Robust self-propulsion in sand using simply controlled vibrating cubes

Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a robust alternative locomotion mechanism on granular media -- generating movement via self-vibration. To demonstrate the effectiveness of this locomotion mechanism, we develop a cube-shaped robot with an embedded vibratory motor and conduct systematic experiments on diverse granular terrains of various particle properties. We investigate how locomotion changes as a function of vibration frequency/intensity on granular terrains. Compared to hard surfaces, we find such a vibratory locomotion mechanism enables the robot to move faster, and more stable on granular surfaces, facilitated by the interaction between the body and surrounding granules. The simplicity in structural design and controls of this robotic system indicates that vibratory locomotion can be a valuable alternative way to produce robust locomotion on granular terrains. We further demonstrate that such cube-shape robots can be used as modular units for morphologically structured vibratory robots with capabilities of maneuverable forward and turning motions, showing potential practical scenarios for robotic systems

Artificial Immunology for Collective Adaptive Systems Design and Implementation

Distributed autonomous systems consisting of large numbers of components with no central control point need to be able to dynamically adapt their control mechanisms to deal with an unpredictable and changing environment. Existing frameworks for engineering self-adaptive systems fail to account for the need to incorporate self-expression—that is, the capability of a system to dynamically adapt its coordination pattern during runtime. Although the benefits of incorporating self-expression are well known, currently there is no principled means of enabling this during system design. We propose a conceptual framework for principled design of systems that exhibit self-expression, based on inspiration from the natural immune system. The framework is described as a set of design principles and customizable algorithms and then is instantiated in three case studies, including two from robotics and one from artificial chemistry. We show that it enables self-expression in each case, resulting in systems that are able to adapt their choice of coordination pattern during runtime to optimize functional and nonfunctional goals, as well as to discover novel patterns and architectures

Generating urban structures: A method for urban planning supported by multi-agent systems and cellular automata

This work is based on the concept that the structure of a city can be defined by six basic urban patterns. To enable more complex urban planning as a long-term objective I have developed a simulation method for generating these basic patterns and for combining them to form various structures. The generative process starts with the two-dimensional organisation of streets followed by the parceling of the remaining areas. An agent-based diffusion-contact model is the basis of these first two steps. Then, with the help of cellular automata, the sites for building on are defined and a three-dimensional building structure is derived. I illustrate the proposed method by showing how it can be applied to generate possible structures for an urban area in the city of Munich

PROGRAM and PROCEEDINGS THE NEBRASKA ACADEMY OF SCIENCES: 139th Anniversary Year, One Hundred-Twenty-Ninth Annual Meeting, April 12, 2019, NEBRASKA WESLEYAN UNIVERSITY, LINCOLN, NEBRASKA

PROGRAM AT-A-GLANCE FRIDAY, APRIL 12, 2019 7:30 a.m. REGISTRATION OPENS - Lobby of Lecture Wing, Olin Hall 8:00 Aeronautics and Space Science, Session A – Acklie 109 Aeronautics and Space Science, Session B – Acklie 111 Collegiate Academy; Biology, Session B - Olin B Biological and Medical Sciences, Session A - Olin 112 Biological and Medical Sciences, Session B - Smith Callen Conference Center Chemistry and Physics; Chemistry - Olin A 8:00 “Teaching and Learning the Dynamics of Cellular Respiration Using Interactive Computer Simulations” Workshop – Olin 110 9:30 “Life After College: Building Your Resume for the Future” Workshop – Acklie 218 8:25 Collegiate Academy; Chemistry and Physics, Session A – Acklie 007 8:36 Collegiate Academy; Biology, Session A - Olin 111 9:00 Chemistry and Physics; Physics – Acklie 320 9:10 Aeronautics and Space Science, Poster Session – Acklie 109 & 111 10:30 Aeronautics and Space Science, Poster Session – Acklie 109 & 111 11:00 MAIBEN MEMORIAL LECTURE: Dr David Swanson - OLIN B Scholarship and Friend of Science Award announcements 12:00 p.m. LUNCH – WESLEYAN CAFETERIA Round-Table Discussion – “Assessing the Academy: Current Issues and Avenues for Growth” led by Todd Young – Sunflower Room 12:50 Anthropology – Acklie 109 1:00 Applied Science and Technology - Olin 111 Biological and Medical Sciences, Session C - Olin 112 Biological and Medical Sciences, Session D - Smith Callen Conference Center Chemistry and Physics; Chemistry - Olin A Collegiate Academy; Biology, Session B - Olin B Earth Science – Acklie 007 Environmental Sciences – Acklie 111 Teaching of Science and Math – Acklie 218 1:20 Chemistry and Physics; Physics – Acklie 320 4:30 BUSINESS MEETING - OLIN B NEBRASKA ASSOCIATION OF TEACHERS OF SCIENCE (NATS) The 2019 Fall Conference of the Nebraska Association of Teachers of Science (NATS) will be held at the Younes Conference Center, Kearney, NE, September 19-21, 2019. President: Betsy Barent, Norris Public Schools, Firth, NE President-Elect: Anya Covarrubias, Grand Island Public Schools, Grand Island, NE AFFILIATED SOCIETIES OF THE NEBRASKA ACADEMY OF SCIENCES, INC. 1. American Association of Physics Teachers, Nebraska Section Web site: http://www.aapt.org/sections/officers.cfm?section=Nebraska 2. Friends of Loren Eiseley Web site: http://www.eiseley.org/ 3. Lincoln Gem & Mineral Club Web site: http://www.lincolngemmineralclub.org/ 4. Nebraska Chapter, National Council for Geographic Education 5. Nebraska Geological Society Web site: http://www.nebraskageologicalsociety.org Sponsors of a $50 award to the outstanding student paper presented at the Nebraska Academy of Sciences Annual Meeting, Earth Science /Nebraska Chapter, Nat\u27l Council Sections 6. Nebraska Graduate Women in Science 7. Nebraska Junior Academy of Sciences Web site: http://www.nebraskajunioracademyofsciences.org/ 8. Nebraska Ornithologists’ Union Web site: http://www.noubirds.org/ 9. Nebraska Psychological Association http://www.nebpsych.org/ 10. Nebraska-Southeast South Dakota Section Mathematical Association of America Web site: http://sections.maa.org/nesesd/ 11. Nebraska Space Grant Consortium Web site: http://www.ne.spacegrant.org

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools