This document discusses modular robotic systems and their key characteristics and applications. Modular robots are composed of independent modules that can self-assemble, self-reconfigure, and self-repair, allowing them to be versatile and robust. They can construct complex structures through self-assembly and transform their shape through self-reconfiguration. Some examples of modular robotic systems discussed are CEBOT, PolyBot, Crystalline, and Telecubes. The document also covers evolutionary robotics, printable robots, and applications for space exploration.
Nanotechnology is the engineering of functional systems at the molecular scale.
The technology of creating machines or robots at or close to the microscopic scale of a nanometer (10−9 meters).
A Presentation that I took during Wired Robotics Boot Camp. I took it with one of my friend Sarthak Marathe.
It covers covers various aspects of Robotics, starting with Introduction to Robotics, its types, application etc. It also talks about, "How to build a Wired Robot".
Introduction to Robotics in Mechanical Engineering.pptxhublikarsn
Robotics is an exciting and rapidly evolving field that combines engineering, computer science, and technology. Robots are versatile machines capable of automating a wide range of tasks with precision, speed, and power. This introduction will explore the history, components, and applications of this transformative technology.
A robot is an electromechanical machine designed to perform tasks autonomously or semi-autonomously.
Robots are controlled by sophisticated software and can be programmed to carry out a variety of functions.
Robots use sensors to gather information about their environment and actuators to interact with it.
The concept of automata, or self-operating machines, dates back to ancient civilizations such as Greece and China.
The development of industrial machinery in the 18th and 19th centuries paved the way for modern robotics.
The advent of computers in the 20th century enabled the creation of more advanced, programmable robots
Industrial robots are commonly used in manufacturing, performing tasks such as welding, painting, and assembly.
Service robots are designed to assist humans in tasks like cleaning, transportation, and healthcare
Humanoid robots are designed to mimic the appearance and functionality of the human body.
Mechanical Structure
Robots have a physical frame, joints, and linkages that allow for movement and manipulation.
Power Source
Robots require a power source, such as batteries or electrical connections, to operate.
Control System
The control system, often a computer or microcontroller, coordinates the robot's actions and movements
End Effectors
Robots may have specialized tools, such as grippers or tools, to interact with their environment
Cameras and other vision sensors allow robots to perceive and respond to their environment.
Ultrasonic and infrared sensors help robots detect and avoid obstacles.
Tactile sensors enable robots to feel and interact with their surroundings.
Motors, servos, and other actuators allow robots to move and manipulate objects.
Robots are controlled by sophisticated software that defines their behaviors and decision-making processes.
Algorithms enable robots to process sensor data, plan actions, and execute tasks autonomously.
Advancements in machine learning allow robots to adapt and improve their performance over time.
Applications of Robotics
Robots are widely used in industrial settings for tasks such as assembly, welding, and packaging.
Robotic systems are revolutionizing medicine, from surgical assistants to rehabilitation devices.
Robots are essential for exploring hazardous environments, such as deep-sea and outer space
NASA Datanauts Water Cooler Chat: Autonomous Design of Modular RobotsReem Alattas
This presentation presents an autonomous system for task-based modular robotic design based on evolutionary algorithms to search for the optimal robot design.
More Related Content
Similar to Nasa Datanauts Water Cooler Chat: Evolutionary Robots for Space Exploration
Nanotechnology is the engineering of functional systems at the molecular scale.
The technology of creating machines or robots at or close to the microscopic scale of a nanometer (10−9 meters).
A Presentation that I took during Wired Robotics Boot Camp. I took it with one of my friend Sarthak Marathe.
It covers covers various aspects of Robotics, starting with Introduction to Robotics, its types, application etc. It also talks about, "How to build a Wired Robot".
Introduction to Robotics in Mechanical Engineering.pptxhublikarsn
Robotics is an exciting and rapidly evolving field that combines engineering, computer science, and technology. Robots are versatile machines capable of automating a wide range of tasks with precision, speed, and power. This introduction will explore the history, components, and applications of this transformative technology.
