Download or read book Distributed Algorithms and Advanced Modeling Approaches for Fast and Efficient Object Construction Using a Modular Self reconfigurable Robotic System written by Pierre Thalamy and published by . This book was released on 2020 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Stochastic Reactive Distributed Robotic Systems written by Gregory Mermoud and published by Springer. This book was released on 2013-10-01 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph presents the development of novel model-based methodologies for engineering self-organized and self-assembled systems. The work bridges the gap between statistical mechanics and control theory by tackling a number of challenges for a class of distributed systems involving a specific type of constitutive components, namely referred to as Smart Minimal Particles. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities.
Download or read book Distributed Algorithms for Self disassembly in Modular Robots written by Kyle W. Gilpin and published by . This book was released on 2006 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: We developed a modular robotic system that behaves as programmable matter. Specifically, we designed, implemented, and tested a collection of robots that, starting from an amorphous arrangement, can be assembled into arbitrary shapes and then commanded to self-disassemble in an organized manner. The 28 modules in the system were implemented as 1.77-inch autonomous cubes that were able to connect to and communicate with their immediate neighbors. Two cooperating microprocessors controlled the modules' magnetic connection mechanisms and infrared communication interfaces. We developed algorithms for the distributed communication and control of the system which allowed the modules to perform localization and distribute shape information in an efficient manner. When assembled into a structure, the modules formed a system which could be virtually sculpted using a computer interface which we also designed. By employing the sculpting process, we were able to accurately control the final shape assumed by the structure. Unnecessary modules disconnected from the structure and fell away. The results of close to 200 experiments showed the that the algorithms operated as expected and were able to successfully control the distributed system. We were able to quickly form one, two, and three dimensional structures.
Download or read book Modular Robots Theory and Practice written by Guilin Yang and published by Springer Nature. This book was released on 2021-08-30 with total page 197 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the latest advances in modular robotics, and presents a unified geometric framework for modeling, analysis, and design of modular robots, including kinematics, dynamics, calibration, and configuration optimization. Supplementing the main content with a wealth of illustrations, the book offers a valuable guide for researchers, engineers and graduate students in the fields of mechatronics, robotics, and automation who wish to learn about the theory and practice of modular robots.
Download or read book Modular Robots for Self Constructing Building Systems written by A Scott Howe and published by Open Dissertation Press. This book was released on 2017-01-27 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation, "Modular Robots for Self-constructing Building Systems" by A Scott, Howe, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: ABSTRACT This thesis adapts modular object-oriented generality and flexibility to the entire production process of buildings and structures by redefining all of the building components as robots that participate in their own assembly. The methodologies followed in the investigation include mathematical models, simulations, and physical mechanisms for exploring geometry, kinematics, material handling, mobility, hierarchy, interface, and enclosure of proposed modular robotic construction frameworks. The motivation for this research was to find construction solutions for structures and habitats proposed for extreme environments in space and on remote planetary surfaces, where labor costs and lack of a safe work environment encourage the use of automation. The advantages of applying modular robotics technology to the construction of buildings are discussed, including the elimination of specialized construction tools and heavy lifting equipment, effective material handling, construction in extreme and hazardous environments, and the capacity for reconfiguration on demand. Investigation methods include geometry models for rigorous parametric optimal sizing of modules, forward and inverse kinematic algorithms, simulation of hierarchical behavior between multiple modules, applied mechanism design, applied module design, and algorithms for assembly of basic structures, with proposed schemes for reconfiguration into alternative structures. The results examined include concepts for three geometries of modular construction robots that coincide with categories of building structure (linear element, planar element, and solid element). The study elaborates on a panel-based (planar element) framework that establishes a known environment within itself for ease of navigation, facilitates material handling, creates its own mobility, and generates valid hierarchical structure. This work is significant because it combines modular approaches from both the fields of building construction and robotics, and demonstrates how a variety of flexible structure configurations can be built without specialized construction equipment or human labor i (which will be particularly useful in extreme or hazardous environments). Of further significance is the demonstration that material handling and mobility can be achieved within the same modular framework that defines the structural enclosure, so that the advantages are not limited to the construction of fixed structures but can also be applied to the design and assembly of mobile structures and vehicles. ii DOI: 10.5353/th_b3900518 Subjects: Robots, Industrial Construction industry - Automation
