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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 describeadjustments necessary to the electric sensor technology for inthefieldoperation including extension and robustification of the measurementelectronic system test in operating conditions salinity temperaturepollution 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 Basedon Deliverable 1 the deliverable details thespecifications and technical features of the systemhardware and middleware Milestone 1 Technical andperformance metrics are identified in order to allowsystem assessment in T15

List of requirements for artificial cognitive system components

System requirements The deliverable reports the overallsystem requirements as defined by collective analysis andagreement among all partners Main topics to be definednumber of platforms to be produced mechanicalcharacteristics dynamical performance communicationabilities 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 Bioinspired behavior in agents and groups Thisreport will provide a summary of behavioral algorithmic developmentsperformed taking into account the specifities of the electric sensingmodality and gainfully exploiting insights from biology This firstreport will be chiefly concerned with theoretical aspects and numericalsimulation

Algorithms for consensus and dynamic topology control

This deliverable in a form of a report will document the developed consensus algorithms that allow selforganization 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 D21 reports on programsalgorithms for individual agentsIt includes modelstudy of the interplay of geneshormonesneuronsmemes inevolutionary adaptation cultural selforganisation 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, 24/2, 2016, Page(s) 87-101, ISSN 1059-7123
Publisher: SAGE Publications
DOI: 10.1177/1059712316633028

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

Author(s): Payam Zahadat, Sibylle Hahshold, Ronald Thenius, Karl Crailsheim, Thomas Schmickl
Published in: Bioinspiration & Biomimetics, 10/6, 2015, Page(s) 066005, ISSN 1748-3190
Publisher: IOP Publishing Ltd
DOI: 10.1088/1748-3190/10/6/066005

Reactive underwater object inspection based on artificial electric sense

Author(s): Vincent Lebastard, Frédéric Boyer, Sylvain Lanneau
Published in: Bioinspiration & Biomimetics, 11/4, 2016, Page(s) 045003, ISSN 1748-3190
Publisher: IOP Publishing Ltd
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, ISBN 978-1-4673-8026-3
Publisher: IEEE
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
Publisher: not available

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
Publisher: not available

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
Publisher: not available

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
Publisher: not available

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
Publisher: not available

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
Publisher: not available

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
Publisher: not available

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, ISBN 9781-450334884
Publisher: ACM Press
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, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487670

Bioinspired underwater sensing

Author(s): F. Boyer
Published in: Bioinspired Underwater Robotics Workshop, IROS 2015., 2015
Publisher: not available

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
Publisher: not available

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
Publisher: not available