A robot is an electromechanical machine designed to perform tasks autonomously or semi-autonomously.
Robots are controlled by sophisticated software and can be programmed to carry out a variety of functions.
Robots use sensors to gather information about their environment and actuators to interact with it.
The concept of automata, or self-operating machines, dates back to ancient civilizations such as Greece and China.
The development of industrial machinery in the 18th and 19th centuries paved the way for modern robotics.
The advent of computers in the 20th century enabled the creation of more advanced, programmable robots
Industrial robots are commonly used in manufacturing, performing tasks such as welding, painting, and assembly.
Service robots are designed to assist humans in tasks like cleaning, transportation, and healthcare
Humanoid robots are designed to mimic the appearance and functionality of the human body.
Mechanical Structure
Robots have a physical frame, joints, and linkages that allow for movement and manipulation.
Power Source
Robots require a power source, such as batteries or electrical connections, to operate.
Control System
The control system, often a computer or microcontroller, coordinates the robot's actions and movements
End Effectors
Robots may have specialized tools, such as grippers or tools, to interact with their environment
Cameras and other vision sensors allow robots to perceive and respond to their environment.
Ultrasonic and infrared sensors help robots detect and avoid obstacles.
Tactile sensors enable robots to feel and interact with their surroundings.
Motors, servos, and other actuators allow robots to move and manipulate objects.
Robots are controlled by sophisticated software that defines their behaviors and decision-making processes.
Algorithms enable robots to process sensor data, plan actions, and execute tasks autonomously.
Advancements in machine learning allow robots to adapt and improve their performance over time.
Applications of Robotics
Robots are widely used in industrial settings for tasks such as assembly, welding, and packaging.
Robotic systems are revolutionizing medicine, from surgical assistants to rehabilitation devices.
Robots are essential for exploring hazardous environments, such as deep-sea and outer space
NASA Datanauts Water Cooler Chat: Autonomous Design of Modular RobotsReem Alattas
This presentation presents an autonomous system for task-based modular robotic design based on evolutionary algorithms to search for the optimal robot design.
Evolutionary algorithms are stochastic search and optimization heuristics derived from the classic evolution theory, which are implemented on computers in the majority of cases.
Evolutionary Robotics (ER) which is a method for automatic creation of autonomous robots, that is inspired by the Darwinian principle of selective reproduction of the fittest.
DevOps and Testing slides at DASA ConnectKari Kakkonen
My and Rik Marselis slides at 30.5.2024 DASA Connect conference. We discuss about what is testing, then what is agile testing and finally what is Testing in DevOps. Finally we had lovely workshop with the participants trying to find out different ways to think about quality and testing in different parts of the DevOps infinity loop.
Welcome to the first live UiPath Community Day Dubai! Join us for this unique occasion to meet our local and global UiPath Community and leaders. You will get a full view of the MEA region's automation landscape and the AI Powered automation technology capabilities of UiPath. Also, hosted by our local partners Marc Ellis, you will enjoy a half-day packed with industry insights and automation peers networking.
📕 Curious on our agenda? Wait no more!
10:00 Welcome note - UiPath Community in Dubai
Lovely Sinha, UiPath Community Chapter Leader, UiPath MVPx3, Hyper-automation Consultant, First Abu Dhabi Bank
10:20 A UiPath cross-region MEA overview
Ashraf El Zarka, VP and Managing Director MEA, UiPath
10:35: Customer Success Journey
Deepthi Deepak, Head of Intelligent Automation CoE, First Abu Dhabi Bank
11:15 The UiPath approach to GenAI with our three principles: improve accuracy, supercharge productivity, and automate more
Boris Krumrey, Global VP, Automation Innovation, UiPath
12:15 To discover how Marc Ellis leverages tech-driven solutions in recruitment and managed services.
