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false; window.loswp.work = {"work":{"id":90559194,"created_at":"2022-11-11T17:25:10.861-08:00","from_world_paper_id":220011635,"updated_at":"2024-11-24T11:10:48.459-08:00","_data":{"publisher":"dspace.uniroma2.it","grobid_abstract":"Biorobotics is a novel approach in the realization of robot that merges different disciplines as Robotic and Natural Science. The concept of biorobotics has been identified for many years as inspiration from the animal world. In this thesis this paradigm has been extended for the first time to the plant world. Plants are an amazing organism with unexpected capabilities. They are dynamic and highly sensitive organisms, actively and competitively foraging for limited resources both above and below ground, and they are also organisms which accurately compute their circumstances, use sophisticated cost-benefit analysis, and take defined actions to mitigate and control diverse environmental insults. The objective of this thesis is to contribute to the realization of a robot inspired to plants, a plantoid. The plantoid robot includes root and shoot systems and should be able to explore and monitoring the environment both in the air and underground. These plant-inspired robots will be used for specific applications, such as in situ monitoring analysis and chemical detections, water searching in agriculture, anchoring capabilities and for scientific understanding of the plant capabilities/behaviours themselves by building a physical models. The scientific work performed in this thesis addressed different aspects of this innovative robotic platform development: first of all, the study of the plants\" characteristics and the enabling technologies in order to design and to develop the overall plantoid system. The proposed system can be easily subdivided in two major sections, the aerial part and the subsoil part. About the subsoil part, the activity focused on the realization of a miniaturized mechatronic system that imitates the behaviour of the plant radical apex. Plants show a peculiar directional growth in response to external stimulations, such as light (phototropism), gravity (gravitropism), touch (thigmotropism) or water/humidity gradient (hydrotropism). Tropisms frequently interact between and among each other, and the final grown form of the plant is influenced by such interactions. In order to imitate the powerful performances of the plant root system, a novel actuator has been proposed. This actuator is based on the osmotic principle (osmotic actuator) and, differently by the state-of-the-art actuators based on the osmotic principle, it has been designed in order to have a reversible reaction. This actuator permits to perform the elongation and the typical steering capabilities of the root apex, generating high forces with low power consumption (in the time scale of the plant). Theoretical studies on this actuator show interesting performances in terms of actuation pressure (more than 20 atm) with power in the order of some mW and with actuation in the hours scale time. The robotic root apex was designed to be equipped with sensors (gravity and moisture) to imitate the plants sensing characteristics, and with the novel osmotic actuator to drive the growth in the correct direction. An embedded microcontroller implements the basic root behaviour on the basis of the information coming from the sensors. About the aerial part the activity in this thesis was focused on the realization of a sort of environmental monitoring module in order to imitate the high sensing capabilities of the plants. This part has been designed and realized in a more traditional way, without attempt to imitate completely the plant behaviour but taking inspiration from the fundamental characteristics (energy scavenging, wide sensing capabilities and communication). In order to integrate a wide amount of sensors an innovative interface board that guarantees the conditioning of the sensor, with plug-and-play capabilities and low power consumption, was developed. Several aspects of the plantoid system are not faced yet and they will be part of the future works. In particular, the growing mechanism of the roots (some possible solutions are proposed and explained in this thesis) and the integration of chemical sensors in the root apex.","publication_date":"2009,,","grobid_abstract_attachment_id":"94089496"},"document_type":"paper","pre_hit_view_count_baseline":null,"quality":"high","language":"en","title":"Plantoid: plant inspired robot for subsoil exploration and environmental monitoring","broadcastable":true,"draft":null,"has_indexable_attachment":true,"indexable":true}}["work"]; window.loswp.workCoauthors = [244927369]; window.loswp.locale = "en"; window.loswp.countryCode = "SG"; window.loswp.cwvAbTestBucket = ""; window.loswp.designVariant = "ds_vanilla"; window.loswp.fullPageMobileSutdModalVariant = "full_page_mobile_sutd_modal"; window.loswp.useOptimizedScribd4genScript = false; window.loginModal = {}; window.loginModal.appleClientId = 'edu.academia.applesignon'; window.userInChina = "false";</script><script defer="" src="https://accounts.google.com/gsi/client"></script><div class="ds-loswp-container"><div class="ds-work-card--grid-container"><div class="ds-work-card--container js-loswp-work-card"><div class="ds-work-card--cover"><div class="ds-work-cover--wrapper"><div class="ds-work-cover--container"><button class="ds-work-cover--clickable js-swp-download-button" data-signup-modal="{"location":"swp-splash-paper-cover","attachmentId":94089496,"attachmentType":"pdf"}"><img alt="First page of “Plantoid: plant inspired robot for subsoil exploration and environmental monitoring”" class="ds-work-cover--cover-thumbnail" src="https://0.academia-photos.com/attachment_thumbnails/94089496/mini_magick20221112-1-zsyx9e.png?1668217824" /><img alt="PDF Icon" class="ds-work-cover--file-icon" src="//a.academia-assets.com/images/single_work_splash/adobe_icon.svg" /><div class="ds-work-cover--hover-container"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">download</span><p>Download Free PDF</p></div><div class="ds-work-cover--ribbon-container">Download Free PDF</div><div class="ds-work-cover--ribbon-triangle"></div></button></div></div></div><div class="ds-work-card--work-information"><h1 class="ds-work-card--work-title">Plantoid: plant inspired robot for subsoil exploration and environmental monitoring</h1><div class="ds-work-card--work-authors ds-work-card--detail"><a class="ds-work-card--author js-wsj-grid-card-author ds2-5-body-md ds2-5-body-link" data-author-id="244927369" href="https://independent.academia.edu/LaschiC"><img alt="Profile image of Cecilia Laschi" class="ds-work-card--author-avatar" src="https://0.academia-photos.com/244927369/99446966/88579430/s65_cecilia.laschi.png" />Cecilia Laschi</a></div><div class="ds-work-card--detail"><p class="ds-work-card--detail ds2-5-body-sm">2009</p><div class="ds-work-card--work-metadata"><div class="ds-work-card--work-metadata__stat"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">visibility</span><p class="ds2-5-body-sm" id="work-metadata-view-count">…</p></div><div class="ds-work-card--work-metadata__stat"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">description</span><p class="ds2-5-body-sm">128 pages</p></div><div class="ds-work-card--work-metadata__stat"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">link</span><p class="ds2-5-body-sm">1 file</p></div></div><script>(async () => { const workId = 90559194; 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if (!viewCountBody) { throw new Error('Failed to find work views element'); } viewCountBody.textContent = `${commaizedViewCount} views`; } catch (error) { // Remove the whole views element if there was some issue parsing. document.getElementById('work-metadata-view-count')?.parentNode?.remove(); throw new Error(`Failed to parse view count: ${viewCount}`, error); } }; // If the DOM is still loading, wait for it to be ready before updating the view count. if (document.readyState === "loading") { document.addEventListener('DOMContentLoaded', () => { updateViewCount(viewCount); }); // Otherwise, just update it immediately. } else { updateViewCount(viewCount); } })();</script></div><p class="ds-work-card--work-abstract ds-work-card--detail ds2-5-body-md">Biorobotics is a novel approach in the realization of robot that merges different disciplines as Robotic and Natural Science. The concept of biorobotics has been identified for many years as inspiration from the animal world. In this thesis this paradigm has been extended for the first time to the plant world. Plants are an amazing organism with unexpected capabilities. They are dynamic and highly sensitive organisms, actively and competitively foraging for limited resources both above and below ground, and they are also organisms which accurately compute their circumstances, use sophisticated cost-benefit analysis, and take defined actions to mitigate and control diverse environmental insults. The objective of this thesis is to contribute to the realization of a robot inspired to plants, a plantoid. The plantoid robot includes root and shoot systems and should be able to explore and monitoring the environment both in the air and underground. These plant-inspired robots will be used for specific applications, such as in situ monitoring analysis and chemical detections, water searching in agriculture, anchoring capabilities and for scientific understanding of the plant capabilities/behaviours themselves by building a physical models. The scientific work performed in this thesis addressed different aspects of this innovative robotic platform development: first of all, the study of the plants" characteristics and the enabling technologies in order to design and