Consistency of randomized integration methods

For integrable functions we provide a weak law of large numbers for structured Monte Carlo methods, such as estimators based on randomized digital nets, Latin hypercube sampling, randomized Frolov point sets as well as Cranley-Patterson rotations. Moreover, we suggest median modified methods and show that for integrands in $L^p$ with $p>1$ a strong law of large numbers holds.Comment: 12 page

A Robot to Shape your Natural Plant: The Machine Learning Approach to Model and Control Bio-Hybrid Systems

Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing robots with natural plants, merging useful attributes. Significant synergies arise by combining the plants' ability to efficiently produce shaped material and the robots' ability to extend sensing and decision-making behaviors. However, programming robots to control plant motion and shape requires good knowledge of complex plant behaviors. Therefore, we use machine learning to create a holistic plant model and evolve robot controllers. As a benchmark task we choose obstacle avoidance. We use computer vision to construct a model of plant stem stiffening and motion dynamics by training an LSTM network. The LSTM network acts as a forward model predicting change in the plant, driving the evolution of neural network robot controllers. The evolved controllers augment the plants' natural light-finding and tissue-stiffening behaviors to avoid obstacles and grow desired shapes. We successfully verify the robot controllers and bio-hybrid behavior in reality, with a physical setup and actual plants

A robotic honeycomb for interaction with a honeybee colony

Abstract: Robotic technologies have shown the capability to interact with living organisms and even to form integrated mixed societies comprised of living and artificial agents. Bio-compatible robots, incorporating sensing and actuation capable of generating and responding to relevant stimuli, can be a tool to study collective behaviors previously unattainable with traditional techniques. To investigate collective behaviors of the western honeybee (Apis mellifera), we designed a robotic system capable of observing and modulating the bee cluster using an array of thermal sensors and actuators. We initially integrated the system into a beehive populated with approximately 4,000 bees for several months. The robotic system was able to observe the colony by continuously collecting spatio- temporal thermal profiles of the winter cluster. Furthermore, we found that our robotic device reliably modulated the superorganism’s response to dynamic thermal stimulation, influencing its spatiotemporal re-organization. In addition, after identifying the thermal collapse of a colony, we used the robotic system in a “life-support” mode via its thermal actuators. Ultimately, we demonstrated a robotic device capable of autonomous closed-loop interaction with a cluster comprising thousands of individual bees. Such biohybrid societies open the door to investigation of collective behaviors that necessitate observing and interacting with the animals within a complete social context, as well as for potential applications in augmenting the survivability of these pollinators crucial to our ecosystems and our food supply. This is the author’s version of the work. It is posted here by permission of the AAAS for personal use, not for redistribution. The definitive version was published in Science Robotics, Vol. 8, 76, Mar 2023, DOI: 10.1126/scirobotics.add7385 https://doi.org/10.1126/scirobotics.add738

Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots

Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a principled foundation towards the design and implementation of living architectural systems that provide functionalities beyond those of orthodox building practice, such as self-repair, material accumulation and self-organization. Plants and robots work together to create a living organism that is inhabited by human beings. User-defined design objectives help to steer the directional growth of the plants, but also the system's interactions with its inhabitants determine locations where growth is prohibited or desired (e.g., partitions, windows, occupiable space). We report our plant species selection process and aspects of living architecture. A leitmotif of our project is the rich concept of braiding: braids are produced by robots from continuous material and serve as both scaffolds and initial architectural artifacts before plants take over and grow the desired architecture. We use light and hormones as attraction stimuli and far-red light as repelling stimulus to influence the plants. Applied sensors range from simple proximity sensing to detect the presence of plants to sophisticated sensing technology, such as electrophysiology and measurements of sap flow. We conclude by discussing our anticipated final demonstrator that integrates key features of flora robotica, such as the continuous growth process of architectural artifacts and self-repair of living architecture.Comment: 16 pages, 12 figure

Flora Robotica – Mixed Societies of Symbiotic Robot-Plant Bio-Hybrids

Besides the life-as-it-could-be driver of artificial life research there is also the concept of extending natural life by creating hybrids or mixed societies that are built from both natural and artificial components. In this paper, we motivate and present the research program of the project flora robotica. We present our concepts of control, hardware de-sign, modeling, and human interaction along with preliminary experiments. Our objective is to develop and to investigate closely linked symbiotic relationships between robots and natural plants and to explore the potentials of a plant-robot society able to produce archi-tectural artifacts and living spaces. These robot-plant bio-hybrids create synergies that allow for new functions of plants and robots. They also create novel design opportunities for an architecture that fuses the design and construction phase. The bio-hybrid is an example of mixed societies between ‘hard artificial and ‘wet natural life, which enables an interaction between natural and artificial ecologies. They form an embodied, self-organizing, and distributed cognitive system which is supposed to grow and develop over long periods of time resulting in the creation of meaningful architectural structures. A key idea is to assign equal roles to robots and plants in order to create a highly integrated, symbiotic system. Besides the gain of knowledge, this project has the objective to cre-ate a bio-hybrid system with a defined function and application – growing architectural artifacts

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.publishe

Multispecies Communities

Prof. Dr. Jens Schröter, Dr. Pablo Abend und Prof. Dr. Benjamin Beil sind Herausgeber der Reihe. Die Herausgeber*innen der einzelnen Hefte sind renommierte Wissenschaftler*innen aus dem In- und Ausland."Multispecies Communities" sind nicht mehr alleine auf den Menschen fixiert und bringen andere Akteure ins Spiel. Damit ergeben sich neue Formen der Kommunikationen und Kollaborationen, der Verantwortlichkeiten und der Rücksichtnahmen (awareness), der Vergemeinschaftungen und der Teilhaben: Diese finden statt zwischen Menschen und Tieren, Pflanzen und Algorithmen, Artefakten und Biofakten, Maschinen und Medien; zwischen den Sphären von belebt und unbelebt, real und virtuell, unberührt und augmentiert. Der Umgang mit Technik ist längst kein menschliches Privileg mehr, wie die Ausdifferenzierungen von Human-Computer Interaction (HCI) in Animal-Computer Interaction (ACI) oder Plant-Computer Interaction (PCI) verdeutlichen. Diese Ausdifferenzierungen finden ihren Niederschlag ebenso in den verschiedenen Disziplinen der Wissenschaft und in der Kunst sowie in gesellschaftlichen, sozialen, ethischen und politischen Aushandlungen des gemeinsamen Miteinanders. In dieser Ausgabe sind für diesen Diskussionszusammenhang relevante programmatische Texte versammelt und erstmals für den deutschsprachigen Raum zugänglich gemacht."Multispecies communities" are no longer focused on humans alone and bring other actors into play. This results in new forms of communication and collaboration, of responsibilities and awareness, of communalisation and participation: These take place between humans and animals, plants and algorithms, artefacts and biofacts, machines and media; between the spheres of animate and inanimate, real and virtual, untouched and augmented. Dealing with technology is no longer a human privilege, as the differentiations from Human-Computer Interaction (HCI) into Animal-Computer Interaction (ACI) or Plant-Computer Interaction (PCI) exemplify. These differentiations are also reflected in the various disciplines of science and art as well as in societal, social, ethical and political negotiations of shared interaction. In this issue, relevant programmatic texts have been collected for this discussion context and made available for the first time for the German-speaking area