Enumeration of the Non-Isomorphic Configurations for a Reconfigurable Modular Robot with Square-Cubic-Cell Modules

Abstract. Configuration of a reconfigurable modular system is a tough issue because the possible configurations or structures grow exponentially with the number of modules. A library of the non-isomorphic configurations should be set up as a database for configuration design and control. In this paper, we propose a matrix-based enumerating approach for the non-isomorphic configurations of a reconfigurable modular robot system with square-cubic-cell (SCC) modules. Each SCC module considered in this study includes a cubic module body and four connectors on its lateral surfaces. Since it has a square lattice like 2D projection, configuration matrices are proposed to represent the topological information of the modular robot. Thus reconfiguration and enumeration can be programmed by matrix computation in simulation. According to combinational principle, recursive algorithms are used to find out all non-isomorphic configurations. Enumerating result for a multi-module SCC system is provided as an example. Potential applications of this approach to other reconfigurable systems with lattice-form or cubic-form modules are discussed as well. As an application, enumeration of the multi-module CONRO robot also proves the validity of this method

Internet-enhanced automation in micro environment

Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote microenvironments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro-automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidence fluoride (PVDF) sensors that can be used force-reflective control of micro-mechanical devices over the Internet. Internet based teleoperation between Hong Kong and Michigan State was demonstrated using an event-based control scheme, which ensured stability and synchronization. Control was enhanced by multimedia feedback, which included, in addition to the traditional video, force feedback. The force fed back augmented the limited information supplied by visual feedback. We believe this project will eventually make a great impact to the globalization of MEMS foundries because it will allow global users of micro-assemble and micro-manipulate surface micromachined devices from their laboratories, and hence, reduce the time from design to production significantly.Link_to_subscribed_fulltex