Abstract—We present a stable control strategy for groups of vehicles to move and reconfigure cooperatively in response to a sensed, distributed environment. Each vehicle in the group serves as a mobile sensor and the vehicle network as a mobile and reconfigurable sensor array. Our control strategy decouples, in part, the cooperative management of the network formation from the network maneuvers. The underlying coordination framework uses virtual bodies and artificial potentials. We focus on gradient climbing missions in which the mobile sensor network seeks out local maxima or minima in the environmental field. The network can adapt its configuration in response to the sensed environment in order to optimize its gradient climb. Index Terms—Adaptive systems, cooperative control, gradient methods, mobile robots, multiagent systems, sensor networks. I.

Certain kinds of cellular movements are apparently driven by actin polymerization. Examples include the lamellipodia of spreading and migrating embryonic cells, and the bacterium Listeria monocytogenes, that propels itself through its host's cytoplasm by constructing behind it a polymerized tail of cross-linked actin filaments. Peskin et al. (1993) formulated a model to explain how a polymerizing filament could rectify the brownian motion of an object so as to produce unidirectional force. Their "brownian ratchet" model assumed that the filament was stiff and that thermal fluctuations affected only the 'load', i.e. the object being pushed. However, under many conditions of biological interest, the thermal fluctuations of the load are insufficient to produce the observed motions. Here we shall show that the thermal motions of the polymerizing filaments can produce a directed force. This 'elastic brownian ratchet' can explain quantitatively the propulsion of Listeria and the protrusive ...

this paper we describe several such processes and present simple formulas for the velocity and force they generate. We shall call these machines "Brownian Ratchets" (BR) because rectified Brownian motion is fundamental to their operation.

Essentially all the biological functions of DNA depend on site-specific DNA-binding proteins finding their targets, and therefore `searching' through megabases of non-target DNA. In this article, we review current understanding of how this sequence searching is done. We review how simple diffusion through solution may be unable to account for the rapid rates of association observed in experiments on some model systems, primarily the Lac repressor. We then present a simplified version of the `facilitated diffusion' model of Berg, Winter and von Hippel, showing how non-specific DNA-protein interactions may account for accelerated targeting, by permitting the protein to sample many binding sites per DNA encounter. We discuss the 1-dimensional `sliding' motion of protein along non-specific DNA, often proposed to be the mechanism of this multiple site sampling, and we discuss the role of short-range diffusive `hopping' motions. We then derive the optimal range of sliding for a few physical situations, including simple models of chromosomes in vivo, showing that a sliding range of ~100 bp before dissociation optimizes targeting in vivo. Going beyond first-order binding kinetics, we discuss how processivity, the interaction of a protein with two or more targets on the same DNA, can reveal the extent of sliding and we review recent experiments studying processivity using the restriction enzyme EcoRV. Finally, we discuss how single molecule techniques might be used to study the dynamics of DNA site-specific targeting of proteins.

Locating gradient sources and tracking them over time has important applications to environmental monitoring and studies of the ecosystem. We present an approach, inspired by bacterial chemotaxis, for robots to navigate to sources using gradient measurements and a simple actuation strategy (biasing a random walk). Extensive simulations show the efficacy of the approach in varied conditions including multiple sources, dissipative sources, and noisy sensors and actuators. We also show how such an approach could be used for boundary finding. We validate our approach by testing it on a small robot (the robomote) in a phototaxis experiment. A comparison of our approach with gradient descent shows that while gradient descent is faster, our approach is better suited for boundary coverage, and performs better in the presence of multiple and dissipative sources.

Various bacterial strains exhibit colonial branching patterns during growth on poor substrates. These patterns reflect bacterial cooperative self-organization and cybernetic processes of communication, regulation and control employed during colonial development. One method of modeling is the continuous, or coupled reaction-diffusion approach, in which continuous time evolution equations describe the bacterial density and the concentration of the relevant chemical fields. In the context of branching growth, this idea has been pursued by a number of groups. We present an additional model which includes a lubrication fluid excreted by the bacteria. We also add fields of chemotactic agents to the other models. We then present a critique of this whole enterprise with focus on the models ’ potential for revealing new biological features. I.

