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检索条件"主题词=Modular robotics"

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A Simulation Study of modular Robot Self-replication

A Simulation Study of Modular Robot Self-replication

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6th International Symposium on Intelligence Computation and Applications (ISICA 2012)

作者： Zhang, Lei Li, Zhenhua Zhang, Hao Zhong, Huaming China Univ Geosci Sch Comp Sci Wuhan 430070 Hubei Peoples R China

ISBN: (纸本)9783642342882

There are many research institutions dedicated to reconfigurable modular robot modeling and simulation. Various forms of reconfigurable modular robot that developed by hardware, some institutions design entity robot for self-reconfigurable experimental study. In this paper we analyze a couple of popular reconfigurable modular robot simulation platforms, and based on the analysis, we choose the Molecube simulation platform to fulfill a self-replication experiment, after design the self-replication and motion plan, The experiment proves the feasibility of proposed approach.

关键词： modular robotics Self-replication Simulation Platform Motion planning

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The MARS software model for modelling modular manipulators

The MARS software model for modelling modular manipulators

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Sensor Fusion and Decentralized Control in Robotic Systems IV Conference

作者： McKee, GT Fryer, JA Schenker, PS Univ Reading Dept Comp Sci Reading RG6 6AY Berks England

ISBN: (纸本)0819442992

In this paper we describe the application of the MARS model, for modelling and reasoning about modular robot systems, to modular manipulators. The MARS model provides a mechanism for describing robotic components and a method for reasoning about the interaction of these components in modular manipulator configurations. It specifically aims to articulate functionality that is a property of the whole manipulator, but which is not represented in any one component. This functionality arises, in particular, through the capacity for modules to inherit functionality from each other. The paper also uses the case of modular manipulators to illustrate a number of features of the MARS model, including the use of abstract and concrete module classes, and to identify some current limitations of the model. The latter provide the basis for ongoing development of the model.

关键词： modular robotics modular manipulators modelling software

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Distributed algorithms for large-scale robotic ensembles: centrality, synchronization and self-reconfiguration

Distributed algorithms for large-scale robotic ensembles: ce...

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作者： Andre Naz UNIVERSITE BOURGOGNE FRANCHE-COMTE

学位级别：博士

Technological advances, especially in the miniaturization of robotic devices foreshadow the emergence of large-scale ensembles of small-size resource-constrained robots that distributively cooperate to achieve complex tasks (e. g., modular self-reconfigurable robots, swarm robotic systems, distributed microelectromechanical systems, etc.). These ensembles are formed by independent, intelligent and communicating units which act as a whole ensemble. These units cooperatively self-organize themselves to achieve common goals. These systems are thought to be more versatile and more robust than conventional robotic systems while having at the same time a lower cost. These ensembles form complex asynchronous distributed systems in which every unit is an embedded system with its own but limited capabilities. Coordination of such large- scale distributed embedded systems poses significant algorithmic issues and open new opportunities in distributed algorithms. In my thesis, I defend the idea that distributed algorithmic primitives suitable for the coordination of these ensembles should be both identified and designed. In this work, we focus on a specific class of modular robotic systems, namely large-scale distributed modular robotic ensembles composed of resource-constrained modules that are organized in a lattice structure and which can only communicate with neighboring modules. We identified and implemented three building blocks, namely centrality-based leader election, time synchronization and self-reconfiguration. We propose a collection of distributed algorithms to realize these primitives. We evaluate them using both hardware experiments and simulations on systems ranging from a dozen modules to more than ten thousand modules. We show that our algorithms scale well and are suitable for large-scale embedded distributed systems with scarce memory and computing resources.

关键词： Distributed algorithms modular robotics Centrality-based leader election Time synchronization Self-reconfiguration

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Development of a modular Agricultural Robotic Sprayer

Development of a Modular Agricultural Robotic Sprayer

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作者： Sanchez, Paolo Rommel P. Rowan University

学位级别：Ph.D., Doctor of Philosophy

Precision Agriculture (PA) increases farm productivity, reduces pollution, and minimizes input costs. However, the wide adoption of existing PA technologies for complex field operations, such as spraying, is slow due to high acquisition costs, low adaptability, and slow operating speed. In this study, we designed, built, optimized, and tested a modular Agrochemical Precision Sprayer (MAPS), a robotic sprayer with an intelligent machine vision system (MVS). Our work focused on identifying and spraying on the targeted plants with low cost, high speed, and high accuracy in a remote, dynamic, and rugged environment. We first researched and benchmarked combinations of one-stage convolutional neural network (CNN) architectures with embedded or mobile hardware systems. Our analysis revealed that TensorRT-optimized SSD-MobilenetV1 on an Nvidia Jetson Nano provided sufficient plant detection performance with low cost and power consumption. We also developed an algorithm to determine the maximum operating velocity of a chosen CNN and hardware configuration through modeling and simulation. Based on these results, we developed a CNN-based MVS for real-time plant detection and velocity estimation. We implemented Robot Operating System (ROS) to integrate each module for easy expansion. We also developed a robust dynamic targeting algorithm to synchronize the spray operation with the robot motion, which will increase productivity significantly. The research proved to be successful. We built a MAPS with three independent vision and spray modules. In the lab test, the sprayer recognized and hit all targets with only 2% wrong sprays. In the field test with an unstructured crop layout, such as a broadcast-seeded soybean field, the MAPS also successfully sprayed all targets with only a 7% incorrect spray rate.

