In this thesis, we examine algorithms for the division of labour in a group of robot. The algorithms make no use of direct communication. Instead, they are based only on the interactions among the robots and between the group and the environment. Division of labour is the mechanism that decides how many robots shall be used to perform a task. The efficiency of the group of robots depends in fact on the number of robots involved in a task. If too few robots are used to achieve a task, they might not be successful or might perform poorly. If too many robots are used, it might be a waste of resources. The number of robots to use might be decided a priori by the system designer. More interestingly, the group of robots might autonomously select how many and which robots to use. In this thesis, we study algorithms of the latter type. The robotic literature offers already some solutions, but most of them use a form of direct communication between agents. Direct, or explicit, communication between the robots is usually considered a necessary condition for co-ordination. Recent studies have questioned this assumption. The claim is based on observations of animal colonies, e.g., ants and termites. They can effectively co-operate without directly communicating, but using indirect forms of communication like stigmergy. Because they do not rely on communication, such colonies show robust behaviours at group level, a condition that one wishes also for groups of robots. Algorithms for robot co-ordination without direct communication have been proposed in the last few years. They are interesting not only because they are a stimulating intellectual challenge, but also because they address a situation that might likely occur when using robots for real-world out-door applications. Unfortunately, they are still poorly studied. This thesis helps the understanding and the development of such algorithms. We start from a specific case to learn its characteristics. Then we improve our understandings through comparisons with other solutions, and finally we port everything into another domain. We first study an algorithm for division of labour that was inspired by ants' foraging. We test the algorithm in an application similar to ants' foraging: prey retrieval. We prove that the model used for ants' foraging can be effective also in real conditions. Our analysis allows us to understand the underlying mechanisms of the division of labour and to define some way of measuring it. Using this knowledge, we continue by comparing the ant-inspired algorithm with similar solutions that can be found in the literature and by assessing their differences. In performing these comparisons, we take care of using a formal methodology that allows us to spare resources. Namely, we use concepts of experiment design to reduce the number of experiments with real robots, without losing significance in the results. Finally, we apply and port what we previously learnt into another application: Sensor/Actor Networks (SANETs). We develop an architecture for division of labour that is based on the same mechanisms as the ants' foraging model. Although the individuals in the SANET can communicate, the communication channel might be overloaded. Therefore, the agents of a SANET shall be able to co-ordinate without accessing the communication channel.

Insects posses an incredible ability to navigate their environment at high speed, despite having small brains and limited visual acuity. Through selective pressure they have evolved computationally efficient means for simultaneously performing navigation tasks and instantaneous control responses. The insect’s main source of information is visual, and through a hierarchy of processes this information is used for perception; at the lowest level are local neurons for detecting image motion and edges, at the higher level are interneurons to spatially integrate the output of previous stages. These higher level processes could be considered as models of the insect's environment, reducing the amount of information to only that which evolution has determined relevant. The scope of this thesis is experimenting with biologically inspired visual control of flying robots through information processing, models of the environment, and flight behaviour. In order to test these ideas I developed a custom quadrotor robot and experimental platform; the 'wasp' system. All algorithms ran on the robot, in real-time or better, and hypotheses were always verified with flight experiments. I developed a new optical flow algorithm that is computationally efficient, and able to be applied in a regular pattern to the image. This technique is used later in my work when considering patterns in the image motion field. Using optical flow in the log-polar coordinate system I developed attitude estimation and time-to-contact algorithms. I find that the log-polar domain is useful for analysing global image motion; and in many ways equivalent to the retinotopic arrange- ment of neurons in the optic lobe of insects, used for the same task. I investigated the role of depth in insect flight using two experiments. In the first experiment, to study how concurrent visual control processes might be combined, I developed a control system using the combined output of two algorithms. The first algorithm was a wide-field optical flow balance strategy and the second an obstacle avoidance strategy which used inertial information to estimate the depth to objects in the environment - objects whose depth was significantly different to their surround- ings. In the second experiment I created an altitude control system which used a model of the environment in the Hough space, and a biologically inspired sampling strategy, to efficiently detect the ground. Both control systems were used to control the flight of a quadrotor in an indoor environment. The methods that insects use to perceive edges and control their flight in response had not been applied to artificial systems before. I developed a quadrotor control system that used the distribution of edges in the environment to regulate the robot height and avoid obstacles. I also developed a model that predicted the distribution of edges in a static scene, and using this prediction was able to estimate the quadrotor altitude.

