We are developing neurotechnology based on the neurophysiology and behavior of animal models. We developed two classes of biomimetic autonomous underwater vehicles (see above). The first is an 8-legged ambulatory vehicle that is based on the lobster and is intended for autonomous remote-sensing operations in rivers and/or the littoral zone ocean bottom with robust adaptations to irregular bottom contours, current and surge. The second vehicle is an undulatory system that is based on the lamprey and is intended for remote sensing operations in the water column with robust depth/altitude control and high maneuverability. These vehicles are based on a common biomimetic control, actuator and sensor architecture that features highly modularized components and low cost per vehicle. Operating in concert, they can conduct autonomous investigation of both the bottom and water column of the littoral zone or rivers. These systems represent a new class of autonomous underwater vehicles that may be adapted to operations in a variety of habitat

We are collaborating with investigators at The University of California, The University of Alabama and Newcastle University to apply principles of synthetic biology to the integration of a hybrid microbot. The aim of this research is to construct Cyberplasm, a micro-scale robot integrating microelectronics with cells in which sensor and actuator genes have been inserted and expressed. This will be accomplished using a combination of cellular device integration, advanced microelectronics and biomimicry; an approach that mimics animal models; in the latter we will imitate some of the behavior of the marine animal the sea lamprey. Synthetic muscle will generate undulatory movements to propel the robot through the water. Synthetic sensors derived from yeast cells will be reporting signals from the immediate environment. These signals will be processed by an electronic nervous system. The electronic brain will, in turn, generate signals to drive the muscle cells that will use glucose for energy. All electronic components will be powered by a microbial fuel cell integrated into the robot body.

This research aims to harness the power of synthetic biology at the cellular level by integrating specific gene parts into bacteria, yeast and mammalian cells to carry out device like functions. Moreover this approach will allow the cells/bacteria to be simplified so that the input/output (I/O) requirements of device integration can be addressed. In particular we plan to use visual receptors to couple electronics to both sensation and actuation through light signals. In addition synthetic biology will be carried out at the systems level by interfacing multiple cellular /bacterial devices together, connecting to an electronic brain and in effect creating a multi-cellular biohybrid micro-robot. Motile function will be achieved by engineering muscle cells to have the minimal cellular machinery required for excitation/contraction coupling and contractile function. The muscle will be powered by mitochondrial conversion of glucose to ATP, an energetic currency in biological cells, hence combining power generation with actuation.

RoboBees We are collaborating with investigators at Harvard University School of Engineering and Applied Sciences, the Wyss Institute for Biologically Inspired Engineering and CentEye to develop colonies of Robotic Bees. This project integrates approaches at the body, brain and colony level. Inspired by the biology of a bee and the insectÕs hive behavior, we aim to push advances in miniature robotics and the design of compact high-energy power sources; spur innovations in ultra-low-power computing and electronic smart sensors; and refine coordination algorithms to manage multiple, independent machines

We are also developing neuronal circuit based controllers for both robots and neurorehabilitative devices. These controllers are based on

UCSD Electronic Neurons and

and UCSD Discrete Time Map-based neurons.

LAB MEMBERS

VISITING SCIENTISTS Al Selverston, Marine Science Center Jan Witting, Sea Education Associates Matt Sullivan, Schlumberger POSTODOCTORAL ASSOCIATE Anthony Westphal, Northeastern University COOP Clint Valentine, Northeastern University

GRADUATE STUDENTS Dan Blustein, Kalamazoo College Steve Smith, SUNY Stony Brook Lara Lewis, Bucknell University Lin Zhu, Nanjing University Ryan Myers, Northeastern University INTERNS Matt Perry, University of Rhode Island

Books
Neurotechnology for Biomimetic Robots
Biomechanisms of Swimming and Flying

Press

Boston Globe Magazine Associated Press New Scientist Discover magazine Exploratorium KQED: Springboard Information Week Learn About Robots IEEE Computer Magazine Technology Trends Signal Magazine NextFest 2005 Fast Company The Economist Mass High Tech Science Magazine

Science Magazine Article Science Magazine Sidebar Robo sapiens Mechanical Engineering Magazine Artificial Ethology Free Republic Worth Magazine Wall Street Journal Wired New York Times ABC News BusinessWeek Online IDEAS Boston 2008 Boston Globe Robots

Quicktime VR View of the Ayers Robotics Laboratory

On Line Animations of Biomimetic Systems

Lamprey Robot

Lobster Robot

Related Links

RoboBees Project Information Systems Laboratories Schlumberger Edward Taub Laboartory Vlad Parpura Laboartory Chris Voigt Laboartory Daniel Frankel Laboratory The Crayfish

UCSD Electronic Neurons Electronic Nervous Systems for Biomimetic Underwater Robots Institute for Non-Linear Science Northeastern University VLSI Lab Scott Currie Laboratory Naomi Kato Laboratory NU Dept. of Electrical and Computer Engineering ColorImage Finite State Analysis

