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From crystals to lattice robots

Nicolas Brener, Faiz Ben Amar, Philippe Bidaud
2008 2008 IEEE International Conference on Robotics and Automation  
We identify three fundamental properties of lattice robots such as (1) discreteness (2) translational symmetry and (3) composition, and explain the analogy of lattice robots kinematics and crystal symmetry  ...  We present a framework for the design of lattice robots by assembling compatible joints and connectors into a space group and give a 3D example. Point group Order Chiral space groups 1 1 P1 2 2  ...  The differences are: (1) for crystals the symmetries apply to existing positions of the atoms while for lattice robots the symmetries apply to the possible positions for the connectors, (2) for crystals  ... 
doi:10.1109/robot.2008.4543748 dblp:conf/icra/BrenerAB08 fatcat:augk3td4zjgtnkvndgyio3wtsi

Lattice-based Group Enlargement for a Robot Swarm based on Crystal Growth Models

Kohei Yamagishi, Tsuyoshi Suzuki
2021 International Journal of Advanced Computer Science and Applications  
To provide this self-organization without centralized control, we focus on using the phase-field method and cellular automata to facilitate crystal growth that produces ordered structures from scattered  ...  This study developed a self-organization method for constructing regular groups of robots from scattered robots to achieve coordination between individual and collective states.  ...  We would like to thank Editage ( for English language editing.  ... 
doi:10.14569/ijacsa.2021.01212110 fatcat:ekkjbprqwze2fbgo5gtzf3rify

Self-Reconfiguring Robots in the USA

Robert Fitch, Daniela Rus
2003 Journal of the Robotics Society of Japan  
At this point the robot will change the locomotion modality from translation on the ground to stacking.  ...  The Crystal Robot has some of the motive properties of muscles and can be closely packed in 3D space by attaching units to each other.  ... 
doi:10.7210/jrsj.21.832 fatcat:nh6yttaevbfivhca56m46wwg4a

Designing Modular Lattice Systems with Chiral Space Groups

Nicolas Brener, Faiz Ben Amar, Philippe Bidaud
2008 The international journal of robotics research  
We propose to use the concept of chiral space groups used by the crystallography science to define and design lattice robots.  ...  We explain the analogy between lattice robot kinematics and crystal symmetry, and identify three fundamental properties of lattice robots such as (1) discreteness (2) translational symmetry and (3) composition  ...  In crystals the symmetries apply to existing positions of the atoms while for lattice robots the symmetries apply to the possible positions for the connectors. 2.  ... 
doi:10.1177/0278364908089349 fatcat:e4vtp2igprgl3hdwy3v5wviwmm

Advances in Structural and Functional Analysis of Membrane Proteins by Electron Crystallography

Goragot Wisedchaisri, Steve L. Reichow, Tamir Gonen
2011 Structure  
When well-ordered two-dimensional crystals are obtained the structure of both protein and lipid can be determined and lipid-protein interactions analyzed.  ...  In a way the lipids act as a buffer surrounding the protein, allowing it to undergo conformational changes within the 2D crystals without destroying the crystal lattice.  ...  The ''2DX robot'' is the first fully automated robot dedicated for 2D crystallization (Iacovache et al., 2010) .  ... 
doi:10.1016/j.str.2011.09.001 pmid:22000511 pmcid:PMC3197218 fatcat:ck6ulubyafb6th753mocn3xdta

Characterization of lipid matrices for membrane protein crystallization by high-throughput small angle X-ray scattering

Jeremiah S. Joseph, Wei Liu, Joshua Kunken, Thomas M. Weiss, Hiro Tsuruta, Vadim Cherezov
2011 Methods  
-to interrogate rapidly a large number of lipid samples under a variety of conditions, similar to those encountered during crystallization.  ...  The lipidic cubic phase (LCP) has repeatedly proven to serve as a successful membrane-mimetic matrix for a variety of difficult-to-crystallize membrane proteins.  ...  On average across all salts, lattice parameter of the cubic-Pn3m phase increased from 113 Å (0.1 M salt) to 117 Å (0.4 M salt) in MO samples; from 130 Å (0.1 M salt) to 138 Å (0.4 M salt) in MV samples  ... 
doi:10.1016/j.ymeth.2011.08.013 pmid:21903166 pmcid:PMC3243793 fatcat:rughjki6zzca7p7fopifgbo4f4

Distributed control for unit-compressible robots: goal-recognition, locomotion, and splitting

Z. Butler, R. Fitch, D. Rus
2002 IEEE/ASME transactions on mechatronics  
We present a distributed self-reconfiguring robot system with unit-compressible modules called the Crystal robot.  ...  A new design for the Crystal is presented that decouples the x-axis and y-axis actuation, has on-board sensing, and has point-to-point communication.  ...  We also discuss an implementation of these algorithms on the Crystal robot and present data from extensive hardware experiments performed with a 15-module Crystal robot. A.  ... 
doi:10.1109/tmech.2002.806230 fatcat:tss7cd4yijgb5aqx6255nybsnu