to develop the overall plantoid system. The proposed system can be easily subdivided in two major sections, the aerial part and the subsoil part. About the subsoil part, the activity focused on the realization of a miniaturized mechatronic system that imitates the behaviour of the plant radical apex. Plants show a peculiar directional growth in response to external stimulations, such as light (phototropism), gravity (gravitropism), touch (thigmotropism) or water/humidity gradient (hydrotropism). Tropisms frequently interact between and among each other, and the final grown form of the plant is influenced by such interactions. In order to imitate the powerful performances of the plant root system, a novel actuator has been proposed. This actuator is based on the osmotic principle (osmotic actuator) and, differently by the state-of-the-art actuators based on the osmotic principle, it has been designed in order to have a reversible reaction. This actuator permits to perform the elongation and the typical steering capabilities of the root apex, generating high forces with low power consumption (in the time scale of the plant). Theoretical studies on this actuator show interesting performances in terms of actuation pressure (more than 20 atm) with power in the order of some mW and with actuation in the hours scale time. The robotic root apex was designed to be equipped with sensors (gravity and moisture) to imitate the plants sensing characteristics, and with the novel osmotic actuator to drive the growth in the correct direction. An embedded microcontroller implements the basic root behaviour on the basis of the information coming from the sensors. About the aerial part the activity in this thesis was focused on the realization of a sort of environmental monitoring module in order to imitate the high sensing capabilities of the plants. This part has been designed and realized in a more traditional way, without attempt to imitate completely the plant behaviour but taking inspiration from the fundamental characteristics (energy scavenging, wide sensing capabilities and communication). In order to integrate a wide amount of sensors an innovative interface board that guarantees the conditioning of the sensor, with plug-and-play capabilities and low power consumption, was developed. Several aspects of the plantoid system are not faced yet and they will be part of the future works. In particular, the growing mechanism of the roots (some possible solutions are proposed and explained in this thesis) and the integration of chemical sensors in the root apex.</p><div class="ds-work-card--button-container"><button class="ds2-5-button js-swp-download-button" data-signup-modal="{"location":"continue-reading-button--work-card","attachmentId":94089496,"attachmentType":"pdf","workUrl":"https://www.academia.edu/90559194/Plantoid_plant_inspired_robot_for_subsoil_exploration_and_environmental_monitoring"}">See full PDF</button><button class="ds2-5-button ds2-5-button--secondary js-swp-download-button" data-signup-modal="{"location":"download-pdf-button--work-card","attachmentId":94089496,"attachmentType":"pdf","workUrl":"https://www.academia.edu/90559194/Plantoid_plant_inspired_robot_for_subsoil_exploration_and_environmental_monitoring"}"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">download</span>Download PDF</button></div><div class="ds-signup-banner-trigger-container"><div class="ds-signup-banner-trigger ds-signup-banner-trigger-control"></div></div><div class="ds-signup-banner ds-signup-banner-control"><div id="ds-signup-banner-close-button"><button class="ds2-5-button ds2-5-button--secondary ds2-5-button--inverse"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">close</span></button></div><div class="ds-signup-banner-ctas" data-impression-entity-id="90559194" data-impression-entity-type="2" data-impression-source="signup-banner"><img src="//a.academia-assets.com/images/academia-logo-capital-white.svg" /><h4 class="ds2-5-heading-serif-sm">Sign up for access to the world's latest research</h4><button class="ds2-5-button ds2-5-button--inverse ds2-5-button--full-width js-swp-download-button" data-signup-modal="{"location":"signup-banner"}">Sign up for free<span class="material-symbols-outlined" style="font-size: 20px" translate="no">arrow_forward</span></button></div><div class="ds-signup-banner-divider"></div><div class="ds-signup-banner-reasons"><div class="ds-signup-banner-reasons-item"><span class="material-symbols-outlined" style="font-size: 24px" translate="no">check</span><span>Get notified about relevant papers</span></div><div class="ds-signup-banner-reasons-item"><span class="material-symbols-outlined" style="font-size: 24px" translate="no">check</span><span>Save papers to use in your research</span></div><div class="ds-signup-banner-reasons-item"><span class="material-symbols-outlined" style="font-size: 24px" translate="no">check</span><span>Join the discussion with peers</span></div><div class="ds-signup-banner-reasons-item"><span class="material-symbols-outlined" style="font-size: 24px" translate="no">check</span><span>Track your impact</span></div></div></div><script>(() => { // Set up signup banner show/hide behavior: // 1. 