Download or read book Self Reconfiguring Modular Robot written by Fouad Sabry and published by One Billion Knowledgeable. This book was released on 2022-08-09 with total page 435 pages. Available in PDF, EPUB and Kindle. Book excerpt: What Is Self Reconfiguring Modular Robot Self-reconfigurable modular robots are autonomous kinematic machines that may take on a variety of shapes and configurations. They are also known as modular self-reconfiguring robotic systems. In addition to the conventional actuation, sensing, and control that are typically found in fixed-morphology robots, self-reconfiguring robots have the ability to deliberately change their own shape by rearranging the connectivity of their parts. This enables them to adapt to new circumstances, perform new tasks, or recover from damage more quickly than fixed-morphology robots. How You Will Benefit (I) Insights, and validations about the following topics: Chapter 1: Self-reconfiguring modular robot Chapter 2: Robot Chapter 3: Reconfigurable computing Chapter 4: Utility fog Chapter 5: Ant colony optimization algorithms Chapter 6: Swarm intelligence Chapter 7: Claytronics Chapter 8: Reconfigurable manufacturing system Chapter 9: Control reconfiguration Chapter 10: Programmable matter Chapter 11: Physicomimetics Chapter 12: Webots Chapter 13: Daniela L. Rus Chapter 14: Robotics Chapter 15: MIBE architecture Chapter 16: Morphogenetic robotics Chapter 17: Torch (machine learning) Chapter 18: Kilobot Chapter 19: Molecubes Chapter 20: Soft robotics Chapter 21: Continuum robot (II) Answering the public top questions about self reconfiguring modular robot. (III) Real world examples for the usage of self reconfiguring modular robot in many fields. (IV) 17 appendices to explain, briefly, 266 emerging technologies in each industry to have 360-degree full understanding of self reconfiguring modular robot' technologies. Who This Book Is For Professionals, undergraduate and graduate students, enthusiasts, hobbyists, and those who want to go beyond basic knowledge or information for any kind of self reconfiguring modular robot.
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Oriented Design written by Thomas Bock and published by Cambridge University Press. This book was released on 2015-05-05 with total page 309 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot-Oriented Design introduces the design, innovation, and management methodologies that are key to the realization and implementation of the advanced concepts and technologies presented in the subsequent volumes of The Cambridge Handbooks in Construction Robotics series. This book describes the efficient deployment of advanced construction and building technology. It is concerned with the co-adaptation of construction products, processes, organization, and management, and with automated/robotic technology, so that the implementation of modern technology becomes easier and more efficient. It is also concerned with technology and innovation management methodologies and the generation of life cycle-oriented views related to the use of advanced technologies in construction.
Download or read book Algorithms for Modular Self reconfigurable Robots written by Ayan Dutta and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modular self-reconfigurable robots (MSRs) are composed of multiple modules which can change their connections with each other to take different shapes, commonly known as configurations. Forming different configurations helps the MSR to accomplish diferent types of tasks in different environments. In this dissertation, we study three different problems in MSRs: partitioning of modules, configuration formation planning and locomotion learning, and we propose algorithmic solutions to solve these problems. Partitioning of modules is a decision-making problems for MSRs where each module decides which partition is a NP-complete problem. We propose game theory based both centralized and distributed solutions to solve this problem. Once the modules know which set of modules they should team-up with, they self-aggregate to form a specific shaped configuration, known as the configuration forming planning problem. Modules can be either singletons or connected in smaller configurations from which they need to form the target configuration. The configuration formation problem is difficult as multiple modules may select the same location in the target configuration to move to which might result in occlusion and consequently failure of the configuration formation process. On the other hand, if the modules are already in connected configurations in the beginning, then it would be beneficial to preserve those initial configurations for placing them into the target configuration as disconnections and re-connections are costly operations, We propose solutions based on an auction-like algorithm and (sub) graph-isomorphism to solve the configuration problem. Once the configuration is built, the MSR needs to move towards its goal location as a whole configuration for completing its task. If the configuration's shape and size is not known a priori, then planning its locomotion is a difficult task as it needs to learn the locomotion pattern in dynamic time - the problem is known as adaptive locomotion learning. We have proposed reinforcement learning based on fault-tolerant solutions for locomotion learning by MSRs.
