An Algorithm for Efficient Self-Reconfiguration of Chain-Type Unit-Modular Robots

2004 ◽  
Author(s):  
Carl A. Nelson ◽  
Raymond J. Cipra
Keyword(s):  
Real Life ◽  
The Self ◽  
Robot Kinematics ◽  
Modular Robots ◽  
Graph Theoretic ◽  
Lattice Type ◽  
Physical Composition ◽  
Chain Type

The problem of self-reconfiguration of modular robots is discussed, and an algorithm for efficient parallel self-reconfiguration is presented. While much of the previous work has been focused on the lattice-type modular robots, this paper addresses the self-reconfiguration of chain-type robots. Relatively little attention has heretofore been given to this sub-problem, and of the existing work, none incorporates the kinematic limitations of real-life robots into the reconfiguration algorithm itself. The method presented here is based on understanding a robot’s physical “composition” using a graph-theoretic robot representation, and it sheds new light on self-reconfiguration of chain-type modular robots by incorporating elements of the robot kinematics as part of the criteria in choosing reconfiguration steps.

Modern Applications of Graph Theory

2021 ◽  
Author(s):  
Vadim Zverovich
Keyword(s):  
Graph Theory ◽  
Molecular Epidemiology ◽  
Emergency Response ◽  
Real Life ◽  
Dominating Sets ◽  
Postgraduate Students ◽  
Graph Theoretic ◽  
Electric Vehicle Charging ◽  
Advanced Students ◽  
Doctoral Dissertations

This book discusses many modern, cutting-edge applications of graph theory, such as traffic networks and Braess’ paradox, navigable networks and optimal routing for emergency response, backbone/dominating sets in wireless sensor networks, placement of electric vehicle charging stations, pedestrian safety and graph-theoretic methods in molecular epidemiology. Because of the rapid growth of research in this field, the focus of the book is on the up-to-date development of the aforementioned applications. The book will be ideal for researchers, engineers, transport planners and emergency response specialists who are interested in the recent development of graph theory applications. Moreover, this book can be used as teaching material for postgraduate students because, in addition to up-to-date descriptions of the applications, it includes exercises and their solutions. Some of the exercises mimic practical, real-life situations. Advanced students in graph theory, computer science or molecular epidemiology may use the problems and research methods presented in this book to develop their final-year projects, master’s theses or doctoral dissertations; however, to use the information effectively, special knowledge of graph theory would be required.

scholarly journals Analysis on Self-Morphing Process of Self-Reconfigurable Modular Robot

10.5772/7232 ◽  
2009 ◽  
Vol 6 (3) ◽  
pp. 23 ◽  
Author(s):  
Yanqiong Fei ◽  
Yueliang Zhu ◽  
Ping Xia
Keyword(s):  
Adjacency Matrix ◽  
The Self ◽  
Geometric Feature ◽  
Modular Robot ◽  
Driving Function ◽  
Lattice Type ◽  
Motion Process ◽  
Motion Paths ◽  
Basic Configuration

The self-reconfigurable modular robot consists of many identical modules. By connecting to/disconnecting from other modules, the whole structure of the robot can transform into arbitrary other configurations. First, the lattice-type self-reconfigurable modular robot is proposed and its disconnected/connected mechanism is analyzed, which can finish self-morphing action. Second, the basic configuration of the module is analyzed with the eigenvector matrix. The motion rules are proposed. Third, the possible motion space is described with the geometric feature of modules which is effective for performing the self-morphing process. Then, the self-morphing motion process is described with the driving function and the adjacency matrix which is useful to solve the computation problem and optimize the motion paths of the robot during the self-reconfigurable morphing process. Final, an experiment of three-module motion and a simulation of multi-module's self-morphing process are shown to prove that the above analyses are effective.

scholarly journals SELF-KNOWLEDGE: AN IMPORTANT FACTOR FOR IMPROVING TEACHERS' EMOTIONAL RESPONSIVENESS IN LIFELONG EDUCATION