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Each single plant root has to move through the substrate, orienting itself along the gravity vector and locating water and nutrients. In the same way, the mechatronic apex can steer in all directions and it embeds a gravity sensor, a soil moisture gradient detector, as well as the electronics for sensory data acquisition and steering control. A bio-inspired algorithm reproducing the gravitropism and hydrotropism behaviors, typical of plants, was developed and tested on a purposive prototype of the mechatronic apex system, actuated by hydraulic pumps. Moreover, the design and testing of a novel bio-inspired osmotic actuator module, composed of three cells separated by couples of osmotic and ion-selective membranes, is also presented. Preliminary prototypes developed in acrylic material for testing the gravitropism and hydrotropism behaviors are shown.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A miniaturized mechatronic system inspired by plant roots","attachmentId":46196350,"attachmentType":"pdf","work_url":"https://www.academia.edu/12419866/A_miniaturized_mechatronic_system_inspired_by_plant_roots","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/12419866/A_miniaturized_mechatronic_system_inspired_by_plant_roots"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="1" data-entity-id="12419798" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/12419798/A_Miniaturized_Mechatronic_System_Inspired_by_Plant_Roots_for_Soil_Exploration">A Miniaturized Mechatronic System Inspired by Plant Roots for Soil Exploration</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="31205931" href="https://independent.academia.edu/CeciliaLaschi">Cecilia Laschi</a></div><p class="ds-related-work--metadata ds2-5-body-xs">IEEE/ASME Transactions on Mechatronics, 2000</p><p class="ds-related-work--abstract ds2-5-body-sm">This paper describes the principles and theoretical investigations, supported by experimental measurements, aimed at designing and developing a novel mechatronic system for soil exploration, inspired by the apical part of the plant roots, named apex. Each single plant root has to move through the substrate, orienting itself along the gravity vector and locating water and nutrients. In the same way, the mechatronic apex can steer in all directions and it embeds a gravity sensor, a soil moisture gradient detector, as well as the electronics for sensory data acquisition and steering control. A bio-inspired algorithm reproducing the gravitropism and hydrotropism behaviors, typical of plants, was developed and tested on a purposive prototype of the mechatronic apex system, actuated by hydraulic pumps. Moreover, the design and testing of a novel bio-inspired osmotic actuator module, composed of three cells separated by couples of osmotic and ion-selective membranes, is also presented. Preliminary prototypes developed in acrylic material for testing the gravitropism and hydrotropism behaviors are shown.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A Miniaturized Mechatronic System Inspired by Plant Roots for Soil Exploration","attachmentId":46196997,"attachmentType":"pdf","work_url":"https://www.academia.edu/12419798/A_Miniaturized_Mechatronic_System_Inspired_by_Plant_Roots_for_Soil_Exploration","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/12419798/A_Miniaturized_Mechatronic_System_Inspired_by_Plant_Roots_for_Soil_Exploration"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="2" data-entity-id="99082268" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/99082268/Analysis_and_characterization_of_a_robotic_probe_inspired_by_the_plant_root_apex">Analysis and characterization of a robotic probe inspired by the plant root apex</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="42204901" href="https://epfl.academia.edu/AliceTonazzini">Alice Tonazzini</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012</p><p class="ds-related-work--abstract ds2-5-body-sm">²Plant roots represent an amazing source of inspiration for designing and developing dexterous, branching robots capable of efficient soil exploration in various scenarios, from environmental monitoring to space exploration. The natural roots, in fact, have optimally evolved to efficiently penetrate and move into the soil. In this work, starting from the study of the plant roots penetration capabilities, we defined the optimal tip shape and the penetration rate of a robotic root apex, by evaluating the penetration resistance to different types of granular substrates. The results showed that the conical and parabolic