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Biomorphic Systems Based on Smart Actuators
A comparative review of actuation technologies is presented. Innovative mechanism ideas that combine high force and deflection are described. Flexible smart actuators are obtained utilizing real time adaptive bio-morphic controls.
Self-assembly of biomorphic carbon/sulfur microstructures in sulfidic environments
In natural and laboratory-based environments experiencing sustained counter fluxes of sulfide and oxidants, elemental sulfur (S 0 )—a key intermediate in the sulfur cycle—can commonly accumulate. S 0 is frequently invoked as a biomineralization product generated by enzymatic oxidation of hydrogen sulfide and polysulfides. Here we show the formation of S 0 encapsulated in nanometre to micrometre-scale tubular and spherical organic structures that self-assemble in sulfide gradient environments in the absence of any direct biological activity. The morphology and composition of these carbon/sulfur microstructures so closely resemble microbial cellular and extracellular structures that new caution must be applied to the interpretation of putative microbial biosignatures in the fossil record. These reactions between sulfide and organic matter have important implications for our understanding of S0 mineralization processes and sulfur interactions with organic carbon in the environment. They furthermore provide a new pathway for the synthesis of carbon-sulfur nanocomposites for energy storage technologies.
Mars exploration using biomorphic flyers
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Biomorphic Multi-Agent Architecture for Persistent Computing
A multi-agent software/hardware architecture, inspired by the multicellular nature of living organisms, has been proposed as the basis of design of a robust, reliable, persistent computing system. Just as a multicellular organism can adapt to changing environmental conditions and can survive despite the failure of individual cells, a multi-agent computing system, as envisioned, could adapt to changing hardware, software, and environmental conditions. In particular, the computing system could continue to function (perhaps at a reduced but still reasonable level of performance) if one or more component( s) of the system were to fail. One of the defining characteristics of a multicellular organism is unity of purpose. In biology, the purpose is survival of the organism. The purpose of the proposed multi-agent architecture is to provide a persistent computing environment in harsh conditions in which repair is difficult or impossible. A multi-agent, organism-like computing system would be a single entity built from agents or cells. Each agent or cell would be a discrete hardware processing unit that would include a data processor with local memory, an internal clock, and a suite of communication equipment capable of both local line-of-sight communications and global broadcast communications. Some cells, denoted specialist cells, could contain such additional hardware as sensors and emitters. Each cell would be independent in the sense that there would be no global clock, no global (shared) memory, no pre-assigned cell identifiers, no pre-defined network topology, and no centralized brain or control structure. Like each cell in a living organism, each agent or cell of the computing system would contain a full description of the system encoded as genes, but in this case, the genes would be components of a software genome.
Bio-Inspired Engineering of Exploration Systems
The multidisciplinary concept of "bioinspired engineering of exploration systems" (BEES) is described, which is a guiding principle of the continuing effort to develop biomorphic explorers as reported in a number of articles in the past issues of NASA Tech Briefs. The intent of BEES is to distill from the principles found in successful nature-tested mechanisms of specific crucial functions that are hard to accomplish by conventional methods but that are accomplished rather deftly in nature by biological organisms. The intent is not just to mimic operational mechanisms found in a specific biological organism but to imbibe the salient principles from a variety of diverse bio-organisms for the desired crucial function. Thereby, we can build explorer systems that have specific capabilities endowed beyond nature, as they will possess a combination of the best nature-tested mechanisms for that particular function. The approach consists of selecting a crucial function, for example, flight or some selected aspects of flight, and develop an explorer that combines the principles of those specific attributes as seen in diverse flying species into one artificial entity. This will allow going beyond biology and achieving unprecedented capability and adaptability needed in encountering and exploring what is as yet unknown. A classification of biomorphic flyers into two main classes of surface and aerial explorers is illustrated in the figure, with examples of a variety of biological organisms that provide the inspiration in each respective subclass. Such biomorphic explorers may possess varied mobility modes: surface-roving, burrowing, hopping, hovering, or flying, to accomplish surface, subsurface, and aerial exploration. Preprogrammed for a specific function, they could serve as one-way communicating beacons, spread over the exploration site, autonomously looking for/at the targets of interest. In a hierarchical organization, these biomorphic explorers would report to the next level of exploration mode (say, a large conventional lander/rover) in the vicinity. A widespread and affordable exploration of new/hazardous sites at lower cost and risk would thus become possible by utilizing a faster aerial flyer to cover long ranges and deploying a variety of function- specific, smaller biomorphic explorers for distributed sensing and local sample acquisition. Several conceptual biomorphic missions for planetary and terrestrial exploration applications have been illustrated in "Surface-Launched Explorers for Reconnaissance/ Scouting" (NPO-20871), NASA Tech Briefs, Vol. 26, No. 4 (April, 2002), page 69 and "Bio-Inspired Engineering of Exploration Systems," Journal of Space Mission Architecture, Issue 2, Fall 2000, pages 49-79.
