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

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…