关键词： Machine learning modular robotics Precision agriculture Precision spraying Weed control Artificial intelligence

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Design and Self-Reconfiguration Planning for Variable Topology Truss Robots

Design and Self-Reconfiguration Planning for Variable Topolo...

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作者： Spinos, Alexander University of Pennsylvania

学位级别：Ph.D., Doctor of Philosophy

A modular self-reconfigurable robot (MSRR) is a set of robotic building blocks that can be connected together in different ways. By rearranging these connections, the robot can adapt its shape to address a wider variety of tasks than a robot with a fixed morphology. However, traditional modular architectures fail to scale up to address large-scale and high-force applications. To meet these challenges, we introduce the first self-reconfigurable modular truss robot system. The Variable Topology Truss (VTT) is a synthesis of two robot paradigms: MSRRs and variable geometry truss robots (VGTs). The structural efficiency of the truss architecture alleviates scaling issues with modular robots, while the task flexibility afforded by reconfiguration expands the possible applications of VGT robots. We first demonstrate hardware prototypes of the components necessary to build a VTT, which include a novel reconfigurable spherical joint and an improved version of a high extension ratio linear actuator. Then, we characterize the reconfiguration capability afforded by the new mechanisms and apply graph-theoretic techniques to enumerate all possible reconfigurable truss topologies up to a certain size. With these techniques, we can identify potential sequences of actions that reconfigure between desired start and goal topologies. However, the entangled nature of the truss architecture presents new challenges for collision-free motion planning. The self-collision constraints divide up the configuration space into many disconnected regions. We develop a mathematical invariant inspired by knot theory---the link-augmented graph---which serves as a test to quickly prove when certain configurations lie in disconnected regions. This invariant can be combined with more traditional planning techniques to boost their performance on truss-like robots, which we demonstrate with a new variant of RRT-Connect. Finally, we combine the topological reconfiguration planning with the link-augmented g

关键词： Mechanism design modular robotics Motion planning

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Morphology Extension Kit: A modular Robotic Platform for Physically Reconfigurable Wearables 18

Morphology Extension Kit: A Modular Robotic Platform for Phy...

引用

12th International Conference on Tangible, Embedded, and Embodied Interaction (TEI)

作者： Leigh, Sang-won Denton, Timothy Parekh, Kush Peebles, William Johnson, Magnus Maes, Pattie MIT Media Lab Cambridge MA 02139 USA Rhode Isl Sch Design Providence RI 02903 USA

ISBN: (纸本)9781450355681

Various forms of wearable robotics challenge the notion of the human body, in that the robots render the acquired capabilities in physical forms. However, majority of such systems are designed for specific purposes, where rapidly changing environments pose a diverse set of problems that are difficult to solve with a single interface. To address this, we propose a modular hardware platform that allows its users or designers to build and customize wearable robots. The process of building an augmentation is simply to connect actuator and sensor blocks and attach them to the body. The current list of designed components includes servomotor modules and sensor modules, that can be programmed to incorporate additional electronics for desired sensing capabilities. Our electrical and mechanical connector designs can be extended to utilize any motors within afforded power, size, and weight constraints. We also show how our platform can be used in various applications, in addition to how the proposed design can be extended as well as challenges for future systems.

关键词： Synergistic Interaction Hardware Platform modular robotics

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Addressing Tasks Through Robot Adaptation

Addressing Tasks Through Robot Adaptation

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作者： Tarik Daniel Tosun University of Pennsylvania

学位级别：博士

Developing flexible, broadly capable systems is essential for robots to move out of factories and into our daily lives, functioning as responsive agents that can handle whatever the world throws at them. This dissertation focuses on two kinds of robot adaptation. modular self-reconfigurable robots (MSRR) adapt to the requirements of their task and environments by transforming themselves. By rearranging the connective structure of their component robot modules, these systems can assume different morphologies: for example, a cluster of modules might configure themselves into a car to maneuver on flat ground, a snake to climb stairs, or an arm to pick and place objects. Conversely, environment augmentation is a strategy in which the robot transforms its environment to meet its own needs, adding physical structures that allow it to overcome obstacles. In both areas, the presented work includes elements of hardware design, algorithms, and integrated systems, with the common goal of establishing these methods of adaptation as viable strategies to address tasks. The research takes a systems-level view of robotics, placing particular emphasis on experimental validation in hardware.

