Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction.

Although collective robotic construction systems are beginning to showcase how multi-robot systems can contribute to building construction by efficiently building low-cost, sustainable structures, the majority of research utilizes non-structural or highly customized materials. A modular collective robotic construction system based on a robotic actuator, which leverages timber struts for the assembly of architectural artifacts as well as part of the robot body for locomotion is presented. The system is co-designed for in-plane assembly from an architectural, robotic, and computer science perspective in order to integrate the various hardware and software constraints into a single workflow. The system is tested using five representative physical scenarios. These proof-of-concept demonstrations showcase three tasks required for construction assembly: the ability of the system to locomote, dynamically change the topology of connecting robotic actuators and timber struts, and collaborate to transport timber struts. As such, the groundwork for a future autonomous collective robotic construction system that could address collective construction assembly and even further increase the flexibility of on-site construction robots through its modularity is laid.

Validating a Termite-Inspired Construction Coordination Mechanism Using an Autonomous Robot.

Many species of termites build large, structurally complex mounds, and the mechanisms behind this coordinated construction have been a longstanding topic of investigation. Recent work has suggested that humidity may play a key role in the mound expansion of savannah-dwelling Macrotermes species: termites preferentially deposit soil on the mound surface at the boundary of the high-humidity region characteristic of the mound interior, implying a coordination mechanism through environmental feedback where addition of wet soil influences the humidity profile and vice versa. Here we test this potential mechanism physically using a robotic system. Local humidity measurements provide a cue for material deposition. As the analogue of the termite's deposition of wet soil and corresponding local increase in humidity, the robot drips water onto an absorbent substrate as it moves. Results show that the robot extends a semi-enclosed area outward when air is undisturbed, but closes it off when air is disturbed by an external fan, consistent with termite building activity in still vs. windy conditions. This result demonstrates an example of adaptive construction patterns arising from the proposed coordination mechanism, and supports the hypothesis that such a mechanism operates in termites.

Attraction, Dynamics, and Phase Transitions in Fire Ant Tower-Building.

Many insect species, and even some vertebrates, assemble their bodies to form multi-functional materials that combine sensing, computation, and actuation. The tower-building behavior of red imported fire ants, Solenopsis invicta, presents a key example of this phenomenon of collective construction. While biological studies of collective construction focus on behavioral assays to measure the dynamics of formation and studies of swarm robotics focus on developing hardware that can assemble and interact, algorithms for designing such collective aggregations have been mostly overlooked. We address this gap by formulating an agent-based model for collective tower-building with a set of behavioral rules that incorporate local sensing of neighboring agents. We find that an attractive force makes tower building possible. Next, we explore the trade-offs between attraction and random motion to characterize the dynamics and phase transition of the tower building process. Lastly, we provide an optimization tool that may be used to design towers of specific shapes, mechanical loads, and dynamical properties, such as mechanical stability and mobility of the center of mass.

Differential construction response to humidity by related species of mound-building termites.

Macrotermes michaelseni and M. natalensis are two morphologically similar termite species occupying the same habitat across southern Africa. Both build large mounds and tend mutualistic fungal symbionts for nutrients, but despite these behavioural and physiological similarities, the mound superstructures they create differ markedly. The behavioural differences behind this discrepancy remain elusive, and are the subject of ongoing investigations. Here, we show that the two species demonstrate distinctive building activity in a laboratory-controlled environment consisting of still air with low ambient humidity. In these conditions, M. michaelseni transports less soil from a central reservoir, deposits this soil over a smaller area, and creates structures with a smaller volumetric envelope than M. natalensis In high humidity, no such systematic difference is observed. This result suggests a differential behavioural threshold or sensitivity to airborne moisture that may relate to the distinct macro-scale structures observed in the African bushland.

Infrastructure construction without information exchange: the trail clearing mechanism in Atta leafcutter ants.

