Self-reconfigurable robots are an instance of complex systems that can autonomously rearrange their modules. Recently, there has been a great interest in using these robots in different domains such as reconnaissance, rescue missions, and space applications for their versatility, fault tolerance, low cost of reproducibility, and efficiency in rough terrains. Because of their distributed nature,...

We discuss a robotic system composed of Crystalline modules. Crystaline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and show the basic motions that enable a crystalline robot system to s...

Modular self-assembling on-orbit robots have the potential to reduce mission costs, increase reliability, and permit on-orbit repair and refueling. Modules with a variety of specialized capabilities would self-assemble from orbiting inventories. The assembled modules would then share resources such as power and sensors. As each free-flying module carries its own attitude control actuators, the ...

Self-repair robots are modular robots that have the capability of detecting and recovering from failures. Typically, such robots are unit-modular and carry a number of redundant modules on their bodies. Self-repair consists of detecting the failure of a module, ejecting the bad module and replacing it with one of the extra modules. In this paper we show how self-repair can be accomplished by se...

This paper presents a biologically inspired approach to two basic problems in modular self-reconfigurable robots: adaptive communication in self-reconfigurable and dynamic networks, and distributed collaboration between the physically coupled modules to accomplish global effects such as locomotion and reconfiguration. Inspired by the biological concept of hormone, the paper develops the adaptiv...

Self-healing systems must be able to adapt to errors and changing resource environments without human intervention. We propose an architectural style, called Containment Units, particularly intended for self-healing systems. Containment Units feature the use of operational, evaluator, and change agent modules to encapsulate different activities required in self-healing systems. We present this ...

This paper introduces a new method of electricity generation using Wiegand sensor. The sensor consists magnetic wire and pickup coil wound around it. generates pulse voltage approximately 5 V 20 µs width as an induced in the coil. aim this study is to generate DC from sensor, which expected be used power source self-powered devices battery-less modules. We report on design verification self-osc...

For a number of locally finitely presentable categories K we describe the codensity monad full embedding all objects into K. We introduce concept D-ultrafilter on an object, where D is “nice” cogenerator prove that assigns to every object representing D-ultrafilters it. Our result covers e.g. sets, vector spaces, posets, semilattices, graphs and M-sets for finite commutative monoids M.

INTRODUCTION An elastomeric module with a polymeric coating has been developed to reduce the friction of sliding mechanics. This in-vitro study examined the stability of the coating and compared the frictional properties of coated modules with those of other common ligation methods. METHODS Six ligation methods (regular uncoated, slick [coated], conventional silver, easy-to-tie, silicone-impr...