Biomimetic Navigation System Inspired by C. elegans Thermotaxis Christopher Abdo -- South Brunswick High School (2019) Ronit Arora -- West Windsor-Plainsboro South High School (2020) Anakha Vasanthakumaribabu Dr. Bipin Rajendran Department of Electrical and Computer Engineering Problem Statement • Model the contour tracking neural network of the C. elegans worm on a Raspberry Pi powered car Biologically observed thermotaxis behavior in C. elegans Ref: I Mori et al, Neurobiology, 2007 Significance • Complex calculations simplified down to energy-efficient processes - inspired by biology • Be able to maintain high tracking accuracy for a set point • Gain a better understanding of the biological mechanisms of information processing and adaptation Specific Objectives • Understanding the thermotaxis neural network system of the C.elegans worm • Model spiking neural network with Python • Implement code using Raspberry Pi and light sensors • Configure light sensors to record data used for turning car in clockwise direction Background and Approach • Reading and comprehending scientific articles/research papers on C.elegans thermotaxis • Use MATLAB plots to determine how the simulation will run • Develop an understanding of how the light sensor outputs analog data Experimental Design and Methods 1. Translate MATLAB scripts * into Python 2. Develop circuit for light sensor 3. Create functions to activate motors 4. Configure currents of light sensor to be sent to Python code 5. Integrate code, circuits, and build for Raspberry Pi * MATLAB Code developed by previous students in the group Ashish Bora and Arjun Rao Results • Successfully configured light sensor data • Translated MATLAB scripts to Python – In the process of verifying correct data Conclusion and Future Work • 10 spiking neurons can be used to achieve contour tracking • Extend the model to different neural networks for other reactions to stimuli • Integrate light sensor data, Python code and Raspberry Pi for the future Acknowledgements and References • We gratefully acknowledge the NJIT High School Provost Research Program for giving us the opportunity to explore the Spiking Neural Network of the roundworm. We also extend our gratitude towards Dr. Rajendran and Anakha Vasanthakumaribabu for the guidance they provided References: • A. Bora, A. Rao and B. Rajendran - Mimicking the worm - an adaptive spiking neural circuit for contour tracking inspired by C. Elegans thermotaxis. • C. Shetty, P. Shah, S. Nitchith, R. Rawat, Nandakumar S. R, S. Kulkarni & B. Rajendran - Spiking Neural Circuit Based Navigation Inspired by C. elegans Thermotaxis