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Self-Reconfigurable Modular Robot M-TRAN: Distributed Control and Communication

Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura, Shigeru Kokaji, Takashi Hasuo, Satoshi Murata
2007 The Proceedings of First International Conference on Robot Communication and Coordination  
The M-TRAN system can perform flexible and adaptive locomotion in various configurations using coordination control based on a central pattern generator (CPG).  ...  M-TRAN is a self-reconfigurable modular robot: each module has an independent battery, two-degree-of-freedom motion, six-surface-connection capability, and intelligence with inter-module communication.  ...  Although we have made programs for them, they are as slow as 333 bps. Figure 10 shows a preliminary experiment in which a module moves along a flat surface made by other modules.  ... 
doi:10.4108/icst.robocomm2007.2119 dblp:conf/robocomm/KurokawaTKKHM07 fatcat:qhnnrvcf5jcczfj5p6mihznshq

Modular Robotic Approach in Surgical Applications – Wireless Robotic Modules and a Reconfigurable Master Device for Endoluminal Surgery – [chapter]

Kanako Harada, Ekawahyu Susilo, Takao Watanabe, Kazuya Kawamura, Masakatsu G., Arianna Menciassi, Paolo Dario
2012 Robotic Systems - Applications, Control and Programming  
Nicodemo Funaro for manufacturing the prototypes and Ms. Sara Condino for her invaluable technical support.  ...  Acknowledgments This study was supported in part by the European Commission in the framework of the ARES Project (Assembling Reconfigurable Endoluminal Surgical System, NEST-2003-1-ADVENTURE/15653), by  ...  For the modular approach, each control board shall be equipped with a wired locating system for intra-modular communication in addition to the wireless communication.  ... 
doi:10.5772/26617 fatcat:4u4h2uxpfbemtgovikublq2vma

XBee positioning system with embedded haptic feedback for dangerous offshore operations: A preliminary study

F. Sanfilippo, K. Y. Pettersen
2015 OCEANS 2015 - Genova  
The crew members can be given varying degrees of access permissions in accordance with their job duties. In this way, access to dangerous areas can be easily controlled in a modular fashion.  ...  Risk is perceived differently by different people, and in this sense, the user's experience and therefore ability to perceive risk can be greatly improved with the use of haptics.  ...  Different permissions can be set individually for the crew members in accordance with their specific duties, allowing for more controlled, modular access to dangerous areas. • Reliability: the system is  ... 
doi:10.1109/oceans-genova.2015.7271241 fatcat:usdrs45gzbdltn4yeo2mv6ioj4

Towards self-adaptable robots: from programming to training machines [article]

Víctor Mayoral, Risto Kojcev, Nora Etxezarreta, Alejandro Hernández, Irati Zamalloa
2018 arXiv   pre-print
We demonstrate in simulation and with a real robot how, rather than programming, training produces behaviors in the robot that generalize fast and produce robust outputs in the presence of noise.  ...  We introduce a new approach for building robots that leads to more adaptable and capable machines.  ...  In a second experiment, a modular robot is trained with motor joint observations that pass through a similar Gaussian filter introducing noise on each iteration.  ... 
arXiv:1802.04082v1 fatcat:2337pe7kebfnfnnao5as3yrfsy

NCSX Construction Progress and Research Plans

G.H. Neilson, P Heitzenroeder, J. Lyon, B. Nelson, W. Reiersen, M. Zarnstorff, A. Brooks, T. Brown, M. Cole, J. Chrzanowski, P. Fogarty, G. Gettelfinger (+9 others)
2005 21st IEEE/NPS Symposium on Fusion Engineering SOFE 05  
of a high-beta compact stellarator with a lowripple, tokamak-like magnetic configuration.  ...  After completion of construction in 2009, a research program to test the expected physics benefits will start.  ...  The NCSX magnet system is designed for pulsed operation with magnetic fields up to 2.0 T (for 0.2 s) for low-collisionality plasma studies and pulse lengths up to 1.7 s (at B = 1.2 T) for experiments with  ... 
doi:10.1109/fusion.2005.252851 fatcat:slphlggtabcodftmdfwq6ncfzu

Wanted: Systems Abstractions for SDN

Sapan Bhatia, Andy C. Bavier, Larry L. Peterson
2013 USENIX Workshop on Hot Topics in Operating Systems  
This paper presents a case for applying the principles of Software-Defined Networking (SDN) to middleboxes and end hosts.  ...  Na-tiveClick demonstrates that, while existing SDN efforts have produced insufficient Abstractions to cover a wide range of networking behavior, SDN-like abstractions can make host configurations modular  ...  A number of systems have attempted to enable holistic network configuration in the past, among them the Click Modular Router [5] .  ... 
dblp:conf/hotos/BhatiaBP13 fatcat:hq32eyvpobhtxmbphvof4sugvy

A unified simulator for Self-Reconfigurable Robots

D. Christensen, D. Brandt, K. Stoy, U.P. Schultz
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We here present a generic simulation platform for modular, self-reconfigurable robots: the Unified Simulator for Self-Reconfigurable Robots (USSR).  ...  for the ATRON, Odin, and M-TRAN modular robots.  ...  The authors also want to thank Nicolai Dvinge for having contributed useful ideas to the paper.  ... 
doi:10.1109/iros.2008.4650757 dblp:conf/iros/ChristensenBSS08 fatcat:2e3jdbbfc5cjbj76jtkojerj3e

Page 391 of Journal of Aircraft Vol. 23, Issue 5 [page]

1986 Journal of Aircraft  
The experience gained with this synthesis program in regard to program flow control, program sequencing, analysis method selection, and pre- and postprocessing led to the definition and specification of  ...  Em- phasis is placed on a modular, transparent structure of the control program (monitor) and conveniently sized analysis modules rather than completeness and complexity of both.  ... 