tips with a pointed shape, similar to the apex tip of the living roots, are more efficient in terms of penetration resistance. The penetration resistance of the robotic root apex results similar to that observed in natural roots. Moreover, we identified the optimal penetration rate of the root-like robotic system as 40 mm/min. I. INTRODUCTION LANTS have evolved very robust growth behaviors to respond to changes in their environment and a network of branching roots, whose tips (apices) are highly sensorized and efficiently explore the soil volume, mining minerals, and up-taking water to fulfill their primary functions [1]. Development of novel principles inspired by plant roots for penetration, sensory detection, and autonomous decision making could open up new horizons in robotics: autonomous agents able to localize a subsoil source could be used in order to find water and other relevant substances, or to detect the presence of dangerous pollutants and minimize the soil contamination. These robotic autonomous systems may find many applications in different scenarios, such as environmental monitoring, efficient and sustainable agriculture, localizing hidden explosives, automatic humanitarian demining, rescue tasks after accidents or natural disasters, or space explorations. A first prototype of a novel robotic system (Fig. 1) for soil exploration, inspired by the apex of the plant roots, was recently developed [2]. The mechatronic design of this prototype is inspired by the plant root capabilities to manage and integrate the multiple environmental signals in an optimal way without any brain-like structure.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Analysis and characterization of a robotic probe inspired by the plant root apex","attachmentId":100263697,"attachmentType":"pdf","work_url":"https://www.academia.edu/99082268/Analysis_and_characterization_of_a_robotic_probe_inspired_by_the_plant_root_apex","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/99082268/Analysis_and_characterization_of_a_robotic_probe_inspired_by_the_plant_root_apex"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="3" data-entity-id="12419844" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/12419844/A_Preliminary_Study_of_a_Robotic_Probe_For_Soil_Exploration_Inspired_By_Plant_Root_Apexes">A Preliminary Study of a Robotic Probe For Soil Exploration Inspired By Plant Root Apexes</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="31205931" href="https://independent.academia.edu/CeciliaLaschi">Cecilia Laschi</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2008</p><p class="ds-related-work--abstract ds2-5-body-sm">Plants are organisms characterized by an aerial part and a root system. Plants have developed directional growth responses to deal with the copious and rapid changes in their environment in order to compensate for their sessile nature. The process by which plant roots expand in soil involves water uptake through osmosis and imbibition, and an overall increase in size by cell division. Each root tip (apex) has sensors to get information from the environment, which is then transduced, processed, and used to direct the growth towards regions of the soil with the best minerals and water availability.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A Preliminary Study of a Robotic Probe For Soil Exploration Inspired By Plant Root Apexes","attachmentId":46196354,"attachmentType":"pdf","work_url":"https://www.academia.edu/12419844/A_Preliminary_Study_of_a_Robotic_Probe_For_Soil_Exploration_Inspired_By_Plant_Root_Apexes","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/12419844/A_Preliminary_Study_of_a_Robotic_Probe_For_Soil_Exploration_Inspired_By_Plant_Root_Apexes"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="4" data-entity-id="71019714" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/71019714/Attempt_on_Plant_Machine_Interface_Towards_Self_monitoring_Plant_Systems">Attempt on Plant Machine Interface Towards Self-monitoring Plant Systems</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="12800050" href="https://ethz.academia.edu/DominiqueCadosch">Dominique Cadosch</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2010</p><p class="ds-related-work--abstract ds2-5-body-sm">In this paper, we investigate possible means of communication between plants and machines. Plants are capable of sensing a variety of environmental information. In particular, Avocado trees have an apparent response to increasing drought levels. We read out two different communication channels: morphological changes (leaf inclination) and the electric potential of the stem (biopotential) using distance sensors and biopotential electrodes, respectively. Leaf inclination reliably triggers irrigation, whereas the changes of the biopotential indicate water uptake and can be used to automatically stop the irrigation. Hence, through systematic experiments we demonstrate that morphological changes and biopotentials provide suitable control signals for interfacing plants with machines, and open a possibility to exploit abilities of plants in robotic systems.