Autonomously shaping natural climbing plants: a bio-hybrid approach

Plant growth is a self-organized process incorporating distributed sensing, internal communication and morphology dynamics. We develop a distributed mechatronic system that autonomously interacts with natural climbing plants, steering their behaviours to grow user-defined shapes and patterns. Investigating this bio-hybrid system paves the way towards the development of living adaptive structures and grown building components. In this new application domain, challenges include sensing, actuation and the combination of engineering methods and natural plants in the experimental set-up. By triggering behavioural responses in the plants through light spectra stimuli, we use static mechatronic nodes to grow climbing plants in a user-defined pattern at a two-dimensional plane. The experiments show successful growth over periods up to eight weeks. Results of the stimuli-guided experiments are substantially different from the control experiments. Key limitations are the number of repetitions performed and the scale of the systems tested. Recommended future research would investigate the use of similar bio-hybrids to connect construction elements and grow shapes of larger size.

[1]  Thomas Speck,et al.  Quantifying the attachment strength of climbing plants: a new approach. , 2010, Acta biomaterialia.

[2]  Christian Fankhauser,et al.  Sensing the light environment in plants: photoreceptors and early signaling steps , 2015, Current Opinion in Neurobiology.

[3]  E. Gianoli,et al.  The behavioural ecology of climbing plants , 2015, AoB PLANTS.

[4]  Markus Kayser,et al.  SILK PAVILION:: A CASE STUDY IN FIBRE-BASED DIGITAL FABRICATION , 2017 .

[5]  K. Mccree THE ACTION SPECTRUM, ABSORPTANCE AND QUANTUM YIELD OF PHOTOSYNTHESIS IN CROP PLANTS , 1971 .

[6]  Renato Vidoni,et al.  A FEM-Experimental Approach for the Development of a Conceptual Linear Actuator Based on Tendril's Free Coiling , 2017, Applied bionics and biomechanics.

[7]  C. N. Stewart,et al.  Climbing plants: attachment adaptations and bioinspired innovations , 2018, Plant Cell Reports.

[8]  Joshua P Vandenbrink,et al.  Space, the final frontier: A critical review of recent experiments performed in microgravity. , 2016, Plant science : an international journal of experimental plant biology.

[9]  Hanno Scharr,et al.  A cognitive architecture for automatic gardening , 2017, Comput. Electron. Agric..

[10]  Mary Katherine Heinrich,et al.  An Evolutionary Robotics Approach to the Control of Plant Growth and Motion: Modeling Plants and Crossing the Reality Gap , 2016, 2016 IEEE 10th International Conference on Self-Adaptive and Self-Organizing Systems (SASO).

[11]  Thomas Schmickl,et al.  Evolved Control of Natural Plants , 2017, ACM Trans. Auton. Adapt. Syst..

[12]  Jeong-Woo Choi,et al.  Phototactic guidance of a tissue-engineered soft-robotic ray , 2016, Science.

[13]  Bonnie Gale,et al.  The potential of living willow structures in the landscape , 2011 .

[14]  J. Christie,et al.  Shoot phototropism in higher plants: new light through old concepts. , 2013, American journal of botany.

[15]  J. Bontsema,et al.  An Autonomous Robot for Harvesting Cucumbers in Greenhouses , 2002, Auton. Robots.

[16]  Kyoung Sun Moon,et al.  Structural Developments in Tall Buildings: Current Trends and Future Prospects , 2007 .

[17]  Martin Kerner,et al.  Algal cultivation and hydrothermal gasification: Biomass and energy production , 2014 .

[18]  Roberta Croce,et al.  Photosynthetic Quantum Yield Dynamics: From Photosystems to Leaves[W][OA] , 2012, Plant Cell.

[19]  Renato Vidoni,et al.  Tendril-Based Climbing Plants to Model, Simulate and Create Bio-Inspired Robotic Systems , 2015 .

[20]  Bharat Bhushan,et al.  Plant Surfaces: Structures and Functions for Biomimetic Innovations , 2017, Nano-Micro Letters.

[21]  Oliver Storz,et al.  Living Systems: Designing Growth in Baubotanik , 2012 .

[22]  J. V. Stafford,et al.  A systems view of agricultural robots. , 2007 .

[23]  John Locke,et al.  Computational Brick Stacking for Constructing Free-Form Structures , 2015 .

[24]  Albert-Jan Baerveldt,et al.  An Agricultural Mobile Robot with Vision-Based Perception for Mechanical Weed Control , 2002, Auton. Robots.