Relevant Publications

• Ayers, J. and Crisman. J. (1992) The Lobster as a Model for an Omnidirectional Robotic Ambulation Control Architecture. In: Biological Neural Networks in Invertebrate Neuroethology and Robots., R. Beer., R. Ritzmann and T. McKenna [eds], 287-316.
• Ayers, J. (1992) Desktop Motion Video for Scientific Image Analysis. Advanced Imaging 7: 52-55.
• Ayers, J. and Crisman, J. (1992) Biologically-based Control of Omnidirectional Leg Coordination, IEEE Proc. on Intelligent Robots and Systems 1: 574-581
• Ayers, J., Crisman, J. D. and Massa, D. (1993) A Biologically-based Controller for an Underwater Ambulatory Robot. Proc. Int. Symp. Unmanned Untethered Submersible Technology. Autonomous Undersea Systems Institute, Portsmouth, N.H., Pp. 60-68
• Ayers, J., Kashin, S., Blidberg, D. R. and Massa, D. (1994) Biologically-Based Underwater Robots. Unmanned Systems 12: 30-36. .
• Chappell, S and Ayers, J. (1995) Innate and Modulated Autonomous Underwater Vehicle Behavior. In: Proc. Int. Symp. Unmanned Untethered Submersible Technology. Autonomous Undersea Systems Institute, Portsmouth, N.H., Pp. 376-387.
• Jalbert, J. Kashin, S. Ayers, J. (1995) A Biologically-based Undulatory Lamprey-like AUV. In: Proc. of the Autonomous Vehicles in Mine Countermeasures Symposium. Naval Postgraduate School. Pp. 39-52
• Jalbert, J. Kashin, S. Ayers, J. (1995) Design Considerationas and Experiments on a Biologically-based Undulatory Lamprey-like AUV. In: Proc. Int. Symp. Unmanned Untethered Submersible Technology. Autonomous Undersea Systems Institute, Portsmouth, N.H., Pp. 124-138
• Ayers, J. (1995) A Reactive Ambulatory Robot Architecture for Operation in Current and Surge. In: Proc. of the Autonomous Vehicles in Mine Countermeasures Symposium. Naval Postgraduate School. Pp. 15-31 Breithaupt, T. and Ayers, J. (1995) Visualization and quantative analysis of underwater biological flow fields using suspended particles. Marine Behavior and Physiology, in press
• Breithaupt, T. and Ayers, J. (1996) Visualization and quantitative analysis of underwater biological flow fields using suspended particles. In: Zooplankton: Sensory Ecology and Physiology . P. H. Lenz, D. K. Hartline, J. E. Purcell and D. L. MacMillan [eds]. Basel: Gordon and Breach Science Publishers., Pp. 117-129
• Breithaupt, T., Ayers, J. (1998) Visualization and quantification of biological flow fields through video-based digital motion-analysis techniques. Mar. Fresh. Behav. Physiol. Vol. 31, pp.55-61.
• Ayers, J, Zavracky, P., McGruer, N., Massa. D., Vorus, W., Mukherjee, R. and Currie, S. (1998) A Modular Behavioral-Based Architecture for Biomimetic Autonomous Underwater Robots. In: Proc. of the 3rd International Conference on Technology and the Mine Problem. Naval Postgraduate School. CDRom.
• Ayers, J. (1999) A Behavior-Based Controller Architecture for Biomimetic Underwater Robots. In: Prerational Intelligence: Adaptive Behavior and Intelligent Systems without symbols and logic. Vol. I. H. Cruse, H. Ritter and J. Dean [eds] Kluwer Acad. Pub. Dordrecht. Pp. 357-370.
• Ayers, J., J. Witting, C. Wilbur P. Zavracky, N. McGruer and D. Massa (2000) Biomimetic Robots for Shallow Water Mine Countermeasures. In Proceedings of the 4th International Conference on Technology and the Mine Problem. 16 Pages,CD Rom.
• Ayers, J., Witting, J., McGruer, N., Olcott, C., Massa, D. (2000) Lobster Robots. In: Proceedings of the International Symposium on Aqua Biomechanisms. T. Wu and N, Kato, [eds]. Tokai University.
• Ayers, J., Wilbur, C., Olcott, C. (2000) Lamprey Robots. In: Proceedings of the International Symposium on Aqua Biomechanisms. T. Wu and N, Kato, [eds]. Tokai University.
• Ayers, J. (2000) Finite State Analysis of Behavior and the Development of Underwater Robots. In Artificial Ethology, D. MacFarland and O. Holland [eds]. In Press.
• Witting, J., J. Ayers, et al. (2000). Development of a biomimetic underwater ambulatory robot: advantages of matching biomimetic control architecture with biomimetic actuators. Sensor Fusion and Decentralized Control in Robotic Systems III. G.McKee and P. Schenker. 4196: 54-61.
