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Scalable and Robust Shepherding via Deformable Shapes [chapter]

Joseph F. Harrison, Christopher Vo, Jyh-Ming Lien
2010 Lecture Notes in Computer Science  
In this paper, we present a new method, called Deform, in which shepherds view the flock as an abstracted deformable shape.  ...  However, the problem is challenging in terms of scalability and robustness because it is dynamic, highly underactuated, and involves multi-agent coordination.  ...  Efficient group representation is necessary for any algorithm to be scalable and robust to uncertainty.  ... 
doi:10.1007/978-3-642-16958-8_21 fatcat:rnoih5bu6jhrbjo7dflu6cefdu

Scalable, Shape-Specific, Top-Down Fabrication Methods for the Synthesis of Engineered Colloidal Particles

Timothy J. Merkel, Kevin P. Herlihy, Janine Nunes, Ryan M. Orgel, Jason P. Rolland, Joseph M. DeSimone
2010 Langmuir  
, size, shape, and complexity as well as the scalability of the method.  ...  In this feature article, we examine several of the most readily scalable top-down methods for the fabrication of such shape-specific particles and compare their capabilities with respect to particle composition  ...  Liquidia Technologies was recently launched by J.M.D. and colleagues to commercialize breakthroughs from his laboratory, including micro-and nanofluidics, soft lithography, and PRINT technologies.  ... 
doi:10.1021/la903890h pmid:20000620 pmcid:PMC2891593 fatcat:la6skjqtzfevpldciniygy6ujm

Soft Robotics: New Perspectives for Robot Bodyware and Control

Cecilia Laschi, Matteo Cianchetti
2014 Frontiers in Bioengineering and Biotechnology  
, and many more), is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control.  ...  The current examples of soft robots represent a variety of solutions for actuation and control. Though very first steps, they have the potential for a radical technological change.  ...  , Marie Curie) and of the Fondazione Livorno through the PoseiDRONE I and II projects.  ... 
doi:10.3389/fbioe.2014.00003 pmid:25022259 pmcid:PMC4090912 fatcat:ato4lqsdmbfmxg4osu4rnxgsfe

A Comprehensive Review of Shepherding as a Bio-inspired Swarm-Robotics Guidance Approach [article]

Nathan K Long, Karl Sammut, Daniel Sgarioto, Matthew Garratt, Hussein Abbass
2020 arXiv   pre-print
Many studies have been conducted on shepherding as a control technique, ranging from the replication of sheep herding via simulation, to the control of uninhabited vehicles and robots for a variety of  ...  for high-level guidance and planning.  ...  ACKNOWLEDGMENT This research is conducted in collaboration with the Maritime Division of the Defence Science and Technology Group and is partially supported by the Office of Naval Research -Global Grant  ... 
arXiv:1912.07796v4 fatcat:2wil5pt5wvbonfhpxgzhusqbrq

Path Planning for Shepherding a Swarm in a Cluttered Environment using Differential Evolution [article]

Saber Elsayed, Hemant Singh, Essam Debie, Anthony Perry, Benjamin Campbell, Robert Hunjet, Hussein Abbass
2020 arXiv   pre-print
In this paper, we present a modification to a well-known shepherding approach, and show, via simulation, that this modification improves shepherding efficacy.  ...  The proposed algorithm is evaluated in obstacle laden environments via simulation with further improvements achieved.  ...  , the sheep were considered collectively as deformable shapes instead of individual agents to improve scalability and robustness of the shepherding task.  ... 
arXiv:2008.12639v1 fatcat:4h7a4zvzjrau3kzjvw4hdufto4

Review of machine learning methods in soft robotics

Daekyum Kim, Sang-Hun Kim, Taekyoung Kim, Brian Byunghyun Kang, Minhyuk Lee, Wookeun Park, Subyeong Ku, DongWook Kim, Junghan Kwon, Hochang Lee, Joonbum Bae, Yong-Lae Park (+2 others)
2021 PLoS ONE  
Soft robots have been extensively researched due to their flexible, deformable, and adaptive characteristics.  ...  and hysteresis.  ...  Larson C, Spjut J, Knepper R, Shepherd R. A deformable interface for human touch recognition using stretchable carbon nanotube dielectric elastomer sensors and deep neural networks.  ... 
doi:10.1371/journal.pone.0246102 pmid:33600496 pmcid:PMC7891779 fatcat:alu4zm72irespj6wydikzjb6ie

A Recipe for Soft Fluidic Elastomer Robots

Andrew D. Marchese, Robert K. Katzschmann, Daniela Rus
2015 Soft Robotics  
, and pleated.  ...  This work provides approaches to designing and fabricating soft fluidic elastomer robots.  ...  Acknowledgments This work was done in the Distributed Robotics Laboratory at MIT with support from the National Science Foundation, grant numbers NSF 1117178, NSF IIS1226883, and NSF CCF1138967, as well  ... 
doi:10.1089/soro.2014.0022 pmid:27625913 pmcid:PMC4997626 fatcat:jud24txbtfdlfdkfo2ysucc5c4

