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SUBMARINE CULTURES PERFORM LONG-TERM ROBOTIC EXPLORATION OF UNCONVENTIONAL ENVIRONMENTAL NICHES

Deliverables

Report on evolutionary methods

Report on employing artificial evolution to optimize/diversify/complexify the behavioral programs. This is studied first in off-line/off-board, then in online/onboard evolution.

Underwater energy harvesting & -sharing technology

This deliverable will report the progress related with energy harvesting and sharing in all three agent types. The methodology and integration of the systems will be described.

Electric sensor implementation on aFish

Electric sensor implementation of aFish. This report will describe adjustments necessary to the electric sensor technology for in-the-field operation, including extension and robustification of the measurement electronic system, test in operating conditions (salinity, temperature, pollution), integration on the aFish platform, and tests in the field.

Validation report of the Venice canals demonstration

4.2 It will consist in a document with video file(s) attached. The first part is dedicated to the description and the results of the system integration activities needed to prepare the second demonstration, that will occur in a selected canal of the lagoon of Venice, oriented to acquire underwater noise measurements. Video taken during the experiment will be uploaded also in the project web site. A final section will present the results of the validation (task 4.4) according to the criteria reported in D 4.1

Technical characteristics&performance specification of hardw.

Technical specifications of the system components. Based on Deliverable 1, the deliverable details the specifications and technical features of the system hardware and middleware (Milestone 1). Technical and performance metrics are identified, in order to allow system assessment in T1.5.

List of requirements for artificial cognitive system components

System requirements. The deliverable reports the overall system requirements, as defined by collective analysis and agreement among all partners. Main topics to be defined: number of platforms to be produced, mechanical characteristics, dynamical performance, communication abilities, energy consumption, energy management logics & energy scavenging capabilities.

Interim report on cultural learning in subCULTtron

In this document, we will report on the intermediate stage of our efforts towards the evolution of signalling/language, including artificial evolution algorithms to develop communication/signalling between robots, in different conditions. We will report our progress towards the establishment of long-term learning and introduce algorithms for sharing and storing information in parts of the subCULTron system, and how this information can be used.

Integrated hard&middle-ware software of subCULTron system

The deliverable reports about the development, integration and testing of the mechatronics system. It will be based on Deliverables 1 and 2. It will detail hardware and middleware development (Task 1.2), integration with electric sensing (D3) and energy management systems (D4) and the testing of the early prototype (Milestone1). Preliminary assessment of system characteristics will be reported.

Final report on cultural learning in subCULTtron

Reporting implementation and evolution of signalling/language. Employment of artificial evolution algorithms to develop communication/signalling between agents in noisy or turbulent or turbid waters in order to allow communication by patterns that exploit several communication/sensing channels in parallel. Reporting on the establishment of long-term learning, that is the development of software for sharing of information in the subCULTron system between groups of aMussels, to study robustness/capacity of the collective memory formed.

Concluding report on project management activities

This report will give an overview over the management activities during the project run-time, in particular the administration and documentation of regular meetings, distribution of financial contributions and amendments to the grant agreement.

Traditional measurements vs. subCULTron in a aquaculture

4.1 It will consist in a document with video file(s) attached. The first part is dedicated to the description and the results of the system integration activities needed to prepare the first demonstration, that will occur in a mussel aquaculture farm. The capability of the heterogeneous swarm system (made of aMussels, aFish and aPads) to acquire environmental data will be compared with traditional data acquisition. Video taken during the experiment will be uploaded also in the project web site. A final section will present the validation criteria developed for the task 4.4

First report: Bio-inspired behaviour in agents and groups

First report: Bio-inspired behavior in agents and groups. This report will provide a summary of behavioral algorithmic developments performed, taking into account the specifities of the electric sensing modality, and gainfully exploiting insights from biology. This first report will be chiefly concerned with theoretical aspects and numerical simulation.

Algorithms for consensus and dynamic topology control

This deliverable, in a form of a report, will document the developed consensus algorithms that allow self-organization within the system.

Final report: Bio-inspired behaviour in agents and groups

Final report: Bio-inspired behavior in agents and groups. Building upon the findings reported in the aforementioned first report, the developed algorithms will be enhanced and adjusted for use in the field. Issues highlighted by field testing will lead to further adjustments. The final behavioral algorithms and their analysis will be provided in the final report.

Report on used behavioural control algorithms in our robots

The deliverable D2.1 reports on programs/algorithms for individual agents. It includes model-study of the interplay of genes/hormones/neurons/memes in evolutionary adaptation, cultural self-organisation and social homeostasis.

Report on the evolution of culture

Report on the evolution of signalling/language that to develops patterns of communication/signalling between aMussels, aFish and aPads in noisy, turbulent and turbid waters. Reporting on evolution of culture that is that information is aggregated in the collective memory to actively improve aMussels. We will analyze subculture dynamics and deme-based development of the collective.

