检索结果-内蒙古大学图书馆

World Automation Congress (WAC)

作者： Mohammed, Ikram Hussain Gallardo, Nicolas Benavidez, Patrick Jamshidi, Mo Champion, Benjamin Univ Texas San Antonio Dept Elect & Comp Engn One UTSA Circle San Antonio TX 78249 USA Deakin Univ Sch Engn Waurn Ponds Vic Australia

ISBN: (纸本)9781889335513

In this paper the design and construction of a 3D printed snake robot is presented. This snake robot has been designed to be able to complete a wide variety of tasks and motions that other snake robots are currently able to preform, such as serpentine motion, rolling and the ability to climb some objects. An approach is also investigated which allows the snake robot to be attached to the end of a serial manipulator robot to increase its available degrees of freedom. A modular design has been focused on, allowing for the fast and low cost generation and implementation of the robotic snake.

关键词： snake robot modular robotics robot Dynamixel servos 3D printing

来源：评论

学校读者我要写书评

暂无评论

A Cyber-Physical System Approach for the Design of a modular Smart Robotic Cell 42

A Cyber-Physical System Approach for the Design of a Modular...

引用

42nd Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Cristalli, Cristina Boria, Sebastien Massa, Daniele Lattanzi, Luca Concettoni, Enrico AEA Srl Loccioni Grp Via Fiume 16 Angeli Di Rosora Italy Airbus SAS CoC Ind Stategy & Syst POB COP0A5 1 Rond Point Maurice Bellonte Blagnac France

ISBN: (纸本)9781509034741

This paper presents a novel methodology in the development of robotic cells for industrial applications. The proposed approach exploits the Cyber-Physical System philosophy and concepts, thus making the robotic cell flexible, reconfigurable and adaptable. The final robotic cell is therefore composed by several interconnected embedded systems, exchanging information and cooperating among them for the proper execution of the final requested task. The modular nature and architecture of the described solution makes the cell "smart", in terms of easy reconfiguration and adaptation for different tasks and applications. The presented Smart Robotic Cell has been implemented and tested in a real industrial use-case, validating the flexibility and efficiency of the developed approach, thus confirming the Smart Robotic Cell as one of the main elements of the industrial shopfloor in the Factory of the Future context.

关键词： Smart manufacturing modular robotics industry 4.0 cyber-physical systems factory of the future

来源：评论

学校读者我要写书评

暂无评论

ChainFORM: A Linear Integrated modular Hardware System for Shape Changing Interfaces 16

ChainFORM: A Linear Integrated Modular Hardware System for S...

引用

29th Annual Symposium on User Interface Software and Technology (UIST)

作者： Nakagaki, Ken Dementyev, Artem Follmer, Sean Paradiso, Joseph A. Ishii, Hiroshi MIT Media Lab Cambridge MA 02139 USA Stanford Univ Stanford CA 94305 USA

ISBN: (纸本)9781450345316

This paper presents ChainFORM: a linear, modular, actuated hardware system as a novel type of shape changing interface. Using rich sensing and actuation capability, this modular hardware system allows users to construct and customize a wide range of interactive applications. Inspired by modular and serpentine robotics, our prototype comprises identical modules that connect in a chain. Modules are equipped with rich input and output capability: touch detection on multiple surfaces, angular detection, visual output, and motor actuation. Each module includes a servo motor wrapped with a flexible circuit board with an embedded microcontroller. Leveraging the modular functionality, we introduce novel interaction capability with shape changing interfaces, such as rearranging the shape/configuration and attaching to passive objects and bodies. To demonstrate the capability and interaction design space of ChainFORM, we implemented a variety of applications for both computer interfaces and hands-on prototyping tools.

关键词： Actuated Curve Interfaces Shape Changing Interfaces modular robotics

来源：评论

学校读者我要写书评

暂无评论

R2P: An open source hardware and software modular approach to robot prototyping

引用

robotics AND AUTONOMOUS SYSTEMS 2014年第7期62卷 1073-1084页

作者： Bonarini, Andrea Matteucci, Matteo Migliavacca, Martino Rizzi, Davide Politecn Milan Dept Elect & Informat Milan Italy

Rapid prototyping is a key aspect for the development of innovative robotic applications. A modular, platform-based, approach is the way to obtain this result. modular approaches are common for software development, but hardware is still crafted often re-inventing solutions every time. As a consequence, the resources that should be invested in the development of a new robot get often drained by the implementation of a physical, working prototype to test the application idea. To overcome this problem, we propose R2P (Rapid Robot Prototyping), a framework to implement real-time, high-quality architectures for robotic systems with off-the-shelf basic modules (e.g., sensors, actuators, and controllers), integrating hardware and software, which can be assembled in a plug-and-play way. R2P provides hardware modules, a protocol for real-time communication, a middleware to connect components as well as tools to support the development of software on the modules. R2P aims at dramatically reduce time and efforts required to build a prototype robot, making it possible to focus the resources on the development of new robotic applications instead of struggling on their implementation. This enables also people with experience in a specific application domain, but with little technical background, to actively participate in the development of new robotic applications. R2P is open-source both in its software and hardware to promote its diffusion among the robotics community and novel business models that will substantially reduce the costs to design a new robotic product. (C) 2013 Elsevier B.V. All rights reserved.

