| 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, 助教 (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, 工学研究科, 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 (2020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 |
On the theoretical side, we followed the original plan and worked on three aspects: (a) extension of the quality-diversity algorithm, including automatic feature extraction from time traces with VAE, (b) implementation of a hardware robotic system inspired by our approach (extending our SWARM paper from last year), and (c) analysis of communication and synchronization through enzyme saturation.
On the experimental side, we focused on exploring the capabilities of our molecular robots through the following aspects: (a) controlled emergence of complex parasitic systems (accepted at the ALIFE conference), (b) implementation of a cascaded DNA reaction-diffusion system in a hydrogel medium, (c) demonstration of molecular robots aggregation/disaggregation by human-aided addition of signal DNA molecules, and (d) development of a DNA origami structures potentially capable of transporting molecules across the membrane of a robot (necessary for communication between robots).
Finally, we put efforts on implementing the collaboration with the French side. We organized a 2 days workshop centered on the teams and collaborators of both sides and had regular communications on microfluidic system designs and hardware robots.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
3: やや遅れている
理由
The project progressed rather smoothly on most aspects related to theoretical computation and modeling, following closely the original schedule. However, aspects related to hardware implementation have been delayed as collaboration with the French side were slowed down by the current pandemic, while their work on the project had to be postponed as well.
Similarly, while we made progress on most aspects of the experimental implementation of our project, online collaborative work on microfluidic aspects has been slower than the original plan.
Overall, those delays are compensated by additional efforts made on the Japanese side, leading to the publication and acceptance of multiple research papers (e.g. ALIFE conference, Soft Matter, Chem-Bio journal, Micromachines, Biophysics and Physicobiology).
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| 今後の研究の推進方策 |
As most aspect are on schedule, we aim to follow the original plan for next year.
On the theoretical side, we plan to scale up the exploration of behaviors thanks to the algorithm developed during the current year. Additionally, we plan to finalize the hardware implementation inspired by our reaction-diffusion system in simulation and move on to its physical implementation if the robots prepared by the French team are ready.
On the experimental side, we plan to keep working on developing gel-based reaction diffusion systems as well as performing in-vitro assembly and disassembly of robots, for dynamic behaviors. We will also evaluate the performance of those molecular robots for simple dynamic tasks.
Finally, we will continue to connect with the French team online, through annual meet ups. If the situation allows it, we well also travel to the French side to have a hands on research workshop.
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