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.

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.

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.

Modular Robot Connection Design

1992 ◽  
Author(s):  
Robert O. Ambrose ◽  
Delbert Tesar
Keyword(s):  
Product Line ◽  
Modular Robots ◽  
Modular Robotics ◽  
Modular Robot ◽  
Manufacturing Costs ◽  
Mechanical Connection ◽  
Automation Equipment ◽  
Connection Design

Abstract The ability to reconfigure automation equipment will reduce the manufacturing costs of obsolesence, training and maintenance while allowing for a faster response to changes in the product line. A modular philosophy will give the user these advantages, but only if based on a common connection standard. A mechanical connection was selected for the UT Modular Robotics Testbed and used in the designs of four robot joint modules and nine robot link modules. The standard was also used for assecories, such as the testand, loading fixtures and endeffectors. Three years of experiments with this connection standard are reviewed, and used as the basis for new connection designs. Experiments using multiple modules assembled as dextrous robots, as well as experiments focusing on the connection itself, will be described. Goals for future connection standards include designs with upward compatibility, combinations of both mechanical and electrical fittings, and robot triendly constraints that allow for automated or remote assembly of modular robots.

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 MASCULINITY AS AN IDENTITY AND AS A CLUSTER OF TRAITS

2021 ◽  
Vol 5 (1) ◽  
pp. 147-158
Author(s):  
Renata Zieminska
Keyword(s):  
Gender Identity ◽  
Social Norms ◽  
Male Gender ◽  
The Self ◽  
Simple Idea ◽  
Person Perspective ◽  
Binary Model ◽  
Third Person ◽  
First Person Perspective ◽  
Third Person Perspective

The paper presents the concept of masculinity within the non-binary and multilayered model of gender/sex traits. Within that model, masculinity is not a simple idea, but rather is fragmented into many traits in diverse clusters. The experience of transgender men and men with intersex traits suggests that self-determined male gender identity is a mega trait that is sufficient for being a man. However, masculinity is not only psychological, as the content of the psychological feeling of being a man refers to social norms about how men should be and behave. And male coded traits are described as traits that frequently occur within the group of people identifying as men. Therefore, I claim that there are two interdependent ideas in the concept of masculinity: the self-determined male gender identity (first-person perspective) and a cluster of traits coded as male (third-person perspective). Within non-binary model the interplay between the two interdependent ideas allows to include borderline masculinities.

Simulation of a New Self-Structured Fuzzy Controller Applied to a Temperature Control Process

2013 ◽  
Vol 4 (3) ◽  
pp. 47-57
Author(s):  
Rafik Lasri ◽  
Ignacio Rojas ◽  
Héctor Pomares ◽  
M. Nemiche
Keyword(s):  
Real Time ◽  
Temperature Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Control Process ◽  
The Self ◽  
Fuzzy Controllers ◽  
Current State ◽  
Internal Parameters

A new methodology of Fuzzy Controllers that can change the internal parameters of the controller in real time is presented in this paper. The Self-structured algorithm is able to adapt their rules consequents and re-organize their MFs in real time according to the current state of the controlled plant. Via a simulation of a temperature control process, the authors have proved and demonstrated the effectiveness and usefulness of their control algorithm compared to a conventional FLC under the same condition and using the same Simulated plant.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

Sign in / Sign up

Export Citation Format

Share Document