| 1. |
- Lowe, Robert, et al.
(författare)
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Grounding Motivation in Energy Autonomy : A Study of Artificial Metabolism Constrained Robot Dynamics
- 2010
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Ingår i: Artificial Life XII. - Cambridge, Massachusetts, London, England : MIT Press. - 9780262290753 - 0262290758 ; , s. 725-732
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Konferensbidrag (refereegranskat)abstract
- We present an evolutionary robotics investigation into the metabolism constrained homeostatic dynamics of a simulated robot. Unlike existing research that has focused on either energy or motivation autonomy the robot described here is considered in terms of energy-motivation autonomy. This stipulation is made according to a requirement of autonomous systems to spatiotemporally integrate environmental and physiological sensed information. In our experiment, the latter is generated by a simulated artificial metabolism (a microbial fuel cell batch) and its integration with the former is determined by an E-GasNet-active vision interface. The investigation centres on robot performance in a three-dimensional simulator on a stereotyped two-resource problem. Motivationlike states emerge according to periodic dynamics identifiable for two viable sensorimotor strategies. Robot adaptivity is found to be sensitive to experimenter-manipulated deviations from evolved metabolic constraints. Deviations detrimentally affect the viability of cognitive (anticipatory) capacities even where constraints are significantly lessened. These results support the hypothesis that grounding motivationally autonomous robots is critical to adaptivity and cognition.
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| 2. |
- Montebelli, Alberto, et al.
(författare)
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An Oxygen-Diffusion Cathode MFC Model for Simulation of Energy-Autonomous Robots
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- We present a macroscopic mathematical model of energy generation dynamics in oxygen-diffusion cathode microbial fuel cells (ODC-MFCs). The model is phenomenologically derived on the basis of actual experimental data, obtained by a battery of ODC-MFCs connected in series that supplied energy to a physical robot prototype. Due to its limited computational overhead, the simple set of equations is particularly suitable for the study of robot adaptive behavior under naturalistic energyconstraints in computer simulations, and as a tool for the design and optimization of stack configurations of large sets of MFCs.
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| 3. |
- Montebelli, Alberto, et al.
(författare)
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Microbial fuel cell driven behavioural dynamics in robot simulations
- 2010
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Ingår i: Artificial Life XII. - Cambridge, Massachusetts : MIT Press. - 9780262290753 - 0262290758 ; , s. 749-756
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Konferensbidrag (refereegranskat)abstract
- With the present study we report the first application of a recently proposed model for realistic microbial fuel cells (MFCs) energy generation dynamics, suitable for robotic simulations with minimal and extremely limited computational overhead. A simulated agent was adapted in order to engage in a viable interaction with its environment. It achieved energy autonomy by maintaining viable levels of the critical variables of MFCs, namely cathodic hydration and anodic substrate biochemical energy. After unsupervised adaptation by genetic algorithm, these crucial variables modulate the behavioral dynamics expressed by viable robots in their interaction with the environment. The analysis of this physically rooted and self-organized dynamic action selection mechanism constitutes a novel practical contribution of this work. We also compare two different viable strategies, a self-organized continuous and a pulsed behavior, in order to foresee the possible cognitive implications of such biologicalmechatronics hybrid symbionts in a novel scenario of ecologically grounded energy and motivational autonomy.
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