Synergetic Agents E-Book

Hermann Haken

• Herausgeber: Wiley-VCH
• Kategorie: Wissenschaft und neue Technologien
• Sprache: Englisch

Seitenzahl: 414

Veröffentlichungsjahr: 2012

Beschreibung

This book addresses both multi robot systems and miniaturization to the nanoscale from a unifying point of view, but without leaving aside typical particularities of either. The unifying aspect is based on the concept of information minimization whose precise formulation is the Haken-Levi-principle.
The authors introduce basic concepts of multi-component self-organizing systems such as order parameters (well known from equilibrium and non-equilibrium phase transitions) and the slaving principle (which establishes a link to dynamical systems). Among explicit examples is the docking manoeuvre of two robots in two and three dimensions.
The second part of the book deals with the rather recently arising field of molecular robotics. It is particularly here where nature has become a highly influential teacher for the construction of robots. In living biological cells astounding phenomena occur: there are molecules (proteins) that literally walk on polymer strands and transport loads that are heavier than their carriers, or molecules that, by joint action, contract muscles. The book provides the reader with an insight into these phenomena, especially by a detailed theoretical treatment of the molecular mechanism of muscle contraction.
At the molecular level, for an appropriate approach the use of quantum theory is indispensable. The authors introduce and use it in a form that avoids all the clumsy calculations of wave-functions. They present a model which is based on an elementary version of quantum field theory and allows taking into account the impact of the surrounding on the quantum mechanical activity of a single molecule. By presenting explicit and pedagogical examples, the reader gets acquainted with the appropriate modelling of the walking behaviour of single molecular robots and their collective behaviour.
The further development of multi-robot systems and particularly of molecular robots will require the cooperation of a variety of disciplines. Therefore the book appeals to a wide audience including researchers, instructors, and advanced graduate students.

Leseprobe

Contents

Cover

Related Titles

Title Page

Copyright

Preface

Acknowledgments

Prologue I: Synergetic Agents: Classical

Self-Organization in Collective Systems

The Tricky Concept of Information (Shannon)

Maximum and Minimum Principles of Information

Motion of Multirobot Cells

Assembly of an Organism

Some Basic Concepts of Synergetics (Haken, 2004)

Haken–Levi Principle

References

Prologue II: Synergetic Agents: Quantum

Toward the Nanoscale: Why Nanorobots?

What is New to the Nanoscale?

How to Cope with Physics and Robotics at the Nanolevel? Theoretical Approaches: Basic Quantum Theory

Superposition Principle, Probability, and Quantum Coherence

Measurements, Observables, and Expectation Values

Quantum Information

Degraded Information

Quantum Biology and Outlook

References

Part One: Classical Synergetic Agents

Chapter 1: Introduction: In Search for General Principles

1.1 Physics: the Laser Paradigm – Self-Organization in Nonequilibrium Phase Transitions

1.2 Biology: Movement Coordination

1.3 Computer Science: Synergetic Computer as Neural Model

1.4 Synergetics Second Foundation

1.5 Concluding Remarks

References

Chapter 2: Multirobot Action

2.1 Multirobot Systems and the Free Energy Principle: A Reminder of Chapter 1

2.2 Action Principle for a Multirobot System

2.3 Generation of Order Parameter Fields

2.4 Expected Final State of Total System

2.5 Determination of Absolute Position

2.6 How Can Robots Use the Information Provided by the Order Parameter Field?

2.7 What have the Order Parameters (Laser) and V (Robots) in Common?

2.8 Is the Multirobot Potential V (x) an Order Parameter? A Critical Discussion

2.9 Information Field and Order Parameter Field

2.10 Robots Minimize their Information: Haken–Levi Principle

2.11 Information in Case of Several Modes of Action

2.12 Probability Distributions and Slaving Principle

2.13 Role of Information in Lévy Flights

2.14 Equations of Motion in the Field of a Superposition of Harmonic Potentials

2.15 Calculation of Restrictions from Local Information of Motion

2.16 System Information: Expectation Value of Local Information of Individual Agents

2.17 Docking of Robot at Object or Other Robot in Two Dimensions: Two Versions of a Case Study

2.18 Docking of Robot at Object or Other Robot in Two Dimensions. Center of Gravity Motion. Approach 3. Survey

2.19 Dynamics of Center of Gravity. Approach 3. Equations of Motion

2.20 Docking at an Object or Other Robot in Two Dimensions

2.21 Docking of Robot in Three Dimensions I

2.22 Docking of Robot in Three Dimensions II: Equations of Motion, Measurement of Position, and Determination of Desired Fixed Point

2.23 Overview: Total Equations of Motion in Three Dimensions based on Local Information

References

Chapter 3: Multirobot Action II: Extended Configurations

3.1 Formation of Two-Dimensional Sheets

3.2 Pattern Recognition: Associative Memory

3.3 Pattern Recognition and Learning (Optical Arrangement)

3.4 Formation of Buildings

3.5 Macroscopic Locomotion and Movement

References

Part Two: Quantum Synergetic Agents

Introduction: Molecular Robotics and Quantum Field Theory

Chapter 4: Quantum Theory of Robotic Motion and Chemical Interactions

4.1 Coherent Action and Synchronization: the Laser Paradigm

4.2 Discussion

4.3 Representations

4.4 Molecules: The Nanolevel

4.5 Molecular Dynamics

4.6 The Explicit Form of the Heisenberg Equations of Motion: A “Menu”

4.7 The Complete Heisenberg Equations for the Coupling between a Fermi Field and a Bose Field, Including Damping, Pumping, and Fluctuating Forces*1

