| 研究課題/領域番号 |
19KK0261
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| 研究種目 |
国際共同研究加速基金(国際共同研究強化(B))
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| 配分区分 | 基金 |
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| 審査区分 |
中区分62:応用情報学およびその関連分野
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| 研究機関 | お茶の水女子大学 |
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研究代表者 |
オベル加藤 ナタナエル お茶の水女子大学, 基幹研究院, 講師 (10749659)
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| 研究分担者 |
川又 生吹 東北大学, 工学研究科, 助教 (30733977)
佐藤 佑介 東北大学, 学際科学フロンティア研究所, 助教 (60830560)
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| 研究期間 (年度) |
2019-10-07 – 2024-03-31
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| 研究課題ステータス |
交付 (2021年度)
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| 配分額 *注記 |
18,070千円 (直接経費: 13,900千円、間接経費: 4,170千円)
2023年度: 2,860千円 (直接経費: 2,200千円、間接経費: 660千円)
2022年度: 3,250千円 (直接経費: 2,500千円、間接経費: 750千円)
2021年度: 3,250千円 (直接経費: 2,500千円、間接経費: 750千円)
2020年度: 5,980千円 (直接経費: 4,600千円、間接経費: 1,380千円)
2019年度: 2,730千円 (直接経費: 2,100千円、間接経費: 630千円)
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| キーワード | Molecular Robotics / Collective Behaviors / Swarm / Microfluidics / Quality-Diversity / Reaction-Diffusion / Evolutionary Algorithm |
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| 研究開始時の研究の概要 |
This project aims to find optimal conditions for the emergence of robust cooperative behaviors in a swarm of molecular robots. During a past collaboration with the International collaborators, we implemented a swarm of one million molecular robots capable of simple aggregation. We will build onto that platform to test and implement new molecular robotic systems, using simulation and evolutionary optimization on the theoretical side, and in-vitro implementation on the experimental side. Furthermore, implementation in a standard fleet of small robots to bridge the reality gap.
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| 研究実績の概要 |
During this fiscal year, we finalized the mathematical analysis of enzymatically coupled oscillatory modules. In such system, molecular signals from the environment can directly affect parameters such as local enzymatic saturation, and thus switch the system from a coupled to an uncoupled regime and vice-versa. Our parameter exploration can be used to guide the design of complex molecular systems, such as active materials or molecular robot controllers. We then moved to the in-vitro implementation with a microfluidics setup, with the target of performing morphogenesis-like behaviors.
Thanks to regular online meetings with the French side, we finalized the design and coding of a "molecular" algorithm on a swarm of hardware robots. We moved to the Implementation on actual robots, with promising preliminary results.
Finally, in accordance with the original plan, we designed DNA nanostructures for molecular robotics, both through an algorithmic exploration and through experimental implementations.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
While traveling is still an issue, we managed to implement the hardware swarm on the French side through regular meetings. Progress on that front is slower than through direct interaction, but results are promising.
Progress on the theoretical and wetlab side are good and on par with the original plan.
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| 今後の研究の推進方策 |
The plan for this fiscal year is to finalize the experimental implementation of our theoretical molecular system. Targets will be both dynamic (in accordance to the original plan) and inspired by morphogenesis (based on current preliminary results).
We also plan to finalize the hardware robotic swarm implementation. Depending on results, we aim to catch up with the original plan by the end of the fiscal year.
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