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1. Collective dynamics in entangled worm and robot blobs

   https://doi.org/10.1073/pnas.2010542118  

   Ozkan-Aydin, Yasemin; Goldman, Daniel I.; Bhamla, M. Saad (February 2021, Proceedings of the National Academy of Sciences)

   null (Ed.)

   Living systems at all scales aggregate in large numbers for a variety of functions including mating, predation, and survival. The majority of such systems consist of unconnected individuals that collectively flock, school, or swarm. However, some aggregations involve physically entangled individuals, which can confer emergent mechanofunctional material properties to the collective. Here, we study in laboratory experiments and rationalize in theoretical and robophysical models the dynamics of physically entangled and motile self-assemblies of 1-cm-long California blackworms ( Lumbriculus variegatus , Annelida: Clitellata: Lumbriculidae). Thousands of individual worms form braids with their long, slender, and flexible bodies to make a three-dimensional, soft, and shape-shifting “blob.” The blob behaves as a living material capable of mitigating damage and assault from environmental stresses through dynamic shape transformations, including minimizing surface area for survival against desiccation and enabling transport (negative thermotaxis) from hazardous environments (like heat). We specifically focus on the locomotion of the blob to understand how an amorphous entangled ball of worms can break symmetry to move across a substrate. We hypothesize that the collective blob displays rudimentary differentiation of function across itself, which when combined with entanglement dynamics facilitates directed persistent blob locomotion. To test this, we develop a robophysical model of the worm blobs, which displays emergent locomotion in the collective without sophisticated control or programming of any individual robot. The emergent dynamics of the living functional blob and robophysical model can inform the design of additional classes of adaptive mechanofunctional living materials and emergent robotics. 

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2. Amorphous entangled active matter

   https://doi.org/10.1039/D2SM01573K  

   Savoie, William; Tuazon, Harry; Tiwari, Ishant; Bhamla, M. Saad; Goldman, Daniel I. (March 2023, Soft Matter)

   The design of amorphous entangled systems, specifically from soft and active materials, has the potential to open exciting new classes of active, shape-shifting, and task-capable ‘smart’ materials. However, the global emergent mechanics that arise from the local interactions of individual particles are not well understood. In this study, we examine the emergent properties of amorphous entangled systems in an in silico collection of u-shaped particles (“smarticles”) and in living entangled aggregate of worm blobs ( L. variegatus ). In simulations, we examine how material properties change for a collective composed of smarticles as they undergo different forcing protocols. We compare three methods of controlling entanglement in the collective: external oscillations of the ensemble, sudden shape-changes of all individuals, and sustained internal oscillations of all individuals. We find that large-amplitude changes of the particle's shape using the shape-change procedure produce the largest average number of entanglements, with respect to the aspect ratio ( l / w ), thus improving the tensile strength of the collective. We demonstrate applications of these simulations by showing how the individual worm activity in a blob can be controlled through the ambient dissolved oxygen in water, leading to complex emergent properties of the living entangled collective, such as solid-like entanglement and tumbling. Our work reveals principles by which future shape-modulating, potentially soft robotic systems may dynamically alter their material properties, advancing our understanding of living entangled materials, while inspiring new classes of synthetic emergent super-materials. 

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3. Emergent Collective Locomotion in an Active Polymer Model of Entangled Worm Blobs

   https://doi.org/10.3389/fphy.2021.734499  

   Nguyen, Chantal; Ozkan-Aydin, Yasemin; Tuazon, Harry; Goldman, Daniel. I.; Bhamla, M. Saad; Peleg, Orit (September 2021, Frontiers in Physics)

   null (Ed.)