Insect-Inspired Flight Control for Unmanned Aerial Vehicles
Flight-control and navigation systems inspired by the structure and function of the visual system and brain of insects have been proposed for a class of developmental miniature robotic aircraft called "biomorphic flyers" described earlier in "Development of Biomorphic Flyers" (NPO-30554), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 54. These form a subset of biomorphic explorers, which, as reported in several articles in past issues of NASA Tech Briefs ["Biomorphic Explorers" (NPO-20142), Vol. 22, No. 9 (September 1998), page 71; "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), Vol. 27, No. 5 (May 2003), page 54; and "Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), Vol. 28, No. 5 (May 2004), page 36], are proposed small robots, equipped with microsensors and communication systems, that would incorporate crucial functions of mobility, adaptability, and even cooperative behavior. These functions are inherent to biological organisms but are challenging frontiers for technical systems. Biomorphic flyers could be used on Earth or remote planets to explore otherwise difficult or impossible to reach sites. An example of an exploratory task of search/surveillance functions currently being tested is to obtain high-resolution aerial imagery, using a variety of miniaturized electronic cameras. The control functions to be implemented by the systems in development include holding altitude, avoiding hazards, following terrain, navigation by reference to recognizable terrain features, stabilization of flight, and smooth landing. Flying insects perform these and other functions remarkably well, even though insect brains contains fewer than 10(exp -4) as many neurons as does the human brain. Although most insects have immobile, fixed-focus eyes and lack stereoscopy (and hence cannot perceive depth directly), they utilize a number of ingenious strategies for perceiving, and navigating in, three dimensions. Despite their lack of stereoscopy, insects infer distances to potential obstacles and other objects from image motion cues that result from their own motions in the environment. The concept of motion of texture in images as a source of motion cues is denoted generally as the concept of optic or optical flow. Computationally, a strategy based on optical flow is simpler than is stereoscopy for avoiding hazards and following terrain. Hence, this strategy offers the potential to design vision-based control computing subsystems that would be more compact, would weigh less, and would demand less power than would subsystems of equivalent capability based on a conventional stereoscopic approach.
Polyelectrolyte Complex Films Influence the Formation of Polycrystalline Micro-Structures
Silica-carbonate biomorphs are inorganic materials composed of thousands of crystalline nanorods that assemble complex morphologies such as helices, vessels, and sheets. We investigate the effect on biomorph crystallization of polyelectrolyte complex films that are prepared using the layer-by-layer deposition technique and post-processed to obtain three stable, chemically distinct films. Biomorph growth on poly(diallyldimethylammonium)-dominated substrates (cationic) shows polycrystalline helical and sheet structures bounded by large witherite prisms. Crystallization on poly(styrenesulfonate)-dominated (anionic) and stoichiometric substrates follows a qualitatively different pathway. We observe islands of radial mineral films that over several days extend at a remarkably constant velocity of 0.48 µm/h and eventually mineralize the whole substrate. Our work opens exciting avenues for the use of polyelectrolyte films as tunable substrates for biomimetic crystallization.
Bioinspired engineering of exploration systems for NASA and DoD
A new approach called bioinspired engineering of exploration systems (BEES) and its value for solving pressing NASA and DoD needs are described. Insects (for example honeybees and dragonflies) cope remarkably well with their world, despite possessing a brain containing less than 0.01% as many neurons as the human brain. Although most insects have immobile eyes with fixed focus optics and lack stereo vision, they use a number of ingenious, computationally simple strategies for perceiving their world in three dimensions and navigating successfully within it. We are distilling selected insect-inspired strategies to obtain novel solutions for navigation, hazard avoidance, altitude hold, stable flight, terrain following, and gentle deployment of payload. Such functionality provides potential solutions for future autonomous robotic space and planetary explorers. A BEES approach to developing lightweight low-power autonomous flight systems should be useful for flight control of such biomorphic flyers for both NASA and DoD needs. Recent biological studies of mammalian retinas confirm that representations of multiple features of the visual world are systematically parsed and processed in parallel. Features are mapped to a stack of cellular strata within the retina. Each of these representations can be efficiently modeled in semiconductor cellular nonlinear network (CNN) chips. We describe recent breakthroughs in exploring the feasibility of the unique blending of insect strategies of navigation with mammalian visual search, pattern recognition, and image understanding into hybrid biomorphic flyers for future planetary and terrestrial applications. We describe a few future mission scenarios for Mars exploration, uniquely enabled by these newly developed biomorphic flyers.
