Self-Repairing Process in Self-Reconfigurable Robots Based on Geometrical Characteristics

2011 ◽  
Author(s):  
Yanqiong Fei ◽  
Xin Zhang
Keyword(s):  
Large Scale ◽  
The Self ◽  
Modular Robots ◽  
Modular Robot ◽  
Breadth First Search ◽  
Large Scale System ◽  
Geometrical Characteristics ◽  
Reconfigurable Robots ◽  
Large Numbers ◽  
Reconfigurable Robot

Self-reconfigurable modular robot consists of many identical modules. By changing the connections among modules, the structure of the robot can flexibly change into many other structures. First, the module is designed which can finish the self-repairing action and its disconnection/connection mechanism is analyzed. Second, a distributed self-repairing process based on the geometrical characters of the modular robot is presented. The method of the Breadth-First-Search and the Depth-First-Search is applied to look for a locomotion path by which a faulty module is ejected and replaced by a spare module. The method can be used to show the self-repairing task of most lattice-type modular robots. It’s effective to solve large numbers of computing problems when the faulty module is inside a large-scale system. At last, a simulation of (2 × 4 + 1)3 modules shows the feasibility and effectiveness of the self-repairing method in the self-reconfigurable robot.

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.

Motion Generation for a Modular Robot

2002 ◽  
Vol 14 (2) ◽  
pp. 177-185 ◽  
Author(s):  
Eiichi Yoshida ◽  
◽  
Satoshi Murata ◽  
Akiya Kamimura ◽  
Kohji Tomita ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Difficult Problem ◽  
The Self ◽  
Modular Robot ◽  
Motion Generation ◽  
Improve Efficiency ◽  
Reconfigurable Robot ◽  
The Many ◽  
Multiple Module ◽  
Motion Generator

We discuss motion generation of a homogeneous modular robot called a Modular Transformer (M-TRAN). Modules are designed to be self-reconfigurable so a collection of modules can transform itself into a robotic structure. The motion generation of the self-reconfigurable robot presents a computationally difficult problem due to the many combinatorial possibilities for the module configuration, even though the module itself is simple, with 2 degrees of freedom. We describe a motion generation for a class of multimodule structures based on a motion planner and a motion scheduler. The motion planner has 2 layers, with a global planner to plan overall movement of the cluster and a local planner to determine locally coordinated module motions, called motion schemes. After motion is generated as a sequence of single motion schemes, the motion scheduler processes the output plan to allow parallel motions to improve efficiency. The effectiveness of the motion generator is verified through a multiple-module simulation.

scholarly journals Self-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure: Algorithm for Adaptive Transformation to Load Condition

2011 ◽  
Vol 2011 ◽  
pp. 1-13
Author(s):  
Yosuke Suzuki ◽  
Norio Inou ◽  
Hitoshi Kimura ◽  
Michihiko Koseki
Keyword(s):  
Computer Simulation ◽  
Control Algorithm ◽  
Load Condition ◽  
The Self ◽  
Modular Robots ◽  
Modular Robot ◽  
Simple Idea ◽  
Mechanical Structure ◽  
Cantilever Structure ◽  
Structure Algorithm

Self-reconfigurable modular robots are composed of modules which are able to autonomously change the way they are connected. An appropriate control algorithm enables the modular robots to change their shape in order to adapt to their immediate environment. In this paper, we propose an algorithm for adaptive transformation to load condition of the modular robots. The algorithm is based on a simple idea that modules have tendency to gather around stress-concentrated parts and reinforce the parts. As a result of the self-reconfiguration rule, the modular robots form an appropriate structure to stand for the load condition. Applying the algorithm to our modular robot named “CHOBIE II,” we show by computer simulation that the modules are able to construct a cantilever structure with avoiding overstressed states.

scholarly journals Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875447 ◽  
Author(s):  
Dongyang Bie ◽  
Yulin Wang ◽  
Yu Zhang ◽  
Che Liu ◽  
Jie zhao ◽  
...  
Keyword(s):  
The Self ◽  
Modular Robots ◽  
Lindenmayer Systems ◽  
Fundamental Function ◽  
Modeling Framework ◽  
Branching Structures ◽  
Reconfigurable Robots ◽  
L System ◽  
Key Factor ◽  
L Systems

Self-reconfiguration of modular self-reconfigurable robots is a fundamental function that can be used as part of higher-level functionality. Interaction with the environment is a key factor affecting the self-reconfiguration process of modular robots. In this article, a modeling framework that makes it possible to simulate and visualize the interactions at the level of decentralized modules will be introduced. The framework extends the formalism of Lindenmayer systems (L-systems) with constructs needed to model robotic information exchanged between decentralized modules and their surrounding environments. Both the construction of target configurations and environmental sensitive adaption can be handled by extending L-system symbols and reproduction rules. The proposed method is illustrated with simulations capturing the development of branching structures while adapting to environmental obstacles.