关键词： modular robotics Low-cost robotics Off-the-shelf hardware components Open hardware Rapid robot prototyping

来源：评论

学校读者我要写书评

暂无评论

Detecting stable locality-aware predicates

引用

JOURNAL OF PARALLEL AND DISTRIBUTED COMPUTING 2014年第1期74卷 1971-1983页

作者： Shen, Min Kshemkalyani, Ajay D. Khokhar, Ashfaq Univ Illinois Dept Comp Sci Chicago IL 60607 USA Univ Illinois Dept Elect & Comp Engn Chicago IL 60607 USA

In a large-scale locality-driven network such as in modular robotics and wireless sensor networks, knowing the state of a local area is sometimes necessary due to either interactions being local and driven by neighborhood proximity or the users being interested in the state of a certain region. We define locality-aware predicates (LAP) that aim at detecting a predicate within a specified area. We model the area of interest as the set of processes that are within a breadth-first search tree (BFST) of height k rooted at the initiator process. Although a locality-aware predicate specifies a predicate only within a local area, observing the area consistently requires considering the entire system in a consistent manner. This raises the challenge of making the complexities of the corresponding predicate detection algorithms scale-free, i.e., independent of the size of the system. Since all existing algorithms for getting a consistent view of the system require either a global snapshot of the entire system or vector clocks of the size of the system, a new solution is needed. We focus on stable LAP, which are those LAP that remain true once they become true. We propose a scale-free algorithm to detect stable LAP within a k-height BFST. Our algorithm can detect both stable conjunctive LAP and stable relational LAP. In the process of designing our algorithm, we also propose the first distributed algorithm for building a BFST within an area of interest in a graph, and the first distributed algorithm for recording a consistent sub-cut within the area of interest. This paper demonstrates that LAPs are a natural fit for detecting distributed properties in large-scale distributed systems, and stable LAPs can be practically detected at low cost. (C) 2013 Elsevier Inc. All rights reserved.

关键词： Predicate detection Locality-aware Scale-free modular robotics Wireless sensor networks Distributed computing

来源：评论

学校读者我要写书评

暂无评论

An architecture for universal construction via modular robotic components

引用

robotics AND AUTONOMOUS SYSTEMS 2014年第7期62卷 945-965页

作者： Moses, Matthew S. Ma, Hans Wolfe, Kevin C. Chirikjian, Gregory S. Johns Hopkins Univ Appl Phys Lab Laurel MD USA Johns Hopkins Univ Dept Mech Engn Baltimore MD 21218 USA

A set of modular components is presented for use in reconfigurable robotic construction systems. The set includes passive and active components. The passive components can be formed into static structures and adaptable grids carrying electrical power and signals. Passive and active components can be combined into general purpose mobile manipulators which are able to augment and reconfigure the grid, construct new manipulators, and potentially perform general purpose fabrication tasks such as additive manufacturing. The components themselves are designed for low-cost, simple fabrication methods and could potentially be fabricated by constructors made of the same components. This work represents a step toward a Cyclic Fabrication System, a network of materials, tools, and manufacturing processes that can produce all of its constituent components. These and similar systems have been proposed for a wide range of far-term applications, including space-based manufacturing, construction of large-scale industrial facilities, and also for driving development of low-cost 3D printing machines. (C) 2013 Elsevier B.V. All rights reserved.

关键词： Robotic construction modular robotics Assembly automation 3D printing Rapid prototyping Flexible manufacturing

来源：评论

学校读者我要写书评

暂无评论

Generation of Diversity in a Reaction-Diffusion-Based Controller

引用

ARTIFICIAL LIFE 2014年第3期20卷 319-342页

作者： Zahadat, Payam Schmickl, Thomas Karl Franzens Univ Graz Dept Zool Artificial Life Lab A-8010 Graz Austria

A controller of biological or artificial organism (e.g., in bio-inspired cellular robots) consists of a number of processes that drive its dynamics. For a system of processes to perform as a successful controller, different properties can be mentioned. One of the desirable properties of such a system is the capability of generating sufficiently diverse patterns of outputs and behaviors. A system with such a capability is potentially adaptable to perform complicated tasks with proper parameterizations and may successfully reach the solution space of behaviors from the point of view of search and evolutionary algorithms. This article aims to take an early step toward exploring this capability at the levels of individuals and populations by introducing measures of diversity generation and by evaluating the influence of different types of processes on diversity generation. A reaction-diffusion-based controller called the artificial homeostatic hormone system (AHHS) is studied as a system consisting of different processes with various domains of functioning (e.g., internal or external to the control unit). Various combinations of these processes are investigated in terms of diversity generation at levels of both individuals and populations, and the effects of the processes are discussed representing different influences for the processes. A case study of evolving a multimodular AHHS controller with all the various process combinations is also investigated, representing the relevance of the diversity generation measures and practical scenarios.