2021 ◽  
Vol 4 ◽  
pp. 136-149
Author(s):  
Ilga Kusnere
Keyword(s):  
Personal Growth ◽  
Real Life ◽  
The Self ◽  
Professional Activity ◽  
Lifelong Education ◽  
Educational Work ◽  
Knowledge Process ◽  
Emotional Responsiveness ◽  
Methodological Tool ◽  
Self Knowledge

The quality of a teacher's professional activity is closely tied to personal growth. Personal growth, however, is influenced by self-knowledge (K. G. Jung 1994, 2001; Wilber 2010, 2013; Plotkin, 2020; Dispenza, 2015, 2016). Nowadays, there is a shift in the approaches of upbringing and educational work – from a child-focused approach to a child-centered one (OECD, 2019). Therefore, one of the currently relevant skills is getting to know oneself in order to cooperate more successfully with others and be able to accept real-life situations. The results obtained confirm that through the self-knowledge process, teachers get to experience their own personality growth. Categories such as empathy, attitude, and daringness are identified in personal growth.The research shows that by experiencing the procedural activities of self-knowledge with the help of “Get to know yourself!” method and methodological tool developed by the author, teachers improve their emotional responsiveness.The results of the study show that through the experiences gained in the self-knowledge process, teachers learn to integrate new models of action into their pedagogical activities. The aim of the study was to show the importance of self-knowledge in improving teachers' emotional responsiveness in lifelong education, by using the method "Get to know yourself!" developed by the author of the study.The objectives of the study were literature examination and evaluation and work with the target audience by using the author's method and methodological tool "Get to know yourself!".Methods: Literature studies, survey, observation. 

scholarly journals Movie as self-portrait. Auto-narration and narrative identity in Neil Jordan’s „Breakfast on Pluto”

2018 ◽  
Vol 3 (57) ◽  
pp. 51-60
Author(s):  
Ewelina Twardoch-Raś
Keyword(s):  
Narrative Identity ◽  
Real Life ◽  
The Self ◽  
The Real ◽  
Masculinity And Femininity ◽  
The Creation

The paper aims to analyze Neil Jordan’s famous movie Breakfast on Pluto in the context of affective “narrative identity.” Breakfast on Pluto is an adaptation of Patrick McCabe’s diary and presents the story of a man who wants to be a woman – he feels like a woman and gradually transforms into one. Patrick/Patricia is thus a transsexual (not only transgender) person who tells the story of a bodily metamorphosis. The author of the paper finds the process of storytelling extremely interesting for a number of reasons. In the paper, the author focuses especially on the process of creating a new identity for the protagonist through the movie’s narration in reference to the categories of “subjective narration” (Edward Branigan) and narrative identity, that is the creation of an identity in the process of telling one’s own story. The author shows how the tools of the movie can shape the process of storytelling (by using special frames, montage, etc.) and how three stories are incorporated in Jordan’s movie: the male and the female story as well as, finally, the subversive self-creation when Patrick/Patricia becomes one whole, one processual identity (in the context of Judith Butler’s assumption about gender). In the paper, the diegesis of the movie will also be analyzed: a number of objects – attributes of masculinity and femininity and the quasi-parodic character of the movie space and the process of storytelling. Parody in Breakfast on Pluto emphasizes the subversive and surfictional structure of the self-story in the movie. The author treats Breakfast on Pluto as a movie version of Entwicklungsroman – the process of narrativization of an identity in transition, of fictionalizing the real life of the protagonist. Therefore, the author also refers to J. M. Coetzee’s assumptions about confession, which is always an important part of self-narration.

The self-regulation of prejudice: Toward understanding its lived character

2010 ◽  
Vol 13 (2) ◽  
pp. 183-200 ◽  
Author(s):  
Margo J. Monteith ◽  
Aimee Y. Mark ◽  
Leslie Ashburn-Nardo
Keyword(s):  
Content Analysis ◽  
Self Regulation ◽  
Real Life ◽  
Phenomenological Approach ◽  
The Self ◽  
Laboratory Studies ◽  
Internal Motivation ◽  
Racial Experiences ◽  
The Future ◽  
External Motivation

Survey and laboratory studies provide support for the self-regulation of prejudice, but it is unclear whether people similarly self-regulate in“real life. Using a phenomenological approach, 153 non-Black participants recalled racial experiences in which they responded in ways they later wished had been different. Participants internally motivated to control prejudice reported discrepancies regardless of their external motivation, but even participants low on internal motivation reported prejudice-related discrepancies if they were externally motivated. Content analysis results are presented to summarize participants discrepancy experiences. Also, most participants discrepancies produced negative self-directed affect and the self-regulation of prejudice in the future. Findings suggest that self-regulation generalizes beyond the laboratory and occurs even among people who are not internally motivated to control their prejudice.

