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Detecting stable locality-aware predicates

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

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Automated geneartion of the D-H parameters for configuration design of modular manipulators

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2007年第5期23卷 553-562页

作者： Bi, Z. M. Zhang, W. J. Chen, I.-M. Lang, S. Y. T. Univ Saskatchewan Dept Mech Engn Saskatoon SK S7N 5A9 Canada CNR Integrated Mfg Technol Inst London ON N6G 4X8 Canada Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore

Analysis models are to describe the relationships between design variables and robotic Kinematic and Dynamic (K&D) behaviors. In designing modular robotic system configuration, design variables are identified through the description of the modular system architecture. Once the design variables have been determined, two alternative ways can be employed to build K&D models from design variables: direct modeling and indirect modeling. The first method builds up the K&D model directly based on design variables of the modular architecture, while the second method builds up the K&D model based on a set of the D-H parameters, which is derived from design variables. The advantage of the second method is that most of analysis theories and tools, which were developed in designing nonmodular robotic configurations, can be utilized directly for designing modular robotic configurations. In this paper, we propose a more general architecture of modular manipulator systems. Based on this new architecture, we propose a systematic procedure to generate a mapping from modular design variables and the configuration description in terms of the D-H notation. (C) 2006 Elsevier Ltd. All rights reserved.

关键词： modular robotics robotic kinematics robotic dynamics automated modeling parametric conversion

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A modular cable robot for inspection and light manipulation on celestial bodies

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ACTA ASTRONAUTICA 2016年 123卷 145-153页

作者： Seriani, S. Gallina, P. Wedler, A. Univ Trieste Dept Engn & Architecture Via A Valerio 10 I-34127 Trieste Italy Deutsch Zentrum Luft & Raumfahrt eV DLR Robot & Mechatron Zentrum Berlin Germany

Planetary exploration has been carried out with solitary probes since the nineteen-sixties;on the other hand, the newly emerging paradigm for robotic exploration shows multi-expertize, complex modular systems as necessary for efficient and thorough activities. In this paper we propose a modular Cable Driven Parallel Robot (CDPR) that is deployed by a rover, which can take advantage of its large workspace for tasks as inspection or light manipulation. While the general deployment procedure is described, focus is given on the CDPR;a model for the pseudostatics of the robot is formulated, as well as an analysis on its modules stability. The workspace is then characterized using appropriate metrics. Results show that a 1 Kg payload for the end-effector is effectively feasible with substantial margin for an equilateral triangular workspace of 10 m side. Finally, several possible practical applications are illustrated. (C) 2016 IAA. Published by Elsevier Ltd. All rights reserved.

关键词： Space exploration robotics Cable robot modular robotics Workspace Stability

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An architecture for universal construction via modular robotic components

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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

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Ontology based design, control and programming of modular robots

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INTEGRATED COMPUTER-AIDED ENGINEERING 2018年第2期25卷 173-192页

作者： Ramos, Francisco Vazquez, Andres S. Fernandez, Raul Olivares-Alarcos, Alberto Univ Castilla La Mancha Sch Ind Engn Avda Camilo Jose Cela 3 E-13071 Ciudad Real Spain

This work presents a proof of concept for an end-to-end process for the agile design, control and programming of robots. The user selects a set of abilities for the desired robot, and the system automatically generates the robot structure and the controllers needed for the high level programming of the robot. This process relies on two pivotal concepts for our approach: ontologies and modular robots. An ontology (ADROn), constructed upon the IEEE Standard Ontologies for robotics and Automation (ORA), is used by an intelligent system to relate the robot types with the requested set of abilities. Then, a parameterized design process generates the passive components (e.g. links) and selects the active modules (e.g. actuators) from a collection of 3D printable, modular robotic components (ParMoR). Finally, the controllers, generated as ROS services, are interfaced with a visual programming language, Bitbloq, suitable for novice users. Examples of the generation process of different types of robots (wheeled, snake, humanoid, hexapods) are detailed. The process is presented as an educational platform for the teaching of robotics, while the applicability to other fields and the advantages of this methodology are also discussed in the paper.

关键词： modular robotics ontologies agile robotics ROS Bitbloq

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Neural control of a modular multi-legged walking machine: Simulation and hardware

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robotics AND AUTONOMOUS SYSTEMS 2012年第2期60卷 227-241页

作者： von Twickel, Arndt Hild, Manfred Siedel, Torsten Patel, Vishal Pasemann, Frank Univ Osnabruck Dept Neurocybernet Inst Cognit Sci D-49069 Osnabruck Germany Humboldt Univ LFG Kunstliche Intelligenz Inst Informat D-10099 Berlin Germany

The modular walking machine Octavio is a bio-inspired robot designed to serve as a testbed for modular neural locomotion control. It consists of up to eight control- and energy-autonomous leg modules, each equipped with 3 active and 2 passive compliant joints and various proprioceptive sensors. Legs may be either used in single leg (treadmill) experiments or can be quickly attached to and detached from bodies with different morphologies. Body morphologies include 4-, 6- and 8-legged machines. Neurocybernetic control is developed and optimized using evolutionary techniques together with a physical simulation of the machine and its environment. This article gives an overview of the machines mechanics, electronics, firmware, configuration and control software. Simple examples demonstrate how the behavior of the simulated and the physical machines are controlled by e.g. neurobiologically motivated modular neural networks. (C) 2011 Elsevier B.V. All rights reserved.

