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Distributed Coordination in Modular Precision Assembly Systems

Alfred A. Rizzi, Jay Gowdy, Ralph L. Hollis
2001 The international journal of robotics research  
KEY WORDS-robotics, automated assembly, distributed systems, sensor-based control • the explosive deployment of high-performance information and communications technology-most notably in the application  ...  Over the past 5 years, the authors have been constructing just such a system suitable for assembly of high-precision, high-value products.  ...  Acknowledgments This work was supported in part by NSF through grants DMI-9523156 and CDA-9503992.  ... 
doi:10.1177/02783640122068128 fatcat:7duif4c5njau7jjovzwu5ac2ue

Hierarchy in Metal–Organic Frameworks

Liang Feng, Kun-Yu Wang, Jeremy Willman, Hong-Cai Zhou
2020 ACS Central Science  
This is followed by a highlight of the utilization of modular total synthesis for crafting MOFs with hierarchical compositions.  ...  In this Outlook, we describe the conceptual introduction of hierarchy into the design of metal-organic framework (MOF) materials.  ...  For example, a zirconium-MOF PCN-222 can be immobilized in the lattice of MOF-5 with controllable ratios and distributions through modular synthesis (PCN stands for porous coordination network).  ... 
doi:10.1021/acscentsci.0c00158 pmid:32232136 pmcid:PMC7099594 fatcat:guoqiglfafeghd6eyhe6q5mc6u

State of the Profession: NASA Langley Research Center Capabilities/Technologies for Autonomous In-Space Assembly and Modular Persistent Assets

John Dorsey, William Doggett, Gillian McGlothin, Natalia Alexandrov, B. Danette Allen, Meghan Chandarana, John Cooper, Lisa Le Vie, James Neilan, Javier Puig Navarro, Walter Waltz, Jason Neuhaus
2021 Bulletin of the AAS  
The most recent OSAM activity at LaRC, Precision Assembled Space Structures (PASS), will develop and demonstrate (in the laboratory) the technologies required to autonomously assemble modular, high-precision  ...  Assembly agents must know their own position and orientation (their state) with respect to a global coordinate system as well as the relative position and orientation of local objects, such as assembly  ... 
doi:10.3847/25c2cfeb.7707c9bf fatcat:74donp42ijgonpzfghewuulstu

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Andrea Giusti, Martijn J.A. Zeestraten, Esra Icer, Aaron Pereira, Darwin G. Caldwell, Sylvain Calinon, Matthias Althoff
2018 IEEE robotics & automation magazine  
(d) To generate the mostlikely trajectory in each coordinate system, the conditional distribution P x f 1 , x f 2 |t is computed at each time step, yielding a tube of Gaussians.  ...  We detect objects and their coordinate systems in task space, and transform the TP-GMM into task-space coordinates ( Fig. 3(d) ).  ... 
doi:10.1109/mra.2018.2810543 fatcat:an65g5wucrcalat6nwwknsfeg4

Assembly of Polymer Microfluidic Components and Modules: Validating Models of Passive Alignment Accuracy

Byoung Hee You, Daniel S. Park, Sudheer D. Rani, Michael C. Murphy
2015 Journal of microelectromechanical systems  
Model modular devices containing passive alignment features, hemispherical pins in v-grooves, and integrated alignment standards for characterizing the accuracy of the assemblies were replicated in polycarbonate  ...  Proper function of such systems depends on well-characterized assembly of the instruments. Passive alignment is one approach to obtaining such assemblies.  ...  Acknowledgments The authors would like to thank Jason Guy from the Center for Bio-Modular Multi-Scale Systems for microfabrication support.  ... 
doi:10.1109/jmems.2014.2339733 pmid:31814689 pmcid:PMC6897507 fatcat:upyvve7bcjg5jhzyaa5gozsz5y

Evolved and Designed Self-Reproducing Modular Robotics

Victor Zykov, Efstathios Mytilinaios, Mark Desnoyer, Hod Lipson
2007 IEEE Transactions on robotics  
My professional interests span several areas of science and technology, including renewable kite wind energy extraction, modular self-reconfigurable robotics, evolutionary system optimization, under-informed  ...  Zykov, V. (2002) Influence of the number of phases of the system "frequency converter-asynchronous motor" on its noise and vibration (in Russian).  ...  This simulator was used to devise new real-time noise control methods for multiphase induction drives. 2000-2001 Textile production line control, coordination and stability ISPEU, Russia Distributed  ... 
doi:10.1109/tro.2007.894685 fatcat:mlhnl27xffdyhodyu5rb4biopq

Minifactory: a precision assembly system adaptable to the product life cycle

Patrick F. Muir, Alfred A. Rizzi, Jay W. Gowdy, Bhaskaran Gopalakrishnan, San Murugesan, Odo Struger, Gerfried Zeichen
1997 Architectures, Networks, and Intelligent Systems for Manufacturing Integration  
We are developing two concepts to enable manufacturers to more readily achieve this goal: the Agile Assembly Architecture (AAA), an abstract framework for distributed modular automation; and minifactory  ...  , our physical instantiation of this architecture for the assembly of precision electro-mechanical devices.  ...  ACKNOWLEDGEMENTS This work was supported in part by the National Science Foundation under grants DMI-9523156 and DMI-9527190, and the CMU Engineering Design Research Center.  ... 
doi:10.1117/12.294420 fatcat:cozwfp7j3fa7xlkeyjxms2sohu

