scholarly journals Accomplishing high-level tasks with modular robots

2018 ◽  
Vol 42 (7) ◽  
pp. 1337-1354 ◽  
Author(s):  
Gangyuan Jing ◽  
Tarik Tosun ◽  
Mark Yim ◽  
Hadas Kress-Gazit
Keyword(s):  
Modular Robots ◽  
High Level

scholarly journals An End-to-End System for Accomplishing Tasks with Modular Robots: Perspectives for the AI community

2017 ◽  
Author(s):  
Gangyuan Jing ◽  
Tarik Tosun ◽  
Mark Yim ◽  
Hadas Kress-Gazit
Keyword(s):  
Modular Robots ◽  
Simulation Tool ◽  
Modular Robot ◽  
Broad Audience ◽  
Robot Systems ◽  
End To End ◽  
And Behaviors ◽  
High Level

The advantage of modular robot systems lies in their flexibility, but this advantage can only be realized if there exists some reliable, effective way of generating configurations (shapes) and behaviors (controlling programs) appropriate for a given task. In this paper, we present an end-to-end system for addressing tasks with modular robots, and demonstrate that it is capable of accomplishing challenging multi-part tasks in hardware experiments. The system consists of four tightly integrated components: (1) A high-level mission planner, (2) A design library spanning a wide set of functionality, (3) A design and simulation tool for populating the library with new configurations and behaviors, and (4) Modular robot hardware. This paper condenses the material originally presented in Jing et al. 2016 into a shorter format suitable for a broad audience.

OPTIMIZATION OF MOTION PRIMITIVES FOR HIGH-LEVEL MOTION PLANNING OF MODULAR ROBOTS

2014 ◽  
Author(s):  
VOJTĚCH VONÁSEK ◽  
ONDŘEJ PENC ◽  
KAREL KOŠNAR ◽  
LIBOR PŘEUČIL
Keyword(s):  
Motion Planning ◽  
Modular Robots ◽  
Motion Primitives ◽  
High Level

Design of a Reconfigurable Modular Chain for Folding 3D Lattice Structures

2016 ◽  
Author(s):  
Zhe Xu ◽  
Connor McCann ◽  
Aaron M. Dollar
Keyword(s):  
Structural Design ◽  
Space Structures ◽  
Modular Robots ◽  
Lattice Structures ◽  
Engineering Applications ◽  
Rhombic Dodecahedron ◽  
Wide Range ◽  
Different Shapes ◽  
High Level ◽  
Functional Components

A wide range of engineering applications, ranging from civil to space structures, could benefit from the ability to construct material-efficient lattices that are easily reconfigurable. The challenge preventing modular robots from being applied at large scales is mainly the high level of complexity involved in duplicating a large number of highly integrated module units. We believe that reconfigurability can be more effectively achieved at larger scales by separating the structural design from the rest of the functional components. To this end, we propose a modular chain-like structure of links and connector nodes that can be used to fold a wide range of 2D or 3D structural lattices that can be easily disassembled and reconfigured when desired. The node geometry consists of a diamond-like shape that is one twelfth of a rhombic dodecahedron, with magnets embedded on the faces to allow a forceful and self-aligning connection with neighboring links. After describing the concept and design, we demonstrate a prototype consisting of 350 links and experimentally show that objects with different shapes can be successfully approximated by our proposed chain design.

scholarly journals An integrated system for perception-driven autonomy with modular robots

2018 ◽  
Vol 3 (23) ◽  
pp. eaat4983 ◽  
Author(s):  
Jonathan Daudelin ◽  
Gangyuan Jing ◽  
Tarik Tosun ◽  
Mark Yim ◽  
Hadas Kress-Gazit ◽  
...  
Keyword(s):  
A Priori ◽  
Integrated System ◽  
Modular Robots ◽  
Modular Robot ◽  
Robot System ◽  
Unknown Environment ◽  
Unknown Environments ◽  
Task Specification ◽  
Mechanical Elements ◽  
High Level

The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot system capable of autonomously completing high-level tasks by reactively reconfiguring to meet the needs of a perceived, a priori unknown environment. The system integrates perception, high-level planning, and modular hardware and is validated in three hardware demonstrations. Given a high-level task specification, a modular robot autonomously explores an unknown environment, decides when and how to reconfigure, and manipulates objects to complete its task. The system architecture balances distributed mechanical elements with centralized perception, planning, and control. By providing an example of how a modular robot system can be designed to leverage reactive reconfigurability in unknown environments, we have begun to lay the groundwork for modular self-reconfigurable robots to address tasks in the real world.