Reversibly texturing active surfaces with spatial and temporal control

Sourav Chatterjee, Sachin S Velankar
2014 Journal of Intelligent Materials Systems and Structures  
The platform is scalable, produces wrinkling patterns in the flip of a switch, operates at voltages under 10 V, and can be operated reversibly over multiple cycles.  ...  The wrinkle patterns appear and disappear in timescales ranging from tens of seconds to as little as a second depending on the voltage actuating the shape memory alloy wire.  ...  Funding This work was supported by the AFOSR (Natural Materials and Systems & Extremeophiles program) under award no. FA9550-10-1-0329.  ... 
doi:10.1177/1045389x14525492 fatcat:3ryri2ixinb3vouotcdo3255ay

3D printing for soft robotics – a review

Jahan Zeb Gul, Memoon Sajid, Muhammad Muqeet Rehman, Ghayas Uddin Siddiqui, Imran Shah, Kyung-Hwan Kim, Jae-Wook Lee, Kyung Hyun Choi
2018 Science and Technology of Advanced Materials  
Functional soft materials are particularly well suited for soft robotics due to a wide range of stimulants and sensitive demonstration of large deformations, high motion complexities and varied multi-functionalities  ...  The growing research on both 3D printing and soft robotics needs a summary of the major reported studies and the authors believe that this review article serves the purpose.  ...  Mechanical robots and machines are made of hard materials that limit their ability to elastically deform and adapt their shape to external constraints and obstacles.  ... 
doi:10.1080/14686996.2018.1431862 pmid:29707065 pmcid:PMC5917433 fatcat:pitxre3krzam3ku45ivhiu7nw4

Ångström- and Nano-scale Pore-Based Nucleic Acid Sequencing of Current and Emergent Pathogens

Britney A Shepherd, Md Rubayat-E Tanjil, Yunjo Jeong, Bilgenur Baloğlu, Jingqiu Liao, Michael Cai Wang
2020 MRS Advances  
Here, we review recent progress and future development trends of 2D materials and their ångström- and nano-scale pore-based nucleic acid (NA) sequencing including fabrication techniques and current and  ...  in the variety of membrane materials, ease of defining pore morphology, higher nucleotide detection sensitivity, and facilitation of novel and hybrid sequencing modalities.  ...  ., dielectric [silicon compound] thin films, 2D materials, etc.) exhibit robust mechanical and chemical stability, high thermal tolerance, and are amenable for scalable manufacturability [16] .  ... 
doi:10.1557/adv.2020.402 pmid:33437534 pmcid:PMC7790041 fatcat:2ciov2cebnaftif3pkwmswpxne

Externally excited coordination of autonomous formations

Iman Shames, Changbin Yu, Baris Fidan, Brian D. O. Anderson
2007 2007 Mediterranean Conference on Control & Automation  
At lower level, for the agents within the formation, "the sheep", the only concern is to keep that of their formation shape intact and avoid inter-agent collision.  ...  The effectiveness of the proposed scheme is demonstrated via simulation results in the presence of multiple obstacles.  ...  Scalability and computational complexity are among other aspects to be considered.  ... 
doi:10.1109/med.2007.4433849 fatcat:lst66am7fjf5pdvfplgotzfr5y

Multiple Mobile Robot Systems [chapter]

Lynne E. Parker, Daniela Rus, Gaurav S. Sukhatme
2016 Springer Handbook of Robotics  
By approaching shape formation in this manner, the entire shape-formation process is sped-up and the robustness of the system is increased.  ...  The typical presumption is that large swarms of interchangeable robots automatically result in robust and scalable swarm behavior.  ... 
doi:10.1007/978-3-319-32552-1_53 fatcat:rijl5w2zuvfyhjyx3drntjwvam

Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot

M Cianchetti, M Calisti, L Margheri, M Kuba, C Laschi
2015 Bioinspiration & Biomimetics  
It can grasp objects of different size and shape, thanks to its soft arm materials and conical shape.  ...  The octopus is an interesting model for the development of soft robotics, for its high deformability, dexterity and rich behavioural repertoire.  ...  Acknowledgments This work was supported by the European Commission in the ICT-FET OCTOPUS Integrating Project, under contract #231608 and in the ICT-FET RoboSoft Coordination Action under contract #619319  ... 
doi:10.1088/1748-3190/10/3/035003 pmid:25970014 fatcat:h5oqbjah6bhi3jnclxmiujozci

A Survey of Methods for 3D Histology Reconstruction

Jonas Pichat, Juan Eugenio Iglesias, Tarek Yousry, Sébastien Ourselin, Marc Modat
2018 Medical Image Analysis  
However, despite bringing visual awareness, recovering realistic reconstructions is elusive without prior knowledge about the tissue shape. 3D medical imaging made such structural ground truths available  ...  , histologists, computer scientists and physicians.  ...  Smriti Patodia, from UCL Institute of Neurology (Department of Neuropathology), for her comments on Section 2 and the images used in Figures  ... 
doi:10.1016/ pmid:29502034 fatcat:ta5hlvqjpzenxhltfwh6p4mhqq

The barriers to the progression of additive manufacture: Perspectives from UK industry

L.E.J. Thomas-Seale, J.C. Kirkman-Brown, M.M. Attallah, D.M. Espino, D.E.T. Shepherd
2018 International Journal of Production Economics  
This study was supported by the Engineering and Physical Sciences Research Council (grant number EP/N005309/1).  ...  Acknowledgements The authors would like to express their thanks to all the interviewees and organisations who participated in this study.  ...  In turn, informative and accurate in-process monitoring, will lead to robust quality statistics.  ... 
doi:10.1016/j.ijpe.2018.02.003 fatcat:ggargzvdgbcafie2a52uq5mrwi
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