Abstract. Traction forces produced by moving fibroblasts have been observed as distortions in flexible substrata including wrinkling of thin, silicone rubber films. Traction forces generated by fibroblast lamellae were thought to represent the forces required to move the cell forwards. However, traction forces could not be detected with faster moving cell types such as leukocytes and growth cones (Harris, A. K., D. Stopak, and P. Wild. 1981. Nature (Lond.). 290:249-251). We have developed a new assay in which traction forces produced by rapidly locomoting fish keratocytes can be detected by the two-dimensional displacements of small beads embedded in the plane of an elastic substratum. Traction forces were not detected at the rapidly extending front edge of the cell. Instead the

Various bacterial strains (e.g. strains belonging to the genera Bacillus, Paenibacillus, Serratia and Salmonella) exhibit colonial branching patterns during growth on poor semi-solid substrates. These patterns reflect the bacterial cooperative self-organization. Central part of the cooperation is the collective formation of lubricant on top of the agar which enables the bacteria to swim. Hence it provides the colony means to advance towards the food. One method of modeling the colonial development is via coupled reaction-diffusion equations which describe the time evolution of the bacterial density and the concentrations of the relevant chemical fields. This idea has been pursued by a number of groups. Here we present an additional model which specifically includes an evolution equation for the lubricant excreted by the bacteria. We show that when the diffusion of the fluid is governed by nonlinear diffusion coefficient branching patterns evolves. We study the effect of the rates of emission and decomposition of the lubricant fluid on the observed patterns. The results are compared with experimental observations. We also include fields of chemotactic agents and food chemotaxis and conclude that these features are needed in order to explain the observations. 1 I.

Neurons are sensitive to correlations among synaptic inputs. However, analytical models that explicitly include correlations are hard to solve analytically, so their influence on a neuron’s response has been difficult to ascertain. To gain some intuition on this problem, we studied the firing times of two simple integrate-and-fire model neurons driven by a correlated binary variable that represents the total input current. Analytic expressions were obtained for the average firing rate and coefficient of variation (a measure of spike-train variability) as functions of the mean, variance, and correlation time of the stochastic input. The results of computer simulations were in excellent agreement with these expressions. In these models, an increase in correlation time in general produces an increase in both the average firing rate and the variability of the output spike trains. However, the magnitude of the changes depends differentially on the relative values of the input mean and variance: the increase in firing rate is higher when the variance is large relative to the mean, whereas the increase in variability is higher when the variance is relatively small. In addition, the firing rate always tends to a finite limit value as the correlation time increases toward infinity, whereas the coefficient of variation typically diverges. These results suggest that temporal correlations may play a major role in determining the variability as well as the intensity of neuronal spike trains.

Abstract. We report studies using an enhanced experimental system to investigate organization of nuclear pre-mRNA metabolism. It is based on the powerful genetic system and polytene nuclei of Drosophila. We observe (at steady state) movement of a specific premRNA between its gene and the nuclear surface. This movement is isotropic, at rates consistent with diffusion and is restricted to a small nuclear subcompartment defined by exclusion from chromosome axes and the nucleolus. Bulk polyadenylated nuclear pre-mRNA precisely localizes in this same subcompartment indieating that most or all pre-mRNAs use the same route of intranuclear movement. In addition to association with nascent transcripts, snRNPs are coconcentrated with pre-mRNA in this subcompartment. In contrast to constitutive splices, at least one regulated splice occurs slowly and may undergo execution remotely from the site of pre-mRNA synthesis. Details of our results suggest that retention of incompletely spliced pre-mRNA is a function of the nuclear surface. We propose a simple model-based on channeled diffusion-for organization of intranuclear transport and metabolism of pre-mRNAs in polytene nuclei. We argue that this model can be generalized to all metazoan nuclei. M ETAZOAN nuclei contain specific substructures implicated in pre-mRNA metabolism (see, for example,