[25]  Mohammed El-Abd,et al.  iPlant: The greenhouse robot , 2015, 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE).

[26]  Ottoline Leyser,et al.  Cytokinin is required for escape but not release from auxin mediated apical dominance , 2015, The Plant journal : for cell and molecular biology.

[27]  Sebastian Risi,et al.  Flora robotica - An Architectural System Combining Living Natural Plants and Distributed Robots , 2017, ArXiv.

[28]  Tobias Kretzschmar,et al.  The importance of strigolactone transport regulation for symbiotic signaling and shoot branching , 2016, Planta.

[29]  K. Folta,et al.  Contributions of green light to plant growth and development. , 2013, American journal of botany.

[30]  Sergio Mugnai,et al.  Nutation in Plants , 2015 .

[31]  Vegard Knotten,et al.  Design Management in the Building Process - A Review of Current Literature , 2015 .

[32]  S. Gilroy Plant tropisms , 2008, Current Biology.

[33]  Huan Liu,et al.  Building a distributed robot garden , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  F Mondada,et al.  Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices , 2007, Science.

[35]  Jon Hughes,et al.  Phytochrome cytoplasmic signaling. , 2013, Annual review of plant biology.

[36]  Anand Kumar Mishra,et al.  Artificial System Inspired by Climbing Mechanism of Galium Aparine Fabricated via 3D Laser Lithography , 2018, Living Machines.

[37]  Sanjeev Shankar Living Root Bridges: State of knowledge, fundamental research and future application , 2015 .

[38]  Francesco Mondada,et al.  Towards mixed societies of chickens and robots , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[39]  Minoru Asada,et al.  Behavior Change of Crickets in a Robot-Mixed Society , 2010, J. Robotics Mechatronics.

[40]  Fernando Pacheco Torgal,et al.  Biotechnologies and Biomimetics for Civil Engineering , 2015 .

[41]  Franco Bontempi,et al.  Sustainability Concepts in the Design of High-Rise Buildings : The Case of Diagrid Systems , 2014 .

[42]  Roland Siegwart,et al.  Animal and robot mixed societies: building cooperation between microrobots and cockroaches , 2005, IEEE Robotics & Automation Magazine.

[43]  M. Tajmar,et al.  Review and analysis of over 40 years of space plant growth systems. , 2016, Life sciences in space research.

[44]  de Wit,et al.  Shade avoidance : phytochrome signalling and other aboveground neighbour detection cues , 2014 .

[45]  P. Masson,et al.  Gravity sensing and signal transduction in vascular plant primary roots. , 2013, American journal of botany.

[46]  Sebastian Risi,et al.  Flora Robotica - Mixed Societies of Symbiotic Robot-Plant Bio-Hybrids , 2015, 2015 IEEE Symposium Series on Computational Intelligence.

[47]  Emmanuel Liscum,et al.  Phototropism: Growing towards an Understanding of Plant Movement[OPEN] , 2014, Plant Cell.

[48]  Swapnil Kulkarni,et al.  Automation for Agriculture , 2015 .

[49]  Eva Rosenqvist,et al.  Spectral Effects of Artificial Light on Plant Physiology and Secondary Metabolism: A Review , 2015 .

[50]  Keara A Franklin,et al.  Photoreceptor crosstalk in shade avoidance. , 2016, Current opinion in plant biology.

[51]  Yasmine Meroz,et al.  The Kinematics of Plant Nutation Reveals a Simple Relation between Curvature and the Orientation of Differential Growth , 2016, PLoS Comput. Biol..

[52]  Fred Keijzer,et al.  Plants: Adaptive behavior, root-brains, and minimal cognition , 2011, Adapt. Behav..

[53]  Fernando Migliaccio,et al.  Circumnutation as an autonomous root movement in plants. , 2013, American journal of botany.

[54]  Kyoung Sun Moon Diagrid Structures for Complex-Shaped Tall Buildings , 2012 .

[55]  Sebastian Risi,et al.  A robot to shape your natural plant: the machine learning approach to model and control bio-hybrid systems , 2018, GECCO.

[56]  Francesco Mondada,et al.  Multi-robot control and tracking framework for bio-hybrid systems with closed-loop interaction , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[57]  Thomas Schmickl,et al.  Design choices for adapting bio-hybrid systems with evolutionary computation , 2017, GECCO.

[58]  W. Briggs,et al.  Phototropism: Some History, Some Puzzles, and a Look Ahead1 , 2014, Plant Physiology.

[59]  Paul Gepts,et al.  Origin and evolution of common bean : Past events and recent trends , 1998 .