检索结果-内蒙古大学图书馆

Quanta-A platform for rapid control and monitoring of heterogeneous rbots

Digital Communications and Networks 2020年第4期6卷 452-462页

作者： S.Sankhar Reddy CH. Anita Agrawal Anupama K.R. E.E.E Department BITS PilaniK K Birla Goa CampusGoa403726India

Rapid prototyping,real-time control and monitoring of various events in robots are crucial requirements for research in the fields of modular and swarm robotics.A large quantities of resources(time,man power,infrastructure,etc.)are often invested in programming,interfacing the sensors,debugging the response to algorithms during prototyping and operational phases of a robot development *** cost of developing an optimal infrastructure to efficiently address such control and monitoring requirements increases significantly in the presence of mobile *** numerous solutions have been developed for minimizing the resources spent on hardware prototyping and algorithm validation in both static and mobile scenarios,it can be observed that researchers have either chosen methodologies that conflict with the power and infrastructure constraints of the research field or generated constrained solutions whose applications are restricted to the field *** paper develops a solution for addressing the challenges in controlling heterogeneous mobile robots.A platform named Quanta-a cost effective,energy efficient and high-speed wireless infrastructure is prototyped as a part of the research in the field of modular *** is capable of controlling and monitoring various events in/using a robot with the help of a light-weight communication protocol independent of the robot hardware architecture(s).

关键词： modular robotics Swarm robotics Concurrent control and monitoring Event scheduling Centralized/decentralized communication

来源：评论

学校读者我要写书评

暂无评论

A self-reconfigurable modular robot: Reconfiguration planning and experiments

引用

INTERNATIONAL JOURNAL OF robotics RESEARCH 2002年第1-11期21卷 903-915页

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S Natl Inst Adv Ind Sci & Technol AIST Intelligent Syst Inst Distributed Syst Design Res Grp Tsukuba Ibaraki 3058564 Japan

In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory;the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed.

关键词： self-reconfigurable robot modular robotics planning hierarchical planner experimental robotics

来源：评论

学校读者我要写书评

暂无评论

A modular robot climbing on pipe-like structures

A modular robot climbing on pipe-like structures

引用

4th International Conference on Autonomous Robots and Agents

作者： Maempel, Joerg Gerlach, Kurt Schilling, Cornelius Witte, Hartmut Ilmenau Univ Technol Dept Biomechatron Ilmenau Germany

ISBN: (纸本)9781424427123

"Raupi" is a prototype of a climbing robot. The robot is designed modularly, with the demands to climb on a pipe-like substrate and to change to another bar for avoiding. Research on biological climbers shows us, that the locomotion is driven by the trunk, not only by the limbs. So a trunk-driven concept is chosen as a base for the design process. The request by climbing locomotion to the mechanics of the system is very strong. The robot is build by only two different module types. The substrate contact has to be established and broken actively. A sensor concept a schematic was developed, with allow to determinate relevant sensor ranges depending on the desired type of control. It detects the relative position between gripping module and substrate by tactile sensors. The control of the robot is realized with four different modes. It is possible to switch between the modes. So it is possible to use the optimal control strategy for the actual situation.

关键词： climbing modular robotics biologically inspired robots

来源：评论

学校读者我要写书评

暂无评论

Application of 3D Printed Vacuum-Actuated Module with Multi-soft Material to Support Handwork Rehabilitation 16th

Application of 3D Printed Vacuum-Actuated Module with Multi-...

