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8/8/2019 MANU NARAYANAN
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PRESENTED BY,MANU NARAYANAN CP
S7 AEIE
7529
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INTRO TO
MODULAR
SELF
CONFIGURAB
LE ROBOTS
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In the last few decades, robotresearch and development haspeeled off in a number ofdifferent directions. The goal,however, is the same:
Robots are autonomousartificial life forms that can
perform useful work
BUT, the paths to getting tothis point are a diverse as the
eccentric cast of charactersforging them.
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Fractal is anything which has a substantialmeasure of statistical self similarity.
Fractal robots are simply a group ofelectronic cubes controlled by an operating
system(computer).
These robots can re-configure to any shapeaccording to the program performing on theoperating system.
Here homogeneous cubes are used.
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Robotic cubes are assembledfrom face plates bolted to acubic frame.
The cubes are hollow and allthe electronic and mechanicalmovement mechanism areassembled in it.
Each face plates haveelectrical contact pads
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Electrical contact pads allow powerand data signals to be routed fromone robotic cube to other.
45 degree push pull petals on thesurface allows one cube to lock withits neighbour.
These petals are also used to move
the neighbour cube according to theprogram.
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Completely assembled basic cubeis called as proteo orfractum.
Four v shaped grooves running
the length of the plate allows themovement of the petals.
Cubes have inductive coupling totransmit power.
No connecters are used on thesurface of the robotic cube.
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Petals are pushed in and out with theaid of a motor.
Petals have serrated edges and they
engage into the neighbouring roboticcube through 45 degree slot.
Serrated edges of petals are engagedby a gear wheel for lockingmechanism.
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Fractal bus permits hardware and software to merge seamlesslyinto one unified data structure.
Fractal bus helps in sending and receiving controlled data from O.S
to proteo.
To reduce the flow of instruction the message is broadcast to localmachine that controls a small no: of cubes
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Movement algorithm are called as Digital Matter Control.
Three basic movement methods.
Pick and Place.
N-streamers.
L-Streamers
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Commands are issued to a collection of cubes telling each cubewhere to go.
A command of cube 517 move left by 2 positions results in one
cube moving in the entire machine.
Eg: When ever a shell or bomb comes the wall readjust it self tododge them
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A cube is pushed out from the surface,and then another cube ismoved into the vacant position.
The new cube is joined to the tail of the growing rod and pushed out
again to grow the rod.
Purpose of the cube is to grow a tentacle.
Eg: For bridge building applications, the tentacles are grown
vertically to make tall posts
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L-shape of cubes 4,5,6 is attached toa rod numbered 1,2,3 (fig: a).
New cube 7 is added to the top (fig:
b).
Cubes 7&6 moves to the terminalssuch that cube 7 will be facing cube 5of the rod (fig: c&d).
Cube 6 will move downwards so thatcube 5,6,7 will form L-shape.
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If a part is damaged, the robot rebuilds itself byshifting cubes around from its body.
From figure, a walking machine has lost a leg.Instead of discarding its leg, the robot could
reconfigure into a different walking machine and re-synthesize lost structures
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Here partial dismantling of cubes andre-use of plate mechanisms used to re-construct the damaged cubes.
Dismantling and re-assembly are doneat custom robot assembly station.
Plates are first separated by de-assembly unit and passed through theconveyer belt.
After checking and discarding thedamaged plates it is re-assembled bythe assembly unit.
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Main applications are on :
Bridge building
Defense technology
Earth Quake applications
Medical Field
Space Exploration
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The bridging technology introduced herecan be used to patch up earth quakedamaged bridges.
These robots are used as a means to cross
very rough terrain.
L-streamer is used for horizontalmovement and N-streamer is used forvertical movement.
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These robots can be used as atrue multi-terrain vehicle.
In figure, a firing machine is
mounted on a fractal robot.
When ever the robot detects thepresence of a shell, it will re-configure to another shape so thatthe firing machine can dodgeincoming shells
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Once the building is damaged by earthquakes, the terrain inside the building isundefined.
We need true multi terrain vehicles withwalking abilities that can transform
interchangeably into crawling machines.
From figure, the robots can enter throughnarrow hole and can re-build to neededform at inside the damaged building.
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A fractal robot system with 1mm cubes can squirt into thehuman body through a 2 mm
pin hole and rebuild itselfinside the body into surgicalinstruments and perform theoperation without having toopen up the patient
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Its expensive to repair ifanything goes wrong in space.
Fractal robots can be usedthere for 100% automation andrepair.
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Technology is still in infancy.
Current cost is very high($1000 per cube of dimension 50*50*50mm3).
Needs very precise and flexible controlling software
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It may take 4-5 years for this technology to be introduced.
Using fractal robots will help in saving economy, time etc.
It can be used for sensitive tasks.
Raw materials are cheap.
These all features promises to revolutionize technology in a way that has
never been witnessed before.
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