Many domains, such as geographical and biological sciences, can benefit from the ability of wireless sensor networks to provide long term, high temporal and spatial resolution sensing. Such networks must be able to trade off various requirements against each other to extend network lifetime while still providing useful, good quality data. The challenges faced by equipment in the field can very unpredictable and therefore a wireless sensor network should be able to cope with these challenges and return to a balanced state. Using readily available, low-cost components, this work was inspired by the human endocrine systems ability to maintain homeostasis, or balance, in a large number of parameters simultaneously. This work developed a number of endocrine inspired methods. These were aimed both at improving the power usage of nodes in a wireless sensor network and improving the quality of the data collected. Methods for improving power consumption and data quality were achieved. These methods were successfully deployed, for the purposes of environmental monitoring on a mesh network consisting of 20 nodes, for a period of almost 6 months. Analysis showed that the use of power by individual nodes was improved and that the endocrine inspired methods, aimed at improving data quality, were successful. Node lifetimes were extended, duplicate data reduced and the quality of data improved. The use of low-cost, readily available components was largely successful, and challenges and changes to these components were discussed.

The development of a general approach for non-destructive chemical and biological functionalization of materials could expand opportunities for both fundamental studies and creating various device platforms. Phage display has emerged as a powerful method for selecting peptides that possess enhanced selectivity and binding affinity toward a variety of targets. In this study, a powerful yet benign approach for identifying binding motifs to materials like (Poly) dimethylsiloxane, epoxy, and (Poly) ethylenetetraphthalate and peptide nanotubes has been demonstrated via comprehensively screened phage-displayed peptides. Further, along with the development of microstructures, micropatterns and micro-molecular self-assembly, recognition with phage-displayed peptides can be specifically localized in these microstructures. In addition, the development of a facile approach for fabricating a library of precisely positioned nanostructures and microfluidic systems based on mammalian hair offers exciting opportunities in fundamental research and practical applications. The current top-down and bottom-up nanofabrication methods have been restricted in accessibility in standard labs due to their high cost and complexity. Novel fabrication methods utilizing biomimetic materials and natural proteins for large-scale nanopatterning with hierarchical assembly of functional materials have been reported. It is anticipated that these results could open up exciting opportunities in the use of peptide-recognized materials in fundamental biochemical recognition studies, as well as in applications ranging from analytical storage devices, hybrid materials, sensors, surface and interface, to cell biology.

No description available.

Insects are confronted with the problem of locating food, mates, prey and hosts for their young over long distances, which they often overcome using chemical plume tracking. Tracking a plume of chemical back to its source is made difficult due to the complexity of plume structure. Turbulence and shifts in the wind direction prevail over diffusion in the spreading of an airborne chemical from a point in most cases, producing intricate plumes consisting of filaments of high chemical concentration interspersed with regions of clean air. It has been proposed that insects achieve plume tracking in this environment through variations of anemotaxis, which involves travelling upwind when an attractive chemical is perceived. This study aimed to investigate anemotaxis through the use of a mobile robot to test the efficacy of algorithms which mimic the way insects achieve plume tracking and also to determine whether these algorithms are an effective means of plume tracking for a mobile robot under a range of conditions. To achieve the aims of this study, various plume-tracking algorithms were implemented on a mobile robot built to model a plume-tracking insect and their performance was compared under a range of wind conditions. The algorithms tested were based upon a range of plume-tracking hypotheses. The simplest algorithm was surge anemotaxis, where the robot surged upwind in the presence of an attractive chemical and performed crosswind casting (back and forth motion) in the absence of chemical. The other algorithms tested were the counterturner, where the robot zigzagged upwind, and two bounded search methods. To allow these algorithms to be appropriately implemented, a robot model was constructed that could move in two dimensions and sense the wind velocity and ion level at a point in space. An ion plume was used instead of a chemical plume in each test as it behaves in a similar manner to a chemical plume, but ion sensors have response and recovery times far more rapid than conventional chemical sensors, similar to insects. The plume-tracking robot was tested in three series of tests. Initially, the entire range of plume-tracking algorithms was tested in a wind tunnel with fixed wind direction for a range of wind speeds and release positions. The second series of tests compared the performance of the surge anemotaxis and bounded search algorithms, again in a wind tunnel, but with a wind shift of 20° during some of the tests. The algorithms were tested with and without a direct crosswind surge response to detected wind shifts. The third set of tests examined the performance of the simple and wind shift response algorithms outdoors using natural wind to produce the plume. All algorithms tested achieved successful plume tracking in some conditions. The surge anemotaxis and triangular bounded search algorithms were particularly successful. The tests also showed that the paths obtained from tests undertaken in natural outdoor wind conditions varied greatly from those undertaken in a wind tunnel. This indicates the need to test plume-tracking algorithms in natural environments. This is vital both in the investigation of insect plume-tracking behaviour, as insects navigate in these environments, and in the process of producing plume-tracking robots that are capable of operating effectively in these conditions. / http://proxy.library.adelaide.edu.au/login?url= http://library.adelaide.edu.au/cgi-bin/Pwebrecon.cgi?BBID=1287973 / Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 2007

