Modular Self-Reconfigurable Robot Systems

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel

Force-Guiding Particle Chains for Shape-Shifting Displays

We present design and implementation of a chain of particles that can be programmed to fold the chain into a given curve. The particles guide an external force to fold, therefore the particles are simple and amenable for miniaturization. A chain can consist of a large number of such particles. Using multiple of these chains, a shape-shifting display can be constructed that folds its initially flat surface to approximate a given 3D shape that can be touched and modified by users, for example, enabling architects to interactively view, touch, and modify a 3D model of a building.Comment: 6 pages, 5 figure, submitted to IROS 201

Mechanical suppression of osteolytic bone metastases in advanced breast cancer patients: A randomised controlled study protocol evaluating safety, feasibility and preliminary efficacy of exercise as a targeted medicine

Background: Skeletal metastases present a major challenge for clinicians, representing an advanced and typically incurable stage of cancer. Bone is also the most common location for metastatic breast carcinoma, with skeletal lesions identified in over 80% of patients with advanced breast cancer. Preclinical models have demonstrated the ability of mechanical stimulation to suppress tumour formation and promote skeletal preservation at bone sites with osteolytic lesions, generating modulatory interference of tumour-driven bone remodelling. Preclinical studies have also demonstrated anti-cancer effects through exercise by minimising tumour hypoxia, normalising tumour vasculature and increasing tumoural blood perfusion. This study proposes to explore the promising role of targeted exercise to suppress tumour growth while concomitantly delivering broader health benefits in patients with advanced breast cancer with osteolytic bone metastases. Methods: This single-blinded, two-armed, randomised and controlled pilot study aims to establish the safety, feasibility and efficacy of an individually tailored, modular multi-modal exercise programme incorporating spinal isometric training (targeted muscle contraction) in 40 women with advanced breast cancer and stable osteolytic spinal metastases. Participants will be randomly assigned to exercise or usual medical care. The intervention arm will receive a 3-month clinically supervised exercise programme, which if proven to be safe and efficacious will be offered to the control-arm patients following study completion. Primary endpoints (programme feasibility, safety, tolerance and adherence) and secondary endpoints (tumour morphology, serum tumour biomarkers, bone metabolism, inflammation, anthropometry, body composition, bone pain, physical function and patient-reported outcomes) will be measured at baseline and following the intervention. Discussion: Exercise medicine may positively alter tumour biology through numerous mechanical and nonmechanical mechanisms. This randomised controlled pilot trial will explore the preliminary effects of targeted exercise on tumour morphology and circulating metastatic tumour biomarkers using an osteolytic skeletal metastases model in patients with breast cancer. The study is principally aimed at establishing feasibility and safety. If proven to be safe and feasible, results from this study could have important implications for the delivery of this exercise programme to patients with advanced cancer and sclerotic skeletal metastases or with skeletal lesions present in haematological cancers (such as osteolytic lesions in multiple myeloma), for which future research is recommended. Trial registration: anzctr.org.au, ACTRN-12616001368426. Registered on 4 October 2016

Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots

Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a principled foundation towards the design and implementation of living architectural systems that provide functionalities beyond those of orthodox building practice, such as self-repair, material accumulation and self-organization. Plants and robots work together to create a living organism that is inhabited by human beings. User-defined design objectives help to steer the directional growth of the plants, but also the system's interactions with its inhabitants determine locations where growth is prohibited or desired (e.g., partitions, windows, occupiable space). We report our plant species selection process and aspects of living architecture. A leitmotif of our project is the rich concept of braiding: braids are produced by robots from continuous material and serve as both scaffolds and initial architectural artifacts before plants take over and grow the desired architecture. We use light and hormones as attraction stimuli and far-red light as repelling stimulus to influence the plants. Applied sensors range from simple proximity sensing to detect the presence of plants to sophisticated sensing technology, such as electrophysiology and measurements of sap flow. We conclude by discussing our anticipated final demonstrator that integrates key features of flora robotica, such as the continuous growth process of architectural artifacts and self-repair of living architecture.Comment: 16 pages, 12 figure

Design of generic modular reconfigurable platforms (GMRPS) for a product-oriented micro manufacturing system

With the proposition of the concept of product-service systems, many manufacturers are focusing on selling services or functionality rather than products. Industrial production is shifting production models from mass production to mass customization and highly personalized needs. As a result, there is a tendency for manufacturing system suppliers to develop product-oriented systems to responsively cope with the dynamic fast moving competitive market. The key features of such a manufacturing system are the reconfigurability and adaptability, which can enable the system respond to the changeable needs of customers quickly and adaptively. Therefore, one of the challenges for the micro manufacturing system provider has been the design of a reconfigurable machine platform which will provide the functionalities and flexibility required by the product-oriented systems. In this paper, a new micro manufacturing platform, i.e. a generic modular reconfigurable platform (GMRP) is proposed in order to provide an effective means for fabrication of high quality micro products at low cost in a responsive manner. The GMRP-based system aims to be a product-oriented reconfigurable, highly responsive manufacturing system particularly for high value nano/micro manufacturing purposes. To reuse components and decrease material consumption, GMRP is characterized by hybrid micro manufacturing processes, modularity of key components, and reconfigurability of machine platforms and key components. Furthermore, a practical methodology for the design of reconfigurable machine platforms is discussed against the requirements from product-driven micro manufacturing and its extension for adaptive production