Modular Units | ScienceGate

Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical failure of the system. This paper presents a new approach to reconfiguration, inspired by the art of origami, that eliminates connectivity changes during transformation. Our method consists of an energy-optimal reconfiguration planner that generates an initial 2D assembly pattern and an actuation sequence of the modular units, both resulting in minimum energy consumption. The algorithmic framework includes two approaches, an automatic modeling algorithm as well as a heuristic algorithm. We further demonstrate the effectiveness of our method by applying the algorithms to Mori, a modular origami robot, in simulation. Our results show that the heuristic algorithm yields reconfiguration schemes with high quality, compared with the automatic modeling algorithm, simultaneously saving a considerable amount of computational time and effort.

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PROCEDURES AND ALGORITHMS FOR CONTINUOUS INTEGRATION IN AN AGILE SPECIFICATION ENVIRONMENT

International Journal of Software Engineering and Knowledge Engineering ◽

10.1142/s0218194009004106 ◽

2009 ◽

Vol 19 (01) ◽

pp. 47-78

Author(s):

MARTÍN LÓPEZ-NORES ◽

JOSÉ J. PAZOS-ARIAS ◽

JORGE GARCÍA-DUQUE ◽

YOLANDA BLANCO-FERNÁNDEZ ◽

REBECA P. DÍAZ-REDONDO ◽

...

Keyword(s):

Formal Specification ◽

Source Code ◽

Agile Development ◽

Continuous Integration ◽

Whole Process ◽

Modular Units ◽

Main Ideas

One of the main ideas of agile development is to perform continuous integration, in order to detect and resolve conflicts among several modular units of a system as soon as possible. Whereas this feature is well catered for at the level of programming source code, the support available in formal specification environments is still rather unsatisfactory: it is possible to analyze the composition of several modular units automatically, but no assistance is given to help modify them in case of problems. Instead, the stakeholders who build the specifications are forced to attempt manual changes until reaching the desired functionality, in a process that is far from being intuitive. In response to that, this paper presents procedures and algorithms that automate the whole process of doing integration analyses and generating revisions to solve the diagnosed problems. These mechanisms serve to complete an agile specification environment presented in a previous paper, which was designed around the principle of facilitating the creative efforts of the stakeholders.

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PARAMETRIZING ELLIPTIC CURVES BY MODULAR UNITS

Journal of the Australian Mathematical Society ◽

10.1017/s1446788715000233 ◽

2015 ◽

Vol 100 (1) ◽

pp. 33-41 ◽

Cited By ~ 2

Author(s):

FRANÇOIS BRUNAULT

Keyword(s):

Elliptic Curve ◽

Elliptic Curves ◽

Recent Work ◽

Short Note ◽

Torsion Subgroup ◽

Modular Functions ◽

Open Questions ◽

Modular Units

It is well known that every elliptic curve over the rationals admits a parametrization by means of modular functions. In this short note, we show that only finitely many elliptic curves over $\mathbf{Q}$ can be parametrized by modular units. This answers a question raised by W. Zudilin in a recent work on Mahler measures. Further, we give the list of all elliptic curves $E$ of conductor up to 1000 parametrized by modular units supported in the rational torsion subgroup of $E$. Finally, we raise several open questions.

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Emergence of Radial and Modular Units in Neocortex

The Neocortex ◽

10.1007/978-1-4899-0652-6_14 ◽

1991 ◽

pp. 159-171

Author(s):

Mathew E. Diamond ◽

Ford F. Ebner

Keyword(s):

Modular Units

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Design and Analysis of Reduced Degree of Freedom Modular Snake Robot

Volume 5B: 41st Mechanisms and Robotics Conference ◽

10.1115/detc2017-67377 ◽

2017 ◽

Cited By ~ 1

Author(s):

Peter Racioppo ◽

Wael Saab ◽

Pinhas Ben-Tzvi

Keyword(s):

Three Dimensional ◽

Cross Sectional ◽

Design Synthesis ◽

Snake Robot ◽

Routing Schemes ◽

Revolute Joints ◽

Modular Units ◽

A Chain ◽

The Moment ◽

And Control

This paper presents the design and analysis of an underactuated, cable driven mechanism for use in a modular robotic snake. The proposed mechanism is composed of a chain of rigid links that rotate on parallel revolute joints and are actuated by antagonistic cable pairs and a multi-radius pulley. This design aims to minimize the cross sectional area of cable actuated robotic snakes and eliminate undesirable nonlinearities in cable displacements. A distinctive feature of this underactuated mechanism is that it allows planar serpentine locomotion to be accomplished with only two modular units, improving the snake’s ability to conform to desired curvature profiles and minimizing the control complexity involved in snake locomotion. First, the detailed mechanism and cable routing scheme are presented, after which the kinematics and dynamics of the system are derived and a comparative analysis of cable routing schemes is performed, to assist with design synthesis and control. The moment of inertia of the mechanism is modeled, for future use in the implementation of three-dimensional modes of snake motion. Finally, a planar locomotion strategy for snake robots is devised, demonstrated in simulation, and compared with previous studies.

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