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Attempt on Plant Machine Interface Towards Self-monitoring Plant Systems","attachmentId":80535828,"attachmentType":"pdf","work_url":"https://www.academia.edu/71019714/Attempt_on_Plant_Machine_Interface_Towards_Self_monitoring_Plant_Systems","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/71019714/Attempt_on_Plant_Machine_Interface_Towards_Self_monitoring_Plant_Systems"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="5" data-entity-id="49676861" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/49676861/Development_of_Bio_Machine_Based_on_the_Plant_Response_to_External_Stimuli">Development of Bio-Machine Based on the Plant Response to External Stimuli</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="162450578" href="https://independent.academia.edu/YuliChen14">Yuli Chen</a></div><p class="ds-related-work--metadata ds2-5-body-xs">Journal of Robotics, 2011</p><p class="ds-related-work--abstract ds2-5-body-sm">In the area of biorobotics, intense research work is being done based on plant intelligence. Any living cell continuously receives information from the environment. In this paper, research is conducted on the plant nameddescoingsiixhaworthioides(Pepe) obtaining the action potential signals and its responses to stimulations of different light modes. The plant electrical signal is the reaction of plant’s stimulation owing to various environmental conditions. Action potentials are responsible for signaling between plant cells and communication from the plants can be achieved through modulation of various parameters of the electrical signal in the plant tissue. The modulated signals are used for providing information to the microcontroller’s algorithm for working of the bio-machine. The changes of frequency of action potentials in plant are studied. Electromyography (EMG) electrodes and needle-type conductive electrodes along with electronic modules are used to collect and transform the...</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Development of Bio-Machine Based on the Plant Response to External Stimuli","attachmentId":67961801,"attachmentType":"pdf","work_url":"https://www.academia.edu/49676861/Development_of_Bio_Machine_Based_on_the_Plant_Response_to_External_Stimuli","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/49676861/Development_of_Bio_Machine_Based_on_the_Plant_Response_to_External_Stimuli"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="6" data-entity-id="12419808" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/12419808/The_plant_as_a_biomechatronic_system">The plant as a biomechatronic system</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="31205931" href="https://independent.academia.edu/CeciliaLaschi">Cecilia Laschi</a></div><p class="ds-related-work--metadata ds2-5-body-xs">Plant Signaling & Behavior, 2010</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"The plant as a biomechatronic system","attachmentId":46196399,"attachmentType":"pdf","work_url":"https://www.academia.edu/12419808/The_plant_as_a_biomechatronic_system","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/12419808/The_plant_as_a_biomechatronic_system"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="7" data-entity-id="66691830" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/66691830/Towards_a_plant_bio_machine">Towards a plant bio-machine</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="35284" href="https://mediaconcepts.academia.edu/LauraBeloff">Laura Beloff</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2017 IEEE Symposium Series on Computational Intelligence (SSCI), 2017</p><p class="ds-related-work--abstract ds2-5-body-sm">Plants are very efficient computing machines. They are able to sense diverse environmental conditions and quickly react through chemical and electrical signaling. In this paper, we present an interface between plants and machines (a cybernetic plant), with the goal of augmenting the capabilities of plants towards the creation of plant biosensors. We implement a data acquisition system able to stimulate the plant through different electrical signals, as well as record the electrical activity of plants in response to changing electrical stimulations, light conditions, and chemicals. The results serve as a proof of concept that sensing capabilities of plants are a viable option for the development of plant bio-machines. Different future scenarios (some speculative) are discussed. The work herein is carried out as a collaboration between the EU project Flora Robotica and the EU project NASCENCE.