引用

16th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Abe, Shoma Ogawa, Jun Watanabe, Yosuke Shiblee, M. D. Nahin Islam Kawakami, Masaru Furukawa, Hidemitsu Yamagata Univ Jonan 4-3-16 Yonezawa Yamagata 9928510 Japan

ISBN: (纸本)9783031537035;9783031514975;9783031514968

Soft modular robotics is a research field that pursues body flexibility while maintaining reconfigurability by employing flowable or soft materials as the main constituent materials of modular robots. In soft modular robotics, a hollow structure made of silicone is created, and the inside of the structure is pressurized to generate stretching and bending motions as an actuator module. In general, it is important to design modular robots with reconfigurability, various deformability, and environmental adaptability. modularization of soft actuators with reconfigurable and diverse deformability allows morphology to be tailored to the desired task. We have developed a soft actuator module, MORIA, that combines hollow silicone and 3D printable deformable structures (uniaxial shrinking, bending, shearing, uniform contracting, and no deformation). This study proposes a functional extension of the module "MORI-A FleX" for application as a wearable device for physical rehabilitation using this MORI-A module. Our MORI-A FleX connector is a thermoplastic polyurethane flexible connector that can be coated with materials that offer different textures to achieve excellent connectivity and texture variation. We have assembled MORI-A Flex as a rehabilitation device for hand work, assisting the fingers to move harmoniously and enabling them to grasp a slippery, brittle half-boiled egg and a PET bottle containing 200 ml of water in a deactivated state.

关键词： 3D printing soft robotics pneumatic actuator modular robotics wearable device

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

Locomotion Gait Optimization For modular Robots;Coevolving Morphology and Control

Locomotion Gait Optimization For Modular Robots;Coevolving M...

引用

2nd European Future Technologies Conference and Exhibition (FET)

作者： Pouya, Soha Aydin, Ebru Moeckel, Rico Ijspeert, Auke Jan Ecole Polytech Fed Lausanne Inst Bioengn Biorobot Lab Lausanne Switzerland

This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and some of the preliminary results are discussed. (C) Selection and peer-review under responsibility of FET11 conference organizers and published by Elsevier B.V.

关键词： robotics locomotion modular robotics CPG-based control Evolutionary Algorithms

来源：评论

学校读者我要写书评

暂无评论

Design and Operation Principles of the Magnetomechanical Connector of the Module of the Mobile Autonomous Reconfigurable System 3rd

Design and Operation Principles of the Magnetomechanical Con...

引用

3rd International Conference on Interactive Collaborative robotics (ICR)

作者： Pavliuk, Nikita Krestovnikov, Konstantin Pykhov, Dmitry Budkov, Victor Russian Acad Sci SPIIRAS St Petersburg Inst Informat & Automat 3914 Line St Petersburg 199178 Russia

ISBN: (纸本)9783319995823;9783319995816

The object of this research is a multifunctional modular robot that can reconfigure the nodes and operatively change their position in the process of operation depending on the current task. The purpose of work is to study and develop homogeneous groups of robots capable of moving autonomously and forming various structures by connecting separate modules to each other. The novelty consists in the design of a module for mobile autonomous reconfigurable system (MARS), which differs from the analogues by the presence of a hybrid coupling mechanism embedded into the motor-wheel module. The developed magnetomechanical connector provides for positioning of the robotic modules relative to each other at the coupling stage and the connection of blocks of complex structures. Control of the polarity of the magnetic circuit, which is part of the connector, is carried out by the supply of short-term pulses that perform the coupling and decoupling of the units. In the course of experiments, we determined the parameters of the magnetic circuit and the principles of the functioning of the combined magnetic circuit ensuring the energy efficiency of the connector. The module moves along surfaces by means of motor wheels which comprise the coupling system of the modules. This approach allows one to save space in the robotics module and efficiently use its main part for the arrangement of power supplies and control devices. Two schemes for placing sets of magneto-mechanical connectors in the basic module were proposed.

关键词： modular robotics Servo drives Connector Magnetic circuit Magneto-Mechanical connector

来源：评论

学校读者我要写书评

暂无评论

RoboCon: A modular Robotic Containerization, Orchestration, and Load Balancing Technique for Mixed Hierarchy Task Handling Across Computing Platforms 5

RoboCon: A Modular Robotic Containerization, Orchestration, ...

