Nested reconfigurable robots: theory, design, and realization

Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability). The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigurability of the proposed module

Towards Developing Efficient Area Coverage Approach in Domestic Robots

東京電機大学201

How Fast Can We Play Tetris Greedily With Rectangular Pieces?

Consider a variant of Tetris played on a board of width $w$ and infinite height, where the pieces are axis-aligned rectangles of arbitrary integer dimensions, the pieces can only be moved before letting them drop, and a row does not disappear once it is full. Suppose we want to follow a greedy strategy: let each rectangle fall where it will end up the lowest given the current state of the board. To do so, we want a data structure which can always suggest a greedy move. In other words, we want a data structure which maintains a set of $O(n)$ rectangles, supports queries which return where to drop the rectangle, and updates which insert a rectangle dropped at a certain position and return the height of the highest point in the updated set of rectangles. We show via a reduction to the Multiphase problem [P\u{a}tra\c{s}cu, 2010] that on a board of width $w=\Theta(n)$, if the OMv conjecture [Henzinger et al., 2015] is true, then both operations cannot be supported in time $O(n^{1/2-\epsilon})$ simultaneously. The reduction also implies polynomial bounds from the 3-SUM conjecture and the APSP conjecture. On the other hand, we show that there is a data structure supporting both operations in $O(n^{1/2}\log^{3/2}n)$ time on boards of width $n^{O(1)}$, matching the lower bound up to a $n^{o(1)}$ factor.Comment: Correction of typos and other minor correction

Development of Atomistic Potentials for Silicate Materials and Coarse-Grained Simulation of Self-Assembly at Surfaces

This thesis is composed of two parts. The first is a study of evolutionary strategies for parametrization of empirical potentials, and their application in development of a charge-transfer potential for silica. An evolutionary strategy was meta-optimized for use in empirical potential parametrization, and a new charge-transfer empirical model was developed for use with isobaric-isothermal ensemble molecular dynamics simulations. The second is a study of thermodynamics and self-assembly in a particular class of athermal two-dimensional lattice models. The effects of shape on self-assembly and thermodynamics for polyominoes and tetrominoes were examined. Many interesting results were observed, including complex clustering, non-ideal mixing, and phase transitions. In both parts, computational efficiency and performance were important goals, and this was reflected in method and program development

Towards Fault Diagnosis in Reconfigurable Robot

東京電機大学201

Geometric and algebraic properties of polyomino tilings

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mathematics, 2004.Includes bibliographical references (p. 165-167).This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.In this thesis we study tilings of regions on the square grid by polyominoes. A polyomino is any connected shape formed from a union of grid cells, and a tiling of a region is a collection of polyominoes lying in the region such that each square is covered exactly once. In particular, we focus on two main themes: local connectivity and tile invariants. Given a set of tiles T and a finite set L of local replacement moves, we say that a region [Delta] has local connectivity with respect to T and L if it is possible to convert any tiling of [Delta] into any other by means of these moves. If R is a set of regions (such as the set of all simply connected regions), then we say there is a local move property for T and R if there exists a finite set of moves L such that every r in R has local connectivity with respect to T and L. We use height function techniques to prove local move properties for several new tile sets. In addition, we provide explicit counterexamples to show the absence of a local move property for a number of tile sets where local move properties were conjectured to hold. We also provide several new results concerning tile invariants. If we let ai(t) denote the number of occurrences of the tile ti in a tiling t of a region [Delta], then a tile invariant is a linear combination of the ai's whose value depends only on t and not on r.(cont.) We modify the boundary-word technique of Conway and Lagarias to prove tile invariants for several new sets of tiles and provide specific examples to show that the invariants we obtain are the best possible. In addition, we prove some new enumerative results, relating certain tiling problems to Baxter permutations, the Tutte polynomial, and alternating-sign matrices.by Michael Robert Korn.Ph.D