关键词： Design Environment Augmentation modular robotics Robot Systems

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Distributed algorithms and advanced modeling approaches for fast and efficient object construction using a modular self-reconfigurable robotic system

Distributed algorithms and advanced modeling approaches for ...

引用

作者： Thalamy, Pierre

学位级别：博士

Les humains ont de tout temps cherché à contrôler leur environnement. Mais avec l'arrivée de l'ère numérique, une technologie émergente promet de devenir l'outil ultime d... 详细信息

Les humains ont de tout temps cherché à contrôler leur environnement. Mais avec l'arrivée de l'ère numérique, une technologie émergente promet de devenir l'outil ultime de cette quête : la matière programmable. Bien que toute forme de matière pouvant être programmée pour réagir de façon autonome à un stimulus puisse prétendre à cette dénomination, son substrat le plus prometteur réside dans les systèmes robotiques modulaires. Ces systèmes robotiques sont composés de modules interconnectés, autonomes, et aux ressources limitées, devant se coordonner par leurs communications et leurs mouvements afin d'accomplir des tâches *** matière programmable pourrait être utilisée pour réaliser les systèmes de représentation de demain: des affichages tangibles et interactifs en 3D, qui promettent de révolutionner la façon dont nous interagissons avec le monde virtuel. Des ensembles de robots modulaires composés de plusieurs milliers de modules peuvent s'organiser pour former des objets tangibles capables de se transformer à l'infini sur demande. D'un point de vue algorithmique, cependant, ce processus d'autoreconfiguration représente un défi considérable à cause des contraintes cinématiques, temporelles, de contrôle, et de communication, auxquelles sont soumis les *** défendons dans cette thèse qu'il existe des moyens d'accélérer la reconfiguration des systèmes de matière programmable, et qu'une nouvelle classe de méthodes de reconfiguration plus rapide et mieux adaptée aux systèmes de représentation tangibles doit voir le jour. Nous soutenons qu'il est possible de parvenir à de telles méthodes en proposant une nouvelle façon de représenter les objets faits de matière programmable, et en utilisant une plateforme d'assistance dédiée à l'*** conséquent, nous proposons un cadre pour réaliser cette approche innovante sur des ensembles de modules quasi-sphériques arrangés en structures cristallines cubiques à faces centrées, et présentons des algo

关键词： Matière programmable Algorithmes distribués Robotique modulaire Autoreconfiguration Systèmes multi-agents Programmable matter Distributed algorithms modular robotics Self-reconfiguration Multi-agent systems 005.1

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Konfigurace robotické struktury za použití MOLECUBES

Konfigurace robotické struktury za použití MOLECUBES

引用

作者： Vítek, Filip Brno University of Technology

Tato diplomová práce je zaměřena na sebe-rekonfigurovatelné modulární robotické systémy. Nejprve je proveden jejich popis a poté jsou uvedeny možnosti jejich využití. Dalš... 详细信息

Tato diplomová práce je zaměřena na sebe-rekonfigurovatelné modulární robotické systémy. Nejprve je proveden jejich popis a poté jsou uvedeny možnosti jejich využití. Další kapitola pojednává o modulárním systému Molecubes. Následuje návrh podobného systému, kde je popsána konstrukce jednotlivých modulů. Na závěr práce jsou popsány transformace souřadných systémů v jednotlivých modulech a proveden výpočet přímé kinematiky a simulace inverzní kinematiky.

关键词： Molecubes modulární robotika seberekonfigurovatelné modulární robotické systémy přímá kinematika inverzní kinematika Molecubes modular robotics selfreconfigurable modular robotics systems forward kinematics inverse kinematics Text

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Aplikace technologie MOLECUBES v robotice

Aplikace technologie MOLECUBES v robotice

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作者： Fabián, Petr Brno University of Technology

Tato diplomová práce pojednává o modulární robotice a seberekonfigurovatelných robotických systémech. Na úvod jsou systémy definovány a rozděleny, hlavn... 详细信息

Tato diplomová práce pojednává o modulární robotice a seberekonfigurovatelných robotických systémech. Na úvod jsou systémy definovány a rozděleny, hlavní důraz je kladen na Molecubes. Dále je navrhnut systém podobný, se zaměřením na vlastní konstrukci jednotlivých modulů. V závěru je provedeno několik ukázkových možností sestavení a nastínění dalšího vývoje.

关键词： Molecubes modulární robotika M-Tran Poly-Bot Superbot Molecubes modular robotics M-Tran Poly-Bot Superbot Text

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