引用

5th International Conference on Control and robotics (ICCR)

作者： Roy, Swarnabha Kalafatis, Stavros Texas A&M Univ Dept Elect & Comp Engn College Stn TX 77843 USA

ISBN: (纸本)9798350307627

This paper introduces an innovative edge-cloud-based modular architecture to enhance the capabilities of multi-robot systems operating in resource-constrained environments. This architecture addresses the limitations often encountered in resource-constrained platforms with lightweight microprocessors by enabling efficient offloading of computationally intensive tasks to hybrid edge-cloud clusters, thereby augmenting computational prowess. Through a comprehensive experimental evaluation, we substantiate the effectiveness of our approach by offloading a rover's perception system to a hybrid edge-cloud cluster, enabling efficient object detection. Our findings highlight the architecture's adaptability, showcasing cloud clusters' speed advantages and local edge clusters' robustness in handling higher network throughput. This insight informs the recommendation to deploy high-throughput applications on edge clusters and computationally intensive tasks with storage and reduced network demands on cloud clusters. Furthermore, this work emphasizes the benefits of containerization and load balancing in modular robotics, facilitating platform-independent development, resource optimization, and enhanced software distribution security. Containerization's minimal impact on CPU and RAM usage has gained prominence in mobile robotic applications. However, supporting mixed-criticality software jobs remains a challenge. This paper presents performance results in federated and adaptive edge-fog-cloud networks, providing valuable insights for planning tasks with mixed-criticality criteria.

关键词： modular robotics Kubernetes k3s load balancing resource sharing edge-cloud computing Docker

来源：评论

学校读者我要写书评

暂无评论

Self Replicating Robotic Strategies as a Catalyst for Autonomous Architectural Construction

引用

International Conference on Ergonomics and Health Aspects of Work with Computers (EHAWC)/14th International Conference on Human-Computer Interaction (HCI)

作者： Fox, Michael A. Calif State Polytech Univ Pomona Pomona CA 91768 USA

ISBN: (纸本)9783642216190

The research explores examining future trends in robotics and how they can be applied to spatial interactive architectural environments. The strategy of using modular robotics of architectural space-making demonstrates an architecture whereby adaptation becomes much more holistic and operates at a very small scale. The strategy of using self replicating strategies as a catalyst for autonomous architectural construction was very much driven by the premise of an advanced architectural design studio. This paper highlights conceptual contributions by architecture students for alternative means of Martian Colonization through means creating architecture that creates itself. The parameters of the design project had three primary considerations including: The actual trajectory issues (how to get materials to the Mars), Chemical Processing (how to make materials on the Mars) and Space Manufacturing (how to fabricate and assemble/construct things on Mars). Of these central issues explored in this studio, the focus was primarily on Manufacturing as a process carried out by small modular robotics. The premise of the approach is that rather than sending a constructed architecture to space, we send tiny robotic modules that are capable of mobility and reproduction through automated fabrication techniques using in-situ materials. The modules with embedded sensors, self-healing composites, and responsive materials were designed to construct buildings aimed at adaptation. Such buildings could potentially respond in a humanlike way to counteract loads, reduce material and allow for active environmental adaptation. When enough of architecture of the colony has constructed itself - we send humans to inhabit it. Several examples by architecture students are highlighted whereby individual modules were created within the context of a space architecture design studio and applied to scenarios of space making at various scales. The design context primarily focused on the master plan of a co

关键词： modular robotics Architectural Construction Space Architecture Habitat Construction Robotic Construction Interactive Architecture

来源：评论

学校读者我要写书评

暂无评论

A self-reconfigurable modular robot: Reconfiguration planning and experiments

A self-reconfigurable modular robot: Reconfiguration plannin...

引用

7th International Symposium on Experimental robotics

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S Natl Inst Adv Ind Sci & Technol AIST Intelligent Syst Inst Distributed Syst Design Res Grp Tsukuba Ibaraki 3058564 Japan

关键词： self-reconfigurable robot modular robotics planning hierarchical planner experimental robotics

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：