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.

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.

RoGenSiD: A Rotary Plate Genderless Single-Sided Docking Mechanism for Modular Self-Reconfigurable Robots

2013 ◽  
Author(s):  
S. G. M. Hossain ◽  
Carl A. Nelson ◽  
Prithviraj Dasgupta
Keyword(s):  
Design Methodology ◽  
Self Healing ◽  
Robot System ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Rotary Plate ◽  
Reconfigurable Robot ◽  
Multiple Robot ◽  
Sufficient Strength ◽  
Chain Type

Docking mechanisms are an integral part of modular self-reconfigurable robot (MSR) systems, allowing multiple robot modules to attach to each other. An MSR should be equipped with robust and efficient docking interfaces to ensure enhanced autonomy and self-reconfiguration ability. Genderless docking is a necessary criterion to maintain homogeneity of the robot modules. This also enables self-healing of a modular robot system in the case of a failed module. The mechanism needs to be compact and lightweight and at the same time have sufficient strength to transfer loads from other connected modules. RoGenSiD is a rotary-plate genderless single sided docking mechanism that was designed to perform robustly and efficiently considering its application in unstructured terrains. The design methodology followed design for manufacture (DFM) and design for assembly (DFA) guidelines as well as considerations for minimal space and weight. As a result, this docking mechanism is applicable for multi-faceted docking in lattice-type, chain-type, or hybrid MSR systems. Bench-top testing validated the system performance.

Design of a Four-DOF Modular Self-Reconfigurable Robot With Novel Gaits

2011 ◽  
Author(s):  
Khoa D. Chu ◽  
S. G. M. Hossain ◽  
Carl A. Nelson
Keyword(s):  
Degrees Of Freedom ◽  
Radio Communication ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Reconfigurable Robot ◽  
Kinematic Transformations ◽  
A Chain ◽  
The Individual ◽  
Forward Kinematic ◽  
Chain Type

Throughout the modern age, exploration of the unknown has been an attractive pursuit to seekers of knowledge. One of the primary frontiers for exploration today involves planetary and lunar environments. Exploration in these environments can involve many different types of tasks in a broad range of environmental conditions. Modular Self-Reconfigurable Robots (MSRs) would be beneficial for completing these tasks in unstructured environments, while having the ability to complete multiple assigned functions. Since payload is a critical concern, a lighter and more dexterous MSR is preferable. This research focuses on the design of a robot that has these qualities. A chain-type modular robot with four degrees of freedom per module has been designed with the goal of reducing weight and size while increasing range of motion. Forward kinematic transformations were derived to analyze the available workspace provided by the MSR. Radio communication and proximity sensing ability were provided in the individual MSR modules to locate each other. The modules are designed to maneuver independently using their individual navigation capability as well as connect to each other by means of a docking mechanism. Locomotion gaits for such multi-module robot chains are also described.

Persuasion: Fellow Creatures

2017 ◽  
Author(s):  
Pam Morris
Keyword(s):  
The Self ◽  
The Novel ◽  
Class Relations ◽  
Narrative Perspective ◽  
Class Hierarchies ◽  
A Chain ◽  
Porous Boundaries

Persuasion overtly foregrounds the self as embodied: physical accidents and sickness are recurrent. Sir Walter Eliot’s belief in the time-defying bodily grace of nobility is subject to Austen’s harshest irony. The transition from vertically ordered place to horizontal space in Persuasion is more extreme than in any other of the completed novels. Anne Elliot’s movement from social exclusiveness to socially inclusive possibility allows Austen to challenge gender and class hierarchies traditionally held to be inborn. Her writerly experimentation expands the possibilities of narrative perspective to encompass the porous boundaries of the physical, the emotional and the rational that constitute any moment of consciousness. Her focalisation techniques in the text look directly towards Woolf’s stylist innovations. A chain of references to guns and shooting gathers into the novel contentious contemporary discursive networks on class relations, notions of masculinity and the nature of creaturely life.

Identifying Ethics: Dysfunction as Representation of Societal Relationship in Ian McEwans’s Sweet Tooth

Think India ◽  
2019 ◽  
Vol 22 (2) ◽  
pp. 1-6
Author(s):  
A. Yacob ◽  
S. Veeramani
Keyword(s):  
Code Of Conduct ◽  
The Self ◽  
The Other ◽  
Ethical Code ◽  
The Novel ◽  
Field Of Study ◽  
Research Article ◽  
Ian Mcewan

In the novel, Sweet Tooth, McEwan has employed an ethical code of conduct called, Dysfunction of Relationship. The analysis shows that he tries to convey something extraordinary to the readers. If it is not even the reader to understand such a typical thing, He himself represents a new ethical code of conduct. The character of the novel, Serena is almost a person who is tuned to such a distinct one. It is clear that the character of this type is purely representational. Understanding reality based on situation and ethics has been a new field of study in terms of Post- Theory. Intervening to such aspect of Interpretation, this research article establishes a new study in the writings of Ian McEwan. In the novel, Dysfunction is not on the ‘Self’ but it is on the ‘Other’. The author tries to integrate the function of the Character Serena, instead of fragmenting the self. Hence, Fragmentation makes sense only in the dysfunction of relationship.