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Towards a plant bio-machine","attachmentId":77785122,"attachmentType":"pdf","work_url":"https://www.academia.edu/66691830/Towards_a_plant_bio_machine","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/66691830/Towards_a_plant_bio_machine"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="8" data-entity-id="2877675" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/2877675/Inspiration_from_plant_roots_a_robotic_root_apex_for_soil_exploration">Inspiration from plant roots: a robotic root apex for soil exploration</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="2298827" href="https://unifi.academia.edu/StefanoMancuso">Stefano Mancuso</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2008</p><p class="ds-related-work--abstract ds2-5-body-sm">Abstract In an attempt to compensate for their sessile nature, plants have developed growth responses to deal with the copious and rapid changes in their environment. The process by which plant roots expand in soil involves water uptake through osmosis and imbibition, and an overall increase in size by cell division. Each root apex has sensors to get information from the environment, which is then transduced, processed, and used to direct the growth towards regions of the soil with the best minerals and water availability.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Inspiration from plant roots: a robotic root apex for soil exploration","attachmentId":30813683,"attachmentType":"pdf","work_url":"https://www.academia.edu/2877675/Inspiration_from_plant_roots_a_robotic_root_apex_for_soil_exploration","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/2877675/Inspiration_from_plant_roots_a_robotic_root_apex_for_soil_exploration"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="9" data-entity-id="36849690" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/36849690/A_study_on_plant_root_apex_morphology_as_a_model_for_soft_robots_moving_in_soil">A study on plant root apex morphology as a model for soft robots moving in soil</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="6752439" href="https://cornell.academia.edu/AnandMishra">Anand Kumar Mishra</a></div><p class="ds-related-work--abstract ds2-5-body-sm">Plants use many strategies to move efficiently in soil, such as growth from the tip, tropic movements, and morphological changes. In this paper, we propose a method to translate morphological features of Zea mays roots into a new design of soft robots that will be able to move in soil. The method relies on image processing and curve fitting techniques to extract the profile of Z. mays primary root. We implemented an analytic translation of the root profile in a 3D model (CAD) to fabricate root-like probes by means of 3D printing technology. Then, we carried out a comparative analysis among the artificial root-like probe and probes with different tip shapes (cylindrical, conical, elliptical, and parabolic) and diameters (11, 9, 7, 5, and 3 mm). The results showed that the energy consumption and the penetration force of the bioinspired probe are better with respect to the other shapes for all the diameters of the developed probes. For 100 mm of penetration depth and 7 mm of probe diameter, the energy consumption of the bioinspired probe is 89% lesser with respect to the cylindrical probe and 26% lesser with respect to the conical probe. The penetration performance of the considered tip shapes was evaluated also by means of numerical simulations, obtaining a good agreement with the experimental results. Additional investigations on plant root morphology , movement strategies, and material properties can allow the development of innovative bioinspired solutions exploitable in challenging environments. This research can bring to breakthrough scenarios in different fields, such as exploration tasks, environmental monitoring, geotechnical studies, and medical applications.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A study on plant root apex morphology as a model for soft robots moving in soil","attachmentId":56802297,"attachmentType":"pdf","work_url":"https://www.academia.edu/36849690/A_study_on_plant_root_apex_morphology_as_a_model_for_soft_robots_moving_in_soil","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/36849690/A_study_on_plant_root_apex_morphology_as_a_model_for_soft_robots_moving_in_soil"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div></div></div><div class="ds-sticky-ctas--wrapper js-loswp-sticky-ctas hidden"><div class="ds-sticky-ctas--grid-container"><div class="ds-sticky-ctas--container"><button class="ds2-5-button js-swp-download-button" data-signup-modal="{"location":"continue-reading-button--sticky-ctas","attachmentId":94089496,"attachmentType":"pdf","workUrl":null}">See full PDF</button><button class="ds2-5-button ds2-5-button--secondary js-swp-download-button" data-signup-modal="{"location":"download-pdf-button--sticky-ctas","attachmentId":94089496,"attachmentType":"pdf","workUrl":null}"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">download</span>Download