Uniform management of data acquisition devices with XML

J. Gutleber, I. Magrans, M. Nafria, L. Orsini
2004 IEEE Transactions on Nuclear Science  
A comprehensive model based on XML technologies to interface data acquisition hardware devices for configuration and control purposes is presented.  ...  The model builds upon the use of a unified syntax for describing hardware devices, configuration data, test results and control sequences.  ...  ACKNOWLEDGMENT This study has been carried out in the context of the design project for the CMS experiment at CERN, Geneva, Switzerland.  ... 
doi:10.1109/tns.2004.829494 fatcat:minexzu2uvb3pisjz7cj2q4byy

Results from the Macramé 1024 node switching network

S. Haas, D.A. Thornley, M. Zhu, R.W. Dobinson, R. Heeley, N.A.H. Madsen, B. Martin
1998 Computer Physics Communications  
The final system will allow the systematic study of the performance of a 1024 node testbed using a variety of network topologies and traffic patterns, including those met in High Energy Physics trigger  ...  The status of the project and some preliminary results are presented.  ...  We acknowledge useful discussions with members of the ATLAS collaboration and the Niels Bohr Institute (Copenhagen) for providing the input for the HERA-B studies.  ... 
doi:10.1016/s0010-4655(97)00178-1 fatcat:cujasivocvcstb6cl5gcqmigem

ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands

F. Sanfilippo, H. Zhang, K. Y. Pettersen, G. Salvietti, D. Prattichizzo
2014 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics  
By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled.  ...  A 3-D visualization environment provides the user with an intuitive visual feedback. As a case study, a three-fingered modular manipulator is presented.  ...  Fig. 3 . 3 The proposed control system architecture for ModGrasp: a master-slave modular pattern is used for the communication protocol.  ... 
doi:10.1109/biorob.2014.6913903 dblp:conf/biorob/SanfilippoZPSP14 fatcat:s33zwrcnpfft5g367utmit2jmm

OASIS: Organic Aspects for System Infrastructure Software Easing Evolution and Adaptation through Natural Decomposition

Celina Gibbs, Yvonne Coady
2004 European Conference on Object-Oriented Programming  
It is becoming increasingly clear that we are entering a new era in systems software.  ...  As the age-old tension between structure and performance acquiesces, we can finally venture beyond monolithic systems and explore alternative modularizations better suited to evolution and adaptation.  ...  with the ability to plug/unplug more system elements as configuration options.  ... 
dblp:conf/ecoop/GibbsC04 fatcat:ehk4eeuvxbepjndmuw57bfrtny

Cooperative co-evolution of configuration and control for modular robots

Chourouk Guettas, Foudil Cherif, Thomas Breton, Yves Duthen
2014 2014 International Conference on Multimedia Computing and Systems (ICMCS)  
modular configuration into a new one that suits a different task defined by its desired function and a population of homogenous fixed topology ANNs for the controllers to perform locomotion as a behavior  ...  The general approach in modular robots is to hand design the morphology, and then optimizes the controller of the structure for a given task.  ...  ACKNOWLEDGMENT We specially thanks Yves Duthen, for facilitating our research by providing us with his developed modular robotics simulator and all the necessary documentations.  ... 
doi:10.1109/icmcs.2014.6911138 fatcat:55ft4x4w45aixadq33cvawngbi

Evaluation of Deep Reinforcement Learning Methods for Modular Robots [article]

Risto Kojcev, Nora Etxezarreta, Alejandro Hernández, Víctor Mayoral
2018 arXiv   pre-print
We demonstrate the robustness of the performance of state-of-the-art DRL methods for continuous action spaces in modular robots, with an empirical study both in simulation and in the real robot where we  ...  We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics using traditional robotic tools that extend state-of-the-art DRL implementations and provide an end-to-end approach  ...  The traditional approach to program such systems is typically referred to as the robotics control pipeline and requires going from observations to final low-level control commands through: a) state estimation  ... 
arXiv:1802.02395v1 fatcat:7pkt6w5gabbylnmli2hlypnbea

Modular configuration design for a controlled fall

Thomas William Mather, Mark Yim
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
For more robust orientation correction, a different configuration of CKbot and a new motion plan is presented that corrects for all forms of posture error.  ...  It presents a mathematical model of the falling system that correlates well with experimental reorientation results about one axis.  ...  The authors would also like to thank all the members of ModLab, Kevin Galloway, Michael Park, Jimmy Sastra, Chris Thorne, and Paul White, for their help with experiments and ideas.  ... 
doi:10.1109/iros.2009.5354027 dblp:conf/iros/MatherY09 fatcat:xqwmeg7lenbt5lrz4ozs4uj2zi
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