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 Serotonergic Axons as Fractional Brownian Motion Paths: Insights into the Self-organization of Regional Densities

2019 ◽  
Author(s):  
Skirmantas Janušonis ◽  
Nils Detering ◽  
Ralf Metzler ◽  
Thomas Vojta
Keyword(s):  
Brownian Motion ◽  
Fractional Brownian Motion ◽  
Adult Brain ◽  
The Self ◽  
Self Organization ◽  
Dense Matrix ◽  
Two Dimensional ◽  
Wide Range ◽  
Motion Paths ◽  
Key Features

ABSTRACTAll vertebrate brains contain a dense matrix of thin fibers that release serotonin (5-hydroxytryptamine), a neurotransmitter that modulates a wide range of neural, glial, and vascular processes. Perturbations in the density of this matrix have been associated with a number of mental disorders, including autism and depression, but its self-organization and plasticity remain poorly understood. We introduce a model based on reflected Fractional Brownian Motion (FBM), a rigorously defined stochastic process, and show that it recapitulates some key features of regional serotonergic fiber densities. Specifically, we use supercomputing simulations to model fibers as FBM-paths in two-dimensional brain-like domains and demonstrate that the resultant steady state distributions approximate the fiber distributions in physical brain sections immunostained for the serotonin transporter (a marker for serotonergic axons in the adult brain). We suggest that this framework can support predictive descriptions and manipulations of the serotonergic matrix and that it can be further extended to incorporate the detailed physical properties of the fibers and their environment.

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.

scholarly journals The Geometric Kernel of Integral Circulant Graphs

10.37236/9764 ◽  
2021 ◽  
Vol 28 (3) ◽  
Author(s):  
J. W. Sander
Keyword(s):  
Adjacency Matrix ◽  
Euclidean Plane ◽  
Rotational Symmetry ◽  
Central Hole ◽  
Geometric Feature ◽  
Circulant Graph ◽  
Circulant Graphs ◽  
Notable Feature ◽  
Arithmetic Properties ◽  
Vertex Set

By a suitable representation in the Euclidean plane, each circulant graph $G$, i.e. a graph with a circulant adjacency matrix ${\mathcal A}(G)$, reveals its rotational symmetry and, as the drawing's most notable feature, a central hole, the so-called \emph{geometric kernel} of $G$. Every integral circulant graph $G$ on $n$ vertices, i.e. satisfying the additional property that all of the eigenvalues of ${\mathcal A}(G)$ are integral, is isomorphic to some graph $\mathrm{ICG}(n,\mathcal{D})$ having vertex set $\mathbb{Z}/n\mathbb{Z}$ and edge set $\{\{a,b\}:\, a,b\in\mathbb{Z}/n\mathbb{Z} ,\, \gcd(a-b,n)\in \mathcal{D}\}$ for a uniquely determined set $\mathcal{D}$ of positive divisors of $n$. A lot of recent research has revolved around the interrelation between graph-theoretical, algebraic and arithmetic properties of such graphs. In this article we examine arithmetic implications imposed on $n$ by a geometric feature, namely the size of the geometric kernel of $\mathrm{ICG}(n,\mathcal{D})$.

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.

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.

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.

Problem behavior in autism spectrum disorders: A paradigmatic self-organized perspective of network structures

2019 ◽  
Vol 42 ◽  
Author(s):  
Lucio Tonello ◽  
Luca Giacobbi ◽  
Alberto Pettenon ◽  
Alessandro Scuotto ◽  
Massimo Cocchi ◽  
...  
Keyword(s):  
Autism Spectrum Disorder ◽  
Problem Behaviors ◽  
Autism Spectrum ◽  
The Self ◽  
Network Structures ◽  
Self Organized ◽  
Critical Equilibrium ◽  
Self Organized Criticality ◽  
Acute Agitation ◽  
Spectrum Disorders

AbstractAutism spectrum disorder (ASD) subjects can present temporary behaviors of acute agitation and aggressiveness, named problem behaviors. They have been shown to be consistent with the self-organized criticality (SOC), a model wherein occasionally occurring “catastrophic events” are necessary in order to maintain a self-organized “critical equilibrium.” The SOC can represent the psychopathology network structures and additionally suggests that they can be considered as self-organized systems.

The Nature of Rapidly Extracted Phycocyanin from the Blue-Green Alga Plectonema Boryanum

1971 ◽  
Vol 29 ◽  
pp. 366-367
Author(s):  
M. Kessel ◽  
R. MacColl
Keyword(s):  
Self Assembly ◽  
Analytical Ultracentrifugation ◽  
Uranyl Acetate ◽  
The Self ◽  
Major Protein ◽  
Subunit Structure ◽  
Blue Green Alga ◽  
Thin Sections ◽  
Blue Green Algae ◽  
Cacodylate Buffer

The major protein of the blue-green algae is the biliprotein, C-phycocyanin (Amax = 620 nm), which is presumed to exist in the cell in the form of distinct aggregates called phycobilisomes. The self-assembly of C-phycocyanin from monomer to hexamer has been extensively studied, but the proposed next step in the assembly of a phycobilisome, the formation of 19s subunits, is completely unknown. We have used electron microscopy and analytical ultracentrifugation in combination with a method for rapid and gentle extraction of phycocyanin to study its subunit structure and assembly.To establish the existence of phycobilisomes, cells of P. boryanum in the log phase of growth, growing at a light intensity of 200 foot candles, were fixed in 2% glutaraldehyde in 0.1M cacodylate buffer, pH 7.0, for 3 hours at 4°C. The cells were post-fixed in 1% OsO4 in the same buffer overnight. Material was stained for 1 hour in uranyl acetate (1%), dehydrated and embedded in araldite and examined in thin sections.

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