PDF</button></div></div></div><div class="ds-below-fold--grid-container"><div class="ds-work--container js-loswp-embedded-document"><div class="attachment_preview" data-attachment="Attachment_94089496" style="display: none"><div class="js-scribd-document-container"><div class="scribd--document-loading js-scribd-document-loader" style="display: block;"><img alt="Loading..." src="//a.academia-assets.com/images/loaders/paper-load.gif" /><p>Loading Preview</p></div></div><div style="text-align: center;"><div class="scribd--no-preview-alert js-preview-unavailable"><p>Sorry, preview is currently unavailable. You can download the paper by clicking the button above.</p></div></div></div></div><div class="ds-sidebar--container js-work-sidebar"><div class="ds-related-content--container"><h2 class="ds-related-content--heading">Related papers</h2><div class="ds-related-work--container js-related-work-sidebar-card" data-collection-position="0" data-entity-id="94270019" data-sort-order="default"><a class="ds-related-work--title js-related-work-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/94270019/A_Novel_Growing_Device_Inspired_by_Plant_Root_Soil_Penetration_Behaviors">A Novel Growing Device Inspired by Plant Root Soil Penetration Behaviors</a><div class="ds-related-work--metadata"><a class="js-related-work-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="157265952" href="https://independent.academia.edu/AliSadeghi122">Ali Sadeghi</a></div><p class="ds-related-work--metadata ds2-5-body-xs">PLoS ONE, 2014</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A Novel Growing Device Inspired by Plant Root Soil Penetration Behaviors","attachmentId":96773875,"attachmentType":"pdf","work_url":"https://www.academia.edu/94270019/A_Novel_Growing_Device_Inspired_by_Plant_Root_Soil_Penetration_Behaviors","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-related-work-grid-card-view-pdf" href="https://www.academia.edu/94270019/A_Novel_Growing_Device_Inspired_by_Plant_Root_Soil_Penetration_Behaviors"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-related-work-sidebar-card" data-collection-position="1" data-entity-id="60619270" data-sort-order="default"><a class="ds-related-work--title js-related-work-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/60619270/Attempt_on_plant_machine_interface">Attempt on plant machine interface</a><div class="ds-related-work--metadata"><a class="js-related-work-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="12800050" href="https://ethz.academia.edu/DominiqueCadosch">Dominique Cadosch</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2011 IEEE International Conference on Systems, Man, and Cybernetics, 2011</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Attempt on plant machine interface","attachmentId":73981852,"attachmentType":"pdf","work_url":"https://www.academia.edu/60619270/Attempt_on_plant_machine_interface","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-related-work-grid-card-view-pdf" href="https://www.academia.edu/60619270/Attempt_on_plant_machine_interface"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-related-work-sidebar-card" data-collection-position="2" data-entity-id="109770257" data-sort-order="default"><a class="ds-related-work--title js-related-work-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/109770257/Robotic_Sensing_and_Stimuli_Provision_for_Guided_Plant_Growth">Robotic Sensing and Stimuli Provision for Guided Plant Growth</a><div class="ds-related-work--metadata"><a class="js-related-work-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="32562090" href="https://kfunigraz.academia.edu/ThomasSchmickl">Thomas Schmickl</a></div><p class="ds-related-work--metadata ds2-5-body-xs">Journal of Visualized Experiments, 2019</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Robotic Sensing and Stimuli Provision for Guided Plant Growth","attachmentId":107795549,"attachmentType":"pdf","work_url":"https://www.academia.edu/109770257/Robotic_Sensing_and_Stimuli_Provision_for_Guided_Plant_Growth","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-related-work-grid-card-view-pdf" href="https://www.academia.edu/109770257/Robotic_Sensing_and_Stimuli_Provision_for_Guided_Plant_Growth"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-related-work-sidebar-card" data-collection-position="3" data-entity-id="59599537" data-sort-order="default"><a class="ds-related-work--title js-related-work-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/59599537/Swarming_Behavior_Emerging_from_the_Uptake_Kinetics_Feedback_Control_in_a_Plant_Root_Inspired_Robot">Swarming Behavior Emerging from the Uptake–Kinetics Feedback Control in a Plant-Root-Inspired Robot</a><div class="ds-related-work--metadata"><a 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