A distributed self-reconfiguration algorithm for cylindrical lattice-based modular robots

International audienceModular self-reconfigurable robots are composed of independent connected modules which can self-rearrange their connectivity using processing, communication and motion capabilities, in order to change the overall robot structure. In this paper, we consider rolling cylindrical modules arranged in a two-dimensional vertical hexagonal lattice. We propose a parallel, asynchronous and fully decentralized distributed algorithm to self-reconfigure robots from an initial configuration to a goal one. We evaluate our algorithm on the millimeter-scale cylindrical robots, developed in the Claytronics project, through simulation of large ensembles composed of up to ten thousand modules. We show the effectiveness of our algorithm and study its performance in terms of communications, movements and execution time. Our observations indicate that the number of communications, the number of movements and the execution time of our algorithm is highly predictable. Furthermore, we observe execution times that are linear in the size of the goal shape

Air Force Institute of Technology Research Report 2007

This report summarizes the research activities of the Air Force Institute of Technology’s Graduate School of Engineering and Management. It describes research interests and faculty expertise; lists student theses/dissertations; identifies research sponsors and contributions; and outlines the procedures for contacting the school. Included in the report are: faculty publications, conference presentations, consultations, and funded research projects. Research was conducted in the areas of Aeronautical and Astronautical Engineering, Electrical Engineering and Electro-Optics, Computer Engineering and Computer Science, Systems and Engineering Management, Operational Sciences, Mathematics, Statistics and Engineering Physics

Sense–Analyze–Respond–Actuate (SARA) Paradigm: Proof of Concept System Spanning Nanoscale and Macroscale Actuation for Detection of Escherichia coli in Aqueous Media

Foodborne pathogens are a major concern for public health. We demonstrate for the first time a partially automated sensing system for rapid (~17 min), label-free impedimetric detection of Escherichia coli spp. in food samples (vegetable broth) and hydroponic media (aeroponic lettuce system) based on temperature-responsive poly(N-isopropylacrylamide) (PNIPAAm) nanobrushes. This proof of concept (PoC) for the Sense-Analyze-Respond-Actuate (SARA) paradigm uses a biomimetic nanostructure that is analyzed and actuated with a smartphone. The bio-inspired soft material and sensing mechanism is inspired by binary symbiotic systems found in nature, where low concentrations of bacteria are captured from complex matrices by brush actuation driven by concentration gradients at the tissue surface. To mimic this natural actuation system, carbon-metal nanohybrid sensors were fabricated as the transducer layer, and coated with PNIPAAm nanobrushes. The most effective coating and actuation protocol for E. coli detection at various temperatures above/below the critical solution temperature of PNIPAAm was determined using a series of electrochemical experiments. After analyzing nanobrush actuation in stagnant media, we developed a flow through system using a series of pumps that are triggered by electrochemical events at the surface of the biosensor. SARA PoC may be viewed as a cyber-physical system that actuates nanomaterials using smartphone-based electroanalytical testing of samples. This study demonstrates thermal actuation of polymer nanobrushes to detect (sense) bacteria using a cyber-physical systems (CPS) approach. This PoC may catalyze the development of smart sensors capable of actuation at the nanoscale (stimulus-response polymer) and macroscale (non-microfluidic pumping)

Quantum Lego and XP Stabilizer Codes

We apply the recent graphical framework of ''quantum lego'' to XP stabilizer codes where the stabilizer group is generally non-abelian. We show that the idea of operator matching continues to hold for such codes and is sufficient for generating all their XP symmetries provided the resulting code is XP. We provide an efficient classical algorithm for tracking these symmetries under tensor contraction or conjoining. This constitutes a partial extension of the algorithm implied by Gottesman-Knill theorem beyond Pauli stabilizer states and Clifford operations. Because conjoining transformations generate quantum operations that are universal, the XP symmetries obtained from these algorithms do not uniquely identify the resulting tensors in general. Using this extended framework, we provide a novel XP stabilizer code with higher distance and a $[[8,1,2]]$ code with fault-tolerant $T$ gate. For XP regular codes, we also construct a tensor-network-based the maximum likelihood decoder for any i.i.d. single qubit error channel.Comment: 18 pages, 6 figure

