Design and Control of the Mobile Micro Robot Alice

This paper describes the design methodology to build an autonomous mobile robot of just few cubic centimeters (2 x 2 x 2 cm). Starting from the expected features, the design path will be shown, going through solution proposition, component search, subsystems interconnections, several versions and ending to the final product. The second part of the paper will be dedicated to the control of such a robot which has implications in the control and software architecture. The overall design cycle results in the last version “Alice 2002” which has up to 10 hours autonomy with rechargeable battery, proximity sensors and remote control possibility. Furthermore many additional hardware modules like a radio or a linear camera can extend the basic capabilities. At the moment about 300 Alices exist and are used in various exhibitions and research programs

Evolutionary Bits'n'Spikes

We describe a model and implementation of evolutionary spiking neurons for embedded microcontrollers with few bytes of memory and very low power consumption. The approach is tested with an autonomous microrobot of less than 1 in^3 that evolves the ability to move in a small maze without human intervention and external computers. Considering the very large diffusion, small size, and low cost of embedded microcontrollers, the approach described here could find its way in several intelligent devices with sensors and/or actuators, as well as in smart credit cards

Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives

Climbing is a challenging task for autonomous mobile robots primarily due to requirements for agile locomotion, and high maneuverability as well as robust and efficient attachment and detachment. A novel miniature wall-climbing robot is proposed. The robot is adapted for the wall-climbing task by taking advantage of down scaling and its low design. Challenges encountered during robot miniaturization and performances of the robot are reported. The miniature robot prototype proved to be able to climb on inclined surfaces with a slope of up to 90° at a speed of 3.3mm/s. It is equipped with sensors that enable it to avoid obstacles, follow walls and detect free-falls. It can be controlled by remote control or act autonomously. Animals, such as Geckos, have developed amazing climbing ability through micro- and nano-fibers on their feet. These structures have inspired the study of dry adhesion and the design of synthetic fibrillar pads presented in the paper

Effects of group composition and level of selection in the evolution of cooperation in artificial ants

Since ants and other social insects have long generation time, it is very difficult for biologists to study the origin of complex social organization by guided evolution (a process where the evolution of a trait can be followed during experimental evolution). Here we use colonies of artificial ants implemented as small mobile robots with simple vision and communication abilities to explore these issues. In this paper, we present results concerning the role of relatedness (genetic similarity) and levels of selection (individual and colony-level selection) on the evolution of cooperation and division of labor in simulated ant colonies. In order to ensure thorough statistical analysis, the evolutionary experiments, herein reported, have been carried out using "minimalist" simulations of the collective robotics evolutionary setup. The results show that altruistic behaviors have low probability of emerging in heterogeneous colonies evolving under individual-level selection and that colonies with high genetic relatedness display better performance

Neuroacanthocytosis associated with a defect of the 4.1R membrane protein

BACKGROUND: Neuroacanthocytosis (NA) denotes a heterogeneous group of diseases that are characterized by nervous system abnormalities in association with acanthocytosis in the patients' blood. The 4.1R protein of the erythrocyte membrane is critical for the membrane-associated cytoskeleton structure and in central neurons it regulates the stabilization of AMPA receptors on the neuronal surface at the postsynaptic density. We report clinical, biochemical, and genetic features in four patients from four unrelated families with NA in order to explain the cause of morphological abnormalities and the relationship with neurodegenerative processes. CASE PRESENTATION: All patients were characterised by atypical NA with a novel alteration of the erythrocyte membrane: a 4.1R protein deficiency. The 4.1R protein content was significantly lower in patients (3.40 ± 0.42) than in controls (4.41 ± 0.40, P < 0.0001), reflecting weakened interactions of the cytoskeleton with the membrane. In patients IV:1 (RM23), IV:3 (RM15), and IV:6 (RM16) the 4.1 deficiency seemed to affect the horizontal interactions of spectrin and an impairment of the dimer self-association into tetramers was detected. In patient IV:1 (RM16) the 4.1 deficiency seemed to affect the skeletal attachment to membrane and the protein band 3 was partially reduced. CONCLUSION: A decreased expression pattern of the 4.1R protein was observed in the erythrocytes from patients with atypical NA, which might reflect the expression pattern in the central nervous system, especially basal ganglia, and might lead to dysfunction of AMPA-mediated glutamate transmission