Recent trends in robot learning and evolution for swarm robotics

Swarm robotics is a promising approach to control large groups of robots. However, designing the individual behavior of the robots so that a desired collective behavior emerges is still a major challenge. In recent years, many advances in the automatic design of control software for robot swarms have been made, thus making automatic design a promising tool to address this challenge. In this article, I highlight and discuss recent advances and trends in offline robot evolution, embodied evolution, and offline robot learning for swarm robotics. For each approach, I describe recent design methods of interest, and commonly encountered challenges. In addition to the review, I provide a perspective on recent trends and discuss how they might influence future research to help address the remaining challenges of designing robot swarms

Antimicrobial Brushes on Titanium via “Grafting to” Using Phosphonic Acid/Pyridinium Containing Block Copolymers

Coating medical implants with antibacterial polymers may prevent postoperative infections which are a common issue for conventional titanium implants and can even lead to implant failure. Easily applicable diblock copolymers are presented that form polymer brushes via “grafting to” mechanism on titanium and equip the modified material with antibacterial properties. The polymers carry quaternized pyridinium units to combat bacteria and phosphonic acid groups which allow the linear chains to be anchored to metal surfaces in a convenient coating process. The polymers are synthesized via reversible-addition-fragmentation-chain-transfer (RAFT) polymerization and postmodifications and are characterized using NMR spectroscopy and SEC. Low grafting densities are a major drawback of the “grafting to” approach compared to “grafting from”. Thus, the number of phosphonic acid groups in the anchor block are varied to investigate and optimize the surface binding. Modified titanium surfaces are examined regarding their composition, wetting behavior, streaming potential, and coating stability. Evaluation of the antimicrobial properties revealed reduced bacterial adhesion and biofilm formation for certain polymers, albeit the cell biocompatibility against human gingival fibroblasts is also impaired. The presented findings show the potential of easy-to-apply polymer coatings and aid in designing next-generation implant surface modifications

Do We Run Large-scale Multi-Robot Systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applying such strategies, any multi-robot system breaks above a certain critical system size (i.e., number of robots) as too many robots share a resource (e.g., space, communication channel). We provide additional evidence based on simulations, that at these critical system sizes, the system performance separates into two phases: nearly optimal and minimal performance. We speculate that in real-world applications that are configured for optimal system size, the supposedly high-performing system may actually live on borrowed time as it is on a transient to breakdown. We provide two modeling options (based on queueing theory and a population model) that may help to support this reasoning.Comment: Submitted to the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024

Novel Application of Polymer Networks Carrying Tertiary Amines as a Catalyst Inside Microflow Reactors Used for Knoevenagel Reactions

A novel application is described for utilizing hydrogel dots as organocatalyst carriers inside microfluidic reactors. Tertiary amines were covalently immobilized in the hydrogel dots. Due to the diffusion of reactants within the swollen hydrogel dots, the accessible amount of catalysts inside a microfluidic reactor chamber can be increased compared to the accessible amount of surface-bound catalysts. To perform fast Knoevenagel reactions, important flow parameters had to be validated to optimize the reactor performance while keeping the dimensions of the reactor chamber constant; e.g. the height of the hydrogel dots had to be adjusted to the invariable dimensions of the reactor chamber, or an adjustment of organocatalysts in the hydrogel dots had to be validated to achieve the highest conversion rate during a certain residence time. To characterize the conversion, nuclear magnetic resonance (NMR) and UV/Vis-spectroscopy were utilized as an offline and online method, respectively. With suitable hydrogel dots, the influence of different flow parameters (e.g., operating flow rate and reactant concentration) on the selected model reactions in the microfluidic reactor was investigated. Finally, a variety of reactants were screened with the optimized flow parameters. With these results, the turnover frequency was determined for the Knoevenagel reactions in a microfluidic reactor, and the results were compared with published data that were determined by other synthetic approaches. © 2020 The Authors published by Wiley-VCH Gmb

Continuous Flow Synthesis of Azoxybenzenes by Reductive Dimerization of Nitrosobenzenes with Gel‐Bound Catalysts

In the search for a new synthetic pathway for azoxybenzenes with different substitution patterns, an approach using a microfluidic reactor with gel-bound proline organocatalysts under continuous flow is presented. Herein the formation of differently substituted azoxybezenes by reductive dimerization of nitrosobenzenes within minutes at mild conditions in good to almost quantitative yields is described. The conversion within the microfluidic reactor is analyzed and used for optimizing and validating different parameters. The effects of the different functionalities on conversion, yield, and reaction times are analyzed in detail by NMR. The applicability of this reductive dimerization is demonstrated for a wide range of differently substituted nitrosobenzenes. The effects of these different functionalities on the structure of the obtained azoxyarenes are analyzed in detail by NMR and single-crystal X-ray diffraction. Based on these results, the turnover number and the turnover frequency were determined

Anwendung eines kontinuierlich betriebenen mikrofluidischen Durchflussreaktors für die Durchführung organokatalysierter Michael-Additionen

Der Katalysator in Durchflussreaktoren soll durch Photopolynerisation immobilisiert werden. Das Ziel ist es unterschiedliche Michael-Additions-Reaktionen in Durchflussreaktoren durchführen um danach den Umsatz bei verschieden Bedingungen zu bestimmen. Umdas zu machen werden verschiedene Flussraten benutzt und verschieden Ketonen undNitroolefinen um danach diese Reaktionen zu vergleichen. Durch diese Informationenman kann diskutieren, ob Durchflussreaktors eine optimale ist um Michael-AdditionsReaktionen zu durchführen.<br /

The Influence of Temperature and Drug Concentrations Prednisolone in NIPAAm Copolymer

Controlled delivery systems would be more beneficial and ideal if the drug could be delivered with respond to external environmental change. It could be used to overcome the shortcomings of conventional dosage forms. Therefore, the correct amount of drug would be released upon the stimulation of such a temperature and concentration change. The purpose of study is to investigate the influence of temperature and drug concentration from poly(2-hydroxyethyl methacrylate and N-isopropylacrylamide)/poly(HEMA-NIPAAm). The macroporous structure 5HEMA15NIPAAm was showed the most rapid responsiveness in swelling ratio, polymer volume fraction, swelling and deswelling kinetics. The high drug loading capacity was achieved at or below ambient temperature, whilst the release profile was revealed sustain release of conventional anti-inflammatory drug; prednisolone 21 hemisuccinate sodium salt. In general, drug loading capacity and drug diffusion kinetics are influence by the porosity of hydrogels, temperature, and drug concentration

Chitosan coated alginate beads containing poly(N-isopropylacrylamide) for dual-stimuli-responsive drug release

Chitosan coated alginate beads containing poly(N-isopropylacrylamide) (PNIPAAM), were prepared to be used as a controlled pH/temperature sensitive drug delivery system with improved encapsulation efficiency and delayed release rate. The studied beads were characterized by differential scanning calorimetry, scanning electron microscopy, and Fourier transform infrared spectroscopy. Water uptake and release studies using indomethacin as a model drug were also performed. The drug loading efficiency of the beads with the polyelectrolyte complex coating is significantly higher (84%) than that of the uncoated ones (74%). The equilibrium swelling of the developed materials was found to be pH- and thermoresponsive. For all the conditions it was found that the release profile was slower for the coated beads, indicating that the polyelectrolyte complex coating could slow down the release rate effectively. These results suggest that the studied smart system has potential to be used as an effective pH/temperature sustainable delivery system for biomedical applications