| 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 東京工業大学, 情報理工学院, JSPS特別研究員 (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 (2019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 / 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 |
The focus of this first year has been on testing the basic elements of a swarm of vesicle-based molecular robot capable of self-assembly.
Modeling: We extended the previous mathematical model of the PEN DNA toolbox, the underlying molecular system. The equations describing a given system can now be generated in a modular fashion. That modularity allows us in turn to integrate PEN DNA toolbox systems with other mathematical models, such as those governing Reaction-Diffusion systems or the communication between the vesicles forming the body of our molecular robots.
Simulation: We made a simple model for communication between vesicles with internal states, displaying information propagation and computation. That approach effectively extends previous work on bead-based molecular robots to the design used in this project. We also implemented the PEN DNA toolbox-based controller for physical robots that will be used with the robotic swarm of our international collaborators.
Experiments: We performed preparatory experiments validating the anchoring system planned for the lipid vesicles. Both anchoring and release performed satisfactorily in a well-mixed environment. We also succeeded in performing a pattern-formation using the self-assembly of DNA polymer in a hydrogel medium.
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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 original plan for the first year included direct experimental collaboration with our partners in France. However, due to the outbreak of COVID-19, that element of the project had to be cancelled. We instead focused more on the modeling aspects that were initially projected for the second year, so that we would lose as little time as possible.
Overall, modeling, simulation and experimental directions that were not dependent on direct interactions with our partners have progressed smoothly. Progress on aspects that did require their expertise (implementation on a physical robotic swarm; microfluidics system) has been somewhat delayed.
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| 今後の研究の推進方策 |
The first priority will be to set channels to directly collaborate with our partners in France. To do so, we plan to first organize regular online meetings until the situation allows us to meet in person. At that juncture, we will adapt the schedule of the workshop plan for this fiscal year to integrate elements that could not be dealt with online (hands-on training with the microfluidics system, robotic swarm).
In the meantime, we will keep working on the simulation of molecular robotic systems, integrating them with our optimization algorithm as planned. We will also perform experimental validations of our current designs as the situation allows. Those experiments will focus on the actuation of swarms of lipid vesicles, allowing them to programmatically aggregate and separate.
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