A wide range of group-living animals construct tangible infrastructure networks, often of remarkable size and complexity. In ant colonies, infrastructure construction may require tens of thousands of work hours distributed among many thousand individuals. What are the individual behaviours involved in the construction and what level of complexity in inter-individual interaction is required to organize this effort? We investigate this question in one of the most sophisticated trail builders in the animal world: the leafcutter ants, which remove leaf litter, cut through overhangs and shift soil to level the path of trail networks that may cumulatively extend for kilometres. Based on obstruction experiments in the field and the laboratory, we identify and quantify different individual trail clearing behaviours. Via a computational model, we further investigate the presence of recruitment, which-through direct or indirect information transfer between individuals-is one of the main organizing mechanisms of many collective behaviours in ants. We show that large-scale transport networks can emerge purely from the stochastic process of workers encountering obstructions and subsequently engaging in removal behaviour with a fixed probability. In addition to such incidental removal, we describe a dedicated clearing behaviour in which workers remove additional obstructions independent of chance encounters. We show that to explain the dynamics observed in the experiments, no information exchange (e.g. via recruitment) is required, and propose that large-scale infrastructure construction of this type can be achieved without coordination between individuals.

Surface curvature guides early construction activity in mound-building termites.

Termite colonies construct towering, complex mounds, in a classic example of distributed agents coordinating their activity via interaction with a shared environment. The traditional explanation for how this coordination occurs focuses on the idea of a 'cement pheromone', a chemical signal left with deposited soil that triggers further deposition. Recent research has called this idea into question, pointing to a more complicated behavioural response to cues perceived with multiple senses. In this work, we explored the role of topological cues in affecting early construction activity in Macrotermes. We created artificial surfaces with a known range of curvatures, coated them with nest soil, placed groups of major workers on them and evaluated soil displacement as a function of location at the end of 1 h. Each point on the surface has a given curvature, inclination and absolute height; to disambiguate these factors, we conducted experiments with the surface in different orientations. Soil displacement activity is consistently correlated with surface curvature, and not with inclination nor height. Early exploration activity is also correlated with curvature, to a lesser degree. Topographical cues provide a long-term physical memory of building activity in a manner that ephemeral pheromone labelling cannot. Elucidating the roles of these and other cues for group coordination may help provide organizing principles for swarm robotics and other artificial systems. This article is part of the theme issue 'Liquid brains, solid brains: How distributed cognitive architectures process information'.

Excavation and aggregation as organizing factors in de novo construction by mound-building termites.

Termites construct complex mounds that are orders of magnitude larger than any individual and fulfil a variety of functional roles. Yet the processes through which these mounds are built, and by which the insects organize their efforts, remain poorly understood. The traditional understanding focuses on stigmergy, a form of indirect communication in which actions that change the environment provide cues that influence future work. Termite construction has long been thought to be organized via a putative 'cement pheromone': a chemical added to deposited soil that stimulates further deposition in the same area, thus creating a positive feedback loop whereby coherent structures are built up. To investigate the detailed mechanisms and behaviours through which termites self-organize the early stages of mound construction, we tracked the motion and behaviour of major workers from two Macrotermes species in experimental arenas. Rather than a construction process focused on accumulation of depositions, as models based on cement pheromone would suggest, our results indicated that the primary organizing mechanisms were based on excavation. Digging activity was focused on a small number of excavation sites, which in turn provided templates for soil deposition. This behaviour was mediated by a mechanism of aggregation, with termites being more likely to join in the work at an excavation site as the number of termites presently working at that site increased. Statistical analyses showed that this aggregation mechanism was a response to active digging, distinct from and unrelated to putative chemical cues that stimulate deposition. Agent-based simulations quantitatively supported the interpretation that the early stage of de novo construction is primarily organized by excavation and aggregation activity rather than by stigmergic deposition.

