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ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Daniel MangeDaniel Mange
Towards Robust Bio-Inspired Circuits:Towards Robust Bio-Inspired Circuits: The Embryonics Approach The Embryonics Approach
ECAL’99, LausanneECAL’99, Lausanne
September 15, 1999September 15, 1999
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Caenorhabditis ElegansCaenorhabditis Elegans
11 December 1998
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Caenorhabditis ElegansCaenorhabditis Elegans
From S.F. Gilbert, Developmental Biology, Sinauer, 1991
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Multicellular OrganizationMulticellular Organization
959 somatic cells
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Cellular DivisionCellular Division
mother celldaughter celldaughter cell
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Cellular DifferentiationCellular Differentiation
Pharynx
Intestine
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Embryonics: Why?Embryonics: Why?
Design of robust integrated circuits Design of robust integrated circuits able to:able to:
• • self-repair (healing)self-repair (healing)
• • self-replicate (cloning)self-replicate (cloning)
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Embryonics: How?Embryonics: How?
Iterative electronic circuit based on Iterative electronic circuit based on 3 features:3 features:
• • multicellular organizationmulticellular organization
• • cellular divisioncellular division
• cellular differentiation
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Electronic ImplementationElectronic Implementation
X,YRBDMRAMOGSBCELLX,YRBDMRAMOGSBCELLX,YRBDMRAMOGSBCELLX,YRBDMRAMOGSBCELLX,YRBDMRAMOGSBCELLX,YRBDMRAMOGSBCELL
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Multicellular OrganizationMulticellular Organization
O R GCELLgeneACEBDF21123YX
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Embryonics LandscapeEmbryonics LandscapeMUXCOMPMUXdMOLCODEMOLECULEORGORGORGORG Population level
(population = Σ )organisms Organismic level
( = organism Σ )cells Cellular level
( = cell Σ )molecules Molecular level
( )basic FPGA's elementcbadefACEBDF : RG ribosomic genome: PG polymerase genome: OG operative genomeORGCELL
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
StopWatchStopWatch
MINSECRESETSTARTSTOP
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
StopWatchStopWatch
MINSECMINSEC
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
StopWatchStopWatch
StopWatchORGCELLgene1123YXCountmod 6Countmod10Countmod 6Countmod104
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
StopWatchStopWatch
6106101234OG: operative genomegene
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
StopWatchStopWatch
X = (WX+1) mod 4case of X: X = 1: Countmod 6 (10 minutes) X = 2: Countmod 10 (minutes) X = 3: Countmod 6 (10 seconds) X = 4: Countmod 10 (seconds)
OG: operative genome
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
StopWatchStopWatch
X=(WX+1)mod4case of X:X = ...operativegenome (OG)HOXgenesswitchgenesfunctionalgenes
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Cellular DifferentiationCellular Differentiation
6106101234X = 1610610123461061012346106101234210t136t2104t3
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Self-ReplicationSelf-Replication1YX61061061061061061061061016106106106106106106106101YX610610610610610610610610t112610610610610610610610610t111YX610610610610610610610610t1t2123610610610610610610610610t2t111YX610610610610610610610610t1t2t3MOTHER ORG1234610610610610610610610610t2t3t11
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Self-ReplicationSelf-Replication1YXt1t2t3MOTHER ORGt412341t2t3t4t1DAUGHTER ORG # 116106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106101YXt1t2t3MOTHER ORGt5t4123412t2t3t4t5t1DAUGHTER ORG # 116106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106101YXt1t2t3MOTHER ORGt5t6t41234123t2t3t4t6t5t1DAUGHTER ORG # 116106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106101YXt1t2t3MOTHER ORGt5t6t7t4DAUGHTER ORG # 212341234t2t3t4t6t7t5t1DAUGHTER ORG # 116106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106106101YXt1t2t3MOTHER ORGt5t6t7t4DAUGHTER ORG # 212341234t2t3t4t6t7t8t5t1DAUGHTER ORG # 1DAUGHTER ORG # 31Directions of self-replication610610610610610610610610610610610610610610610610610610610610610610610610610610610610610610610610
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Self-RepairSelf-Repair
1YX610610610610610610610610ORIGINAL ORG610610610610123412SPARE CELLSDirection of self-repair1YX61061061061061061061061012412KILL=1SCAR106106101YX610610610610610610610610123KILL=1SCAR106106101YX6106106106106106106106101234KILL=1NEW ORGNEW ORGSCAR106106101YX61061061061061061061061012341KILL=1NEW ORGNEW ORGSCARSPARE CELL10610610
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
BioWatchBioWatch
1123YXmod3mod10/4mod6mod104mod6mod1056Modulo-24 counterStopWatch
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
BioWatchBioWatch
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Embryonics LandscapeEmbryonics Landscape
ORG = StopWatchCELLMOLECULEPopulation level(population = Σ )organisms
Organismic level( = organism Σ )cells
???Cellular level( = cell Σ )molecules
???Molecular level( )basic FPGA's element
106106ORGORGORGORG
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
MUXTREE MoleculeMUXTREE Molecule
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Space DividerSpace Divider
PGX=1
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Space DividerSpace Divider
PGPG2X=134SPARE CELL
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Cellular Self-ReplicationCellular Self-Replication
RG+OG234X=1SPARECELL
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Cellular Self-RepairCellular Self-Repair
RG+OG234X=1SPARECELL
faulty molecule
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Cellular Self-RepairCellular Self-Repair
RG+OG234X=1SPARECELL3 4KILL=1
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
The MUXTREE MoleculeThe MUXTREE Molecule
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Molecular ImplementationMolecular ImplementationSMEMREGQDCNTGATESMUXDMUXREGXspare column
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Embryonics LandscapeEmbryonics Landscape
MUXCOMPMUXMOLCODEORG = StopWatchCELLMOLECULEPopulation level(population = Σ )organisms
Organismic level( = organism Σ )cells
Cellular level( = cell Σ )molecules
Molecular level( )basic FPGA's element
106106ORGORGORGORGSBDMSMEMPG+RG OG
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
Artificial GenomeArtificial Genome
X=(WX+1)mod4case of X:X = ...operativegenome (OG)HOXgenesswitchgenesfunctionalgenesmolecular codesspace divider programming datapolymerasegenome (PG)ribosomicgenome (RG)
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE
The Future of EmbryonicsThe Future of Embryonics
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Towards Robust Bio-Inspired Circuits: The Embryonics ApproachTowards Robust Bio-Inspired Circuits: The Embryonics ApproachDaniel MangeDaniel Mange ECAL’99: Sept. 15ECAL’99: Sept. 15
ÉCOLE POLYTECHNIQUEFÉDÉRALE DE LAUSANNE