A 3-D Self-Reconfigurable Structure
نویسندگان
چکیده
A three-dimensional, self-reconfigurable structure is proposed. The structure is a fully distributed system composed of many identical 3-D units. Each unit has functions of changing local connection, information processing, and communication among neighborhood units. Groups of units cooperate to change their connection so that the shape of the whole solid structure transforms into arbitrary shape. Also, the structure can repair itself by rejecting faulty units, replacing them with spare units. This kind of self-maintainability is essential to structure's longevity in hazardous or remote environments such as space or deep sea, where human operators cannot approach. We have designed and built a prototype unit to examine the feasibility of the 3-D self-reconfigurable concept. The design of the unit, method of reconfiguration, hardware implementation, and results of preliminary experiments are shown. In the last part of this paper, distributed software for self-reconfiguration is discussed.
منابع مشابه
Hardware design of modular robotic system
In this paper we describe detail of hardware design of novel self-reconfigurable robotic system. We have classified previous studies on self-reconfigurable robotic systems into “lattice type” composed of spatially symmetric modules and “string type” like snake robots. The proposed system has both the advantages of simple operation of self-reconfiguration of the former and motion generation abil...
متن کاملAll-Optical Reconfigurable-Tunable 1×N Power Splitter Using Soliton Breakup
In this paper, we numerically simulated a glass-based all-optical 1×N power splitter with eleven different configurations using soliton breakup in a nonlinear medium. It is shown that in addition to reconfigurability of the proposed splitter, its power splitting ratio is tunable up to some extent values too. Nonlinear semivectorial iterative finite difference beam propagation method (IFD-...
متن کاملHybrid Pipeline Structure for Self-Organizing Learning Array
In recent years, many efforts have been put in applying the concept of reconfigurable computing to neural networks. In our previous pursuits, an innovative self-organizing learning array (SOLAR) was developed. However, traditional multiplexer method to achieve reconfigurable connection has its limit for larger networks. In this paper, we propose a novel pipeline structure, which offers flexible...
متن کاملA maintenance system model for optimal reconfigurable vibrating screen management
The reconfigurable vibrating screen (RVS) machine is an innovative beneficiation machine designed for screening different mineral particles of varying sizes and volumes required by the customers’ through the geometric transformation of its screen structure. The successful RVS machine upkeep requires its continuous, availability, reliability and maintainability. The RVS machine downtime, which c...
متن کاملLocomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots
We present the hardware and reconfiguration experiments for an autonomous self-reconfigurable modular robot called Roombots (RB). RB were designed to form the basis for self-reconfigurable furniture. Each RB module contains three degrees of freedom that have been carefully selected to allow a single module to reach any position on a 2-dimensional grid and to overcome concave corners in a 3-dime...
متن کامل