Brendan Lingam, Director of Sales and Business Development, Marc Ellis
Generative AI Deep Dive: Advancing from Proof of Concept to ProductionAggregage
Join Maher Hanafi, VP of Engineering at Betterworks, in this new session where he'll share a practical framework to transform Gen AI prototypes into impactful products! He'll delve into the complexities of data collection and management, model selection and optimization, and ensuring security, scalability, and responsible use.
LF Energy Webinar: Electrical Grid Modelling and Simulation Through PowSyBl -...DanBrown980551
Do you want to learn how to model and simulate an electrical network from scratch in under an hour?
Then welcome to this PowSyBl workshop, hosted by Rte, the French Transmission System Operator (TSO)!
During the webinar, you will discover the PowSyBl ecosystem as well as handle and study an electrical network through an interactive Python notebook.
PowSyBl is an open source project hosted by LF Energy, which offers a comprehensive set of features for electrical grid modelling and simulation. Among other advanced features, PowSyBl provides:
- A fully editable and extendable library for grid component modelling;
- Visualization tools to display your network;
- Grid simulation tools, such as power flows, security analyses (with or without remedial actions) and sensitivity analyses;
The framework is mostly written in Java, with a Python binding so that Python developers can access PowSyBl functionalities as well.
What you will learn during the webinar:
- For beginners: discover PowSyBl's functionalities through a quick general presentation and the notebook, without needing any expert coding skills;
- For advanced developers: master the skills to efficiently apply PowSyBl functionalities to your real-world scenarios.
Essentials of Automations: The Art of Triggers and Actions in FMESafe Software
In this second installment of our Essentials of Automations webinar series, we’ll explore the landscape of triggers and actions, guiding you through the nuances of authoring and adapting workspaces for seamless automations. Gain an understanding of the full spectrum of triggers and actions available in FME, empowering you to enhance your workspaces for efficient automation.
We’ll kick things off by showcasing the most commonly used event-based triggers, introducing you to various automation workflows like manual triggers, schedules, directory watchers, and more. Plus, see how these elements play out in real scenarios.
Whether you’re tweaking your current setup or building from the ground up, this session will arm you with the tools and insights needed to transform your FME usage into a powerhouse of productivity. Join us to discover effective strategies that simplify complex processes, enhancing your productivity and transforming your data management practices with FME. Let’s turn complexity into clarity and make your workspaces work wonders!
A tale of scale & speed: How the US Navy is enabling software delivery from l...sonjaschweigert1
Rapid and secure feature delivery is a goal across every application team and every branch of the DoD. The Navy’s DevSecOps platform, Party Barge, has achieved:
- Reduction in onboarding time from 5 weeks to 1 day
- Improved developer experience and productivity through actionable findings and reduction of false positives
- Maintenance of superior security standards and inherent policy enforcement with Authorization to Operate (ATO)
Development teams can ship efficiently and ensure applications are cyber ready for Navy Authorizing Officials (AOs). In this webinar, Sigma Defense and Anchore will give attendees a look behind the scenes and demo secure pipeline automation and security artifacts that speed up application ATO and time to production.
We will cover:
- How to remove silos in DevSecOps
- How to build efficient development pipeline roles and component templates
- How to deliver security artifacts that matter for ATO’s (SBOMs, vulnerability reports, and policy evidence)
- How to streamline operations with automated policy checks on container images
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
Elevating Tactical DDD Patterns Through Object CalisthenicsDorra BARTAGUIZ
After immersing yourself in the blue book and its red counterpart, attending DDD-focused conferences, and applying tactical patterns, you're left with a crucial question: How do I ensure my design is effective? Tactical patterns within Domain-Driven Design (DDD) serve as guiding principles for creating clear and manageable domain models. However, achieving success with these patterns requires additional guidance. Interestingly, we've observed that a set of constraints initially designed for training purposes remarkably aligns with effective pattern implementation, offering a more ‘mechanical’ approach. Let's explore together how Object Calisthenics can elevate the design of your tactical DDD patterns, offering concrete help for those venturing into DDD for the first time!
GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
PHP Frameworks: I want to break free (IPC Berlin 2024)Ralf Eggert
In this presentation, we examine the challenges and limitations of relying too heavily on PHP frameworks in web development. We discuss the history of PHP and its frameworks to understand how this dependence has evolved. The focus will be on providing concrete tips and strategies to reduce reliance on these frameworks, based on real-world examples and practical considerations. The goal is to equip developers with the skills and knowledge to create more flexible and future-proof web applications. We'll explore the importance of maintaining autonomy in a rapidly changing tech landscape and how to make informed decisions in PHP development.
This talk is aimed at encouraging a more independent approach to using PHP frameworks, moving towards a more flexible and future-proof approach to PHP development.
4. Modularity
• Modular robots are composed of various units or
modules.
• Each module involves actuators, sensors, computational,
and communicational capabilities.
• Modularity allows robots for self-assembly, self-
reconfiguration, and self-repair.
6. Self-Reconfiguration
• Allows robots of metamorphosis, which in turn makes
them capable of performing different sorts of kinematics.
• Classes:
• Lattice
• Chain
• Mobile
7. Self-Repair
• Allows a robot to replace damaged modules with
functional ones in order to continue with the task at hand.
8. Self-Reproduction
• Allows robots to reproduce themselves from an infinite
supply of parts using simple rules.
• If the resulting system is an exact replica of the original,
the system is called a self-replicator.
15. Evolutionary Robotics
• Evolutionary Robotics is a method for the automatic
creation of autonomous robots.
• Inspired by the Darwinian principle of selective
reproduction of the fittest captured by evolutionary
algorithms.
Zykov et al. 2004
16. Printable Robots
• 3-D printing, are
becoming increasingly
accessible.
• 3D Printing allows
fabrication of low cost,
capable, agile,
functional 3-D robots;
such as Origami
robots. Onal et al., 2014
18. Conclusion
• In this presentation, we have presented a comprehensive
survey of modular robots that were created to meet three
main goals, versatility, robustness, and low cost.
19. HOW CAN WE USE THESE
ROBOTS FOR SPACE &
PLANETARY EXPLORATION?
This paper surveys modular robot systems, which consist of multiple modules and aim to create versatile, robust, and low cost systems. The modularity allows these robots to self-assemble, self-reconfigure, self-repair, and self-replicate.
Versatility is the capability of the modular robotic system to form a number of different shapes; each with big numbers of degrees of freedom (DOF).
Robustness comes from redundancy and self-repair.
Low cost can be achieved through rapid prototyping equipment techniques; such as 3D printing, that can build any object by laying down successive layers of material.
The natural construction of complex multi-unit system using simple units governed by a set of rules.
The ability to form a larger stronger robot using smaller modules allows self-assembled robots to perform tasks in remote and hazardous environments.
For instance, a robot may reconfigure into a manipulator, a crawler, or a legged one. This sort of adaptability enables self-reconfigurable robots to accomplish tasks in unstructured environments; such as space exploration.
Lattice: Modules are arranged in a 2D or 3D pattern or virtual grid that can be used as a guide for modules to determine their positions and form the new shape.
Chain: Modules are connected together in a string or tree topology. The modules reconfigure by attaching and detaching to and from themselves.
Mobile: Modules detach from the main body and maneuver independently using the environment to link up at new locations in order to form new shapes.
A self-repair system must have two qualities: the ability to self-modify, and the availability of new parts or resources to fix broken ones. Therefore, modular self-repair robots usually consist of redundant modules. Self-repair consists of detecting the failure module, ejecting the deficient module and replacing it with an efficient extra module. Such robots are well suited for working in unknown and remote environments.
CEBOT was developed in 1990 as a distributed robotic system consisting of cells that could attach together to perform a function.
