scholarly journals Programming Autonomous Assembly Agents: Functionality and Robustness

1990 ◽  
Author(s):  
Lykourgos Petropoulakis ◽  
Chris Malcolm
Keyword(s):  
Autonomous Assembly

scholarly journals Autonomous assembly of synthetic oligonucleotides built from an expanded DNA alphabet. Total synthesis of a gene encoding kanamycin resistance

2014 ◽  
Vol 10 ◽  
pp. 2348-2360 ◽  
Author(s):  
Kristen K Merritt ◽  
Kevin M Bradley ◽  
Daniel Hutter ◽  
Mariko F Matsuura ◽  
Diane J Rowold ◽  
...  
Keyword(s):  
Solid Phase ◽  
Pcr Amplification ◽  
Kanamycin Resistance ◽  
Dna Fragments ◽  
Gene Encoding ◽  
Synthetic Dna ◽  
Information Density ◽  
Letter Alphabet ◽  
New Strategy ◽  
Autonomous Assembly

Background: Many synthetic biologists seek to increase the degree of autonomy in the assembly of long DNA (L-DNA) constructs from short synthetic DNA fragments, which are today quite inexpensive because of automated solid-phase synthesis. However, the low information density of DNA built from just four nucleotide “letters”, the presence of strong (G:C) and weak (A:T) nucleobase pairs, the non-canonical folded structures that compete with Watson–Crick pairing, and other features intrinsic to natural DNA, generally prevent the autonomous assembly of short single-stranded oligonucleotides greater than a dozen or so. Results: We describe a new strategy to autonomously assemble L-DNA constructs from fragments of synthetic single-stranded DNA. This strategy uses an artificially expanded genetic information system (AEGIS) that adds nucleotides to the four (G, A, C, and T) found in standard DNA by shuffling hydrogen-bonding units on the nucleobases, all while retaining the overall Watson–Crick base-pairing geometry. The added information density allows larger numbers of synthetic fragments to self-assemble without off-target hybridization, hairpin formation, and non-canonical folding interactions. The AEGIS pairs are then converted into standard pairs to produce a fully natural L-DNA product. Here, we report the autonomous assembly of a gene encoding kanamycin resistance using this strategy. Synthetic fragments were built from a six-letter alphabet having two AEGIS components, 5-methyl-2’-deoxyisocytidine and 2’-deoxyisoguanosine (respectively S and B), at their overlapping ends. Gaps in the overlapped assembly were then filled in using DNA polymerases, and the nicks were sealed by ligase. The S:B pairs in the ligated construct were then converted to T:A pairs during PCR amplification. When cloned into a plasmid, the product was shown to make Escherichia coli resistant to kanamycin. A parallel study that attempted to assemble similarly sized genes with optimally designed standard nucleotides lacking AEGIS components gave successful assemblies of up to 16 fragments, but generally failed when larger autonomous assemblies were attempted. Conclusion: AEGIS nucleotides, by increasing the information density of DNA, allow larger numbers of DNA fragments to autonomously self-assemble into large DNA constructs. This technology can therefore increase the size of DNA constructs that might be used in synthetic biology.

Artificial Cognition in Autonomous Assembly Planning Systems

2011 ◽  
pp. 168-178 ◽  
Author(s):  
Christian Buescher ◽  
Marcel Mayer ◽  
Daniel Schilberg ◽  
Sabina Jeschke
Keyword(s):  
Assembly Planning ◽  
Planning Systems ◽  
Autonomous Assembly

Assembly of Blocks by Autonomous Assembly Robot with Intelligence (ARI)

CIRP Annals ◽  
1988 ◽  
Vol 37 (1) ◽  
pp. 33-36 ◽  
Author(s):  
Nobuyuki Fujita ◽  
Hiroshi Makino
Keyword(s):  
Autonomous Assembly

scholarly journals Using CubeSat/micro-satellite technology to demonstrate the Autonomous Assembly of a Reconfigurable Space Telescope (AAReST)

2015 ◽  
Vol 114 ◽  
pp. 112-122 ◽  
Author(s):  
Craig Underwood ◽  
Sergio Pellegrino ◽  
Vaios J. Lappas ◽  
Christopher P. Bridges ◽  
John Baker
Keyword(s):  
Space Telescope ◽  
Satellite Technology ◽  
Autonomous Assembly

scholarly journals Autonomous Assembly Method of 3-Arm Robot to Fix the Multipin and Hole Load Plate on a Space Station

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Zeyuan Sun ◽  
Hong Yang ◽  
Que Dong ◽  
Yang Mo ◽  
Hui Li ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Large Scale ◽  
Space Station ◽  
Variable Parameter ◽  
Space Technology ◽  
Autonomous Operation ◽  
Main Work ◽  
Assembly Method ◽  
Autonomous Assembly ◽  
Environmental Lighting

Using space stations for a large number of observation, exploration, and research is a necessary way to fully develop space technology. It is a necessary means of space experiment to install the extravehicular experimental load by using the load plate. However, the extravehicular environment is full of danger, which poses a threat to the health and even safety of astronauts. Using robots to replace astronauts to complete this task can effectively reduce the threat to astronauts. Aiming at the problem that the configurations of existing space robots have difficulty in balancing the contradiction between complexity and dexterity, our previous work proposes a 12-DOF 3-arm robot and preliminarily explores the feasibility of its large-scale ability. This paper focus on the 8-DOF redundant dexterous manipulator composed of 2 of the robot arms. In view of the difficulties in solving the inverse kinematics of the redundant manipulator, the challenges of complex environmental lighting, and difficulties of matching multiple groups of holes and pins in the load plate assembly task, the research on the autonomous assembly of the load plate is carried out. The main work is as follows: (a) A variable D-H parameter inverse kinematics solution method is proposed, which lays a foundation for humanoid dexterous operation planning of the robot. (b) An autonomous operation method based on visual guidance and variable parameter admittance control is proposed. Finally, the safety and robustness of the robot in the autonomous assembly of the load plate with multipins and holes are successfully verified by experiments.

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