Engineering design methods focus on developing products that are innovative, robust, and multi-functional. In this context, the term robust refers to a product's ability to accomplish successfully its predetermined functions. Owing to the abundance of optimized and robust biological systems, engineering designers are now looking to nature for inspiration. Researchers believe that biomimetic or bio-inspired engineering systems can leverage the principles, mechanisms, processes, strategies, and/or morphologies of nature's successful designs. Unfortunately, two important problems associated with biomimetic design are a designer's limited knowledge of biology and the difference in biological and engineering terminologies. This research developed a new design tool that addresses these problems and proposes to help engineering designers develop candidate bio-inspired products or solutions. A methodology that helps users infer or extract biomimetic design principles from a given natural system or biomimetic product pair is described in this thesis. The method incorporates and integrates five existing design tools and theories to comprehensively investigate a given natural system or biomimetic product. Subsequently, this method is used to extract biomimetic design principles from 23 biomimetic products and natural systems. It is proposed that these principles have the potential to inspire ideas for candidate biomimetic products that are novel, innovative, and robust. The principle extraction methodology and the identified principles are validated using two separate case studies and a detailed analysis using the validation square framework. In the first case study, two students and the author use the principle extraction methodology to extract characteristics from a natural system and a biomimetic product pair. Results from this case study showed that the methodology effectively and repeatedly identifies system characteristics that exemplify inherent biomimetic design principles. In the second case study, the developed biomimetic design principles are used to inspire a solution for an engineering design problem. The resulting solution and its evaluation show that the design's achieved usefulness is linked to applying the biomimetic design principles. Similar to the TRIZ principles, the biomimetic design principles can inspire ideas for solutions to a given problem. The key difference is that designers using TRIZ leverage the solution strategies of engineering patents, while designers using the biomimetic design principles leverage nature’s solution strategies. The biomimetic design principles are compared to TRIZ and the BioTRIZ matrix.

