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Distributed amorphous ramp construction in unstructured environments

Nils Napp, Radhika Nagpal
2014 Robotica (Cambridge. Print)  
We present a model of construction using iterative amorphous depositions and give a distributed algorithm to reliably build ramps in unstructured environments.  ...  We illustrate the algorithm in both the single robot and multi-robot case via simulation and describe how to solve key technical challenges to implementing this abstract algorithm via a robotic prototype  ...  for adaptive ramp building in unstructured environments.  ... 
doi:10.1017/s0263574714000113 fatcat:rm4wwaernvdrzc2r7oln6ak4ky

Distributed Amorphous Ramp Construction in Unstructured Environments [chapter]

Nils Napp, Radhika Nagpal
2014 Springer Tracts in Advanced Robotics  
We present a model of construction using iterative amorphous depositions and give a distributed algorithm to reliably build ramps in unstructured environments.  ...  We illustrate the algorithm in both the single robot and multi-robot case via simulation and describe how to solve key technical challenges to implementing this abstract algorithm via a robotic prototype  ...  for adaptive ramp building in unstructured environments.  ... 
doi:10.1007/978-3-642-55146-8_8 fatcat:edt7jscvhbhr5os4gudv7oz5g4

Materials and mechanisms for amorphous robotic construction

Nils Napp, Olive R. Rappoli, Jessica M. Wu, Radhika Nagpal
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
By conforming to surfaces they are deposited on, such materials allow robots to reliably construct in unstructured terrain.  ...  We demonstrate how deposition of each material can be automated and compare their material properties, cost, and cost in time in order to evaluate their suitability for developing amorphous robotic construction  ...  We would like to thank Kathryn Hollar, the Research Experience for Undergraduates (REU) program, other members in the SSR-Lab-especially Christian Ahler-and Shai Revzen and Mark Yim from the GRASP-Lab  ... 
doi:10.1109/iros.2012.6385718 dblp:conf/iros/NappRWN12 fatcat:6bfjjaw7tfeljhsxmkplrj2g3a

ROB volume 32 issue 2 Cover and Back matter

2014 Robotica (Cambridge. Print)  
partitioning, Seung-kook Yun and Daniela Rus 257 Distributed amorphous ramp construction in unstructured environments, Nils Napp and Radhika Nagpal 279 AUV behavior recognition using behavior histograms  ...  Ani Hsieh 177 Distributed Particle Swarm Optimization for limited-time adaptation with real robots, Ezequiel Di Mario and Alcherio Martinoli 193 Cohesion and segregation in swarm navigation, Vinicius Graciano  ... 
doi:10.1017/s0263574714000836 fatcat:vqiosv72nvhqbczmssmwwjh6gy

Autonomous Construction with Compliant Building Material [chapter]

Touraj Soleymani, Vito Trianni, Michael Bonani, Francesco Mondada, Marco Dorigo
2015 Advances in Intelligent Systems and Computing  
In this paper, we develop an autonomous construction system in which a self-contained ground robot builds a protective barrier by means of compliant pockets (i.e., filled bags).  ...  In each experiment, the robot successfully built the structure. The results show the viability of the proposed autonomous construction system.  ...  In our future work, we will extend the proposed autonomous construction system to a multi-robot scenario (swarm construction).  ... 
doi:10.1007/978-3-319-08338-4_99 fatcat:5tuj6hkqvrgwbgihmb6hyhtvga

A review of collective robotic construction

Kirstin H. Petersen, Nils Napp, Robert Stuart-Smith, Daniela Rus, Mirko Kovac
2019 Science Robotics  
Collective robotic construction (CRC) specifically concerns embodied, autonomous, multirobot systems that modify a shared environment according to high-level user-specified goals.  ...  The increasing need for safe, inexpensive, and sustainable construction, combined with novel technological enablers, has made large-scale construction by robot teams an active research area.  ...  Climbing robots may operate on unstructured terrain and navigate staircases (27, 65) , ramps (8, 11, 64) , or straight walls to reach higher levels of construction (35) .  ... 
doi:10.1126/scirobotics.aau8479 pmid:33137745 fatcat:hprjtipdyjcwrlxs2htd76y4ku

Optimal Structure Synthesis for Environment Augmenting Robots [article]

Tarik Tosun, Cynthia Sung, Colin McCloskey, Mark Yim
2018 arXiv   pre-print
This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order to traverse its entire environment.  ...  In hardware experiments, we show that the algorithm solves 3D maps of real indoor environments in about one minute, and that the structures selected by the algorithm allow a robot to traverse the entire  ...  Napp et al. present a distributed algorithm for adaptive ramp building with amorphous materials [10] .  ... 
arXiv:1812.04190v1 fatcat:acd7oqyajjditkcxufqvpxtjpq

A Model for Athermal Strain Localization in Dry Sheared Fault Gouge [article]

Xiao Ma, Ahmed Elbanna
2017 arXiv   pre-print
The grain-scale dynamics is described by the Shear Transformation Zone (STZ) theory, a non-equilibrium statistical thermodynamic framework for viscoplastic deformation in amorphous materials.  ...  Shear banding is widely observed in natural fault zones as well as in gouge layers in laboratory experiments.  ...  unstructured meshes.  ... 
arXiv:1701.03087v1 fatcat:t5cld4ug6nervg3ycwdbefjqvy