Robust and reversible execution of self-reconfiguration sequences

Robotica ◽  
2011 ◽  
Vol 29 (1) ◽  
pp. 35-57 ◽  
Author(s):  
Ulrik Schultz ◽  
Mirko Bordignon ◽  
Kasper Stoy
Keyword(s):  
Local State ◽  
The Self ◽  
Robotic Systems ◽  
Modular Robots ◽  
Software Failures ◽  
Reconfigurable Robots ◽  
Distributed Controller ◽  
Distributed Controllers ◽  
Scripting Language ◽  
Communication Errors

SUMMARYModular, self-reconfigurable robots are robotic systems that can change their own shape by autonomously rearranging the physical modules from which they are built. In this work, we are interested in how to distributedly execute a specified self-reconfiguration sequence. The sequence is specified using a simple and centralized scripting language, which either could be the outcome of a planner or be hand-coded. The distributed controller generated from this language allows for parallel self-reconfiguration steps and is highly robust to communication errors and loss of local state due to software failures. Furthermore, the self-reconfiguration sequence can automatically be reversed, if desired. We verify our approach and demonstrate its robustness in experiments using physical and the simulated ATRON modules, as well as simulated M-TRAN modules. Overall, the contribution of this work is the combination of the tractability of a centralized scripting language with the robustness and parallelism of distributed controllers in modular robots.

scholarly journals Docking Design of Self-Reconfigurable Robot

10.5772/45709 ◽  
2011 ◽  
Vol 8 (5) ◽  
pp. 70 ◽  
Author(s):  
Yanqiong Fei
Keyword(s):  
Equilibrium Condition ◽  
The Self ◽  
Static Equilibrium ◽  
Geometric Method ◽  
The Novel ◽  
Basic Module ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Reconfigurable Robot

Docking design of self-reconfigurable robots is studied. Firstly, the self-reconfigurable robot is presented. Its basic module is designed, which is composed of a central cube and six rotary arms. Then, the novel docking mechanism of each module is designed. It is critical for the self-reconfigurable robot to discard any faulty modules for the self-repairing actions. The docking process is analyzed with the geometric method. The docking forces between two modules are described with the static equilibrium condition and the small motion's method. It shows that the reliability of the connection will be increased when the module's weight G is increased. It is important to finish the docking action in the self-reconfigurable robot. At last, a simulation of six-module and an experiment of three-module show that the modules can finish the docking process effectively.

Computer Analyses in Preventive Health Research

1967 ◽  
Vol 06 (01) ◽  
pp. 8-14 ◽  
Author(s):  
M. F. Collen
Keyword(s):  
Medical Research ◽  
Preventive Medicine ◽  
Health Research ◽  
Large Scale ◽  
Preventive Health ◽  
New Era ◽  
Large Numbers ◽  
Normal Test ◽  
Computer Analyses

The utilization of an automated multitest laboratory as a data acquisition center and of a computer for trie data processing and analysis permits large scale preventive medical research previously not feasible. Normal test values are easily generated for the particular population studied. Long-term epidemiological research on large numbers of persons becomes practical. It is our belief that the advent of automation and computers has introduced a new era of preventive medicine.

Pèlerinages barrésiens

2013 ◽  
pp. 116-123
Author(s):  
Claire Bompaire-Evesque
Keyword(s):  
Large Scale ◽  
The Self ◽  
Joan Of Arc ◽  
The Third ◽  
National Importance ◽  
The Earth ◽  
Third Stage ◽  
The Dead

This article is a inquiry about how Barrès (1862-1923) handles the religious rite of pilgrimage. Barrès stages in his writings three successive forms of pilgrimage, revealing what is sacred to him at different times. The pilgrimage to a museum or to the birthplace of an artist is typical for the egotism and the humanism of the young Barrès, expressed in the Cult of the Self (1888-1891). After his conversion to nationalism, Barrès tries to unite the sons of France and to instill in them a solemn reverence for “the earth and the dead” ; for that purpose he encourages in French Amities (1903) pilgrimages to historical places of national importance (battlefields; birthplace of Joan of Arc), building what Nora later called the Realms of Memory. The third stage of Barrès’ intellectual evolution is exemplified by The Sacred Hill (1913). In this book the writer celebrates the places where “the Spirit blows”, and proves open to a large scale of spiritual forces, reaching back to paganism and forward to integrative syncretism, which aims at unifying “the entire realm of the sacred”.

Large Scale System Defense

2008 ◽  
Author(s):  
Steven M. Bellovin ◽  
Salvatore J. Stolfo ◽  
Angelos D. Keromytis
Keyword(s):  
Large Scale ◽  
Large Scale System
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