Evidence of Microfossils in Carbonaceous Chondrites
Investigations have been carried out on freshly broken, internal surfaces of the Murchison, Efremovka and Orgueil carbonaceous chondrites using Scanning Electron Microscopes (SEM) in Russia and the Environmental Scanning Electron Microscope (ESEM) in the United States. These independent studies on different samples of the meteorites have resulted in the detection of numerous spherical and ellipsoidal bodies (some with spikes) similar to the forms of uncertain biogenicity that were designated "organized elements" by prior researchers. We have also encountered numerous complex biomorphic microstructures in these carbonaceous chondrites. Many of these complex bodies exhibit diverse characteristics reminiscent of microfossils of cyanobacteria such as we have investigated in ancient phosphorites and high carbon rocks (e.g. oil shales). Energy Dispersive Spectroscopy (EDS) analysis and 2D elemental maps shows enhanced carbon content in the bodies superimposed upon the elemental distributions characteristic of the chondritic matrix. The size, distribution, composition, and indications of cell walls, reproductive and life cycle developmental stages of these bodies are strongly suggestive of biology' These bodies appear to be mineralized and embedded within the meteorite matrix, and can not be attributed to recent surface contamination effects. Consequently, we have interpreted these in-situ microstructures to represent the lithified remains of prokaryotes and filamentous cyanobacteria. We also detected in Orgueil microstructures morphologically similar to fibrous kerite crystals. We present images of many biomorphic microstructures and possible microfossils found in the Murchison, Efremovka, and Orgueil chondrites and compare these forms with known microfossils from the Cambrian phosphate-rich rocks (phosphorites) of Khubsugul, Northern Mongolia.
Preliminary Results of the Investigation of the Carbonaceous Chondrites Nagoya, Allende, and Murray
As part of a long-term study of morphological biomarkers in Astromaterials, we are documenting a variety of features considered to be indigenous to ancient terrestrial rocks and carbonaceous meteorites. In preparation for the study of samples returned from Mars and other bodies of our Solar System, it is imperative that we establish a database of the nature and morphology of known bacterial fossils in Earth rocks and biomorphic microstructures which may represent microfossils in meteorites. The process of fossilization or mineralization can cause major changes in morphologies and textures of the original organisms and the study of fossilized terrestrial organisms can help provide insight into the interpretation of mineral biomarkers and abiotic microstructures which may mimic certain aspects of microfossils. One class of biomarkers consists of biominerals which have either been precipitated directly by microorganisms, or whose precipitation has been influenced by the organisms. Such microbe-mediated mineral formation may include important clues to the size, shape, and environment of the microorganisms. This paper describes the detection of possible microbe-mediated minerals, biomorphic microstructures and possible microfossils in the Nagoya, Allende, and Murray Carbonaceous Chondrites.
Bacterial Paleontology and Studies of Cardonaceous Chondrites
Model objects showing biomorphic structures that normally occur in extraterrestrial bodies are discussed. Biomorphic bodies observed in meteorites are described.
Atlas of Bacteriomorphs in Carbonaceous Chondrites
During the past few years, there has appeared much new and interesting data concerning the distribution of bacteriomorphic structures in both meteorites (carbonaceous chondrites) and in earth rocks of different ages (Archean to Recent). The bacterial forms studied are of very diverse morphologies and they are represented by cocci, filaments, rod-shaped forms, etc. The biomorphic forms that are encountered in earth rocks are practically indistinguishable from the biomorphic forms that are found in meteorites. Therefore, it has become necessary to compare and correlate bacteriomorphic structures from earth rocks and from meteorites. In order to better understand this problem, we have initiated efforts to compile an Atlas of bacteriomorphic images.
Microbiological Methodology in Astrobiology
Searching for life in astromaterials to be delivered from the future missions to extraterrestrial bodies is undoubtedly related to studies of the properties and signatures of living microbial cells and microfossils on Earth. As model terrestrial analogs of Martian polar subsurface layers are often regarded the Antarctic glacier and Earth permafrost habitats where alive microbial cells preserved viability for millennia years due to entering the anabiotic state. For the future findings of viable microorganisms in samples from extraterrestrial objects, it is important to use a combined methodology that includes classical microbiological methods, plating onto nutrient media, direct epifluorescence and electron microscopy examinations, detection of the elemental composition of cells, radiolabeling techniques, PCR and FISH methods. Of great importance is to ensure authenticity of microorganisms (if any in studied samples) and to standardize the protocols used to minimize a risk of external contamination. Although the convincing evidence of extraterrestrial microbial life will may come from the discovery of living cells in astromaterials, biomorphs and microfossils must also be regarded as a target in search of life evidence bearing in mind a scenario that alive microorganisms had not be preserved and underwent mineralization. Under the laboratory conditions, processes that accompanied fossilization of cyanobacteria were reconstructed, and artificially produced cyanobacterial stromatolites resembles by their morphological properties those found in natural Earth habitats. Regarding the vital importance of distinguishing between biogenic and abiogenic signatures and between living and fossil microorganisms in analyzed samples, it is worthwhile to use some previously developed approaches based on electron microscopy examinations and analysis of elemental composition of biomorphs in situ and comparison with the analogous data obtained for laboratory microbial cultures and fossilized microorganisms. This communication will be focused on the analysis of our experience in working with ancient microorganisms and fossils and discussion of some issues that are crucial for development of the program for future finding of extraterrestrial life and its evidence.
