Within the field of multi-robot control, there is a large focus in research involving consensus. In this thesis two parts will be studied. The first development of this thesis is a consensus-based robot arm platform. To implement, two robotic arms are developed and studied. The most effective robot arm is then utilized to create a robot arm network testbed. Consensus is used to coordinate several robot arms and decentralize system computation. The research explores a platform to facilitate consensus on a group of robotic arms. The second development is in Cartesian coordinate collective motion. This collective motion control combines consensus through coupling of Cartesian coordinates. The controller is presented with simulation and experimental validation. Integration of both parts of the thesis is then discussed in application. An example is provided to demonstrate usefulness. In conclusion, this thesis provides more control to a system of ground robots using collective motion and consensus-based robot arms.

Football is one of the biggest sports in the world. Professional teams track their player's positions using GPS (Global Positioning System). This report is divided into two parts, both focusing on applying collective motion to football. % The goal of the first part was to both see if a set of cheaper GPS units could be used to analyze the collective motion of a youth football team. 15 football players did two experiments and played three versus three football matches against each other while wearing a GPS. The first experiment measured the player's ability to control the ball while the second experiment measured how well they were able to move together as a team. Different measurements were measured from the match and Spearman correlations were calculated between measurements from the experiments and matches. Players which had good ball control also scored more goals in the match and received more passes. However, they also took the middle position in the field which naturally is a position which receives more passes. Players which were correlated during the team experiment were also correlated with team-members in the match. But, this correlation was weak and the experiment should be done again with more players. The GPS did not work well in the team experiment but have potential to work well in experiments done on a normal-sized football field. % The goal of the second part of the report was to visualize collective motion, more specifically leader-follower relations, in football which can be used as a basis for further research. This is done by plotting the player's positions at each time step to a user interface. Between each player, a double pointed arrow is drawn, where each side of the arrow has a separate color and arrow width. The maximum time lag between the between the two players is shown as the "pointiness" of the arrow while the color of the arrow show the maximum time lag correlation. The user can change the metrics the correlations are based of. As a compliment to the lagged correlation, a lag score is defined which tell the user how strong the lagged correlation is.

Doctor of Philosophy / Collective actions of large animal groups result in elaborate behaviour, whose nature can be breathtaking in their complexity. Social organisation is the key to the origin of this behaviour and the mechanisms by which this organisation occurs are of particular interest. In this thesis, these mechanisms of social interactions and their consequences for group-level behaviour are explored. Social interactions amongst individuals are based on simple rules of attraction, alignment and orientation amongst neighbouring individuals. As part of this study, we will be interested in data that takes the form of a set of directions in space. In Chapter 2, we discuss relevant statistical measure and theory which will allow us to analyse directional data. These statistical tools will be employed on the results of the simulations of the mathematical models formulated in the course of the thesis. The first mathematical model for collective group behaviour is a Lagrangian self-organising model, which is formulated in Chapter 3. This model is based on basic social interactions between group members. Resulting collective behaviours and other related issues are examined during this chapter. Once we have an understanding of the model in Chapter 3, we use this model in Chapter 4 to investigate the idea of guidance of large groups by a select number of individuals. These individuals are privy to information regarding the location of a specific goal. This is used to explore a mechanism proposed for honeybee (Apis mellifera) swarm migrations. The spherical theory introduced in Chapter 2 will prove to be particularly useful in analysing the results of the modelling. In Chapter 5, we introduce a second mathematical model for aggregative behaviour. The model uses ideas from electromagnetic forces and particle physics, reinterpreting them in the context of social forces. While attraction and repulsion terms have been included in similar models in past literature, we introduce an orientation force to our model and show the requirement of a dissipative force to prevent individuals from escaping from the confines of the group.

Doctor of Philosophy / Collective actions of large animal groups result in elaborate behaviour, whose nature can be breathtaking in their complexity. Social organisation is the key to the origin of this behaviour and the mechanisms by which this organisation occurs are of particular interest. In this thesis, these mechanisms of social interactions and their consequences for group-level behaviour are explored. Social interactions amongst individuals are based on simple rules of attraction, alignment and orientation amongst neighbouring individuals. As part of this study, we will be interested in data that takes the form of a set of directions in space. In Chapter 2, we discuss relevant statistical measure and theory which will allow us to analyse directional data. These statistical tools will be employed on the results of the simulations of the mathematical models formulated in the course of the thesis. The first mathematical model for collective group behaviour is a Lagrangian self-organising model, which is formulated in Chapter 3. This model is based on basic social interactions between group members. Resulting collective behaviours and other related issues are examined during this chapter. Once we have an understanding of the model in Chapter 3, we use this model in Chapter 4 to investigate the idea of guidance of large groups by a select number of individuals. These individuals are privy to information regarding the location of a specific goal. This is used to explore a mechanism proposed for honeybee (Apis mellifera) swarm migrations. The spherical theory introduced in Chapter 2 will prove to be particularly useful in analysing the results of the modelling. In Chapter 5, we introduce a second mathematical model for aggregative behaviour. The model uses ideas from electromagnetic forces and particle physics, reinterpreting them in the context of social forces. While attraction and repulsion terms have been included in similar models in past literature, we introduce an orientation force to our model and show the requirement of a dissipative force to prevent individuals from escaping from the confines of the group.

