Figure 8.

Prototype of the integration between a nervous system model (top-left widget) and a fluid mechanics–based simulation of a worm body (background 3D Canvas) within Geppetto, currently under development. The mechanical model of the body of the worm, which includes musculature, is shown immersed in a simulated fluid environment. Both worm body and fluid are made of particles. Different colours on the worm body highlight different groups of particles (e.g. elastic particles for each of the worm muscles, liquid particles for the surrounding fluid, etc.). All around the fluid and the worm is the experiment bounding box, made of an impermeable layer of particles. The calcium concentrations in the muscles (four rows separated from the main body cells in top-left widget) simulated by the model are translated into activation signals for the muscles cells in Sibernetic ultimately driving the locomotion of the worm.