Phototaxis during the slug stage of Dictyostelium discoideum: a model study

During the slug stage, the cellular slime mould Dictyostelium discoideum moves towards light sources. We have modelled this phototactic behaviour using a hybrid cellular automata/partial differential equation model. In our model, individual amoebae are not able to measure the direction from which the light comes, and differences in light intensity do not lead to differentiation in motion velocity among the amoebae. Nevertheless, the whole slug orientates itself towards the light. This behaviour is mediated by a modification of the cyclic AMP (cAMP) waves. As an explanation for phototaxis we propose the following mechanism, which is basically characterized by four processes: (i) light is focused on the distal side of the slug as a result of the so-called `lens-e¡ect'; (ii) differences in luminous intensity cause differences in NH3 concentration; (iii) NH3 alters the excitability of the cell, and thereby the shape of the cAMP wave; and (iv) chemotaxis towards cAMP causes the slug to turn.We show that this mechanism can account for a number of other behaviours that have been observed in experiments, such as bidirec- tional phototaxis and the cancellation of bidirectionality by a decrease in the light intensity or the addition of charcoal to the medium

Migration and Thermotaxis of Dictyostelium discoideum Slugs, a Model Study

Dictyostelium discoideum slugs show a pronounced thermotaxis. We have modelled the motion of the D. discoideum slug in the absence and in the presence of a thermal gradient. Ourmodel is an extension of the hybrid cellular automata/partial di!erential equation model, as formulated by Savill and Hogeweg [J. theor. Biol., (1997) 184, 229-235]. The modelled slugs maintain their shape and crawl, with a velocity depending on slug size, as found in experiments. Moreover, they show thermotactic behaviour: independent of the initial orientation, after some transient process, the slugs start moving along the temperature gradient. The slug behaviour in our model is due to the collective behaviour of the amoebae. Individual amoebae can neither respond to a shallow temperature gradient, nor show di!erentiation in motion velocity. The behaviour is achieved by a modi"cation of the cyclic AMP waves: di!erences in temperature alter the excitability of the cell, and thereby the shape of the cyclic AMP wave. Chemotaxis towards cyclic AMP causes the slug to turn. We show that the mechanism still functions at very low signal-to-noise ratios

Kilombo: a Kilobot simulator to enable effective research in swarm robotics

The Kilobot is a widely used platform for investigation of swarm robotics. Physical Kilobots are slow moving and require frequent recalibration and charging, which significantly slows down the development cycle. Simulators can speed up the process of testing, exploring and hypothesis generation, but usually require time consuming and error-prone translation of code between simulator and robot. Moreover, code of different nature often obfuscates direct comparison, as well as determination of the cause of deviation, between simulator and actual robot swarm behaviour. To tackle these issues we have developed a C-based simulator that allows those working with Kilobots to use the same programme code in both the simulator and the physical robots. Use of our simulator, coined Kilombo, significantly simplifies and speeds up development, given that a simulation of 1000 robots can be run at a speed 100 times faster than real time on a desktop computer, making high-throughput pre-screening possible of potential algorithms that could lead to desired emergent behaviour. We argue that this strategy, here specifically developed for Kilobots, is of general importance for effective robot swarm research. The source code is freely available under the MIT license

Kilombo: a Kilobot simulator to enable effective research in swarm robotics

The Kilobot is a widely used platform for investigation of swarm robotics. Physical Kilobots are slow moving and require frequent recalibration and charging, which significantly slows down the development cycle. Simulators can speed up the process of testing, exploring and hypothesis generation, but usually require time consuming and error-prone translation of code between simulator and robot. Moreover, code of different nature often obfuscates direct comparison, as well as determination of the cause of deviation, between simulator and actual robot swarm behaviour. To tackle these issues we have developed a C-based simulator that allows those working with Kilobots to use the same programme code in both the simulator and the physical robots. Use of our simulator, coined Kilombo, significantly simplifies and speeds up development, given that a simulation of 1000 robots can be run at a speed 100 times faster than real time on a desktop computer, making high-throughput pre-screening possible of potential algorithms that could lead to desired emergent behaviour. We argue that this strategy, here specifically developed for Kilobots, is of general importance for effective robot swarm research. The source code is freely available under the MIT license

Ethylene-induced differential petiole growth in Arabidopsis thaliana involves local microtubule reorientation and cell expansion

Hyponastic growth is an upward petiole movement induced by plants in response to various external stimuli. It is caused by unequal growth rates between adaxial and abaxial sides of the petiole, which bring rosette leaves to a more vertical position. The volatile hormone ethylene is a key regulator inducing hyponasty in Arabidopsis thaliana. Here, we studied whether ethylene‐mediated hyponasty occurs through local stimulation of cell expansion and whether this involves the reorientation of cortical microtubules (CMTs). To study cell size differences between the two sides of a petiole in ethylene and control conditions, we analyzed epidermal imprints. We studied the involvement of CMT orientation in epidermal cells using the tubulin marker line as well as genetic and pharmacological means of CMT manipulation. Our results demonstrate that ethylene induces cell expansion at the abaxial side of the‐ petiole and that this can account for the observed differential growth. At the abaxial side, ethylene induces CMT reorientation from longitudinal to transverse, whereas, at the adaxial side, it has an opposite effect. The inhibition of CMTs disturbed ethylene‐induced hyponastic growth. This work provides evidence that ethylene stimulates cell expansion in a tissue‐specific manner and that it is associated with tissue‐specific changes in the arrangement of CMTs along the petiole