4.8 The Explicit Form of the Correlation Functions of Quantum Mechanical Langevin Forces*

4.9 Heisenberg Equations of Motion for

4.10 Solution to the Heisenberg Equation for Operator Wave Functions: Wave Packets

4.11 Many-Particle Systems in Quantum Field Theory I: Noninteracting Particles

4.12 Many-Particle Systems in Quantum Field Theory II: Interacting Particles

References

Chapter 5: Applications to Molecular Processes

5.1 Dynamics of the Transformation of a Molecule A into a Molecule B

5.2 Correlation Function for the Incoherent Parts

5.3 Dynamics of the Transformation of a Molecule A Into a Molecule B: the Initial State is a Coherent State

5.4 Dynamics of the Transformation of a Molecule A into a Molecule B: Coherent Driving

5.5 The Method of Adiabatic Elimination

5.6 Adiabatic Elimination: a Refined Treatment

5.7 Parametric Molecular Processes

5.8 Parametric Oscillator

Chapter 6: Molecular Transport along One-Dimensional Periodic Structures

6.1 A Short Overview

6.2 Production and Transport of Molecules

6.3 Signal Transmission by Molecules

Reference

Chapter 7: A Topic in Quantum Biology

7.1 Contraction of Skeleton Muscles

7.2 Details of the Movement Cycle

7.3 The Model and Its Basic Equations

7.4 Solution to Equations (7.7)–(7.15)

7.5 The Steps (3) and (4)

7.6 Discussion of Sections 7.4–7.5

7.7 The Skeleton Muscle: a Reliable System Composed of Unreliable Elements

7.8 Detailed Derivation of (7.75)

References

Chapter 8: Quantum Information

8.1 Introduction

8.2 The Maximum Information Principle

8.3 Order Parameters and Enslaved Modes

8.4 Haken–Levi Principle I: Quantum Mechanical

8.5 Haken–Levi Principle II: Quantum Mechanical

Reference

Chapter 9: Molecular Robots

9.1 Construction Principles: The Basic Material

9.2 Mobile DNA Molecules

9.3 Goal (Road Map of the Following Chapter)

9.4 Quantum Field Theory of Motion of a Molecular Robot: a Model

9.5 The Question of Molecular Quantum Waves

References

Appendix: The Meaning of Expectation Values and Correlation Functions of Bose and Fermi Operators

List of Symbols

Color Plates

Index

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Cover Image:

The cover image shows Jasmine robots prepared by Serge Kernbach, Marc Szymanski, Thomas Schmickl for the large-scale swarm experiment, for more information see Serge Kernbach, Dagmar Häbe, Olga Kernbach, Ronald Thenius, Gerald Radspieler, Toshifumi Kimura and Thomas Schmickl, “Adaptive collective decision-making in limited robot swarms without communication”, International Journal of Robotics Research, 32(1), 35–55, 2013 and Serge Kernbach, Ronald Thenius, Olga Kernbach and Thomas Schmickl, “Re-embodiment of Honeybee Aggregation Behavior in an Artificial Micro-Robotic System”, Adaptive Behavior, 17(3), 237–259, 2009.

Image reproduced courtesy of Serge Kernbach.

Print ISBN: 978-3-527-41166-5

ePDF ISBN: 978-3-527-65955-5

ePub ISBN: 978-3-527-65954-8

mobi ISBN: 978-3-527-65953-1

oBook ISBN: 978-3-527-65952-4

Cover Design Adam-Design, Weinheim

Typesetting Thomson Digital, Noida, India

Preface

This book presents entirely new vistas in the following two disciplines:

1. For the first time, it applies basic principles of synergetics – the science of cooperation – to multirobot systems.

2. It applies a modern method developed for active, nonequilibrium quantum systems to molecular robots – a rapidly developing, fascinating field within nanoscience and technology.

In both cases (1) and (2), this book deals with active units, that is, robots or molecules, capable of forming spatiotemporal structures or collective action based on cooperation. In other words, it deals with synergetic agents.

In order to reach a broad audience, it is written in a pedagogical style that will allow even nonspecialists to acquaint themselves with our approach. (A few more technical sections are marked by asterisk.)

In fact, both fields, that is, multirobot systems and molecular robots have become highly interdisciplinary endeavors that comprise disciplines such as robotics, mechanical and electrical engineering, physics, informatics, chemistry, biology, medicine, mathematics, and other fields. Our book applies to graduate students, professors, and scientists. Though occasionally we refer to experiments, our emphasis is laid on theoretical approaches. Among our numerous results are

the Haken–Levi theorem in its classical and quantum mechanical formulation relating robot motion to probability distribution;a whole chapter presenting our quantum theory of muscle contraction based on actin–myosin interaction;a detailed quantum theoretical model of the motion of molecular robots.

Acknowledgments

We gratefully acknowledge the help provided by Ms. I. Maute who typed (or rather typeset) the manuscript including its complicated formulas quickly and perfectly. We?are also indebted to Ms. N. Hepp for her very valuable support to setting up the manuscript. Thanks are also due to Mr. J.-D. Korus for his continuous engagement in preparing the manuscript. We express our gratitude to Dr. U.-Ph. Käppeler for the fast and professional generation of several figures that are included in this book. The authors wish to thank particularly Dr. M. Schanz and Dr. V. Avrutin for many fruitful discussions, calculations, and graphics that they generated untiringly for us.

Stuttgart, April 2012

Hermann HakenPaul Levi