Le premier moment de l’art dans À la recherche du temps perdu de Marcel Proust – une « leçon d’idéalisme » ?

2020 ◽  
pp. 25-40
Author(s):  
Larisa Botnari
Keyword(s):  
Essential Role ◽  
Marcel Proust ◽  
The Self ◽  
Philosophy Of Art ◽  
The Novel ◽  
Philosophical Interpretation ◽  
German Philosopher ◽  
Lost Time ◽  
Aesthetic Thinking

Although very famous, some key moments of the novel In Search of Lost Time, such as those of the madeleine or the uneven pavement, often remain enigmatic for the reader. Our article attempts to formulate a possible philosophical interpretation of the narrator's experiences during these scenes, through a confrontation of the Proustian text with the ideas found in the System of Transcendental Idealism (1800) of the German philosopher F. W. J. Schelling. We thus try to highlight the essential role of the self in Marcel Proust's aesthetic thinking, by showing that the mysterious happiness felt by the narrator, and from which the project of creating a work of art is ultimately born, is similar to the experiences of pure self-consciousness evoked and analyzed by Schellingian philosophy of art.

PRELIMINARY STUDY ON NOVEL BEAM-TO-COLUMN CONNECTION BASED ON SMA PLATE

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Michael CH Yam ◽  
Ke Ke ◽  
Ping Zhang ◽  
Qingyang Zhao
Keyword(s):  
Friction Coefficient ◽  
Energy Dissipation ◽  
Numerical Study ◽  
Numerical Models ◽  
Numerical Technique ◽  
The Self ◽  
Hysteretic Behavior ◽  
The Novel ◽  
Energy Dissipation Capacity ◽  
Preliminary Study

A novel beam-to-column connection equipped with shape memory alloy (SMA) plates has been proposed to realize resilient performance under low-to-medium seismic actions. In this conference paper, the detailed 3D numerical technique calibrated by the previous paper is adopted to examine the hysteretic behavior of the novel connection. A parametric study covering a reasonable range of parameters including the thickness of the SMA plate, friction coefficient between SMA plate and beam flange and pre-load of the bolt was carried out and the influence of the parameters was characterized. In addition, the effect of the SMA Belleville washer on the connection performance was also studied. The results of the numerical study showed that the initial connection stiffness and the energy-dissipation capacity of the novel connection can be enhanced with the increase of the thickness of the SMA plate. In addition, the initial connection stiffness and energy-dissipation behavior of the novel connection can be improved by increasing the friction coefficient or pre-load of bolts, whereas the increased friction level could compromise the self-centering behavior of the connection. The hysteretic curves of the numerical models of the connection also implied that the SMA washers may contribute to optimizing the connection behavior by increasing the connection stiffness and energy-dissipation capacity without sacrificing the self-centering behavior.

Clothing and the oceanic identity in Melville’s Redburn

2021 ◽  
Vol 8 (1-2) ◽  
pp. 29-43
Author(s):  
Daniel S. Traber
Keyword(s):  
Outer Layer ◽  
Social Protest ◽  
The Self ◽  
The Novel ◽  
Visible Sign ◽  
The Way

Herman Melville’s Redburn approaches the topic of corporeal coding via the outer layer of clothing. Throughout the novel, the young protagonist consciously uses clothing as a means of self-representation and expression, deploying fashion to create and position himself in different contexts; for example, taking pride in his ragged clothes amongst well-dressed ship passengers becomes a form of social protest. But Redburn is also used to comic effect because his choices are often based on incorrect assumptions of propriety, such as his notion of the way a sailor is supposed to dress not matching the onboard reality. The rules of appearance that construct and restrain an identity are paradoxically bolstered at the same time they are broken, which allows Melville the opportunity to explore rebellion alongside the performative aspect of the self as a body constituting both a visible sign and a living vehicle for the mores, beliefs and ideologies that shape a society.

scholarly journals Cylindrical Micelles by the Self-Assembly of Crystalline-b-Coil Polyphosphazene-b-P2VP Block Copolymers. Stabilization of Gold Nanoparticles