These cells can automatically communicate, attach, and detach to perform a function, which allows the system to self-assemble and self-repair.
Self-assembly:
CEBOT self-assembly method is designed for a small homogeneous local system that consists of around 10 units. Those units are connected in an arbitrary shape and one unit is chosen to be the origin of construction or the kernel. The kernel gathers adjacent units to compose a logical connection network according to the embedded plan. This network is the first stage. The units involved in the first stage network then gather some surrounding units and form the second stage network. Repeating this process increases the stages, and the network grows stage by stage, approaching the target configuration. The difficulty in construction is low due to using the layer, which acts as a kind of coordinate system to reduce the volume of search spaces [38].
Self-Repair:
Self-repair can be performed by degeneration of the system to the previous stage.
PolyBot is the first modular robotic system to demonstrate self-reconfiguration by changing its geometry and locomotion mode depending on the terrain type; rolling type for flat terrain, earthworm type to avoid obstacles.
G2 added electromechanical latches under software control.
G3 modules are smaller and lacks the DC motor. It has instead a DC pancake motor which is flat for better mounting options.
Programming the motion of n-modular systems with large numbers of modules can be difficult. So, reconfigurations can be preplanned off-line between every member of the set and stored in a table to simplify the process especially when a fixed number of configurations is sufficient.
QQ. What is the class of PolyBot? Chain + Lattice
Crystalline is composed of atoms.
Crystalline module motion is controlled by attaching one Atom to a neighboring Atom and actuating the expansion or compression mechanism.
An individual module cannot relocate without help. However, by contracting and expanding a group of modules in a coordinated way, Atoms can move relative to a structure through the volume of Crystal on a concave structure.
Self-Reconfiguration + Self-Repair
Class: Lattice
Telecubes consists of Cube shaped modules, each with 6 DOF.
When it comes to reconfiguration, it is assumed the initial and final configurations overlap by at least one meta-module.
The reconfiguration algorithm:
1. Select a module that can begin motion based on the minimum Manhattan distance through the structure from this module to a module in the final structure.
2. Plan a route for that module through the structure that consists of Move, Roll, and S-Roll commands using a technique similar to the PacMan algorithm.
3. Execute the preplanned motions.
However, this algorithm lacks local decision making, completeness of reconfiguration or parallel execution.
M-TRAN is a distributed self-reconfigurable system composed of homogeneous robotic modules. The system can change its configuration by changing each module’s position and connection.
However, changing the posture of one module is difficult in some cases, as it involves two modules in cooperation and this makes the problem more complicated. To cope with such difficulty of planning, two types of software have been developed. The first is a motion design interface, which helps a human programmer to design a reconfiguration sequence and motion generation through a powerful graphic interface. The second is a locomotion planner for an M-TRAN cluster, in which the above difficulties are relaxed by introducing some regularity into the structure.
Zykov et al. used evolving controllers for a real dynamical-legged robot in 2004. The nine-legged machine, demonstrated in Fig. 6, is composed of two Stewart platforms back to back. The author used force-actuators which exact extension can be set. The controller architecture for this machine was an open-loop pattern generator that determines when to open and close pneumatic valves. The on-off pattern was evolved and candidate controllers were evaluated by trying them out on a robot in a cage. Fitness was measured using a camera that tracks the red ball on the foot of one of the legs of the machine
3-D printing, are becoming increasingly accessible due to their ability of achieving complex geometries.
3D Printing allows fabrication of low cost, capable, agile, functional 3-D robots; such as Origami robots.
Those robots can fold themselves into functional 3-D machines employing origami-inspired techniques.
Former: Design
Latter: Reproduction
Lipson et al. proposed an approach based on the use of only elementary building blocks and operators in design and fabrication process. Elementary building blocks were used to minimize inductive bias and maximize architectural flexibility. Also, they allow the fabrication process to be more systematic and versatile.