Modeling and implementation of a networked system of bio-inspired autonomous mobile sensors with applications to real time angiogenesis, drug delivery, and environmental monitoring.

仿生自主移动传感器网络系统的建模和实现，应用于实时血管生成、药物输送和环境监测。

• 批准号: RGPIN-2016-05783
• 负责人: Spinello, Davide
• 金额: $ 1.89万
• 依托单位: University of Ottawa
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=681577
• 关键词: Modeling; implementation; networked; system; bio

Systems of interacting living organisms display a variety of cooperative strategies and collective behaviours, as well as fine adaptations to their environments, as individuals sense each other and the environment through different communication channels. The wide range of spatial and temporal scales at which these systems operate motivates multidisciplinary studies to understand and model their peculiar characteristics. At the evolutionary time scales, all organisms from very simple to complex, adapt to their environment through behaviours that allow them to navigate through their environments. The mechanics of biological systems locomotion is studied to understand the structure of interactions with diverse environments, which in turn can inform robotic design in the attempt of adopting the same solutions that are often characterized by robustness, adaptability, and extensibility to a variety of scenarios. In the context of this research, the physics and mechanics of millipedes and centipedes has been used to elaborate a mathematical model for a robotic device, targeting the following main characteristics: (1) Autonomous operation; (2) Capability of navigating in different environments; (3) Capability of sensing properties of the environment, as for example stiffness and density of the substrate. Millipedes and centipedes posses elongated flexible bodies, sustained by distributions of legs in contact with the environment. The redundancy of the legs ensures persistent contact and therefore the capability of moving in uneven terrains. Moreover, the bodies' flexibility allows for shape morphing with respect to the substrate, facilitating the navigation.***This set of features are desirable in a robotic device autonomously negotiating unknown, unstructured environments. In recent work from my research group, a mathematical model based on these characteristics has been derived and demonstrated in simulation, and a first generation prototype is currently being manufactured. Building on these premises, I propose to extend theoretical results to the study of a networked system of these devices, in which several of them are coupled (for example through mechanical actions transmitted through a common substrate), and take advantage of multitasking and collective capabilities of the group, that emerge from cooperation. I envision tailoring the system to different important applications, such as real time angiogenesis, in which miniaturized versions of the devices continually monitor the health status of cardiovascular tissues in critical areas, and induce tissue repair when critical conditions are detected; drug delivery targeting specific functions and using physiological data as feedback to assess the effectiveness and adjust to dynamic conditions; and environmental monitoring with real time intervention and disaster prevention.**

互动生物体的系统表现出各种合作策略和集体行为，以及对环境的良好适应，因为个人通过不同的沟通渠道相互感知和环境。这些系统运行的各种空间和时间尺度都激发了多学科研究，以理解和建模其独特的特征。在进化的时间尺度上，所有生物从非常简单到复杂的生物都通过使它们在环境中导航的行为来适应其环境。研究了生物系统机能的机制，以了解与不同环境相互作用的结构，进而可以为机器人设计提供信息，以尝试采用相同的解决方案，这些解决方案通常以鲁棒性，适应性和可扩展性为特征。在这项研究的背景下，千足和cent的物理和力学已被用来阐述机器人设备的数学模型，以以下主要特征：（1）自主操作； （2）在不同环境中导航的能力； （3）环境的传感特性的能力，例如底物的刚度和密度。千足和中心具有拉长的柔性身体，通过与环境接触的腿部分布来维持。腿的冗余确保了持续的接触，因此可以在不平坦的地形中移动的能力。此外，身体的灵活性允许相对于底物的形状变形，从而促进导航。在我的研究小组的最新工作中，基于这些特征的数学模型已在模拟中得出和证明，并且目前正在制造第一代原型。在这些前提的基础上，我建议将理论结果扩展到对这些设备的网络系统的研究，其中几个设备耦合（例如，通过通过公共基板传播的机械动作），并利用该组的多任务和集体功能，从合作中脱颖而出。我设想将系统定制为不同的重要应用，例如实时血管生成，其中设备的微型版本不断监测关键区域中心血管组织的健康状况，并在检测到关键条件时诱导组织修复；药物输送针对特定功能并使用生理数据作为反馈，以评估有效性并适应动态条件；以及通过实时干预和预防灾难的环境监测。**