Download or read book Documentation Abstracts written by and published by . This book was released on 1993 with total page 736 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Planning for Modular Robots written by Anna Gorbenko and published by LAP Lambert Academic Publishing. This book was released on 2012-04 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modular reconfigurable robots were intensively studied. In particular, problems of planning of self-reconfiguration received considerable attention. Problems of reconfiguration planning play a central role for modular reconfigurable robots. Solutions for such problems lies at the heart of any control system of modular reconfigurable robots. Performance of such solutions is the base factor for the performance of the whole control system of modular reconfigurable robot. Recently, the optimal reconfiguration planning problem of finding the least number of reconfiguration steps to transform between two configurations for chain-type modular robots was introduced. It is preferred that the robot keeps connected throughout the reconfiguration process. Respectively, in this book we suppose that the robot keeps connected throughout the reconfiguration process. We describe an approach to solve the problem. Our approach is based on constructing logical models for considered problem. Also we consider genetic and local search algorithms for the problem. The book should be especially useful to professionals in modular robotics.
Download or read book Development of Novel Task based Configuration Optimization Methodologies for Modular and Reconfigurable Robots Using Multi solution Inverse Kinematic Algorithms written by Saleh Tabandeh and published by . This book was released on 2009 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modular and Reconfigurable Robots (MRRs) are those designed to address the increasing demand for flexible and versatile manipulators in manufacturing facilities. The term, modularity, indicates that they are constructed by using a limited number of interchangeable standardized modules which can be assembled in different kinematic configurations. Thereby, a wide variety of specialized robots can be built from a set of standard components. The term, reconfigurability, implies that the robots can be disassembled and rearranged to accommodate different products or tasks rather than being replaced. A set of MRR modules may consist of joints, links, and end-effectors. Different kinematic configurations are achieved by using different joint, link, and end-effector modules and by changing their relative orientation. The number of distinct kinematic configurations, attainable by a set of modules, varies with respect to the size of the module set from several tens to several thousands. Although determining the most suitable configuration for a specific task from a predefined set of modules is a highly nonlinear optimization problem in a hybrid continuous and discrete search space, a solution to this problem is crucial to effectively utilize MRRs in manufacturing facilities. The objective of this thesis is to develop novel optimization methods that can effectively search the Kinematic Configuration (KC) space to identify the most suitable manipulator for any given task. In specific terms, the goal is to develop and synthesize fast and efficient algorithms for a Task-Based Configuration Optimization (TBCO) from a given set of constraints and optimization criteria.
Download or read book Robotic Systems for Handling and Assembly written by Daniel Schütz and published by Springer. This book was released on 2011-03-23 with total page 459 pages. Available in PDF, EPUB and Kindle. Book excerpt: Although parallel robots are known to offer many advantages with respect to accuracy, dynamics, and stiffness, major breakthroughs in industrial applications have not yet taken place. This is due to a knowledge gap preventing fast and precise execution of industrial handling and assembly tasks. This book focuses on the design, modeling, and control of innovative parallel structures as well as the integration of novel machine elements. Special attention is paid to the integration of active components into lightweight links and passive joints. In addition, new control concepts are introduced to minimize structural vibrations. Although the optimization of robot systems itself allows a reduction of cycle times, these can be further decreased by improved path planning, robot programming, and automated assembly planning concepts described by 25 contributions within this book. The content of this volume is subdivided into four main parts dealing with Modeling and Design, System Implementation, Control and Programming as well as Adaptronics and Components. This book is aimed at researchers and postgraduates working in the field of parallel robots as well as practicing engineers dealing with industrial robot development and robotic applications.
Download or read book Distributed Autonomous Robotic Systems 3 written by Tim Lueth and published by Springer. This book was released on 1998-06-08 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed autonomous robotic systems (DARS) are systems composed of multiple autonomous units such as modules, cells, processors, agents, and robots. Combination or cooperative operation of multiple autonomous units is expected to lead to desirable features such as flexibility, fault tolerance, and efficiency. The DARS is the leading established conference on distributed autonomous systems. All papers have the common goal to contribute solutions to the very demanding task of designing distributed systems to realize robust and intelligent robotic systems.
Download or read book Coordinating Construction by a Distributed Multi robot System written by Seung-kook Yun and published by . This book was released on 2010 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its stability and adaptation properties. We partition construction in two tasks, tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem, and show their adaptation to failure of robots, dynamic constraints, multiple types of elements and reconfiguration. We instantiate the algorithm to building truss-like objects using rods and connectors. The algorithm has been implemented in simulation and results for constructing 2D and 3D parts are shown. Finally, we describe hardware implementation of the algorithms where mobile manipulators assemble smarts parts with IR beacons.
Download or read book A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing written by Adrian Martin and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Automatic Modeling for Modular Reconfigurable Robotic Systems Theory and Practice written by I-Ming Chen and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