Molecules ◽  
2019 ◽  
Vol 24 (9) ◽  
pp. 1772 ◽  
Author(s):  
Maria de los Angeles Cortes ◽  
Raquel de la Campa ◽  
Maria Luisa Valenzuela ◽  
Carlos Díaz ◽  
Gabino A. Carriedo ◽  
...  
Keyword(s):  
Gold Nanoparticles ◽  
Block Copolymers ◽  
Self Assembly ◽  
Cationic Polymerization ◽  
The Self ◽  
The Novel ◽  
Selective Solvent ◽  
The Core ◽  
Cylindrical Micelles ◽  
Main Factor

During the last number of years a variety of crystallization-driven self-assembly (CDSA) processes based on semicrystalline block copolymers have been developed to prepare a number of different nanomorphologies in solution (micelles). We herein present a convenient synthetic methodology combining: (i) The anionic polymerization of 2-vinylpyridine initiated by organolithium functionalized phosphane initiators; (ii) the cationic polymerization of iminophosphoranes initiated by –PR2Cl2; and (iii) a macromolecular nucleophilic substitution step, to prepare the novel block copolymers poly(bistrifluoroethoxy phosphazene)-b-poly(2-vinylpyridine) (PTFEP-b-P2VP), having semicrystalline PTFEP core forming blocks. The self-assembly of these materials in mixtures of THF (tetrahydrofuran) and 2-propanol (selective solvent to P2VP), lead to a variety of cylindrical micelles of different lengths depending on the amount of 2-propanol added. We demonstrated that the crystallization of the PTFEP at the core of the micelles is the main factor controlling the self-assembly processes. The presence of pyridinyl moieties at the corona of the micelles was exploited to stabilize gold nanoparticles (AuNPs).

scholarly journals O romance de Ricardo Lísias: janelas escancaradas para o sujeito hipermoderno

2016 ◽  
Vol 51 (4) ◽  
pp. 491
Author(s):  
Ana Cláudia Munari ◽  
Taíssi Alessandra Cardoso da Silva
Keyword(s):  
Media Studies ◽  
Contemporary Literature ◽  
The Self ◽  
Police Chief ◽  
The Novel ◽  
The Media ◽  
The Subject ◽  
Media Narratives ◽  
Self Reference ◽  
Critical Production

A partir da análise dos romances de Ricardo Lísias e da sua produção autocrítica, este trabalho busca entender algumas relações entre a literatura de autoficção e a publicização do sujeito autor imerso no universo midiático. Partindo de uma revisão bibliográfica que conceitua os objetos aqui circunscritos e de uma apreciação anterior sobre a produção literária de jovens escritores brasileiros selecionados pela revista Granta em 2012, estreitamos nossa focalização no movimento do romancista em direção à escrita de si e à autorreferência. Nesse sentido, analisamos e contextualizamos a modalidade de escritura denominada autoficção, especialmente no que tange às aproximações entre as instâncias do narrador e do autor e entre biografemas e ficção (FIGUEIREDO, 2013; KLINGER, 2012), e evocamos estudos da Sociologia e da Comunicação de modo a caracterizar a sociedade da qual emerge o corpus deste estudo (LIPOVESTKY, 2004; SANTAELLA, 2012). A partir desse contexto, investigamos as obras literárias – O céu dos suicidas (2012), Divórcio (2013) e Delegado Tobias (2014) – e as narrativas midiáticas de Ricardo Lísias e identificamos nelas estratégias da publicidade.********************************************************************The novel by Ricardo Lísias: wide open windows to the subject hypermodernAbstract: Through the analysis of the novels of Ricardo Lísias and its self-critical production, this work intends to understand some relationships between the self-fiction literature and the popularization of the subject author immersed in the media universe. Starting from a literature review that conceptualizes the objects herein bounded and an earlier assessment of the literary production of young Brazilian writers selected by Granta magazine in 2012, we strengthened  ur focus on the novelist's movement toward the writing itself  nd self-reference. Pursuing this aim, we analyzed and contextualized the form of writing named autofiction, especially with regard to the similarities between instances of the narrator and the author and between biographema and fiction (FIGUEIREDO, 2013; KLINGER, 2012). We also evoked Sociology and Media Studies to characterize the society of which emerges the corpus of this study (LIPOVESTKY, 2004; SANTAELLA, 2012). From these premises, we investigated the literary works – Céu dos suicidas (Heaven suicide, 2012), Divórcio (Divorce, 2013) and Delegado Tobias (Tobias, the police chief, 2014) – and the media narratives of Ricardo Lísias and finally we identified his advertising strategies.Keywords: Self-ficction; Contemporary literature; Hypermodernity; Ricardo Lísias

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