关键词： Diversity reaction-diffusion-based control evolutionary computation modular robotics bio-inspired control

来源：评论

学校读者我要写书评

暂无评论

Programmable Self-assembly with Chained Soft Cells: An Algorithm to Fold into 2-D Shapes

Programmable Self-assembly with Chained Soft Cells: An Algor...

引用

13th International Conference on the Simulation of Adaptive Behavior (SAB)

作者： Germann, Juerg Auerbach, Joshua Floreano, Dario Ecole Polytech Fed Lausanne IMT STI LISStn 11 CH-1015 Lausanne Switzerland

ISBN: (纸本)9783319088648;9783319088631

Programmable self-assembly of chained modules holds potential for the automatic shape formation of morphologically adapted robots. However, current systems are limited to modules of uniform rigidity, which restricts the range of obtainable morphologies and thus the functionalities of the system. To address these challenges, we previously introduced "soft cells" as modules that can obtain different mechanical softness pre-setting. We showed that such a system can obtain a higher diversity of morphologies compared to state-of-the-art systems and we illustrated the system's potential by demonstrating the self-assembly of complex morphologies. In this paper, we extend our previous work and present an automatic method that exploits our system's capabilities in order to find a linear chain of soft cells that self-folds into a target 2-D shape.

关键词： Self-Assembly Soft robotics modular robotics

来源：评论

学校读者我要写书评

暂无评论

OPTIMIZATION OF MOTION PRIMITIVES FOR HIGH-LEVEL MOTION PLANNING OF modular ROBOTS 17th

OPTIMIZATION OF MOTION PRIMITIVES FOR HIGH-LEVEL MOTION PLAN...

引用

17th International Conference on Climbing and Walking Robots (CLAWAR)

作者： Vonasek, Vojtech Penc, Ondrej Kosnar, Karel Preucil, Libor Czech Tech Univ Fac Elect Engn Prague 16627 Czech Republic Czech Tech Univ Fac Nucl Sci & Phys Eng Prague 11519 Czech Republic

ISBN: (纸本)9789814623346

modular robots are highly flexible systems that are able to reconfigure to various shapes and to perform diverse locomotions. To visit a desired place in a complex environment, a robot can be equipped with several motion primitives that are switched using a high-level motion planning. The utilization of the high-level motion planning allows to simplify the motion primitives, which only need to provide short motions in a vicinity of the robot. This paper investigates how to automatically optimize these motion primitives of modular robots using an evolutionary approach. The proposed optimization is experimentally verified in simulated scenarios and in experiments with real robots.

关键词： modular robotics motion planning particle swarm optimization

来源：评论

学校读者我要写书评

暂无评论

The Role of modular robotics in Mediating Nonverbal Social Exchanges

引用

IEEE TRANSACTIONS ON robotics 2009年第3期25卷 602-613页

作者： Marti, Patrizia Giusti, Leonardo Lund, Henrik Hautop Univ Siena I-53100 Siena Italy Fdn Bruno Kessler I-38050 Povo Italy Tech Univ Denmark DK-2800 Lyngby Denmark

This paper outlines the use of modular robotics to encourage and facilitate nonverbal communication during therapeutic intervention in dementia care. A set of new socially interactive modular robotic devices called rolling pins (RPs) has been designed and developed to assist the therapist in interacting with dementia-affected patients. The RPs are semitransparent plastic tubes that are capable of measuring their orientation and the speed of their rotation;at a local level, they have three types of feedback: red, green, and blue light, sound, and vibration. The peculiarity of the RPs is that they are able to communicate with each other or with other devices equipped with the same radio communication technology. The RPs are usually used in pairs, as the local feedback of an RP can be set depending not only on its own speed and orientation but also on the speed and the orientation of the peer RP. The system is not used as a therapeutic tool per se but as a facilitator and a mediator of social dynamics during normal therapy to counteract social isolation that can result in dementia through the loss of social skills. An experiment is reported that shows that by using the RPs, the patients participated in the activity by coordinating their behavior with the therapist and imitating the same interaction patterns generated by the therapist.

关键词： Dementia gesture-based interaction imitation modular robotics social exchanges tangible media

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：