The Distributed Flight Array

Raymond Oung, Raffaello D'Andrea
2011 Mechatronics (Oxford)  
This vehicle consists of autonomous single-rotor modules that are able to drive, dock with its peers, and fly in a coordinated fashion.  ...  Experimental demonstrations in docking, driving, and flying have proven its feasibility as a research platform for investigating techniques in distributed estimation and control.  ...  Such algorithms and architectures may be used, for example, in cooperative slung payload systems [1] and high altitude airborne wind turbines [2] where modularity and high-redundancy is desirable in order  ... 
doi:10.1016/j.mechatronics.2010.08.003 fatcat:cnzegrlkfrcvzlwixu4zplsfcq

Construction and Test of New Precision Drift-Tube Chambers for Upgrades of the ATLAS Muon Spectrometer in 2016/17 [article]

H. Kroha, O. Kortner, F. Müller, S. Nowak, K. Schmidt-Sommerfeld
2015 arXiv   pre-print
The chambers will be ready for installation in the winter shutdown 2016/17 of the Large Hadron Collider.  ...  The design and construction of the new sMDT chambers for ATLAS will be discussed as well as measurements of their precision and performance.  ...  Before mounting the modular gas distribution system and the readout and high-voltage distribution boards [2] , the wire grid and the geometry of the assembled chamber is reconstructed with a few micron  ... 
arXiv:1512.01944v1 fatcat:tiyixfoq3nc2hjalqpimos3nfa

Design of flexible spot welding cell for Body-In-White (BIW) assembly

Elangovan M, Thenarasu M
2018 Periodicals of Engineering and Natural Sciences (PEN)  
The fixture is made modular and is reconfigured for change in part varieties.  ...  In this paper, a flexible spot welding cell -which is flexible both at fixture and work cell level is developed to handle multiple Body-In-White (BIW) part varieties.  ...  Table 1 . 1 Weld Point Distribution for assembly -I Table 2 : 2 Weld point distribution for assembly -II Weld Point Distribution WP # Co-ordinates (In mm) X Y Z 1 1366.00 798.04 168.22  ... 
doi:10.21533/pen.v6i2.180 fatcat:j42simnucbapnlq7evkvekp3bq

Multi-agent Architecture for Reconfiguration of Precision Modular Assembly Systems [chapter]

Pedro Ferreira, Niels Lohse, Svetan Ratchev
2010 IFIP Advances in Information and Communication Technology  
Precision assembly systems today are subject to high levels of change which require fast physical and logical adaption.  ...  A new agent model is proposed which addresses the specific needs of precision modular assembly systems catering both for physical and logical constraints of the modules as well as their joint emergent  ...  Other modular assembly system platforms have been proposed [5, 6] .  ... 
doi:10.1007/978-3-642-11598-1_29 fatcat:7deowgcyejgmvkagedfelojtra

Algorithmic Foundations of Programmable Matter Dagstuhl Seminar 16271

Sándor P. Fekete, Andréa Richa, Kay Römer, Christian Scheideler
2017 ACM SIGACT News  
about the newest developments in each area and to discuss future models, approaches, and directions for new research.  ...  Foundations of Programmable Matter", a new and emerging field that combines theoretical work on algorithms with a wide spectrum of practical applications that reach all the way from smallscale embedded systems  ...  execute fully distributed, local, asynchronous algorithms to self-organize and solve system-wide problems such as movement, (re)configuration, and coordination.  ... 
doi:10.1145/3106700.3106713 fatcat:o5hz273x35b4bng7vczevvv2gu

Research modular tool system influence on the dynamic characteristics of the boring machines

Alexey Rivkin, S. Bratan
2019 MATEC Web of Conferences  
The article presents the analysis of modern modular tooling systems (MTS).  ...  The calculations of the stiffness of joints modules compounds «Yartim-Flex» and dynamic research of spindles of machine tools models IR-320PMF30 and 2D450F2, equipped with this modular tool system.  ...  The economic effect of their use is due to a decrease in the number of special tools in precision machines coordinate boring group.  ... 
doi:10.1051/matecconf/201929800028 fatcat:7qtd7o732nbr3b23mymlo3ikg4

Design and Experiments of a Compact Self-Assembling Mobile Modular Robot with Joint Actuation and Onboard Visual-Based Perception

Haiyuan Li, Haoyu Wang, Linlin Cui, Jiake Li, Qi Wei, Jiqiang Xia
2022 Applied Sciences  
In this paper, to enhance the perception, actuation and docking capacity of modular robots, a parallel mechanism-based docking system and onboard visual perception system are proposed in the design of  ...  a novel compact self-assembling mobile modular robot (SMMRob).  ...  Although the recognition range is minimized, the precise coordinate is given and the robot is identified by its ID.  ... 
doi:10.3390/app12063050 fatcat:yivcaudneva4der3svjgupoc4e

Alternative conceptual design of a magnet support structure for plasma fusion devices of stellarator type

Nikola Jaksic, Boris Mendelevitch, Jörg Tretter
2011 Fusion engineering and design  
Based on long time experience in design and structural analyses of stellarator magnet systems and their support structure, the authors are proposing in this paper an alternative conceptual design for the  ...  The concept provides flexibility in matters of readjustment and positional optimization of the magnet coils during the assembly phase and potentially during the operation.  ...  Fig. 7 . 7 Von Mises stress distribution in the structure. Table 1 1 Modular coil system parameters.  ... 
doi:10.1016/j.fusengdes.2011.01.139 fatcat:j2guq52ronbuhlsuco22bkkbom
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