Metodologias participativas e educação permanente na formação de agentes comunitários/as de saúde / Participatory methodologies and permanent education in training community/health agents / Metodologías participativas y educación permanente en la formación de agentes comunitarios de salud

ResumoBusca-se neste texto refletir sobre o uso de metodologias participativas na educação permanente de agentes comunitários/as de saúde, numa discussão sobre os limites e potencialidades de tais metodologias estimularem reflexões e possíveis mudanças nas práticas cotidianas desses profissionais. Foram realizadas entrevistas e caminhadas transversais com os/as agentes, que resultaram em relatorias utilizadas como material de análise. Não seria simples mensurar o impacto que essa metodologia tem no processo de construção do pensamento reflexivo, mas a análise do potencial das metodologias participativas em atividades de formação de agentes comunitários da saúde permitiu perceber que houve empoderamento quanto aos temas abordados. Pôde-se compreender o quão significativas as metodologias se mostraram na abordagem das temáticas, especialmente nos temas ‘prevenção de doença e promoção da saúde’ e ‘violência de gênero’. Conclui-se que o fato de algo poder ser percebido com outros significados e sentidos possibilita outros modos da produção de práticas cotidianas.

AbstractThis article seeks to reflect on the use of participatory methodologies in the continuing education of community/health workers, in a discussion about the limits and possibilities of such methodologies, encouraging reflections and possible changes in these professionals’ daily practices. Transect interviews and walks were carried out with the agents, which resulted in the rapporteurs that used as material for analyses. It would be no simple task to measure the impact that this methodology has on the process of building reflective thought, but the analysis of the potential of participatory methodologies in the training activities aimed at community health workers allowed us to realize that there was empowerment with regard to the themes addressed. It was possible to understand how significant the methodologies have shown to be in addressing the issues, especially with regard to the ‘prevention of disease and promotion of health’ and to ‘gender violence.’ In sum, the fact that something can be realized with other meanings and senses allows other modes of production of daily practices.

ResumenEn este texto se busca reflexionar sobre el uso de metodologías participativas en la educación permanente de agentes comunitarios de salud, en una discusión sobre los límites y potencialidades para que tales metodologías estimulen reflexiones y posibles cambios en las prácticas cotidianas de estos profesionales. Se realizaron entrevistas y recorridos transversales con los agentes, que resultaron en relatos utilizados como material de análisis. No sería simple medir el impacto que esta metodología tiene en el proceso de construcción del pensamiento reflexivo, pero el análisis del potencial de las metodologías participativas en actividades de formación de agentes comunitarios de la salud permitió percibir que hubo un empoderamiento en cuanto a los temas abordados. Se pudo comprender cuán significativas se han mostrado las metodologías en el enfoque de las temáticas, especialmente en los temas “prevención de enfermedades y promoción de la salud” y “violencia de género”. Se concluye que el hecho de que algo pueda ser percibido con otros significados y sentidos permite otros modos de producción de prácticas cotidianas.

Los niños y niñas como constructores de conocimiento: un caso de investigación participativa / Children as political subjects: a case of participative research

La investigación participativa con niños y niñas compone el objeto de análisis de este trabajo. Definiendo el conocimiento como una herramienta de transformación de la realidad, se avanza con un recorrido por diversas matrices teóricas de niñez, dando cuenta del proceso de invisibilización sufrido por niños y niñas en tanto sujetos de su propia historia, capaces de comprender su realidad y reflexionar sobre ella. En este punto propongo los enfoques co-participativos para recuperar las voces de los niños y niñas que han sido históricamente silenciadas. Esta hipótesis se pone en práctica en una experiencia llamada Aula Vereda, un espacio barrial de educación popular con niños y niñas de un barrio de la Ciudad de Buenos Aires, donde se desarrolla una Investigación Participativa.

