Fluidic logic circuitry analogous to its electric counterpart could potentially provide soft robots with machine intelligence due to its supreme adaptability, dexterity, and seamless compatibility using state-of-the-art additive manufacturing processes. However, conventional microfluidic channel based circuitry suffers from limited driving force, while macroscopic pneumatic logic lacks timely responsivity and desirable accuracy. Producing heavy duty, highly responsive and integrated fluidic soft robotic circuitry for control and actuation purposes for biomedical applications has yet to be accomplished in a hydraulic manner. Here, we present a 3D printed hydraulic fluidic half-adder system, composing of three basic hydraulic fluidic logic building blocks: AND, OR, and NOT gates. Furthermore, a hydraulic soft robotic half-adder system is implemented using an XOR operation and modified dual NOT gate system based on an electrical oscillator structure. This half-adder system possesses binary arithmetic capability as a key component of arithmetic logic unit in modern computers. With slight modifications, it can realize the control over three different directions of deformation of a three degree-offreedom soft actuation mechanism solely by changing the states of the two fluidic inputs. This hydraulic fluidic system utilizing a small number of inputs to control multiple distinct outputs, can alter the internal state of the circuit solely based on external inputs, holding significant promises for the development of microfluidics, fluidic logic, and intricate internal systems of untethered soft robots with machine intelligence. Introduction Soft robotics has emerged as a promising avenue for the development of adaptable, bioinspired robotic systems. At the heart of this emerging technology lies the ingenious concept of fluidic logic, which draws inspiration from the complex, yet highly efficient, hydraulic systems found in nature, such as the muscular hydrostats of cephalopods [7, 8] and the hydrostatic skeletons of worms for propulsion [9, 10]. One of the groundbreaking innovations in soft robotics is the integration of fluidic logic, a control mechanism that harnesses the flow of fluids, typically air or liquids, to control the movement and deformation of soft robotic structures in analogous to electric circuits.

The plasmodium feeds on microscopic food particles, including microbial life forms. The plasmodium placed in an environment with distributed nutrients develops a network of protoplasmic tubes spanning the nutrients' sources. Te topology of the plasmodium's protoplasmic network optimizes the plasmodium's harvesting on the scattered sources of nutrients and makes more efficient flow and transport of intracellular components [8,9,10,11]. The plasmodium is capable for approximation of shortest path [10], computation of planar proximity graphs [2] and plane tessellations [13], primitive memory [12], basic logical computing [15], and control of robot navigation[16]. The plasmodium can be considered as a general-purpose computer because the plasmodium simulates Kolmogorov-Uspenskii machine -- the storage modification machine operating on a colored set of graph nodes [1]. Preprint submitted to Elsevier Science 17 May 2014 The paper is structured as follows. In Sect. 2 we introduce the experimental gates invented in [15] and reinterpret the gates as multi-output logical gates.