关键词： modular robotics Biologically-inspired robotics Evolutionary robotics Neurocybernetics Locomotion control Sensori-motor loop

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A time synchronization protocol for large-scale distributed embedded systems with low-precision clocks and neighbor-to-neighbor communications

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JOURNAL OF NETWORK AND COMPUTER APPLICATIONS 2018年第Mar.期105卷 123-142页

作者： Naz, Andre Piranda, Benoit Bourgeois, Julien Goldstein, Seth Copen UBFC FEMTO ST Inst CNRS F-25200 Montbeliard France Carnegie Mellon Univ Pittsburgh PA 15213 USA

In this paper, we propose the modular Robot Time Protocol (MRTP), a network-wide time synchronization protocol for modular robots (a class of distributed embedded systems) with neighbor-to-neighbor communications and potentially low-precision clocks. Our protocol achieves its performance by combining several mechanisms: central time master election, fast and recursive propagation of synchronization waves along the edges of a breadth-first spanning-tree, low-level timestamping and per-hop compensation for communication delays using the most-appropriate method, and clock skew compensation using linear regression. We evaluate our protocol on the Slinky Blocks system both on hardware and through simulations. Experimental results show that MRTP can potentially manage real systems composed of up to 27, 775 Slinky Blocks. We observe that the synchronization precision depends on the hop distance to the time master, the synchronization periods and the number of synchronization points used for the linear regressions. Furthermore, we show that our protocol is able to keep a Slinky Blocks system synchronized to a few milliseconds, using few network resources at runtime, even-though the Blinky Blocks hardware clocks exhibit very poor accuracy and resolution. We compare MRTP to existing synchronization protocols ported to fit our system model. Simulation results show that MRTP can achieve better synchronization precision than the most precise compared protocols while sending more than half less messages in compact systems.

关键词： Time synchronization Distributed embedded systems modular robotics

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Self-reconfigurable robots - Shape-changing cellular robots can exceed conventional robot flexibility

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IEEE robotics & AUTOMATION MAGAZINE 2007年第1期14卷 71-78页

作者： Murata, Satoshi Kurokawa, Haruhisa Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Midori Ku Yokohama Kanagawa 2268502 Japan Minist Int Trade & Ind Inst Adv Ind Sci & Technol Mech Engn Lab Tokyo Japan

In this article, the concept of a cellular robot that is capable of reconfiguring itself is reviewed. This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, we can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors. These SR robots, based on modern mechatronics, are still not as adaptable as the liquid metal robot in The Terminator 2 but are just as flexible as any conventional robots

关键词： self-reconfigurable robots modular robotics shape shifting self-assembly self-repair evolutionary robotics

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Self-assembly at the macroscopic scale

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PROCEEDINGS OF THE IEEE 2008年第9期96卷 1490-1508页

作者： Gross, Roderich Dorigo, Marco Univ Bristol Sch Biol Sci Bristol Avon England Unilever R&D Port Sunlight Bebington England Univ Libre Bruxelles CoDE IRIDIA B-1050 Brussels Belgium

In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 21 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. we present a taxonomy of the systems and discuss design principles and functions. Finally, we summarize the main achievements and indicate potential directions for future research.

关键词： Brownian motion formation growth macroscopic modular robotics self-assembly self-propelled selfreconfiguration self-repair self-replication taxonomy

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A reconfiguration strategy for modular robots using origami folding

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2019年第1期38卷 73-89页

作者： Yao, Meibao Belke, Christoph H. Cui, Hutao Paik, Jamie Harbin Inst Technol Deep Space Explorat Res Ctr Harbin Heilongjiang Peoples R China Ecole Polytech Fed Lausanne Lausanne Switzerland

Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical failure of the system. This paper presents a new approach to reconfiguration, inspired by the art of origami, that eliminates connectivity changes during transformation. Our method consists of an energy-optimal reconfiguration planner that generates an initial 2D assembly pattern and an actuation sequence of the modular units, both resulting in minimum energy consumption. The algorithmic framework includes two approaches, an automatic modeling algorithm as well as a heuristic algorithm. We further demonstrate the effectiveness of our method by applying the algorithms to Mori, a modular origami robot, in simulation. Our results show that the heuristic algorithm yields reconfiguration schemes with high quality, compared with the automatic modeling algorithm, simultaneously saving a considerable amount of computational time and effort.

关键词： modular robotics optimal reconfiguration computational origami heuristic algorithm

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