This paper discusses a fully decentralizedalgorithm able to control the morphology of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, according to the environment en...
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ISBN:
(纸本)078038914X
This paper discusses a fully decentralizedalgorithm able to control the morphology of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment", the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which plays as the core of the control mechanism for the generation of locomotion. Simulation results indicate that the proposed algorithm can induce "protoplasmic streaming", which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system.
This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot",. consisting of many identical modules. The Slimebot exhibits adaptive reconfiguration by exploiting a ful...
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ISBN:
(纸本)9781424410774
This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot",. consisting of many identical modules. The Slimebot exhibits adaptive reconfiguration by exploiting a fully decentralizedalgorithm able to control its morphology according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment" among nonlinear oscillators, the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which acts as the core of the control mechanism for the generation of locomotion. Experimental results indicate that the proposed algorithm can induce locomotion, which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system.
This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules. The Slimebot exhibits adaptive reconfiguration by exploiting a full...
详细信息
ISBN:
(纸本)9781424402588
This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules. The Slimebot exhibits adaptive reconfiguration by exploiting a fully decentralizedalgorithm able to control its morphology according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment" among nonlinear oscillators, the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which acts as the core of the control mechanism for the generation of locomotion. Experimental results indicate that the proposed algorithm can induce locomotion, which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system.
In this paper, we demonstrate the fragility of decentralized load-side frequency algorithm proposed in [1] against stochastic parametric uncertainty in power network model. The stochastic parametric uncertainty is mot...
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ISBN:
(纸本)9781509045839
In this paper, we demonstrate the fragility of decentralized load-side frequency algorithm proposed in [1] against stochastic parametric uncertainty in power network model. The stochastic parametric uncertainty is motivated through the presence of renewable energy resources in power system model. We show that relatively small variance value of the parametric uncertainty affecting the system bus voltages cause the decentralized load-side frequency regulation algorithm to become stochastically unstable. The critical variance value of the stochastic bus voltages above which the decentralized control algorithm become mean square unstable is computed using an analytical framework developed in [2], [3]. Furthermore, the critical variance value is shown to decrease with the increase in the cost of the controllable loads and with the increase in penetration of renewable energy resources. Finally, simulation results on IEEE 68 bus system are presented to verify the main findings of the paper.
The conventional output regulation problem aims to achieve reference tracking and disturbance rejection while references and disturbances are generated by an autonomous exosystem. When the exosystem is perturbed by an...
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ISBN:
(纸本)9781467360890
The conventional output regulation problem aims to achieve reference tracking and disturbance rejection while references and disturbances are generated by an autonomous exosystem. When the exosystem is perturbed by an external event, a novel robust perturbed output regulation problem is formulated and solved in this paper. The formulation arises from a kind of synchronization problem of multiple agents. Hence, the proposed solution leads to a decentralized control algorithm for synchronization of multiple agents with nonlinear heterogeneous dynamics.
This paper discusses experimental *** of a two-dimensional modular robot called "Slimebot", consisting of many identical modules. The Slimebot exhibits adaptive *** by exploiting a fully decentralized algori...
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This paper discusses experimental *** of a two-dimensional modular robot called "Slimebot", consisting of many identical modules. The Slimebot exhibits adaptive *** by exploiting a fully decentralizedalgorithm able to control its morphology according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment" among nonlinear oscillators, the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which acts as the core of the control mechanism for the generation of locomotion. Experimental results indicate that the proposed algorithm can induce locomotion, which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system.
In this paper, we propose a new car transportation system referred to as iCART(intelligent cooperative autonomous robot transporters). This system consists of two robots for the car transportation. Each robot is contr...
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ISBN:
(纸本)9781424420575
In this paper, we propose a new car transportation system referred to as iCART(intelligent cooperative autonomous robot transporters). This system consists of two robots for the car transportation. Each robot is controlled by using a decentralized control algorithm for transporting the car in coordination. A trajectory for transporting the car is given to one of robots, and another robot estimates the trajectory through the interaction force between two robots. This car transportation system could transport any size of cars, and is available for any kinds of car transportation tasks such as parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The proposed car transportation system are developed and the controlalgorithm is experimentally applied to them. The experimental results illustrate the validity of the proposed system.
Cooperative control of a network of multiple agents with nonlinear heterogeneous dynamics has attracted considerable attention over the past years. In this paper, a decentralized control algorithm is proposed for sync...
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ISBN:
(纸本)9781467360890
Cooperative control of a network of multiple agents with nonlinear heterogeneous dynamics has attracted considerable attention over the past years. In this paper, a decentralized control algorithm is proposed for synchronization of such a network in diverse collective motion patterns. With the aid of a group of deliberately designed linear homogeneous reference models, the synchronization problem is converted into a class of regulation problem. The regulation problem is hence solved using nonlinear output feedback control technique. The conversion and hence the decentralized synchronization algorithm are valid when the multi-agent system is jointly connected in terms of its time varying network topologies.
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