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检索条件"主题词=Modular robotics"

共 115 条记录，以下是91-100 订阅

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Impact of Neuron Models and Network Structure on Evolving modular Robot Neural Network Controllers 12

Impact of Neuron Models and Network Structure on Evolving Mo...

引用

14th International Conference on Genetic and Evolutionary Computation Conference (GECCO)

作者： Cazenille, Leo Bredeche, Nicolas Hamann, Heiko Stradner, Juergen Univ Paris 11 CNRS INRIA TAO LRI F-91405 Orsay France

ISBN: (纸本)9781450311779

This paper investigates the properties required to evolve Artificial Neural Networks for distributed control in modular robotics, which typically involves non-linear dynamics and complex interactions in the sensori-motor space. We investigate the relation between macro-scale properties (such as modularity and regularity) and micro-scale properties in Neural Network controllers. We show how neurons capable of multiplicative-like arithmetic operations may increase the performance of controllers in several ways whenever challenging control problems with non-linear dynamics are involved. This paper provides evidence that performance and robustness of evolved controllers can be improved by a combination of carefully chosen micro- and macro-scale neural network properties.

关键词： Evolutionary robotics Artificial Neural Networks Evolutionary Algorithms modular robotics

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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...

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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

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Design and Control Architecture of a 3D Printed modular Snake Robot

Design and Control Architecture of a 3D Printed Modular Snak...

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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

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The MARS software model for modelling modular manipulators

The MARS software model for modelling modular manipulators

引用

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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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 Method of the Kinematic Structure Reconfiguration of a Multifunctional modular Robot Based on the Greedy Algorithm 12

The Method of the Kinematic Structure Reconfiguration of a M...

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12th International Conference on the Developments in eSystems Engineering (DeSE)

作者： Petrenko, Vyacheslav Tebueva, Fariza Pavlov, Andrey Gurchinsky, Mikhail North Caucasus Fed Univ Inst Informat Technol & Telecommun Stavropol Russia

ISBN: (纸本)9781728130217

The aim of the article is to provide a quick reconfiguration of a large group of robots. To solve the problem, it is proposed to use a decentralized control in the form of a multi-agent system. Each agent performs movement planning based on a greedy algorithm. The simulation showed the effectiveness of the proposed method. In the future, it is planned to increase the reliability of the proposed method and its complexity for working with more complex configurations.

关键词： modular robotics self-reconfiguration group control multi-agent system

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

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

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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

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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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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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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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