A modular robot system design and control motion modes for locomotion and manipulation tasks

This paper describes a modular robot system design SMART, based on three types of modules for urban search tasks. The system attempts to give a quick solution to natural and man-made disaster emergencies. It allows for rapid and cost-effective design and fabrication. The approach is based on the use of an inventory of three types of modules i.e., power and control module, joint module, and specialized module. They are interchangeable in different ways to form different robot configurations for a variety of tasks. Forward and inverse kinematics from assembled robot configurations are analyzed. Description of control motion modes for human-modular robot system interaction is presente

Modular robots for making and climbing 3-D trusses

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.Includes bibliographical references (p. 139-143).A truss climbing robot has been extensively investigated because of its wide range of promising applications such as construction and inspection of truss structures. It is designed to have degrees of freedom to move in three-dimensional truss structures. Although many degrees of freedom allow the robot to reach various position and orientation, it causes complexity of design and control. In this thesis, the concept of modular robots is suggested as a solution to reconcile a trade-off between the functionality and the simplicity of a truss climbing robot. A single module has fewer degrees of freedom than required to achieve full 3-D motion, but it can move freely in a 2-D plane. For full 3-D motion, multiple modules connect to and cooperate with each other. Thus, modular truss climbing robots can have both properties: functionality and simplicity. A modular truss climbing robot, called Shady3D, is presented as the hardware implementation of this concept. This robot has three motive degrees of freedom, and can form a six-degree-of-freedom structure by connecting to another identical module using a passive bar as a medium. Algorithms to move the robot in a 3-D truss structure have been developed and tested in hardware experiments.(cont.) The cooperation capability of two modules is also demonstrated. As a next step beyond truss climbing robots, the concept of a self-assembling truss robot with active and passive modules is presented. In this system, multiple Shady3D robots are employed as active modules and they become an active truss structure using passive bars. The procedure of self-assembling such a truss is demonstrated in computer simulations, which show a potential application in robotic truss assembly.by Yeoreum Yoon.S.M

DOOM: SCARYDARKFAST

A close examination about what is considered the most important first-person video game ever made and its influence on how we play games toda

Coordinating construction by a distributed multi-robot system

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 147-156).This thesis presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its stability and adaptation properties. We partition construction in two tasks, tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem, and show their adaptation to failure of robots, dynamic constraints, multiple types of elements and reconfiguration. We instantiate the algorithm to building truss-like objects using rods and connectors. The algorithm has been implemented in simulation and results for constructing 2D and 3D parts are shown. Finally, we describe hardware implementation of the algorithms where mobile manipulators assemble smarts parts with IR beacons.by Seung-kook Yun.Ph.D

Virtual articulation and kinematic abstraction in robotics

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.Cataloged from PDF version of thesis.Includes bibliographical references (p. 279-292).This thesis presents the theory, implementation, novel applications, and experimental validation of a general-purpose framework for applying virtual modifications to an articulated robot, or virtual articulations. These can homogenize various aspects of a robot and its task environment into a single unified model which is both qualitatively high-level and quantitatively functional. This is the first framework designed specifically for the mixed real/virtual case. It supports arbitrary topology spatial kinematics, a broad catalog of joints, on-line structure changes, interactive kinostatic simulation, and novel kinematic abstractions, where complex subsystems are simplified with virtual replacements in both space and time. Decomposition algorithms, including a novel method of hierarchical subdivision, enable scaling to large closed-chain mechanisms with 100s of joints. Novel applications are presented in two areas of current interest: operating high- DoF kinematic manipulation and inspection tasks, and analyzing reliable kinostatic locomotion strategies based on compliance and proprioception. In both areas virtual articulations homogeneously model the robot and its task environment, and abstractions structure complex models. For high-DoF operations the operator attaches virtual joints as a novel interface metaphor to define task motion and to constrain coordinated motion (by virtually closing kinematic chains); virtual links can represent task frames or serve as intermediate connections for virtual joints. For compliant locomotion, virtual articulations model relevant compliances and uncertainties, and temporal abstractions model contact state evolution.(cont.) Results are presented for experiments with two separate robotic systems in each area. For high-DoF operations, NASA/JPL's 36 DoF ATHLETE performs previously challenging coordinated manipulation/inspection moves, and a novel large-scale (100s of joints) simulated modular robot is conveniently operated using spatial abstractions. For compliant locomotion, two experiments are analyzed that each achieve high reliability in uncertain tasks using only compliance and proprioception: a novel vertical structure climbing robot that is 99.8% reliable in over 1000 motions, and a mini-humanoid that steps up an uncertain height with 90% reliability in 80 trials. In both cases virtual articulation models capture the essence of compliant/proprioceptive strategies at a higher level than basic physics, and enable quantitative analyses of the limits of tolerable uncertainty that compare well to experiment.by Marsette Arthur Vona, III.Ph.D

Wings in Orbit: Scientific and Engineering Legacies of the Space Shuttle, 1971-2010

The Space Shuttle is an engineering marvel perhaps only exceeded by the station itself. The shuttle was based on the technology of the 1960s and early 1970s. It had to overcome significant challenges to make it reusable. Perhaps the greatest challenges were the main engines and the Thermal Protection System. The program has seen terrible tragedy in its 3 decades of operation, yet it has also seen marvelous success. One of the most notable successes is the Hubble Space Telescope, a program that would have been a failure without the shuttle's capability to rendezvous, capture, repair, as well as upgrade. Now Hubble is a shining example of success admired by people around the world. As the program comes to a close, it is important to capture the legacy of the shuttle for future generations. That is what "Wings In Orbit" does for space fans, students, engineers, and scientists. This book, written by the men and women who made the program possible, will serve as an excellent reference for building future space vehicles. We are proud to have played a small part in making it happen. Our journey to document the scientific and engineering accomplishments of this magnificent winged vehicle began with an audacious proposal: to capture the passion of those who devoted their energies to its success while answering the question "What are the most significant accomplishments?" of the longestoperating human spaceflight program in our nation s history. This is intended to be an honest, accurate, and easily understandable account of the research and innovation accomplished during the era

Proceedings of the 8th international conference on disability, virtual reality and associated technologies (ICDVRAT 2010)

The proceedings of the conferenc

A History of Materials and Technologies Development

The purpose of the book is to provide the students with the text that presents an introductory knowledge about the development of materials and technologies and includes the most commonly available information on human development. The idea of the publication has been generated referring to the materials taken from the organic and non-organic evolution of nature. The suggested texts might be found a purposeful tool for the University students proceeding with studying engineering due to the fact that all subjects in this particular field more or less have to cover the history and development of the studied object. It is expected that studying different materials and technologies will help the students with a better understanding of driving forces, positive and negative consequences of technological development, etc

Federal Register

Daily publication of the U.S. Office of the Federal Register contains rules and regulations, proposed legislation and rule changes, and other notices, including "Presidential proclamations and Executive Orders, Federal agency documents having general applicability and legal effect, documents required to be published by act of Congress, and other Federal agency documents of public interest" (p. ii). Table of Contents starts on page iii