Who is Isaiah's Servant? Narrative identity and theological potentiality

2008 ◽  
Vol 61 (2) ◽  
pp. 125-136 ◽  
Author(s):  
Mark Gignilliat
Keyword(s):  
Narrative Identity ◽  
Real Life ◽  
The Self ◽  
Divine Action ◽  
Sequence Of Events ◽  
Unique Member ◽  
Divine Identity ◽  
Over Time

AbstractThe question ‘Who is the Servant?’ is one which remains a debated topic among many interpreters of Isaiah 40–55. This article seeks to address the same question with the aid and perspective of narrative identity. Narrative identity, as explicated by Ricoeur and Frei, is a means of understanding a character within a literary plot, or real life, as displayed in a narrated sequence of events. A person's identity, especially within literature, is the constancy of the self in the tortuous events of a narrated sequence over time. This article seeks to adjudicate the question of the Servant's identity by observing the character of the Servant within the plot of Isaiah 40–55. The conclusion drawn is that the Servant is the unique means of God's reconciliation of both Zion and the nations. Also, the divine action and description of YHWH and the Servant begin to bleed in such a way that the Servant can be described as a unique member of the divine identity.

Introduction

2021 ◽  
pp. 1-36
Author(s):  
Vadim Zverovich
Keyword(s):  
Graph Theory ◽  
Biological Networks ◽  
Real Life ◽  
Scale Free ◽  
Graph Theoretic ◽  
Life Problems ◽  
Scale Free Networks ◽  
Web Graph ◽  
The Web

This chapter gives a brief overview of selected applications of graph theory, many of which gave rise to the development of graph theory itself. A range of such applications extends from puzzles and games to serious scientific and real-life problems, thus illustrating the diversity of applications. The first section is devoted to the six earliest applications of graph theory. The next section introduces so-called scale-free networks, which include the web graph, social and biological networks. The last section describes a number of graph-theoretic algorithms, which can be used to tackle a number of interesting applications and problems of graph theory.

Quantum genetic algorithm to evolve controllers for self-reconfigurable modular robots

2020 ◽  
Vol 17 (3) ◽  
pp. 427-435
Author(s):  
Mohamed Khalil Mezghiche ◽  
Noureddine Djedi
Keyword(s):  
Genetic Algorithms ◽  
Degrees Of Freedom ◽  
Optimization Problems ◽  
The Self ◽  
Modular Robots ◽  
Modular Robot ◽  
Adaptive Locomotion ◽  
Content Type ◽  
Quantum Genetic Algorithm ◽  
Neural Controllers

Purpose The purpose of this study is to explore using real-observation quantum genetic algorithms (RQGAs) to evolve neural controllers that are capable of controlling a self-reconfigurable modular robot in an adaptive locomotion task. Design/methodology/approach Quantum-inspired genetic algorithms (QGAs) have shown their superiority against conventional genetic algorithms in numerous challenging applications in recent years. The authors have experimented with several QGAs variants and real-observation QGA achieved the best results in solving numerical optimization problems. The modular robot used in this study is a hybrid simulated robot; each module has two degrees of freedom and four connecting faces. The modular robot also possesses self-reconfiguration and self-mobile capabilities. Findings The authors have conducted several experiments using different robot configurations ranging from a single module configuration to test the self-mobile property to several disconnected modules configuration to examine self-reconfiguration, as well as snake, quadruped and rolling track configurations. The results demonstrate that the robot was able to perform self-reconfiguration and produce stable gaits in all test scenarios. Originality/value The artificial neural controllers evolved using the real-observation QGA were able to control the self-reconfigurable modular robot in the adaptive locomotion task efficiently.

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