The study of plant root growth in real time has been difficult to achieve in an automated, high-throughput, and systematic fashion. Dynamic imaging of plant roots is important in order to discover novel root growth behaviors and to deepen our understanding of how roots interact with their environments. We designed and implemented the Generating Rhizodynamic Observations Over Time (GROOT) robot, an automated, high-throughput imaging system that enables time-lapse imaging of 90 containers of plants and their roots growing in a clear gel medium over the duration of weeks to months. The system uses low-cost, widely available materials. As a proof of concept, we employed GROOT to collect images of root growth of Oryza sativa, Hudsonia montana, and multiple species of orchids including Platanthera integrilabia over six months. Beyond imaging plant roots, our system is highly customizable and can be used to collect time- lapse image data of different container sizes and configurations regardless of what is being imaged, making it applicable to many fields that require longitudinal time-lapse recording.

Early root growth is critical for plant establishment and survival. We have identified a molecular pathway required for helical root tip movement known as circumnutation. Here, we report a multiscale investigation of the regulation and function of this phenomenon. We identify key cell signaling events comprising interaction of the ethylene, cytokinin, and auxin hormone signaling pathways. We identify the gene Oryza sativa histidine kinase-1 (HK1) as well as the auxin influx carrier gene OsAUX1 as essential regulators of this process in rice. Robophysical modeling and growth challenge experiments indicate circumnutation is critical for seedling establishment in rocky soil, consistent with the long-standing hypothesis that root circumnutation facilitates growth past obstacles. Thus, the integration of robotics, physics, and biology has elucidated the functional importance of root circumnutation and uncovered the molecular mechanisms underlying its regulation.

We report a generic smartphone app for quantitative annotation of complex images. The app is simple enough to be used by children, and annotation tasks are distributed across app users, contributing to efficient annotation. We demonstrate its flexibility and speed by annotating >30,000 images, including features of rice root growth and structure, stem cell aggregate morphology, and complex worm (Caenorhabditis elegans) postures, for which we show that the speed of annotation is >130-fold faster than state-of-the-art techniques with similar accuracy.

For exploration of unknown terrestrial environments, it is typically assumed that robots possess sophisticated controllers which can sense important aspects of the terrain (gaps, obstacles, slippery surfaces). However, robust sensing of such conditions is not yet possible in harsh environmental conditions. Biological systems, including plant roots and snakes, are impressive in their ability to use diverse growth and movement strategies to penetrate and explore heterogeneous terrain. Such systems avoid becoming trapped, despite lacking full terrain state information. We are particularly interested in how circumnutation - an endogenous circular pattern exhibited by the tip of a growing root - facilitates penetration and exploration. To discover principles by which robots can gain root-like capabilities, we constructed a planar, pneumatically driven soft-bodied robot, which grows from the tip like a plant root and can bend in 2D space by oscillating the inflation pressure of series pneumatic artificial muscles (sPAMs) arranged on its two sides. We demonstrate that 2D tip oscillation improves the robotic roots ability to penetrate a heterogeneous environment, tested in a lattice of rigid cylinders distributed evenly on a square board. Systematic variation of initial robot positions revealed that the non-oscillating tip strategy led to an increased probability of becoming pinned to obstacles (and preventing growth), while the oscillating tip penetrated the lattice significantly further. The results show that without closed loop control, oscillatory movements of a leading surface of a growing structure enable robust navigation in a heterogeneous environment; closed loop control strategies layered on top of such passive mechanisms could lead to novel strategies for exploratory and search-and-rescue robotics.

The intricate growth patterns that accompany plant organ elongation have long intrigued biologists 1. Circumnutation refers to the circular or elliptical growth of the tip of a plant organ around a central axis. While the utility of circumnutation for climbing plants is clear, its function in roots is less obvious. Additionally, the genetic requirements for root circumnutation are not known. Here we show that mutations in a gene encoding a histidine kinase abolish large radius root tip circumnutation in rice. Using a gel-based imaging system and a whole genome sequenced mutant population, we identified three different mutant alleles of the gene OsHK1 that exhibit increased seedling root depth. Time-lapse imaging indicated that this phenotype is likely due to a lack of large radius root tip circumnutation in OsHK1 mutants. Treatment of mutant roots with the plant hormone zeatin rescues circumnutation, indicating that OsHK1 functions in a cytokinin-related signaling pathway. We found that OsHK1 mutants are impaired in their ability to explore flat surfaces, suggesting that circumnutation facilitates root exploration at the interface of compacted soil horizons.