The use of examples in idea generation is a common practice intended to provide inspiration from existing products to the designing of new ones. Examples can be taken from the Internet, engineering textbooks, analogical databases, literature, a company’s prior designs, or from a competitor company, prior work by the designer, and many other sources. These examples are represented in various ways, such as hand sketches, pictures, computer-aided designs (CAD), physical models, activity diagrams, shape grammars, text descriptions, etc. Design representations can also be broken down by function in the form of functional models and decompositions. The use of these visual or physical examples allows engineers to get a clearer picture of how a design or component works and enables them to have a better understanding of the overall design and function. Each representation has inherent advantages and disadvantages in the way that they portray a design. Examples are sources for analogies. Analogies from nature, where biological organisms have solved challenging problems in novel ways, are very useful in engineering idea generation and solution retrieval. This process is called biologically inspired design. Engineers often use biologically inspired design to solve problems while increasing creativity and expanding the solution space. Using this method, engineers are able to learn from nature and apply biological principles to real world engineering problems to make effective designs and produce innovative solutions. It is important to have a clearer understanding of how the use of the representations and characteristics of examples as external stimuli affect the idea generation process in engineering design. Understanding these processes will be invaluable in offering guidelines for how engineering design should be done and what types of external stimuli should be used to allow for innovation and creativity to be enhanced. This dissertation presents four studies that focus on understanding ways that examples can be used to improve the idea generation process. Three of these studies focus on how the representation of externally imposed examples, which may be used as analogues, influences creativity during idea generation while also minimizing design fixation, which occurs when designers adhere to the features of their own initial design solutions or to features of existing examples. The fourth study focuses on the use of examples as sources for analogical mapping and how these examples produce innovative solutions during idea generation. The first study compares CAD, sketch, and photograph representation presented individually. The second study compares CAD and sketch representation presented together, and the third study examines function tree and sketch representations. The fourth study looks at the real-world context and impact of examples used as sources for analogical mapping to inspire innovative solutions. The results of the studies show that CAD representations of good examples are effective in allowing engineers to identify the key working principles of a design and help to develop higher quality design concepts. CAD representations also cause more fixation to the example’s features. Function trees do not cause nor break fixation compared to a control condition, but do reduce fixation compared with sketches. Biological examples can be successfully used as analogues during engineering idea generation to create novel and effective design solutions to relevant and real-world engineering problems.

Drawing from the lessons of plant transpiration, this dissertation explores a biomimiced system for fluid transport and thermal regulation. This system utilizes evaporation and benefits from the associated passive pumping with an application of a rooftop solar radiation barrier in mind. By directing the incoming energy towards the phase change of water, lower surface temperatures can be maintained thus reducing heat transfer into the structure by conduction. In order to design and construct such a bio-inspired system, several parameters, i.e., the evaporation surface, the delivery path and the working fluid, must be understood as to how they affect and limit operations. Performance factors such as evaporation rate and suction pressure were monitored for the various design constraints of feeding tube length and diameter, membrane area, and working fluid. Additionally, as a heat flux was imposed on the membrane from above and below, the substrate temperature became important. Over the range of parameters tested, hydrodynamic resistances of the delivery path were shown to affect pumping height but not the evaporation rate. Instead, the evaporation rate was controlled by the substrate temperature. Furthermore, the normalized evaporation rate was found to be inversely related to the evaporation surface area. Under contaminated working fluid conditions, particles deposited in the membrane caused decreases in evaporation rates. When applied to a simulated roof situation, the evaporation system was successful at maintaining considerably lower surface temperatures than other conventional and unconventional roof albedos, which, in turn, would reduce heat flux into the interior by conduction. Lastly, in estimating the water consumption, on a typical August day in Austin, TX, the system could use up to 2 gallons/m² while providing enhanced cooling. When the system's resources were compared to being purposed in other ways, they were arguably better utilized in providing evaporative cooling. / text

It is widely known that Aboriginal men and women are overrepresented in the Canadian prison system. A long history of colonial violence and its contemporary manifestations has placed a disproportionate number of Canadian Aboriginal peoples at the bottom of the socioeconomic scale. In many ways, Canadian prisons have become the means through which society has chosen to respond to this history. Examining Indigenous men’s experiences and creative writing in a provincial correctional institution provides an opportunity to develop a deeper understanding of how these men consider and respond to the very real impact colonialism has on their lives. Through participant interviews I analyze the Inspired Minds: All Nations Creative Writing program at Saskatoon Correctional Centre and the way in which it has informed, challenged and changed participant experiences and relationships. Indigenous masculinity and transformative learning theory are utilized to better understand and interpret the experiences of program participants. Indigenous masculinity presents a lens which highlights how their lives have been impacted and shaped through community experiences with ongoing colonialism. Further it allows for a nuanced understanding of how heteropatriarchal masculinity is reinforced and perpetuated within the prison and how the classroom works to challenge these representations. Transformative learning theory allows for a deep understanding of the way in which the prison classroom can challenge the above norms by providing a contested learning environment. Inspired Minds: All Nations Creative Writing provides evidence that arts and education based programs can challenge the toxic, hegemonically masculine institution of the prison by creating a classroom space wherein participants are able to become active learners through the utilization of transformative learning principles.