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Flexible automation technologies have been applied to the manual phototransfection procedure on fibroblast and astrocyte cells.We have designed and implemented a framework for increased throughput of the entire process. Integrated image processing, laser target position calculation, and stage movements show a throughput increase of > 23X over the current manual method while the potential for even...
We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al., and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can...
We present a decentralized, communication-less approach to the dynamic allocation of a swarm of homogeneous robots to a target distribution among multiple sites. Building on our work, we optimize stochastic control policies for the robots that cause the population to quickly redistribute among the sites while adhering to a limit on inter-site traffic at equilibrium. We propose a way to account for...
We present an approach for the dynamic assignment and reassignment of a large team of homogeneous robotic agents to multiple locations with applications to search and rescue, reconnaissance and exploration missions. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests...
In this paper we present a comprehensive framework for abstraction and controller design for a biological system. The first half of the paper concerns modeling and model abstraction of the system. Most models in systems biology are deterministic models with ordinary differential equations in the concentration variables. We present a stochastic hybrid model of the lactose regulation system of E. coli...
We present a methodology for characterizing and synthesizing swarm behaviors using both a macroscopic model that represents a swarm as a continuum and a microscopic model that represents individual robots. We develop a systematic approach for synthesizing behaviors at the macroscopic level that can be realized on individual robots at the microscopic level. Our methodology is inspired by a dynamical...
This paper focuses on the lactose regulation system in Escherichia coli bacteria, one of the most extensively studied examples of positive feedback in a naturally occurring gene network. State-of-the-art nonlinear dynamical system models predict a bi-stability phenomenon that is confirmed in experiments. However, such deterministic models fail to explain experimental observations of spontaneous transition...
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