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Amorphous Computers and Metamorphic Robots for use in Shape Goo. Dane Kennedy Supervisor: Shaun Bangay. Overview of Talk. Aim of project Introduce the major players Talk about pros and cons of different approaches Talk about Goo implementations Progress. Aim of overall Project. - PowerPoint PPT Presentation
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Amorphous ComputersAmorphous Computersandand
Metamorphic RobotsMetamorphic Robotsfor use infor use in
Shape GooShape Goo
Dane KennedyDane Kennedy
Supervisor: Shaun BangaySupervisor: Shaun Bangay
Overview of TalkOverview of Talk
Aim of projectAim of project Introduce the major playersIntroduce the major players Talk about pros and cons of different Talk about pros and cons of different
approachesapproaches Talk about Goo implementationsTalk about Goo implementations ProgressProgress
Aim of overall ProjectAim of overall Project
To create a simulated gel like substance To create a simulated gel like substance that is capable of changing from one that is capable of changing from one shape to another arbitrary shape on shape to another arbitrary shape on demanddemand
The two possible implementationsThe two possible implementations
Amorphous ComputersAmorphous Computers
Metamorphic RobotsMetamorphic Robots
Amorphous ComputersAmorphous Computers
Computing Elements:Computing Elements: ProcessorsProcessors SensorsSensors ActuatorsActuators
LimitationsLimitations Limited Limited
Communications Communications RadiusRadius
AdvantagesAdvantages There are lots of them!There are lots of them!
Metamorphic RobotsMetamorphic Robots
DefinitionDefinition Independent, Independent,
homogenous robotic homogenous robotic modulesmodules
LimitationsLimitations All modules are the All modules are the
samesame
AdvantagesAdvantages All modules are the All modules are the
same!same!
Amorphous ComputersAmorphous Computers
AdvantagesAdvantages
Strength in numbersStrength in numbers
DisadvantagesDisadvantages
No No a prioria priori information information Limited Limited
communications communications abilitiesabilities
Limited MemoryLimited Memory Movement is a Movement is a
problemproblem
Metamorphic RobotsMetamorphic Robots
AdvantagesAdvantages
Well defined Well defined movement movement characteristicscharacteristics
DisadvantagesDisadvantages
Limited movementLimited movement Limited memoryLimited memory
The Goo environmentThe Goo environment
Amorphous ComputersAmorphous Computers
Fish tank scenario AFish tank scenario A
Non-moving robotsNon-moving robots
Fish tank scenario BFish tank scenario B
Free moving robotsFree moving robots
Substrate scenarioSubstrate scenario
Limited moving robotsLimited moving robots
Metamorphic RobotsMetamorphic Robots
Substrate of robotsSubstrate of robotsLimited movement robotsLimited movement robots
Problems/Solutions with GooProblems/Solutions with Goo
Describing shapeDescribing shape Complete DescriptionComplete Description SkeletonSkeleton
Movement of modules within the gooMovement of modules within the goo Moving in and out of spaces.Moving in and out of spaces.
OrientationOrientation
ProgressProgress
Created Amorphous Computing Created Amorphous Computing environmentenvironment
Verified various experiments done in other Verified various experiments done in other people’s researchpeople’s research
Semi-Developed algorithm for Semi-Developed algorithm for metamorphic robot scenario.metamorphic robot scenario.
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Some ResultsSome Results
Fish Tank Scenario AFish Tank Scenario AInitial StateInitial State
Fish Tank Scenario AFish Tank Scenario AFinal StateFinal State
BackBack
Fish Tank Scenario BFish Tank Scenario BInitial StateInitial State
Fish Tank Scenario BFish Tank Scenario BTransitional StateTransitional State
Fish Tank Scenario BFish Tank Scenario BFinal StateFinal State
BackBack
Amorphous SubstrateAmorphous SubstrateInitial StateInitial State
Amorphous SubstrateAmorphous SubstrateTransitional StateTransitional State
Amorphous SubstrateAmorphous SubstrateFinal StateFinal State
BackBack
Metamorphic SubstrateMetamorphic SubstrateInitial StateInitial State
BackBack
Metamorphic SubstrateMetamorphic SubstrateFinal StateFinal State
BackBack
