Advertisement

Nonlinear Dynamics

, Volume 68, Issue 4, pp 555–563 | Cite as

Artemia swarm dynamics and path tracking

  • Mofeed Turky Rashid
  • Mattia FrascaEmail author
  • Abduladhem Abdulkareem Ali
  • Ramzy Salim Ali
  • Luigi Fortuna
  • Maria Gabriella Xibilia
Original Paper

Abstract

Artemia larvae may show swarming organization under the presence of a light spot, while being insensitive to several other external stimuli. In this paper, the dynamics of the Artemia population in response to this kind of stimuli has been exploited to design a robot moving inside the water and able to lead the direction of the group. The robot therefore implements external leadership, by driving the Artemia population along a set of desired trajectories. Experimental results and simulations based on a model of Artemia motion confirmed the suitability of the approach.

Keywords

Robotics Collective dynamics Artemia swarming External leadership 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Czirok, A., Stanley, H.E., Vicsek, T.: Spontaneously ordered motion of self-propelled particles. J. Phys. A, Math. Gen. 30, 1375–1385 (1997) CrossRefGoogle Scholar
  2. 2.
    Couzin, I.D., Krause, J., James, R., Ruxton, G.D., Franks, N.R.: Collective memory and spatial sorting in animal groups. J. Theor. Biol. 218, 1–11 (2002) MathSciNetCrossRefGoogle Scholar
  3. 3.
    Jadbabaie, A., Lin, J., Morse, A.S.: Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control 48(6), 988–1001 (2003) MathSciNetCrossRefGoogle Scholar
  4. 4.
    Klavins, E., Murray, R.M.: Distributed algorithms for cooperative control. IEEE Pervasive Comput. 3(1), 56–65 (2004) CrossRefGoogle Scholar
  5. 5.
    Couzin, I.D., Krause, J., Franks, N.R., Levin, S.A.: Effective leadership and decision making in animal groups on the move. Nature 433, 513–516 (2005) CrossRefGoogle Scholar
  6. 6.
    Aureli, M., Porfiri, M.: Coordination of self-propelled particles through external leadership. Europhys. Lett. 92, 40004–40006 (2010) CrossRefGoogle Scholar
  7. 7.
    Dempster, T., Taquet, M.: Fish aggregation device (FAD) research: gaps in current knowledge and future directions for ecological studies. Rev. Fish Biol. Fish. 14(1), 21–42 (2004) CrossRefGoogle Scholar
  8. 8.
    Ordemann, A., Balazsi, G., Moss, F.: Pattern formation and stochastic motion of the zooplankton Daphnia in a light field. Physica A 325, 260–266 (2003) CrossRefGoogle Scholar
  9. 9.
    Aureli, M., Kopman, V., Porfiri, M.: Free-locomotion of underwater vehicles actuated by ionic polymer metal composites. IEEE/ASME Trans. Mechatron. 15(4), 603–614 (2010) CrossRefGoogle Scholar
  10. 10.
    Aureli, M., Fiorilli, F., Porfiri, M.: Interactions between fish and robots: an experimental study. In: Proceedings of Dynamic Systems and Control Conference 2010 (ASME) (2010), paper No. DSCC2010-4098, Cambridge, UK Google Scholar
  11. 11.
    Halloy, J., Sempo, G., Caprari, G., Rivault, C., Asadpour, M., Tache, F., Said, I., Durier, V., Canonge, S., Amé, J.M., Detrain, C., Correll, N., Martinoli, A., Mondada, F., Siegwart, R., Deneubourg, J.L.: Social integration of robots into groups of cockroaches to control self-organized choices. Science 318, 1155 (2007) CrossRefGoogle Scholar
  12. 12.
    Gribovskiy, A., Halloy, J.I., Deneubourg, J.-L., Bleuler, H., Mondada, F.: Towards mixed societies of chickens and robots. In: Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18–22 (2010) Google Scholar
  13. 13.
    Williams, T.A.: Locomotion in developing Artemia Larvae: mechanical analysis of antennal propulsors based on large-scale physical models. Biol. Bull. 187, 156–163 (1994) CrossRefGoogle Scholar
  14. 14.
    Williams, T.A.: The Nauplius larva of crustaceans: functional diversity and the phylotypic stage. Am. Zool. 34, 562–569 (1994) Google Scholar
  15. 15.
    Gulbrandsen, J.: Artemia swarming—mechanisms and suggested reasons. J. Plankton Res. 23(7), 659–669 (2001) CrossRefGoogle Scholar
  16. 16.
    Ali, A.A., Fortuna, L., Frasca, M., Rashid, M.T., Xibilia, M.G.: Complexity in a population of Artemia. Chaos Solitons Fractals 44(4–5), 306–316 (2011) CrossRefGoogle Scholar
  17. 17.
    Serra, J.: Image Analysis and Mathematical Morphology. Academic Press, San Diego (1983) Google Scholar
  18. 18.
    Maragos, P.A., Schafer, R.W.: Morphological skeleton representation and coding of binary images. IEEE Trans. Acoust. Speech Signal Process. 34(5) (1986) Google Scholar

Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  • Mofeed Turky Rashid
    • 1
  • Mattia Frasca
    • 2
    Email author
  • Abduladhem Abdulkareem Ali
    • 1
  • Ramzy Salim Ali
    • 1
  • Luigi Fortuna
    • 2
  • Maria Gabriella Xibilia
    • 3
  1. 1.Electrical Engineering DepartmentUniversity of BasrahBasrahIraq
  2. 2.Dipartimento di Ingegneria Elettrica Elettronica e InformaticaUniversitá degli Studi di CataniaCataniaItaly
  3. 3.DiSIA, Facoltà di IngegneriaUniversità degli Studi di MessinaMessinaItaly

Personalised recommendations