In this paper, a novel robotic system called modular transformer (M-TRAN) is proposed. 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. Each module is equipped with an onboard microprocessor, actuators, intermodule communication/power transmission devices and intermodule connection mechanisms. The special design of M-TRAN module realizes both reliable and quick self-reconfiguration and versatile robotic motion. For instance, M-TRAN is able to metamorphose into robotic configurations such as a legged machine and hereby generate coordinated walking motion without any human intervention. An actual system with ten modules was built and basic operations of self-reconfiguration and motion generation were examined through experiments. A series of software programs has also been developed to drive M-TRAN hardware, including a simulator of M-TRAN kinematics, a user interface to design appropriate configurations and motion sequences for given tasks, and an automatic motion planner for a regular cluster of M-TRAN modules. These software programs are integrated into the M-TRAN system supervised by a host computer. Several demonstrations have proven its capability as a self-reconfigurable robot.

/pdf/m-tran-self-reconfigurable-modular-robotic-system-5gow0gfpaw.pdf

M-TRAN: self-reconfigurable modular robotic system

This paper presents a definition and framework for a novel type of adaptive data network: the cognitive network. In a cognitive network, the collection of elements that make up the network observes network conditions and then, using prior knowledge gained from previous interactions with the network, plans, decides and acts on this information. Cognitive networks are different from other "intelligent" communication technologies because these actions are taken with respect to the end-to-end goals of a data flow. In addition to the cognitive aspects of the network, a specification language is needed to translate the user's end-to-end goals into a form understandable by the cognitive process. The cognitive network also depends on a software adaptable network that has both an external interface accessible to the cognitive network and network status sensors. These devices are used to provide control and feedback. The paper concludes by presenting a simple case study to illustrate a cognitive network and its framework

Cognitive networks

Guest editorial advances in multirobot systems

In this paper, general requirements of next generation manufacturing systems are discussed, and the strategies to meet these requirements are considered. The production paradigms which apply these strategies are also classified. Particular emphasis is put on the paradigm of Reconfigurable Manufacturing System (RMS). Some key issues of the RMS design are discussed, and a critical review is presented concerning the developments of RMSs. Finally, suggestions of the RMS research are made and future research directions are identified.

/pdf/reconfigurable-manufacturing-systems-the-state-of-the-art-21c90ho9g2.pdf

Reconfigurable manufacturing systems: the state of the art

Lecture notes in control and information sciences

We describe a nonlinear observer-based design for control of vehicle traction that is important in providing safety and obtaining desired longitudinal vehicle motion. First, a robust sliding mode controller is designed to maintain the wheel slip at any given value. Simulations show that longitudinal traction controller is capable of controlling the vehicle with parameter deviations and disturbances. The direct state feedback is then replaced with nonlinear observers to estimate the vehicle velocity from the output of the system (i.e., wheel velocity). The nonlinear model of the system is shown locally observable. The effects and drawbacks of the extended Kalman filters and sliding observers are shown via simulations. The sliding observer is found promising while the extended Kalman filter is unsatisfactory due to unpredictable changes in the road conditions.

/pdf/sliding-mode-measurement-feedback-control-for-antilock-1gcnyxetny.pdf

Sliding mode measurement feedback control for antilock braking systems

In this manuscript, we discuss i>I-Cubes, a class of modular robotic system that is capable of reconfiguring itself in 3-D to adapt to its environment This is a bipartite system, ie, a collection of (i) active elements for actuation, and (ii) passive elements acting as connectors Active elements (i>links) are 3-DOF manipulators that are capable of attaching/detaching from/to the passive elements (i>cubes), which can be positioned and oriented using links Self-reconfiguration capability enables the system to perform locomotion tasks over difficult terrains the shape and size can be changed according to the task This paper describes the design of the system, and 3-D reconfiguration properties Specifics of the hardware implementation, results of the experiments with the current prototypes, our approach to motion planning and problems related to 3-D motion planning are given

A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning

Design and implementation of I-Cubes, a modular self-reconfigurable robotic system, is discussed. I-Cubes is a bipartite collection of individual modules that can be independently controlled. The group consists of active elements, called links, which are 3-DOF manipulators capable of attaching to/detaching from the passive elements (cubes) acting as connectors. The cubes can be oriented and positioned by the links. Using actuation and attachment properties of the link and the cubes, the system can self-reconfigure to adapt to its environment. Tasks such as moving over obstacles, climbing stairs can be performed by changing the relative position and connection of the modules. The links are actuated using servomotors and worm gear mechanisms. Mechanical encoders and rotary switches provide position feedback for semi-autonomous control of the system. The cubes are equipped with a novel mechanism that provides inter-module attachment. Design and hardware implementation of the system as well as experimental results are presented.

/pdf/mechatronic-design-of-a-modular-self-reconfiguring-robotic-pqvxufrvis.pdf

Mechatronic design of a modular self-reconfiguring robotic system

In this manuscript, we introduce I(CES)-Cubes, a class of 3D modular robotic system that is capable of reconfiguring itself in order to adapt to its environment. This is a bipartite system, i.e. a collection of (i) active elements capable of actuation, and (ii) passive elements acting as connectors between actuated elements. Active elements, called links, are 3-DOF manipulators that are capable of attaching/detaching themselves to/from the passive elements. The cubes can then be positioned and oriented using links, which are independent mechatronic elements. Self- reconfiguration property enables the system to performed locomotion tasks over difficult terrain. For example, the system would be capable of moving over obstacles and climbing stairs. These task are performed by positing and orienting cubes and links to form a 3D network with required shape and position. This paper describes the design of the passive and active elements, the attachment mechanics, and several reconfiguration scenarios. Specifics of the hardware implementation and result of experiments with current prototypes are also given.© (1999) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Cem Unsal

Papers

Sliding mode measurement feedback control for antilock braking systems

A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning

Mechatronic design of a modular self-reconfiguring robotic system

I(CES)-Cubes: A Modular Self-Reconfigurable Bipartite Robotic System

Self-organization in large populations of mobile robots