   Numerous worm and arthropod species form physically-connected aggregations in which interactions among individuals give rise to emergent macroscale dynamics and functionalities that enhance collective survival. In particular, some aquatic worms such as the California blackworm ( Lumbriculus variegatus ) entangle their bodies into dense blobs to shield themselves against external stressors and preserve moisture in dry conditions. Motivated by recent experiments revealing emergent locomotion in blackworm blobs, we investigate the collective worm dynamics by modeling each worm as a self-propelled Brownian polymer. Though our model is two-dimensional, compared to real three-dimensional worm blobs, we demonstrate how a simulated blob can collectively traverse temperature gradients via the coupling between the active motion and the environment. By performing a systematic parameter sweep over the strength of attractive forces between worms, and the magnitude of their directed self-propulsion, we obtain a rich phase diagram which reveals that effective collective locomotion emerges as a result of finely balancing a tradeoff between these two parameters. Our model brings the physics of active filaments into a new meso- and macroscale context and invites further theoretical investigation into the collective behavior of long, slender, semi-flexible organisms. 

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4. Emergent behaviors of buckling-driven elasto-active structures

   https://doi.org/10.1073/pnas.2410654121  

   Xi, Yuchen; Marzin, Tom; Huang, Richard B; Jones, Trevor J; Brun, P-T (November 2024, Proceedings of the National Academy of Sciences)

   Active systems of self-propelled agents, e.g., birds, fish, and bacteria, can organize their collective motion into myriad autonomous behaviors. Ubiquitous in nature and across length scales, such phenomena are also amenable to artificial settings, e.g., where brainless self-propelled robots orchestrate their movements into spatial-temporal patterns via the application of external cues or when confined within flexible boundaries. Like their natural counterparts, these approaches typically require many units to initiate collective motion, so controlling the ensuing dynamics is challenging. Here, we demonstrate a simple mechanism that leverages nonlinear elasticity to tame near-diffusive motile particles in forming structures capable of directed motion and other emergent behaviors. Our elasto-active system comprises two centimeter-sized self-propelled microbots connected with elastic beams. These microbots exert forces that suffice to buckle the beam and set the structure in motion. We first rationalize the physics of the interaction between the beam and the microbots. Then we use reduced-order models to predict the interactions of our elasto-active structures with boundaries, e.g., walls and constrictions, and demonstrate how they can exhibit remarkable emergent behaviors such as maze navigation. These findings demonstrate that allowing and understanding changes in body morphology can enhance the capabilities of active matter systems and enable the design of robotic materials capable of space exploration, adaptation, and complex interactions with their surrounding environment. 

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5. Social insects and beyond: The physics of soft, dense invertebrate aggregations

   https://doi.org/10.1177/26339137221123758  

   Shishkov, Olga; Peleg, Orit (October 2022, Collective Intelligence)

   Aggregation is a common behavior by which groups of organisms arrange into cohesive groups. Whether suspended in the air (like honey bee clusters), built on the ground (such as army ant bridges), or immersed in water (such as sludge worm blobs), these collectives serve a multitude of biological functions, from protection against predation to the ability to maintain a relatively desirable local environment despite a variable ambient environment. In this review, we survey dense aggregations of a variety of insects, other arthropods, and worms from a soft matter standpoint. An aggregation can be orders of magnitude larger than its individual organisms, consisting of tens to hundreds of thousands of individuals, and yet functions as a coherent entity. Understanding how aggregating organisms coordinate with one another to form a superorganism requires an interdisciplinary approach. We discuss how considering the physics of an aggregation can yield additional insights to those gained from ecological and physiological considerations, given that the aggregating individuals exchange information, energy, and matter continually with the environment and one another. While the connection between animal aggregations and the physics of non-living materials has been proposed since the early 1900s, the recent advent of physics of behavior studies provides new insights into social interactions governed by physical principles. Current efforts focus on eusocial insects; however, we show that these may just be the tip of an iceberg of superorganisms that take advantage of physical interactions and simple behavioral rules to adapt to changing environments. By bringing attention to a wide range of invertebrate aggregations, we wish to inspire a new generation of scientists to explore collective dynamics and bring a deeper understanding of the physics of dense living aggregations. 

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