Participative research with children is the object of analysis of this work. Defining knowledge as a tool for transforming reality, progress is made along a tour of the different theoretical matrices on childhood, exposing the process of invisibilization children have been submitted to as subjects of their own history who are capable of understanding their reality and reflect about it. On this point, I expand on the co-participative approaches to regain the children’s voices, which have been silenced historically. This hypothesis is implemented in an experience called AulaVereda, a neighborhood space for popular education with children from a neighborhood in the City of Buenos Aires, where a Participative Research is being carried out.

Quem participa em quê?: experiências de construção compartilhada no âmbito da cooperação Brasil - Canadá para o aperfeiçoamento da gestão na Atenção Primária à Saúde / Who takes part in what?: experiences of shared construction in Brazil-Canada cooperation for the improving management in Primary Health Care

O artigo analisa processos e resultados da construção compartilhada de conhecimento e intervenção no Projeto de Aperfeiçoamento da Gestão da Atenção Primária (AGAP) desenvolvido no âmbito da cooperação Brasil e Canadá em quatro Estados da região Nordeste do País, utilizando metodologia de avaliação com enfoque nos alcances e aprendizagens, que tem como pressuposto a cooperação e participação das partes, preconiza a triangulação mediante a combinação de abordagens e de técnicas qualitativa e quantitativa caracterizada como multimétodos, a partir da identificação dos momentos que significaram encontros de compartilhamento, elementos que dificultaram ou facilitaram este processo e das lições apreendidas. A pesquisa avaliativa compreendeu análise documental, observação de encontros presenciais, oficina com o Comitê Gestor de Avaliação para apresentação e pactuação da proposta, oficinas de avaliação com os projetos locais, observação de unidades de saúde nos municípios, entrevistas semiestruturadas com sujeitos estratégicos dos níveis locais, regionais, nacional e internacional. Os resultados demonstraram que a relação de cooperação Brasil/Canadá é promissora, entretanto precisa ser construída de forma mais cooperada e dialogada em que os objetos da cooperação sejam construídos de forma compartilhada.

Construção coletiva de experiências inovadoras no processo ensino-aprendizagem na formação de profissionais da saúde / Collective construction of innovative experiences in the teaching-learning process of health professionals

Sob a perspectiva do ensino e saúde, este trabalho analisa a discussão realizada durante o processo de formação de um grupo de tutores no fórum do curso de especialização em Ativação de processos de mudança na formação superior de profissionais de Saúde, no período de junho a agosto de 2005, promovido pelo Ministério da Saúde do Brasil, Fiocruz e Rede Unida, resultante do processamento do relato de prática, intitulado Quando a pergunta qualifica o olhar. O objetivo foi analisar a produção coletiva do fórum na discussão das seguintes questões, elaboradas pelo grupo durante o encontro presencial: Como se deu historicamente a construção do conceito de cuidado a partir dos diferentes saberes-profissões?; Como lidar com uma experiência focal (inovadora) de ensino-aprendizagem?; Como garantir a governabilidade-viabilidade inovadora no contexto da gestão? A questão de aprendizagem inicial foi: o que mudar para fazer a mudança? Utilizou-se como metodologia a técnica de interpretação qualitativa do discurso do sujeito coletivo, a partir do referencial teórico de Lefréve, Lefréve e Teixeira (2000).

This study analyzes from the perspective of health education the production of a group of tutors in the forum about the distance specialization course "Activation of change processes in the higher education of health professionals", that took place in June-August/2005, under the sponsorship of the Ministry of Health, Fiocruz and Rede Unida as a result of the practice report entitled when the question qualifies the view. The objective was to analyze the collective production of the forum regarding the discussion of the following questions: How was the concept of care built historically from the different professions and kinds of knowledge? How should we deal with a focal (innovative) teaching-learning experience? How can innovative governability/feasibility be ensured within the context of management? These questions were formulated by the group during the in-person meeting whose initial question was: What should be changed to change? The methodology used was the technique of qualitative interpretation of the collective subject speech based on the theoretical referential of Lefréve.