Self-reconfigurable robots

S. Murata, H. Kurokawa
2007 IEEE robotics & automation magazine  
Lattice-Type SR Robots Most SR robots can be classified as "lattice type." Latticetype modules are just like biological cells or crystal atoms [ Figure 2 (a)].  ...  Figure 8 . 8 Metamorphosis from a four-legged structure to a linear structure. Table 1 . 1 Research issues concerning SR robots. Table 2 . 2 Comparison of lattice, chain, and hybrid robots.  ... 
doi:10.1109/mra.2007.339607 fatcat:y4bvdjvqvzdrpfgwelbhryy4fm

Distributed Planning and Control for Modular Robots with Unit-Compressible Modules

Zack Butler, Daniela Rus
2003 The international journal of robotics research  
We have implemented PacMan on the Crystal robot, a hardware system developed in our lab, and we present experiments and discuss the feasibility of large-scale implementation.  ...  Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller.  ...  Acknowledgments The authors are very grateful to the reviewers for many insightful comments on early drafts of this paper and to Jennet Batten for assistance with the review process.  ... 
doi:10.1177/02783649030229002 fatcat:fcyqq4dbbrbvpb5xtn2uofeqtu

Structural Changes in Liquid Crystals Doped with Rod-Like Magnetic Particles Studied by Surface Acoustic Waves

P. Bury, M. Veveričík, J. Kúdelčík, P. Kopčanský, M. Timko, V. Závišová
2017 Acta Physica Polonica. A  
In the absence of electronic systems, there is no way to make a connection between software and mechanical components.  ...  This means that all robotic systems require mechanical systems, electronic systems and software. OMNIMO, as a modular reconfigurable robot, has sophisticated electronic systems and software.  ...  By using the speaker, it is possible to get voiced warnings from the robot.  ... 
doi:10.12693/aphyspola.131.913 fatcat:r4ktdca7jnelxooajdc55a2tla

ROBOTICS: Shape Shifters Tread a Daunting Path Toward Reality

D. Mackenzie
2003 Science  
Lattice robots offer one other important advantage: Whereas most modular robots must monitor all their cells continuously to keep different parts from smacking into one another, in a lattice robot each  ...  Yim's group has proven that, given enough modules, lattice robots can reconfigure themselves from any shape to any other.  ... 
doi:10.1126/science.301.5634.754 pmid:12907773 fatcat:v3ygqyajvnb6vhmkqwyi4obcy4

Heteroepitaxial nickel-alloy thin films grown on diamond

Antonio Cruz
2016 MRS bulletin  
M iniature robots or microbots now have a new way to move-using only light.  ...  lattices ruined the film.  ... 
doi:10.1557/mrs.2016.69 fatcat:bg54l5vjxzhylgdvjmtaktrtp4

Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

Mark Yim, Wei-min Shen, Behnam Salemi, Daniela Rus, Mark Moll, Hod Lipson, Eric Klavins, Gregory Chirikjian
2007 IEEE robotics & automation magazine  
of their parts in order to adapt to new circumstances, perform new tasks, or recover from damage.  ...  Over the last two decades, the field of modular robotics has advanced from proof-of-concept systems to elaborate physical implementations and simulations.  ...  Acknowledgments The authors wish to acknowledge the participation of all the attendees at the Robotics: Science and Systems workshop on self-reconfigurable systems, as well as the speakers and authors-Harris  ... 
doi:10.1109/mra.2007.339623 fatcat:s3jvxevcvfcejkrzmovzrglibu

Modular Robot Systems

Kyle Gilpin, Daniela Rus
2010 IEEE robotics & automation magazine  
Keywords Modular robots, self-assembling robots, self-disassembling robots, metamorphic robots.  ...  By selectively latching and unlatching from their neighbors, a collection of crystals is able to arbitrarily modify its structure in 2-D.  ...  The authors also present algorithms to accompany the crystal hardware.  ... 
doi:10.1109/mra.2010.937859 fatcat:3xy7o26ikjhshptjbuhl6cpdam

Automating mail-in data collection at 11-BM at the APS

B. H. Toby
2011 Acta Crystallographica Section A Foundations of Crystallography  
The data in the crystal structures from CSD show mutual slipped-parallel (offset faceto-face) orientation between chelate and C 6 -aryl rings similar to the slipped-parallel orientation of two benzene  ...  The evidence of chelatechelate stacking interactions was obtained by analyzing crystal structures of square-planar transition-metal complexes from CSD [3].  ...  This unusual structure gives rise to a complex dynamics, called rotor-stator feature, that is different from both the orientationally ordered and the plastic crystals.  ... 
doi:10.1107/s010876731109489x fatcat:o22zaocujramfcedsjbvndqb74
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