Infrastructure That Heals: Autonomous Self-Repair by Everting Matrix Worm Agents in Water-Filled Cellular Adaptive Infrastructure

摘要

This paper presents the self-repair subsystem of the Adaptive Matrix Ecosystem (AME), implemented by everting soft robotic agents called Adaptive Matrix Worms (AMW). AMW agents travel through the Internal Plumbing System (IPS) highway network, detect degraded or ruptured Natural Rubber Latex (NRL) membrane cells using fiber optic endpoint sensing, and install replacement tube sections by eversion — extruding new NRL material behind them as they advance. The repair architecture integrates with the VSM control hierarchy established in Infrastructure That Feels. The paper presents an eight-stage autopoietic maintenance cycle, an M/G/c queuing fleet dispatch model, and five experimental validation targets. Second paper of the AME Autonomy Tetralogy. This paper is part of the AME Hexalogy, the third collection in the AME research series by J.O. Danenberg, Aveotto LLC. Prior collections: AME Physics Trilogy (Papers 1–3, January 2026) and AME Education Pentalogy (Papers 5A–5E, February 2026), both available on Zenodo under ORCID 0009-0003-9549-2107. The Hexalogy comprises the AME Autonomy Tetralogy (Infrastructure That Feels, Heals, Strengthens, and Learns) and the AME Ethics/Construction Duology (Infrastructure That Judges and Fortifies).