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Publications

Division of labor in a swarm of autonomous underwater robots by improved partitioning social inhibition

Author(s): P. Zahadat, T. Schmickl
Published in: Adaptive Behavior, Issue 24/2, 2016, Page(s) 87-101, ISSN 1059-7123
DOI: 10.1177/1059712316633028

From honeybees to robots and back: division of labour based on partitioning social inhibition


Published in: ISSN 1748-3190
DOI: 10.1088/1748-3190/10/6/066005

Reactive underwater object inspection based on artificial electric sense


Published in: ISSN 1748-3190
DOI: 10.1088/1748-3190/11/4/045003

Aerial-ground robotic system for autonomous delivery tasks

Author(s): Barbara Arbanas, Antun Ivanovic, Marko Car, Tomislav Haus, Matko Orsag, Tamara Petrovic, Stjepan Bogdan
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 5463-5468
DOI: 10.1109/ICRA.2016.7487759

FSTT Algorithm: Can Tides Assist Bio-Inspired Gradient Taxis?

Author(s): J. Ch. Varughese, R. Thenius, F. Wotawa and Th. Schmickl
Published in: MESROB – International Workshop on Medical and Service Robots, 2016, 2016

Organising bodyformation of modular autonomous robots using Virtual Embryogenesis

Author(s): M. Dauschan, R. Thenius, K. Crailsheim and T. Schmickl
Published in: MESROB – International Workshop on Medical and Service Robots, 2016, 2016

First Investigations into Artificial Emotions in Cognitive Robotics

Author(s): D. Moser, R. Thenius and Th.Schmickl
Published in: MESROB – International Workshop on Medical and Service Robots, 2016, 2016

FireSlime Algorithm: Bio-Inspired Emergent Gradient Taxis

Author(s): Joshua Cherian Varughese, Ronald Thenius, Franz Wotawa and Thomas Schmickl
Published in: ALIFE – the Artificial Life Conference, 2016, 2016

Artificial electric sense for underwater robotics. Electric Fish Meeting

Author(s): F. Boyer, V. Lebastard, S. Lanneau, S. Bazeille, B, Ferre
Published in: International Congress of Neuroethology 2016, 2016

Shape recognition based on artificial electric sense for underwater robotics

Author(s): F. Boyer, V. Lebastard, S. Lanneau, S. Bazeille, B, Ferrer.
Published in: International Congress of Neuroethology 2016, 2016

Evolving Collective Behaviors With Diverse But Predictable Sensor States

Author(s): Payam Zahadat, Heiko Hamann, Thomas Schmickl
Published in: 13th European Conference on Artificial, 2015

Evolving Diverse Collective Behaviors Independent of Swarm Density

Author(s): Payam Zahadat, Heiko Hamann, Thomas Schmickl
Published in: Proceedings of the Companion Publication of the 2015 on Genetic and Evolutionary Computation Conference - GECCO Companion '15, 2015, Page(s) 1245-1246
DOI: 10.1145/2739482.2768492

Object shape recognition using electric sense and ellipsoid's polarization tensor

Author(s): Sylvain Lanneau, Vincent Lebastard, Frederic Boyer
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 4692-4699
DOI: 10.1109/ICRA.2016.7487670

Bioinspired underwater sensing

Author(s): F. Boyer
Published in: Bioinspired Underwater Robotics Workshop, IROS 2015., 2015

subCULTron – Cultural development as tool in underwater robotics

Author(s): Ronald Thenius, Daniel Moser, Serge Kernbach, Igor Kuksin, Olga Kernbach, Elena Kuksina, Nikola Mišković, Stjepan Bogdan, Tamara Petrović, Anja Babić, Frederic Boyer, Vincent Lebastard, Stephane Bazeille, Graziano William Ferrari, Elisa Donati, Riccardo Pelliccia, Donato Romano, Cesare Stefanini, Matteo Morgantin, Alexandre Campo and Thomas Schmickl
Published in: Artificial Life and Intelligent Agents Symposium, 2016, 2016

subCLUTron: a learning, self-regulating, self-sustaining underwater society/culture of robots

Author(s): Ronald Thenius, Daniel Moser, Serge Kernbach, Igor Kuksin, Olga Kernbach, Elena Kuksina, Nikola Mišković, Stjepan Bogdan, Tamara Petrović, Anja Babić, Frederic Boyer, Vincent Lebastard, Stephane Bazeille, Graziano William Ferrari, Elisa Donati, Riccardo Pelliccia, Donato Romano, Cesare Stefanini, Matteo Morgantin, Alexandre Campo and Thomas Schmickl
Published in: EMRA - Workshop on EU-funded Marine Robotics and Applications, 2016., 2016