High-level motion planning for CPG-driven modular robots

2015 ◽  
Vol 68 ◽  
pp. 116-128 ◽  
Author(s):  
Vojtěch Vonásek ◽  
Martin Saska ◽  
Lutz Winkler ◽  
Libor Přeučil
Keyword(s):  
Motion Planning ◽  
Modular Robots ◽  
High Level

Reconfigurable Modular Chain: A Reversible Material for Folding Three-Dimensional Lattice Structures

2017 ◽  
Vol 9 (2) ◽  
Author(s):  
Zhe Xu ◽  
Connor McCann ◽  
Aaron M. Dollar
Keyword(s):  
Structural Design ◽  
Three Dimensional ◽  
Space Structures ◽  
Modular Robots ◽  
Lattice Structures ◽  
Rhombic Dodecahedron ◽  
Wide Range ◽  
Different Shapes ◽  
High Level ◽  
Functional Components

A wide range of engineering applications, ranging from civil to space structures, could benefit from the ability to construct material-efficient lattices that are easily reconfigurable. The challenge preventing modular robots from being applied at large scales is mainly the high level of complexity involved in duplicating a large number of highly integrated module units. We believe that reconfigurability can be more effectively achieved at larger scales by separating the structural design from the rest of the functional components. To this end, we propose a modular chainlike structure of links and connector nodes that can be used to fold a wide range of two-dimensional (2D) or three-dimensional (3D) structural lattices that can be easily disassembled and reconfigured when desired. The node geometry consists of a diamondlike shape that is one-twelfth of a rhombic dodecahedron, with magnets embedded on the faces to allow a forceful and self-aligning connection with neighboring links. After describing the concept and design, we demonstrate a prototype consisting of 350 links and experimentally show that objects with different shapes can be successfully approximated by our proposed chain design.

Transcription factor/DNA interactions visualized by electron spectroscopic imaging

1992 ◽  
Vol 50 (1) ◽  
pp. 450-451
Author(s):  
David P. Bazett-Jones ◽  
Mark L. Brown
Keyword(s):  
Transcription Factor ◽  
Dna Sequences ◽  
Transcription Initiation ◽  
Molecular Mechanisms ◽  
Phosphorus Content ◽  
Spectroscopic Imaging ◽  
Electron Spectroscopic Imaging ◽  
Dna Backbone ◽  
Two Parameters ◽  
High Level

A multisubunit RNA polymerase enzyme is ultimately responsible for transcription initiation and elongation of RNA, but recognition of the proper start site by the enzyme is regulated by general, temporal and gene-specific trans-factors interacting at promoter and enhancer DNA sequences. To understand the molecular mechanisms which precisely regulate the transcription initiation event, it is crucial to elucidate the structure of the transcription factor/DNA complexes involved. Electron spectroscopic imaging (ESI) provides the opportunity to visualize individual DNA molecules. Enhancement of DNA contrast with ESI is accomplished by imaging with electrons that have interacted with inner shell electrons of phosphorus in the DNA backbone. Phosphorus detection at this intermediately high level of resolution (≈lnm) permits selective imaging of the DNA, to determine whether the protein factors compact, bend or wrap the DNA. Simultaneously, mass analysis and phosphorus content can be measured quantitatively, using adjacent DNA or tobacco mosaic virus (TMV) as mass and phosphorus standards. These two parameters provide stoichiometric information relating the ratios of protein:DNA content.

Advances in Stem Instrumentation for Biology

1990 ◽  
Vol 48 (1) ◽  
pp. 362-363
Author(s):  
J. S. Wall
Keyword(s):  
Scanning Transmission Electron Microscope ◽  
Carbon Films ◽  
Specimen Preparation ◽  
Material Deposition ◽  
Active User ◽  
Percent Improvement ◽  
Scanning Transmission ◽  
The Moment ◽  
Film Substrate ◽  
High Level

The forte of the Scanning transmission Electron Microscope (STEM) is high resolution imaging with high contrast on thin specimens, as demonstrated by visualization of single heavy atoms. of equal importance for biology is the efficient utilization of all available signals, permitting low dose imaging of unstained single molecules such as DNA.Our work at Brookhaven has concentrated on: 1) design and construction of instruments optimized for a narrow range of biological applications and 2) use of such instruments in a very active user/collaborator program. Therefore our program is highly interactive with a strong emphasis on producing results which are interpretable with a high level of confidence.The major challenge we face at the moment is specimen preparation. The resolution of the STEM is better than 2.5 A, but measurements of resolution vs. dose level off at a resolution of 20 A at a dose of 10 el/A2 on a well-behaved biological specimen such as TMV (tobacco mosaic virus). To track down this problem we are examining all aspects of specimen preparation: purification of biological material, deposition on the thin film substrate, washing, fast freezing and freeze drying. As we attempt to improve our equipment/technique, we use image analysis of TMV internal controls included in all STEM samples as a monitor sensitive enough to detect even a few percent improvement. For delicate specimens, carbon films can be very harsh-leading to disruption of the sample. Therefore we are developing conducting polymer films as alternative substrates, as described elsewhere in these Proceedings. For specimen preparation studies, we have identified (from our user/collaborator program ) a variety of “canary” specimens, each uniquely sensitive to one particular aspect of sample preparation, so we can attempt to separate the variables involved.

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