Polymorphic Robotics at ISI

Information about Polymorphic Robotics at ISI

Published on January 7, 2008

Author: Lassie

Source: authorstream.com

Content

ISI Polymorphic Robotics Lab http://www.isi.edu/robots:  ISI Polymorphic Robotics Lab http://www.isi.edu/robots Mission To build Self-Reconfigurable Systems such as metamorphic robots, agents, and smart structures that go where biological systems have not gone before!!! Projects and Awards YODA (1996) The 2nd place in AAAI competition Dreamteam (1997) RoboCup World Champion Intelligent Motion Surface in MEMS (1996-98) CONRO Self-Reconfigurable Robots (1998-) People, Robots and Facilities Experienced and talented research team 3 Denny robots, 5 SoccerBots, 18 CONRO modls Large labs and workshops, many instrumentations Self-Reconfigurable Robots:  Self-Reconfigurable Robots CONRO Self-Reconfigurable Modules:  CONRO Self-Reconfigurable Modules A network of physically coupled agents Self-assembling into various configurations! Relentless CONRO Robots:  Relentless CONRO Robots “Live Surgery” Reconfiguration:  “Live Surgery” Reconfiguration Beyond-Bio Self-Reconfiguration:  Beyond-Bio Self-Reconfiguration Challenges in Control :  Challenges in Control Distributed Autonomous modules must be coordinated by local configuration information (no unique IDs or brain modules) Dynamic Network and configuration topology changes Asynchronous Communication with no real-time clocks, global or local Scalable The size and shape are not determined dynamically Fault-tolerant Miniature and self-sufficient Digital Hormones:  Digital Hormones Content-based messages No addresses nor identifiers Have finite life time Trigger different actions at different sites Floating in a global medium Propagated, not broadcast Internal circulation, not external deposit (pheromones) Preserve local autonomy for individual sites Hormones can modify module behaviors (RNA) The Uses of Digital Hormones:  The Uses of Digital Hormones Communication in dynamic network Cooperation among distributed autonomous modules Locomotion Reconfiguration Synchronization Global effects by weak local actions Conflict resolution (multi hormone management) Navigation Shape adaptation and self-repairing Hormones for Caterpillar Move:  A simple one-pass hormone from head to tail Controls and synchronizes all motor actions Independent from the length of the snake Hormones for Caterpillar Move Reconfigure Insect  Snake:  Reconfigure Insect  Snake Autonomous Docking:  Autonomous Docking A great challenge for self-reconfiguration Require precise sensor guidance Demand precision movement Complex dynamics in micro-gravity environment Self-Assembly in Space:  Self-Assembly in Space Cost Effective For a 10km long SSPS >2,500 hours of astronaut space walk 4/11/2002, girder assembly (2*6 hours) >$5 billion for assembly cost Feasible Strategy Most jobs by self-assembly Critical jobs done by astronauts A Vision for Space Self-Assembly:  A Vision for Space Self-Assembly Three Enabling Technologies:  Three Enabling Technologies Intelligent and Reconfigurable Component (IRC) Can free-float and dock to form structures Distributed Process Controller (DPC) Can plan self-assembly in a distributed manner and recover from unexpected situations Free-flying Fiber Match-Maker Robots (FIMER) Can search, navigate, bring-together and dock IRCs Intelligent Reconfigurable Components:  Intelligent Reconfigurable Components An IRC has (1) a controller, (2) a set of named connectors, (3) wireless communication, (4) self-locating system, and (5) short-range sensors for docking guidance Reconfigurable Connectors:  Reconfigurable Connectors The Global Process Control:  The Global Process Control How do modules know when and where to connect? Advantages for distributed control Coordination of autonomous modules without fixed brain Support dynamic configuration topology Asynchronous: communication without global clocks Scalable: support growing structures Fault-tolerance Self-repairing capability Self-replanning for unexpected events Proposed Process Control:  Proposed Process Control Assumptions Components/connectors have unique identifiers Assembly sequence embedded in components Procedures Activate self when receiving a call for its ID or type Call FIMER robots to assist docking (when activated) Activate the next connectors to be docked FIMER Robots:  FIMER Robots Two-headed robot with fiber/rope Free-flying head (6DOF) Navigate and dock to the connectors Rail-in fiber to bring parts together Simple arms to assist dock Onboard power or refuel capability FIMER Dynamics and Control:  FIMER Dynamics and Control Find relevant connectors based on their location information Railing in the fiber only when there is no tension Research Issues: * Dynamics of tethered objects in zero-gravity environment * Speed control * Collision control * Prevent tangling Proposed Experiments:  Proposed Experiments Build modules for autonomous planning, navigation, & docking “2D flight-test” on an air hockey table Extensible to future 3D flight-test in micro-gravity environment Flying Module Prototype:  Flying Module Prototype Slide24:  ISI Polymorphic Robotics Laboratory http://www.isi.edu/robots A Model of Flying Puck:  A Model of Flying Puck M(n)n’ + C(n)n + Dn + g(h) = t M(n) is the moment of inertia matrix, C(n) is the centrifugal and Coriolis forces, D is the damping matrix, and n =[u v r]’ is the velocity vector and h=[x y y]’ is the configuration vector g(h) is the vector of gravitational and buoyant forces and t = [Tu Tv Tr] is the control forces and torques The Control of Flying Puck:  The Control of Flying Puck Using vision to sense the location/speed Analog control of speed via wireless comm. Close-loop control The desired x and y position are the target position The desired orientation is equal to the “target angle” so that the vehicle is always facing the target.  Tu = m(Tx cos y + Ty sin y) Tv = 0 Tr = Iz Ty Conclusions and Future Work:  Conclusions and Future Work Self-reconfigurable robots provide a very rich source for new research problems Hormone-inspired approach is very promising direction for distributed control Self-assembly in space is a good application of self-reconfiguration Future directions: Environmental driven self-reconfiguration New generation of enhanced and robust modules Hormone-based programming