In the development of multicellular organisms, tissue development and homeostasis require coordinated cellular motion. For example, in conditions such as wound healing, immune and epithelial cells need to proliferate and migrate. Deregulation of key signalling pathways in pathological conditions causes alterations in cellular motion properties that are critical for disease development and progression, in cancer it leads to invasion and metastasis. Consequently there is strong interest in identifying factors, including drugs that affect the motion and interactions of cells in disease using experimental models suitable for high-content screening. There are two main modes of cell migration; individual and collective migration. Currently analysis tools for robust, sensitive and comprehensive motion characterisation in varying experimental conditions for large extended timelapse acquisitions that jointly considers both modes are limited. We have developed a systematic motion analysis framework, Motion Sensing Superpixels (MOSES) to quantitatively capture cellular motion in timelapse microscopy videos suitable for high-content screening. MOSES builds upon established computer vision approaches to deliver a minimal parameter, robust algorithm that can i) extract reliable phenomena-relevant motion metrics, ii) discover spatiotemporal salient motion patterns and iii) facilitate unbiased analysis with little prior knowledge through unique motion 'signatures'. The framework was validated by application to numerous datasets including YouTube videos, zebrafish immunosurveillance and Drosophila embryo development. We demonstrate two extended applications; the analysis of interactions between two epithelial populations in 2D culture using cell lines of the squamous and columnar epithelia from human normal esophagus, Barrett's esophagus and esophageal adenocarcinoma and the automatic monitoring of 3D organoid culture growth captured through label-free phase contrast microscopy. MOSES found unique boundary formation between squamous and columnar cells and could measure subtle changes in boundary formation due to external stimuli. MOSES automatically segments the motion and shape of multiple organoids even if present in the same field of view. Automated analysis of intestinal organoid branching following treatment agrees with independent RNA-seq results.

京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第20415号 / 工博第4352号 / 新制||工||1675(附属図書館) / 京都大学大学院工学研究科化学工学専攻 / (主査)教授 山本 量一, 教授 宮原 稔, 教授 稲室 隆二 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

京都大学 / 新制・課程博士 / 博士(工学) / 甲第23885号 / 工博第4972号 / 新制||工||1776(附属図書館) / 京都大学大学院工学研究科マイクロエンジニアリング専攻 / (主査)教授 横川 隆司, 教授 安達 泰治, 教授 井上 康博 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DGAM

The main subject of this thesis is to examine thermo-osmotic flows, which occur on interfaces of non-uniform temperature. Such thermo-osmotic flows are purely non-thermal equilibrium phenomena. Along the non-isothermal interface, specific interaction of a liquid and its solutes with a boundary vary in strength across the interface, according to the local temperature. This boundary can be a solid, a membrane or a phase boundary. The flow is thereby continuously pumping fluid across the interface in direction of the local temperature gradient, resulting in an extended flow pattern in the bulk due to mass conservation. In a system containing particles and heat sources in a liquid under spatial confinement, the thermo-osmotic flow may drive particles in a directed manner, or can lead to collective phenomena. To approach this broad topic of (self-)thermophoresis and collective motion of active particles and quantify the role of the thermo-osmotic flow upon the latter effects, different experiments have been performed: The first experiments aim to quantify the thermo-osmotic flow at a non-isothermal liquid/solid interface for two fundamentally different substrate properties. Further, the bulk flow was investigated for two different systems. The form and spatial extension of this bulk flow pattern depends sensitively on the form of the container and the interface, as well as on the thermo-osmotic flow. The first system is a liquid film confined between two planar glass cover slips. The second case is a Janus particle immobilized on one of the glass slips. In the first case, the non-uniform temperature profile is generated by optical heating of a nanometer sized gold colloid, and in the second case, the heat source is the Janus particle. The bulk flow pattern consists, for the second case, of the flow pattern created by the glass cover slips and the one created by the Janus particle. The following experiments are focusing on the dynamics of mobile self-thermophoretic Janus particles. In particular, their dynamics and the contributions of the thermo-osmotic flow to the interaction of multiple active particles are investigated. To investigate those particles under controlled conditions and examine their interactions at low concentrations for an effectively unlimited amount of time, a real-time feedback algorithm was co-developed to gain control of the motion of multiple active particles simultaneously, called ”photon nudging”. With the help of this method, first experiments have been performed to quantify the dynamics of a Janus particle located close to a heat source.