• Ayers, J. (2001) A Conservative Biomimetic Control Architecture for Autonomous Underwater Robots. In: Neurotechnology for Biomimetic Robots,. J. Ayers, J. Davis and A. Rudolph [eds]. MIT Press,
• McGruer, N., T. Truong, T. Barnes, X. Lu, and J. Aceros (2001) Biomimetic Flow And Contact/Bending MEMs Sensors. In: Neurotechnology for Biomimetic Robots,. J. Ayers, J. Davis and A. Rudolph [eds]. MIT Press
• Witting, J. and K. Safak(2001) SMA Actuators Applied To Biomimetic Underwater Robots In: Neurotechnology for Biomimetic Robots,. J. Ayers, J. Davis and A. Rudolph [eds]. MIT Press.
• Wilbur, C., W. Vorus, Y. Cao and S. Currie (2001) A Lamprey-Based Undulatory Vehicle. In: Neurotechnology for Biomimetic Robots,. J. Ayers, J. Davis and A. Rudolph [eds]. MIT Press.
• Ayers, J. , A. Volkovski, N. Rukov, A. Selverston, & H.D.I. Abarbanel, M. R. 2003 Building a Brain for the Lobster Robot Using Electronic Neurons. In International Conference on Non-Linear Wave Physics, pp. 3 Nizhny-Novgorad, Russia.
• Ayers, J. (2004). Architectures for Adaptive Behavior in Biomimetic Underwater Robots. Bio-mechanisms of Swimming and Flying. N. Kato, Ayers, J., Morikawa, H. Tokyo, Springer-Verlag: 171-187.
• Lee, Y. J., J. Lee., Y.B. Kim, J. Ayers , A. Volkovskii , A. Selverston , H. Abarbanel , M. Rabinovich (2004). "Low Power Real Time Electronic Neuron VLSI Design Using Subthreshold Techniques,." IEEE Circuits and Systems 4: 744-747.
• Ayers, J. (2004) Underwater Walking. Arthropod Structure and Development 33, 347-360.
• Selverston, A. I., Rabinovich, M. I., Huerta, R., Novotny, T., Levi, R., Arshavsky, Y., Volkovskii, A., Ayers, J. & Pinto, R. (2005) Biomimetic Central Pattern Generators for Robotics and Prosthetics. In ROBIO2004, IEEE International Conference on Robotics and Biomimetics, 1: 885 - 888. Shenyang, China.
• Ayers, J. and Davis, J. (2005) Biomimetic Robots.. Weapon Systems Technology Information Analysis Center Newsletter 5(4): 1-4.
• Ayers, J. and Davis, J. (2005) Lobster Robots. Weapon Systems Technology Information Analysis Center Newsletter 6(1): 1-5
• Ayers, J., N. Rulkov, et al. (2006). Electronic Neurons: From Biomimetic Robots to Blast Neurorehabilitation. Proc. 7th International Conference on Technology and the Mine Problem, Monterey, CA.
• Selverston, A. & Ayers, J. (2006) Oscillations and Oscillatory Behavior in Small Neural Circuits. Biological Cybernetics 95:537Š554
• Ayers, J. and Witting, J. (2007) Biomimetic Approaches to the Control of Underwater Walking Machines. Philosophical Transactions of the Royal Society, A, 365, 273Š295
• Lee, Y.. Lee, J. Kim, Y.B., Ayers, J. (2005). Low power CMOS adaptive electronic central pattern generator design. IEEE Circuits and Systems 2: 1350-1353
• J. Lee, Y. J. Lee, K. Kim, Y. B. Kim, and J. Ayers (2007) "Low Power CMOS Adaptive Electronic Central Pattern Generator Design for a Biomimetic Robot," Neurocomputing 71: 284-296.
• Ayers, J. and N. Rulkov (2007). Controlling Biomimetic Underwater Robots with Electronic Nervous Systems. In: Bio-mechanisms of Animals in Swimming and Flying. N. Kato and S. Kamimura. Tokyo, Springer-Verlag. Pp. 295-306.
• Ayers, J., Rulkov, N., Knudsen, D., Kim, Y-B., Volkovskii, A. Selverston, A.(2010). "Controlling Underwater Robots with Electronic Nervous Systems." Applied Bionics and Biomechanics 7: 57-67.
• Blustein, D. and J. Ayers, (2010) A conserved network for control of arthropod exteroceptive optical flow reflexes during locomotion. Lecture Notes in Artificial Intelligence, 6226: 72-81
• Hu, J., YB. Kim, J. Ayers (2010) A Low Power 100M½ CMOS Front-End Transimpedance Amplifier for Biosensing Applications IEEE Circuits and Systems. 53: 541 - 544
• Westphal, A., Rulkov, N., Ayers, J., Brady, D., & Hunt, M. 2011. Controlling a lamprey-based robot with an electronic nervous system. Smart Structures and Systems. 7(6): 471 - 484
• .Ayers, J, Westphal, A. & Blustein, D. (2011) A Conserved Neural Circuit-Based Architecture for Ambulatory and Undulatory Biomimetic Robots. Marine Technology Society Journal 45(4): 147-152.

Supported by

ITR Expeditions Synthetic Biology Sandpit

IPTO

Office of Naval Research

Schlumberger

(Page last changed 9/20/2010)