Related presentations


Other presentations created by Lassie

Presentation Accenture
12. 03. 2008
0 views

Presentation Accenture

Taxation
19. 10. 2007
0 views

Taxation

population
21. 10. 2007
0 views

population

19 sethusamudram ppt
30. 09. 2007
0 views

19 sethusamudram ppt

sample seminar
02. 05. 2008
0 views

sample seminar

Oral Radiology
02. 05. 2008
0 views

Oral Radiology

Rainfall
07. 04. 2008
0 views

Rainfall

Andrew
19. 02. 2008
0 views

Andrew

campaigns and elections
07. 01. 2008
0 views

campaigns and elections

Emergency Planning
03. 10. 2007
0 views

Emergency Planning

stjerna 060307
09. 10. 2007
0 views

stjerna 060307

ElectiveWkshpGoalSet
10. 10. 2007
0 views

ElectiveWkshpGoalSet

p5animals
12. 10. 2007
0 views

p5animals

RT
12. 10. 2007
0 views

RT

pinarsut
13. 10. 2007
0 views

pinarsut

Lecture19 Ch19 111405
15. 10. 2007
0 views

Lecture19 Ch19 111405

Poster APS summary
16. 10. 2007
0 views

Poster APS summary

david ingleby
17. 10. 2007
0 views

david ingleby

Ole Lund
23. 10. 2007
0 views

Ole Lund

acmmm02
24. 10. 2007
0 views

acmmm02

rebecca
11. 12. 2007
0 views

rebecca

HHH Scandale
17. 10. 2007
0 views

HHH Scandale

1 WMO
19. 10. 2007
0 views

1 WMO

Great Britain
02. 11. 2007
0 views

Great Britain

ENYA
02. 11. 2007
0 views

ENYA

5AlpaShah
06. 11. 2007
0 views

5AlpaShah

Rectoria Panama 2006
25. 10. 2007
0 views

Rectoria Panama 2006

L10a 4345 Sp02
07. 11. 2007
0 views

L10a 4345 Sp02

Shahriar
15. 11. 2007
0 views

Shahriar

lakshmi wireless
15. 11. 2007
0 views

lakshmi wireless

CONTEMPORARY DANCE LESSONS
23. 11. 2007
0 views

CONTEMPORARY DANCE LESSONS

price iso 15926 as owl
07. 11. 2007
0 views

price iso 15926 as owl

acute 060718 neuroemergencies
23. 10. 2007
0 views

acute 060718 neuroemergencies

The Olmec
21. 11. 2007
0 views

The Olmec

wetlands inventory
03. 01. 2008
0 views

wetlands inventory

plainChairdesign
04. 01. 2008
0 views

plainChairdesign

t Campout with Foodborne Illness
07. 01. 2008
0 views

t Campout with Foodborne Illness

poly web cast
15. 10. 2007
0 views

poly web cast

MTAC 11 06v1 03georgewright
06. 11. 2007
0 views

MTAC 11 06v1 03georgewright

awmapres041905
31. 10. 2007
0 views

awmapres041905

Insecta
23. 10. 2007
0 views

Insecta

ficci wo pictures
29. 12. 2007
0 views

ficci wo pictures

Modelos de control Ley 24156
22. 10. 2007
0 views

Modelos de control Ley 24156

severe wx
07. 10. 2007
0 views

severe wx

Egypt presentation salem 2nd
21. 10. 2007
0 views

Egypt presentation salem 2nd