Evolvable Smartphone-Based Point-of-Care Systems For In-Vitro Diagnostics

Recent developments in the life-science -omics disciplines, together with advances in micro and nanoscale technologies offer unprecedented opportunities to tackle some of the major healthcare challenges of our time. Lab-on-Chip technologies coupled with smart-devices in particular, constitute key enablers for the decentralization of many in-vitro medical diagnostics applications to the point-of-care, supporting the advent of a preventive and personalized medicine. Although the technical feasibility and the potential of Lab-on-Chip/smart-device systems is repeatedly demonstrated, direct-to-consumer applications remain scarce. This thesis addresses this limitation. System evolvability is a key enabler to the adoption and long-lasting success of next generation point-of-care systems by favoring the integration of new technologies, streamlining the reengineering efforts for system upgrades and limiting the risk of premature system obsolescence. Among possible implementation strategies, platform-based design stands as a particularly suitable entry point. One necessary condition, is for change-absorbing and change-enabling mechanisms to be incorporated in the platform architecture at initial design-time. Important considerations arise as to where in Lab-on-Chip/smart-device platforms can these mechanisms be integrated, and how to implement them. Our investigation revolves around the silicon-nanowire biological field effect transistor, a promising biosensing technology for the detection of biological analytes at ultra low concentrations. We discuss extensively the sensitivity and instrumentation requirements set by the technology before we present the design and implementation of an evolvable smartphone-based platform capable of interfacing lab-on-chips embedding such sensors. We elaborate on the implementation of various architectural patterns throughout the platform and present how these facilitated the evolution of the system towards one accommodating for electrochemical sensing. Model-based development was undertaken throughout the engineering process. A formal SysML system model fed our evolvability assessment process. We introduce, in particular, a model-based methodology enabling the evaluation of modular scalability: the ability of a system to scale the current value of one of its specification by successively reengineering targeted system modules. The research work presented in this thesis provides a roadmap for the development of evolvable point-of-care systems, including those targeting direct-to-consumer applications. It extends from the early identification of anticipated change, to the assessment of the ability of a system to accommodate for these changes. Our research should thus interest industrials eager not only to disrupt, but also to last in a shifting socio-technical paradigm

Air Force Institute of Technology Research Report 2006

This report summarizes the research activities of the Air Force Institute of Technology’s Graduate School of Engineering and Management. It describes research interests and faculty expertise; lists student theses/dissertations; identifies research sponsors and contributions; and outlines the procedures for contacting the school. Included in the report are: faculty publications, conference presentations, consultations, and funded research projects. Research was conducted in the areas of Aeronautical and Astronautical Engineering, Electrical Engineering and Electro-Optics, Computer Engineering and Computer Science, Systems and Engineering Management, Operational Sciences, Mathematics, Statistics and Engineering Physics

The Boston University Photonics Center annual report 2007-2008

This repository item contains an annual report that summarizes activities of the Boston University Photonics Center in the 2007-2008 academic year. The report provides quantitative and descriptive information regarding photonics programs in education, interdisciplinary research, business innovation, and technology development. The Boston University Photonics Center (BUPC) is an interdisciplinary hub for education, research, scholarship, innovation, and technology development associated with practical uses of light.The following report summarizes activities of the Boston University Photonics Center (BUPC) during the period July 2007 through June 2008. These activities span the Center’s complementary missions in education, research, technology development, and commercialization. Faculty research activity reached an all time high when evaluated by the accepted metrics of external funding, scholarly publications, honors and awards. The Center’s educational programs were bolstered by two summer programs hosting more than 40 undergraduate interns, and by the renewal of a competitive graduate fellowship program sponsoring ten BUPC graduate fellowships. In technology development, the prototype RedOwl sniper detection system pioneered by Center faculty, staff, and industry partners was field-tested by the US Department of Defense. RedOwl has been officially transitioned to industry partners for further commercial development along with the soldier wearable Enhanced Acoustic Gear for Locating Enemies (EAGLE) system. Three defense/security prototypes were developed by BUPC to address critical national defense needs in the past year. Four faculty development projects were supported in collaboration with the Army Research Laboratory’s Sensors and Electron Devices Directorate (ARL-SEDD) to fill the technology pipeline for our future defense-related prototyping efforts. The Center’s business incubator is at capacity with various technology companies ranging from photonics to life sciences. The incubator provides a stimulating intellectual environment, outstanding facilities, and professional business expertise to participating companies