Biomimetic Underwater Robot Program

Marine Science Center

Biomimetic Underwater Robot Program

Joseph Ayers
Principal Investigator
Marine Science Center

East Point, Nahant, MA 01908
(781) 581-7370
FAX: (781) 581-6076

lobster@neu.edu

NSF/EPSRC Synthetic Biology Sandpit
Design Life Now
RoboLobster At the Smithsonian
Technology Transfer

Overview Biomimetic Robots

Three Generations of Lobster Robots
ONR HiRes Images

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

Cyberplasm

The aim of this research is to construct Cyberplasm, a micro-scale robot using principles of synthetic biology. 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 ÒpartsÓ 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, we named Cyberplasm. 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..

Electronic Nervous Systems

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

POST DOC
Kazuo Mori, Upstate Medical Center, Syracuse

VISITING SCIENTISTS

Jan Witting, Sea Education Associates
Matt Sullivan, Schlumberger

PROGRAMMER

Jarod Wen, Northeastern University

GRADUATE STUDENTS

Anthony Westphal, University of Wollongbong
Peter Brannen, University of Texas, Austin
Dan Blustein, Kalamazoo College
Steve Smith, SUNY Stony Brook

UNDERGRADUATE INTERNS

Judith Suttrup, University of Bremen
Matthew McBride, Northeastern University
Pat Saunders, Northeastern University

Books
Neurotechnology for Biomimetic Robots
Biomechanisms of Swimming and Flying

Press

Boston Globe Magazine
Associated Press
New Scientist
Discover Magazine
Exploratorium
KQED: Springboard
Our Ocean World
Information Week
Learn About Robots
UCSC Science Notes
IEEE Computer Magazine
Technology Trends
Signal Magazine
The Economist
PBS Your Call: Biomimetics Boston Globe North
Science Magazine

Science Magazine Article
Science Magazine Sidebar
Robo sapiens
Mechanical Engineering Magazine
BotSpot
Artificial Ethology
Free Republic
Exploratorium
Worth Magazine
Wall Street Journal
Wired
New York Times
NextFest 2005
Fast Company
ABC News
BusinessWeek Online
IDEAS Boston 2008

Quicktime VR View of the Ayers Robotics Laboratory

On Line Animations of Biomimetic Systems

Lamprey Robot

Lobster Robot

Related Links

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., 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 95:537Ð554

Ayers, J. and Witting, J. (2007) Biomimetic Approaches to the Control of Underwater Walking Machines. Philosophical Transactions of the Royal Society, A, 365, 273Ð295

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.

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