Morphogenesis of 3D sheets exploiting a spatial condition

This article reports on the morphogenesis of three-dimensional folding sheets in a computer simulation. In order to exploit the topology of these cellular sheets, we introduced a cell connection map, which can prescript cell connections regardless of the changing number of cells. We show that morphogenetic patterns such as exponential growth, self-replication processes, and annihilation processes can easily be realized just by observing the number of neighbors of each cell. That means that this feat is achieved in a distributed and autonomous wa

Adaptation of a distributed controller depending on morphology

In this paper, we investigate the influence of an agent's morphology on its neural controller. Our model consists of a number of identical modules, each of which comprises two half-wheels for movement and a central pattern generator (CPG) as its own neural control. Based on a series of simulation experiments, we conclude that one single type of CPG can adapt well to different types of morphologies, and that there seems to be a suitable or optimal morphology depending on the environmental given

Emerging cell array based on reaction-diffusion

This article demonstrates the self-replication and self-organization phenomena based on a reaction-diffusion mechanism by computer simulation. The simulation model consists of a one-dimensional cell array. Each cell contains two kinds of chemical substances, activator u and inhibitor v, that can generate a reaction-diffusion wave, which is a spatial concentration pattern. The cells are supposed to be divided or deleted depending on the concentrations of chemical substances. We tried several kinds of diffusion coefficient in the model, and in some simulations, a self-replication process and a generating cell array with a metabolic process were observed. By applying the division rule and the apoptosis rule, cell arrays duplicate in two oscillating states, i.e., self-replication processes were observed. By applying a division rule and an annihilation rule, a cell array that has a stable length is generated by changing the cell components, i.e., generating a cell array by a metabolic process was observed. Surprisingly, these two phenomena are realized independently of the initial number of cell

An Untethered Miniature Origami Robot that Self-folds, Walks, Swims, and Degrades

A miniature robotic device that can fold-up on the spot, accomplish tasks, and disappear by degradation into the environment promises a range of medical applications but has so far been a challenge in engineering. This work presents a sheet that can self-fold into a functional 3D robot, actuate immediately for untethered walking and swimming, and subsequently dissolve in liquid. The developed sheet weighs 0.31g, spans 1.7cm square in size, features a cubic neodymium magnet, and can be thermally activated to self-fold. Since the robot has asymmetric body balance along the sagittal axis, the robot can walk at a speed of 3.8 body-length/s being remotely controlled by an alternating external magnetic field. We further show that the robot is capable of conducting basic tasks and behaviors, including swimming, delivering/carrying blocks, climbing a slope, and digging. The developed models include an acetone-degradable version, which allows the entire robot’s body to vanish in a liquid. We thus experimentally demonstrate the complete life cycle of our robot: self-folding, actuation, and degrading.National Science Foundation (U.S.) (Grant 1240383)National Science Foundation (U.S.) (Grant 1138967)American Society for Engineering Education. National Defense Science and Engineering Graduate Fellowshi

Single Amino Acid Substitutions in the Cucumber Mosaic Virus 1a Protein Induce Necrotic Cell Death in Virus-Inoculated Leaves without Affecting Virus Multiplication

When Arabidopsis thaliana ecotype Col-0 was inoculated with a series of reassortant viruses created by exchanging viral genomic RNAs between two strains of cucumber mosaic virus (CMV), CMV(Y), and CMV(H), cell death developed in the leaves inoculated with reassortant CMV carrying CMV(H) RNA1 encoding 1a protein, but not in noninoculated upper leaves. In general, cell death in virus-infected plants is a critical event for virus survival because virus multiplication is completely dependent on host cell metabolism. However, interestingly, this observed cell death did not affect either virus multiplication in the inoculated leaves or systemic spread to noninoculated upper leaves. Furthermore, the global gene expression pattern of the reassortant CMV-inoculated leaves undergoing cell death was clearly different from that in hypersensitive response (HR) cell death, which is coupled with resistance to CMV. These results indicated that the observed cell death does not appear to be HR cell death but rather necrotic cell death unrelated to CMV resistance. Interestingly, induction of this necrotic cell death depended on single amino acid substitutions in the N-terminal region surrounding the methyltransferase domain of the 1a protein. Thus, development of necrotic cell death might not be induced by non-specific damage as a result of virus multiplication, but by a virus protein-associated mechanism. The finding of CMV 1a protein-mediated induction of necrotic cell death in A. thaliana, which is not associated with virus resistance and HR cell death, has the potential to provide a new pathosystem to study the role of cell death in virus–host plant interactions

Self-folded soft robotic structures with controllable joints

This paper describes additive self-folding, an origami-inspired rapid fabrication approach for creating actuatable compliant structures. Recent work in 3-D printing and other rapid fabrication processes have mostly focused on rigid objects or objects that can achieve small deformations. In contrast, soft robots often require elastic materials and large amounts of movement. Additive self-folding is a process that involves cutting slices of a 3-D object in a long strip and then pleat folding them into a likeness of the original model. The zigzag pattern for folding enables large bending movements that can be actuated and controlled. Gaps between slices in the folded model can be designed to provide larger deformations or higher shape accuracy. We advance existing planar fabrication and self-folding techniques to automate the fabrication process, enabling highly compliant structures with complex 3-D geometries to be designed and fabricated within a few hours. We describe this process in this paper and provide algorithms for converting 3-D meshes into additive self-folding designs. The designs can be rapidly instrumented for global control using magnetic fields or tendon-driven for local bending. We also describe how the resulting structures can be modeled and their responses to tendon-driven control predicted. We test our design and fabrication methods on three models (a bunny, a tuna fish, and a starfish) and demonstrate the method's potential for actuation by actuating the tuna fish and starfish models using tendons and magnetic control.National Science Foundation (U.S.) (Grant 1240383)National Science Foundation (U.S.) (Grant 1138967

Antiviral R Genes of Plants May Have Experienced Different "Selections" in Nature and in Crop Fields

Oral Session

Morphology-Induced Collective Behaviors: Dynamic Pattern Formation in Water-Floating Elements

Complex systems involving many interacting elements often organize into patterns. Two types of pattern formation can be distinguished, static and dynamic. Static pattern formation means that the resulting structure constitutes a thermodynamic equilibrium whose pattern formation can be understood in terms of the minimization of free energy, while dynamic pattern formation indicates that the system is permanently dissipating energy and not in equilibrium. In this paper, we report experimental results showing that the morphology of elements plays a significant role in dynamic pattern formation. We prepared three different shapes of elements (circles, squares, and triangles) floating in a water-filled container, in which each of the shapes has two types: active elements that were capable of self-agitation with vibration motors, and passive elements that were mere floating tiles. The system was purely decentralized: that is, elements interacted locally, and subsequently elicited global patterns in a process called self-organized segregation. We showed that, according to the morphology of the selected elements, a different type of segregation occurs. Also, we quantitatively characterized both the local interaction regime and the resulting global behavior for each type of segregation by means of information theoretic quantities, and showed the difference for each case in detail, while offering speculation on the mechanism causing this phenomenon