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Microbial fuel cell driven behavioural dynamics in robot simulations
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre.
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre.
Bristol Robotics Laboratory, University of Bristol and University of the West of England, UK.
Bristol Robotics Laboratory, University of Bristol and University of the West of England, UK.
Show others and affiliations
2010 (English)In: Artificial Life XII: Proceedings of the Twelfth International Conference on the Synthesis and Simulation of Living Systems / [ed] Harold Fellermann, Mark Dörr, Martin Hanczyc, Lone Ladegaard Laursen, Sarah Maurer, Daniel Merkle, Pierre-Alain Monnard, Kasper Støy, Steen Rasmussen, Cambridge, Massachusetts: MIT Press, 2010, 749-756 p.Conference paper, (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Cambridge, Massachusetts: MIT Press, 2010. 749-756 p.
National Category
Computer and Information Science
Research subject
Technology
Identifiers
URN: urn:nbn:se:his:diva-4813ISBN: 978-0-262-29075-3 ISBN: 0-262-29075-8 OAI: oai:DiVA.org:his-4813DiVA: diva2:410038
Conference
Twelfth International Conference on the Synthesis and Simulation of Living Systems, 19th - 23rd August, 2010, Odense, Denmark
Available from: 2011-04-12 Created: 2011-04-12 Last updated: 2015-10-29Bibliographically approved
In thesis
1. Modeling the Role of Energy Management in Embodied Cognition
Open this publication in new window or tab >>Modeling the Role of Energy Management in Embodied Cognition
2012 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The quest for adaptive and autonomous robots, flexible enough to smoothly comply with unstructured environments and operate in close interaction with humans, seems to require a deep rethinking of classical engineering methods. The adaptivity of natural organisms, whose cognitive capacities are rooted in their biological organization, is an obvious source of inspiration. While approaches that highlight the role of embodiment in both cognitive science and cognitive robotics are gathering momentum, the crucial role of internal bodily processes as foundational components of the biological mind is still largely neglected.

This thesis advocates a perspective on embodiment that emphasizes the role of non-neural bodily dynamics in the constitution of cognitive processes in both natural and artificial systems. In the first part, it critically examines the theoretical positions that have influenced current theories and the author's own position. The second part presents the author's experimental work, based on the computer simulation of simple robotic agents engaged in energy-related tasks. Proto-metabolic dynamics, modeled on the basis of actual microbial fuel cells for energy generation, constitute the foundations of a powerful motivational engine. Following a history of adaptation, proto-metabolic states bias the robot towards specific subsets of behaviors, viably attuned to the current context, and facilitate a swift re-adaptation to novel tasks. Proto-metabolic dynamics put the situated nature of the agent-environment sensorimotor interaction within a perspective that is functional to the maintenance of the robot's overall `survival'. Adaptive processes tend to convert metabolic constraints into opportunities, branching into a rich and energetically viable behavioral diversity.

Place, publisher, year, edition, pages
Linköping University Electronic Press, 2012. 116 p.
Series
Linköping Studies in Science and Technology, ISSN 0345-7524 ; 1455
National Category
Computer and Information Science
Research subject
Technology
Identifiers
urn:nbn:se:his:diva-6887 (URN)978-91-7519-882-8 (ISBN)
Note

Delarbeten:

1: Montebelli, A., Herrera, C. and Ziemke, T. (2008) On Cognition as Dynamical Coupling: An Analysis of Behavioral Attractor Dynamics, Adaptive Behavior, 16(2-3), pp. 182-195.

2: Montebelli, A., Ieropoulos, I., Lowe, R., Ziemke, T., Melhuish, C. and Greenman, J. An Oxygen-Diffusion Cathode MFC Model for Simulation of Energy-Autonomous Robots. (Manuskript (preprint))

3: Montebelli, A., Lowe, R., Ieropoulos, I., Melhuish, C., Greenman, J. and Ziemke, T. (2010) Microbial Fuel Cell Driven Behavioral Dynamics in Robot Simulations. In Artificial Life XII. Proceedings of the Twelfth International Conference on the Synthesis and Simulation of Living Systems, pp. 749-756.

4: Montebelli, A., Lowe, R. and Ziemke, T. Towards Metabolic Robotics: Insights from Modeling Embodied Cognition in a Bio-mechatronic symbiont. (Manuskript (preprint))

5: Montebelli, A., Lowe, R. and Ziemke, T. (2003) The Cognitive Body: from Dynamic Modulation to Anticipation. In Anticipatory Behavior in Adaptive Learning Systems: Foundations, Theories, and Systems. Lecture Notes in Artivicial Intelligence, 2003:X, pp. 132-151.

6: Montebelli, A., Lowe, R. and Ziemke, T. (2010) More from the Body: Embodied anticipation for swift re-adaptation in neurocomputational cognitive architectures for robotic agents. In Advances in Cognitive Systems: Foundation, Theories, and Systems. pp. 249-270.

Available from: 2012-12-28 Created: 2012-12-05 Last updated: 2015-10-29Bibliographically approved

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