Fossil Microorganisms in Archaean
Ancient Archean and Proterozoic rocks are the model objects for investigation of rocks comprising astromaterials. The first of Archean fossil microorganisms from Baltic shield have been reported at the last SPIE Conference in 2005. Since this confeence biomorphic structures have been revealed in Archean rocks of Karelia. It was determined that there are 3 types of such bion structures: 1. structures found in situ, in other words microorganisms even-aged with rock matrix, that is real Archean fossils biomorphic structures, that is to say forms inhabited early formed rocks, and 3. younger than Archean-Protherozoic minerali microorganisms, that is later contamination. We made attempt to differentiate these 3 types of findings and tried to understand of burial of microorganisms. The structures belongs (from our point of view) to the first type, or real Archean, forms were under examination. Practical investigation of ancient microorganisms from Green-Stone-Belt of Northern Karelia turns to be very perspective. It shows that even in such ancient time as Archean ancient diverse world existed. Moreover probably such relatively highly organized cyanobacteria and perhaps eukaryotic formes existed in Archean world.
Life on Mars: Evidence from Martian Meteorites
New data on martian meteorite 84001 as well as new experimental studies show that thermal or shock decomposition of carbonate, the leading alternative non-biologic explanation for the unusual nanophase magnetite found in this meteorite, cannot explain the chemistry of the actual martian magnetites. This leaves the biogenic explanation as the only remaining viable hypothesis for the origin of these unique magnetites. Additional data from two other martian meteorites show a suite of biomorphs which are nearly identical between meteorites recovered from two widely different terrestrial environments (Egyptian Nile bottomlands and Antarctic ice sheets). This similarity argues against terrestrial processes as the cause of these biomorphs and supports an origin on Mars for these features.
Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration
Concepts are being investigated for exploratory missions to Mars based on Bioinspired Engineering of Exploration Systems (BEES), which is a guiding principle of this effort to develop biomorphic explorers. The novelty lies in the use of a robust telecom architecture for mission data return, utilizing multiple local relays (including the lander itself as a local relay and the explorers in the dual role of a local relay) to enable ranges ~10 to 1,000 km and downlink of color imagery. As illustrated in Figure 1, multiple microflyers that can be both surface or aerially launched are envisioned in shepherding, metamorphic, and imaging roles. These microflyers imbibe key bio-inspired principles in their flight control, navigation, and visual search operations. Honey-bee inspired algorithms utilizing visual cues to perform autonomous navigation operations such as terrain following will be utilized. The instrument suite will consist of a panoramic imager and polarization imager specifically optimized to detect ice and water. For microflyers, particularly at small sizes, bio-inspired solutions appear to offer better alternate solutions than conventional engineered approaches. This investigation addresses a wide range of interrelated issues, including desired scientific data, sizes, rates, and communication ranges that can be accomplished in alternative mission scenarios. The mission illustrated in Figure 1 offers the most robust telecom architecture and the longest range for exploration with two landers being available as main local relays in addition to an ephemeral aerial probe local relay. The shepherding or metamorphic plane are in their dual role as local relays and image data collection/storage nodes. Appropriate placement of the landing site for the scout lander with respect to the main mission lander can allow coverage of extremely large ranges and enable exhaustive survey of the area of interest. In particular, this mission could help with the path planning and risk mitigation in the traverse of the long-distance surface explorer/rover. The basic requirements of design and operation of BEES to implement the scenarios are discussed. Terrestrial applications of such concepts include distributed aerial/surface measurements of meteorological events, i.e., storm watch, seismic monitoring, reconnaissance, biological chemical sensing, search and rescue, surveillance, autonomous security/ protection agents, and/or delivery and lateral distribution of agents (sensors, surface/subsurface crawlers, clean-up agents). Figure 2 illustrates an Earth demonstration that is in development, and its implementation will illustrate the value of these biomorphic mission concepts.