nursinghome
29. 11. 2007
0 views

nursinghome

IMechE 19th May
15. 10. 2007
0 views

IMechE 19th May

EGEE Summer School 2007
17. 10. 2007
0 views

EGEE Summer School 2007

Carolyn
31. 12. 2007
0 views

Carolyn

4 Systematic chemistry web cec
16. 02. 2008
0 views

4 Systematic chemistry web cec

hsearch
20. 11. 2007
0 views

hsearch

kimkidu
24. 02. 2008
0 views

kimkidu

IntroMiscConcl
27. 02. 2008
0 views

IntroMiscConcl

dutchhistoryfordummi es
27. 02. 2008
0 views

dutchhistoryfordummi es

hansen2
29. 10. 2007
0 views

hansen2

sciencenews
29. 09. 2007
0 views

sciencenews

Running a vegetarian campaign
04. 03. 2008
0 views

Running a vegetarian campaign

D3 NomuraResearch
25. 03. 2008
0 views

D3 NomuraResearch

presentationkpimchan ThaiAirways
30. 03. 2008
0 views

presentationkpimchan ThaiAirways

ch19 Kreitner 2004 6e OB
08. 04. 2008
0 views

ch19 Kreitner 2004 6e OB

indiapres110606
14. 04. 2008
0 views

indiapres110606

MMM CEO
18. 04. 2008
0 views

MMM CEO

ch26 hedgingrisk
16. 04. 2008
0 views

ch26 hedgingrisk

myCH14
07. 05. 2008
0 views

myCH14

CROSSGRID VO SEC KD
08. 05. 2008
0 views

CROSSGRID VO SEC KD

Prescribed Fire at UNF
02. 01. 2008
0 views

Prescribed Fire at UNF

md apr quality82604 mtan
30. 04. 2008
0 views

md apr quality82604 mtan

bowles
01. 05. 2008
0 views

bowles

PSRS partI
02. 05. 2008
0 views

PSRS partI

pres1
02. 05. 2008
0 views

pres1

Waittimes presentation e
02. 05. 2008
0 views

Waittimes presentation e

ae8 eman over
26. 02. 2008
0 views

ae8 eman over

CH 9
04. 01. 2008
0 views

CH 9

Horton ALA Moving Mountains
29. 02. 2008
0 views

Horton ALA Moving Mountains

remsim
01. 11. 2007
0 views

remsim

CERLS
16. 10. 2007
0 views

CERLS

forum creativite5
23. 10. 2007
0 views

forum creativite5

Ceanothus
14. 12. 2007
0 views

Ceanothus

Pollard
24. 10. 2007
0 views

Pollard

Typology 7mfamelev
02. 11. 2007
0 views

Typology 7mfamelev

ST3
24. 10. 2007
0 views

ST3

UNITROL Service Nov2006 Aend A
19. 10. 2007
0 views

UNITROL Service Nov2006 Aend A

energetech
17. 04. 2008
0 views

energetech

Presentaton
23. 10. 2007
0 views

Presentaton

LTCOPhistoryandresp
03. 10. 2007
0 views

LTCOPhistoryandresp

schmerge experimental results
21. 11. 2007
0 views

schmerge experimental results

martemiyanov
27. 09. 2007
0 views

martemiyanov

Lecture9 JF
16. 10. 2007
0 views

Lecture9 JF

helen meeks
02. 10. 2007
0 views

helen meeks

11 Gatorpops
17. 12. 2007
0 views

11 Gatorpops

Mol gen 9910
16. 10. 2007
0 views

Mol gen 9910