others systems such as synthetic biofilaments and membranes with feed-forward control loops.Comment: Main text, 6 figures, methods, and supplementary informatio

Adaptive Hierarchical Origami Metastructures

Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of these approaches have achieved the ability to seamlessly transform into a multitude of volumetric shapes post-fabrication using a relatively simple actuation and control mechanism. Taking inspiration from thick origami and hierarchies in nature, we present a new hierarchical construction method based on polyhedrons to create an extensive library of compact origami metastructures. We show that a single hierarchical origami structure can autonomously adapt to over 103 versatile architectural configurations, achieved with the utilization of fewer than 3 actuation degrees of freedom and employing simple transition kinematics. We uncover the fundamental principles governing theses shape transformation through theoretical models. Furthermore, we also demonstrate the wide-ranging potential applications of these transformable hierarchical structures. These include their uses as untethered and autonomous robotic transformers capable of various gait-shifting and multidirectional locomotion, as well as rapidly self-deployable and self-reconfigurable architecture, exemplifying its scalability up to the meter scale. Lastly, we introduce the concept of multitask reconfigurable and deployable space robots and habitats, showcasing the adaptability and versatility of these metastructures

Order and information in the patterns of spinning magnetic micro-disks at the air-water interface.

The application of the Shannon entropy to study the relationship between information and structures has yielded insights into molecular and material systems. However, the difficulty in directly observing and manipulating atoms and molecules hampers the ability of these systems to serve as model systems for further exploring the links between information and structures. Here, we use, as a model experimental system, hundreds of spinning magnetic micro-disks self-organizing at the air-water interface to generate various spatiotemporal patterns with varying degrees of order. Using the neighbor distance as the information-bearing variable, we demonstrate the links among information, structure, and interactions. We establish a direct link between information and structure without using explicit knowledge of interactions. Last, we show that the Shannon entropy by neighbor distances is a powerful observable in characterizing structural changes. Our findings are relevant for analyzing natural self-organizing systems and for designing collective robots

Colloidal Robotics: Programming Structure and Function in Colloidal-Scale Material Through Emergence, Design and Logic

Advancements in self-assembly and top-down fabrication approaches have enabled tailoring of colloidal materials, macromolecules and polymers, and both organic and inorganic nanoparticles to build advanced functional materials. Miniature sized robots made using such materials can have huge impacts in biomedical applications such as minimally invasive surgery, tissue engineering, targeted therapy, diagnostics and single-cell manipulation. This dissertation addresses building such robotic systems that are programmable at the elemental level and are tunable at the macroscopic level. Using coarse-grained particle simulations, analytical modeling, and mechanical design, I have developed three systems to this end that correspond to programming approaches for swarm intelligence, morphological control, and mechanical computing respectively. The first two systems use colloids possessing propulsion, a.k.a. active particles, that harness environmental energy into a propulsion force and can be developed using a wide variety of materials. The first system consists of particles that trigger propulsion only when in contact with other particles. An ensemble of such particles can be tuned externally to form and switch among crystals, gels and clusters as emergent behavior. Further, these systems possess enhanced transport dynamics, which is also tunable. In the second system, the active particles are connected end-to-end in a loop. When actuated, the loops fold into programmed shapes while the internal space is available to accommodate additional components such as sensors, controller, chemicals, and communication devices. The shape and motion information is encoded in the arrangement of active particles along the loop. Besides relevance of these systems in understanding the fundamental physics of non-equilibrium systems, they can be used to develop smart materials that can sense, actuate, compute and communicate. Physical experiments using kilobots—centimeter sized robots—are performed to demonstrate the scale invariance and feasibility of the design. The third system is inspired from the development of materials that respond to external stimuli by expanding or contracting, thereby providing a transduction route that integrates sensing and actuation powered directly by the stimuli. Our work motivates building colloidal scale robots using these stimuli-responsive materials. For maximum control using global triggers, computation ability needs to be incorporated within such robots. The challenge is to design an architecture that is compact, material agnostic, stable under stochastic forces, and employs stimuli-responsive materials. The third system resolves these challenges through an architecture that computes combinatorial logic using mechanical gates. It uses linear actuation—-expansion and contraction—-as input-output signals with the additional benefits of logic circuitry being physically flexible.PHDChemical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/155257/1/amayank_1.pd

Statistical Physics of Design

Modern life increasingly relies on complex products that perform a variety of functions. The key difficulty of creating such products lies not in the manufacturing process, but in the design process. However, design problems are typically driven by multiple contradictory objectives and different stakeholders, have no obvious stopping criteria, and frequently prevent construction of prototypes or experiments. Such ill-defined, or "wicked" problems cannot be "solved" in the traditional sense with optimization methods. Instead, modern design techniques are focused on generating knowledge about the alternative solutions in the design space. In order to facilitate such knowledge generation, in this dissertation I develop the "Systems Physics" framework that treats the emergent structures within the design space as physical objects that interact via quantifiable forces. Mathematically, Systems Physics is based on maximal entropy statistical mechanics, which allows both drawing conceptual analogies between design problems and collective phenomena and performing numerical calculations to gain quantitative understanding. Systems Physics operates via a Model-Compute-Learn loop, with each step refining our thinking of design problems. I demonstrate the capabilities of Systems Physics in two very distinct case studies: Naval Engineering and self-assembly. For the Naval Engineering case, I focus on an established problem of arranging shipboard systems within the available hull space. I demonstrate the essential trade-off between minimizing the routing cost and maximizing the design flexibility, which can lead to abrupt phase transitions. I show how the design space can break into several locally optimal architecture classes that have very different robustness to external couplings. I illustrate how the topology of the shipboard functional network enters a tight interplay with the spatial constraints on placement. For the self-assembly problem, I show that the topology of self-assembled structures can be reliably encoded in the properties of the building blocks so that the structure and the blocks can be jointly designed. The work presented here provides both conceptual and quantitative advancements. In order to properly port the language and the formalism of statistical mechanics to the design domain, I critically re-examine such foundational ideas as system-bath coupling, coarse graining, particle distinguishability, and direct and emergent interactions. I show that the design space can be packed into a special information structure, a tensor network, which allows seamless transition from graphical visualization to sophisticated numerical calculations. This dissertation provides the first quantitative treatment of the design problem that is not reduced to the narrow goals of mathematical optimization. Using statistical mechanics perspective allows me to move beyond the dichotomy of "forward" and "inverse" design and frame design as a knowledge generation process instead. Such framing opens the way to further studies of the design space structures and the time- and path-dependent phenomena in design. The present work also benefits from, and contributes to the philosophical interpretations of statistical mechanics developed by the soft matter community in the past 20 years. The discussion goes far beyond physics and engages with literature from materials science, naval engineering, optimization problems, design theory, network theory, and economic complexity.PHDPhysicsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/163133/1/aklishin_1.pd