Les effets collectifs sont présents dans la nature à de nombreuses échelles et dans des systèmes très différents.On peut notamment citer les vols d'oiseaux, les bancs de poissons, les nuages d'insectes, ou encore les troupeaux de moutons.Pour pouvoir décrire ces effets collectifs, il est nécessaire de disposer de systèmes expérimentaux abiotiques modèles.Dans cette thèse nous présentons un système expérimental composé de colloïdes Janus or et platine. Au contact d'eau oxygénée ces colloïdes se mettent en mouvement tout en consommant ce carburant.Ce système est donc fondamentalement hors équilibre puisque de l'énergie est consommée à l'échelle des individus. Il a la particularité de présenter des effets collectifs sous la forme de l'apparition de clusters, agrégats dynamiques de colloïdes / Collective motion are present at every scales and in very various biological systems. For example one can observe flocks of birds, schools of fishes, or swarms of insects. To be able to describe and understand these collective effects, it is necessary to have experimental abiotic model systems.In this PhD we present an experimental system made of Janus colloids of gold and platinum. When putted in an hydrogen peroxide bath, they set in motion, consuming fuel.This system is fully out of equilibirum because energy is consumed at the scale of individuals. It presents collective motion with the apparition of clusters, dynamical aggregates of active colloids.This PhD is structured around three parts :- the study of the kinetics and dynamics of the clusters- the achievement of sedimentation experiments- the study of the system in dense assemblies, forming an active colloidal glass

Des mouvements collectifs dirigés émergent dans des systèmes très variés, depuis les assemblées synthétiques de grains vibrés jusqu'aux nuées d'oiseaux dans la nature. En essayant de comprendre le caractère générique de ces comportements dynamiques collectifs, les physiciens ont décrit les populations d'individus motiles comme des matériaux ordonnés.Dans cette thèse, nous réalisons expérimentalement des troupeaux synthétiques en laboratoire et nous explorons leurs propriétés hydrodynamiques.Nous tirons avantage du mécanisme d’électro rotation de Quincke pour motoriser des millions de colloïdes. Ces rouleurs de Quincke sont capables de s'auto-organiser pour former un troupeau appelé liquide polaire où toutes les particules se déplacent en moyenne dans la même direction.Nous montrons que la dynamique de ce liquide polaire est très bien décrite par des prédictions théoriques laissées sans preuves expérimentales depuis vingt-cinq ans. En particulier,nous démontrons que deux modes sonores s'y propagent et nous montrons que l’étude de leur spectre fournit une méthode non invasive pour mesurer ses constantes hydrodynamiques.Finalement, nous montrons que le mouvement dirigé peut être supprimé collectivement dans un troupeau dense. Un solide actif peut nucléer et se propager à contre-courant dans le liquide polaire. Nous établissons que cette solidification est une transition du premier ordre et qu'il s'agit de la première démonstration expérimentale complète d'une séparation de phase induite par la motilité des particules actives (aussi appelée MIPS). / Spontaneous collective motion arises in many different systems, from assembly of synthetic shaken grains to living bird flocks. In order to understand the generic features of those collective behaviours, physisicts describe the flocks of motile units as ordered materials. In this thesis we study experimentally the dynamics of synthetic flocks and explore their hydrodynamic properties. We take advantage of the Quincke mechanism to motorize millions of colloids. Those Quincke rollers self-organize into a polar liquid, where all the particles, on average flow in the same direction. We provide the first experimental proof that the dynamics of polar liquids is well described by a theoretical prediction established more than twenty-five years ago. In particular, we demonstrate that two sound modes propagate along all directions of the fluid and we design a non invasive spectroscopic method to measure its hydrodynamics constants.Finally, we show that collective motion can be arrested in a dense flock. An active solid can nucleate, grow and propagate in a polar liquid. We establish that this solidification is a first order phase transition and demonstrate that the formation of this active solid is the first experimental proof of a complete motility induced phase separation of active particles (also known as MIPS).