Strain localization in dry sheared granular materials: A compactivity-based approach

Xiao Ma, Ahmed Elbanna
2018 Physical review. E  
The grain-scale dynamics is described by the Shear Transformation Zone (STZ) theory, a non-equilibrium statistical thermodynamic framework for viscoplastic deformation in amorphous materials.  ...  Shear banding is widely observed in natural fault zones as well as in laboratory experiments on granular materials.  ...  The Multi-Physics Object Oriented Simulation Environment (Moose) [51] provides a flexible platform to solve multi-physics problems implicitly and in a tightly coupled manner on unstructured meshes.  ... 
doi:10.1103/physreve.98.022906 fatcat:nsjs7jopdjehxnxddndghnces4

Microwave-Driven Plasma-Mediated Methane Cracking: Product Carbon Characterization

Randy Vander Wal, Arupananda Sengupta, Evan Musselman, George Skoptsov
2018 C — Journal of Carbon Research  
Characterization by high-resolution transmission electron microscopy reveals forms ranging from graphitic to amorphous.  ...  plasma-mediated methane decomposition, offer benefits of no water consumption and zero CO2 process emissions while also producing solid carbon formed by pyrolytic reactions and aided by a plasma reactive environment  ...  Acknowledgments: H Quest Vanguard, Inc. is a privately held technology company, based in Pittsburgh, Pennsylvania, focused on the development and commercialization of novel hydrocarbon conversion technologies  ... 
doi:10.3390/c4040061 fatcat:vbqg5xoebfh4vd3pzbwtmwanla

Design and Implementation of a Maxi-Sized Mobile Robot (Karo) for Rescue Missions [article]

Soheil Habibian, Mehdi Dadvar, Behzad Peykari, Alireza Hosseini, M. Hossein Salehzadeh, Alireza H.M. Hosseini, Farshid Najafi
2020 arXiv   pre-print
Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles.  ...  In conjunction with this, we elucidate the way that Karo's software system and human-robot interface are implemented and employed.  ...  These apparatuses include terrains with continuous/crossing ramps, amorphous negative obstacles, or terrains that should be avoided.  ... 
arXiv:2008.10396v1 fatcat:a2syusqx6bd2fhzdiheqilakwe

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Soheil Habibian, Mehdi Dadvar, Behzad Peykari, Alireza Hosseini, M. Hossein Salehzadeh, Alireza H. M. Hosseini, Farshid Najafi
2021 ROBOMECH Journal  
AbstractRescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles.  ...  In conjunction with this, we elucidate the way that Karo's software system and human–robot interface are implemented and employed.  ...  , amorphous negative obstacles, or terrains that should be avoided.  ... 
doi:10.1186/s40648-020-00188-9 fatcat:fldx2chyc5a2tfqdw4qazwuosi

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Mary Katherine Heinrich, Sebastian von Mammen, Daniel Nicolas Hofstadler, Mostafa Wahby, Payam Zahadat, Tomasz Skrzypczak, Mohammad Divband Soorati, Rafał Krela, Wojciech Kwiatkowski, Thomas Schmickl, Phil Ayres, Kasper Stoy (+1 others)
2019 Journal of the Royal Society Interface  
In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines.  ...  to corrosive environments, support of biodiversity, and mitigation of urban heat islands.  ...  Napp & Nagpal [278] used amorphous foam to construct ramps to elevate grounded robots to higher construction levels.  ... 
doi:10.1098/rsif.2019.0238 pmid:31362616 pmcid:PMC6685033 fatcat:vxp4r5td3fcwfgmgqcaylkhtoy

Characterization and Calibration of the CheMin Mineralogical Instrument on Mars Science Laboratory

David Blake, David Vaniman, Cherie Achilles, Robert Anderson, David Bish, Tom Bristow, Curtis Chen, Steve Chipera, Joy Crisp, David Des Marais, Robert T. Downs, Jack Farmer (+10 others)
2012 Space Science Reviews  
A principal goal of the Mars Science Laboratory (MSL) rover Curiosity is to identify and characterize past habitable environments on Mars.  ...  The X-ray energy-dispersive histograms (EDH) returned along with XRD for instrument evaluation should be useful in identifying elements Z > 13 that are contained in the sample.  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s)  ... 
doi:10.1007/s11214-012-9905-1 fatcat:6qjgnbfy4rfrtggqr55mysjv7y

Characterization and Calibration of the CheMin Mineralogical Instrument on Mars Science Laboratory [chapter]

David Blake, David Vaniman, Cherie Achilles, Robert Anderson, David Bish, Tom Bristow, Curtis Chen, Steve Chipera, Joy Crisp, David Des Marais, Robert T. Downs, Jack Farmer (+10 others)
2012 Mars Science Laboratory  
A principal goal of the Mars Science Laboratory (MSL) rover Curiosity is to identify and characterize past habitable environments on Mars.  ...  The X-ray energy-dispersive histograms (EDH) returned along with XRD for instrument evaluation should be useful in identifying elements Z > 13 that are contained in the sample.  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s)  ... 
doi:10.1007/978-1-4614-6339-9_12 fatcat:tzsfz56c5vd2tkvgxnkvckszui
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