Cube-shaped Self-Reconfigurable Robots : EM

Cube-shaped Self-Reconfigurable Robots : EM

Cube-shaped Self-Reconfigurable Robots :
EM-Cubes 3
EM-Cubes 3
Control & simulation program
Network spot
An, Byoung-Kwon
EM-Cubes 3 inside
EM-Cube Modeling Language CAD image
Unconscious Traveling Algorithm
An, Byoung-Kwon
• Unconscious Traveling Algorithm allows Self-reconfigurable Robots to do linear walking,
concave transition, and convex transition on the surface by identical motion.
Linear Walking sequence
Network spot
Concave Transition sequence
EM-Cubes 3 inside
Convex Transition sequence
Microscale Cube-shaped Self-Reconfigurable Robot :
TF series
An, Byoung-Kwon
Magnet layer
Electromagnet
feet layer
Circuit layer
Micro EM-Cube
TF-1
TF-2
Wireless
power layer
SEM photomicrographs: (c) top-view of 5-turn inductor before the removal of sacrifici
al photoresist core, and (d) completed 5-turn inductor (in this SEM, a nickel-electropl
ated inductor without any spacer is shown). (J. Microlith., Microfab., Microsyst., SPIE
Journal of Microlithography, Microfabrication, and Microsystems, vol. 2, no. 4, pp.
275-281, October 2003. )
Cube-shaped Self-Reconfigurable Robots:
ME-Cubes 2
An, Byoung-Kwon
Network spot
ME-Cubes 2
CAD image
Terminal for control
Cube-shaped Self-Reconfigurable Robot:
EM-Cubes 1
Sencer &
Network Terminal
An, Byoung-Kwon
• Goal: carrying out an investigation
into harsh conditions or geological
features on the Mars or in Caves as a
comparative long term study.
Permalloy
board
Body
Data/Recharge
Terminal
• Applied for a patent (B.K.An,10-2006-010047,KR)
Main controller
Magnetic
Feet controller
Space for
Extending Module
Bettery for
Digital Circuit
Bettery for
Analog Circuit
Electromagnetic Feet (Type 3)
Electromagnet or Magnet
Coil
EM-Cubes 1
Controller
Sequence of snapshots of a simulation in which the group of cells lowers its height to
enter a tunnel and climbs to exit the tunnel. (Butler, Z., Kotay, K., Rus, D., and Tomita
, K., Generic Decentralized Locomotion Control for Lattice-Based Self-Recongurable
Robots, Fig. 12, Intl. Journal of Robotics Research, vol. 23, no. 9, 2004.)
Distributed-Table-based (DTB)
Artificial Nervous System
DTB Nervous Colony
DTB
Metalanguage
Experience
imagination
Needs
Instinct
(including Language
defined for this colony)
DTB
Processor
DTB Artificial
Nervous System
Algorithm
Properties
by outside, with knowledge and an abstract
capacity
- Accumulating knowledge by the direct, indirect, native, and
forced ways.
- Asking secondary question by itself
- The imagination and the experimentation by itself
• Applied for a patent (B.K.An10-2006-0125197,KR)
Artificial
Motor System
DTB Artificial Central Nervous System
Camera
sensor
ultrasonic
sensor
• Goal : Solving problems, given naturally or
DTB Artificial Peripheral Nervous System
Artificial
Visual System
rader
An, Byoung-Kwon
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
Artificial
Autonomic
Nervous System
Heater or
Cooler
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
CPU and
Memory
DTB
Nervous
Colony
DTB
Nervous
Colony
DTB
Nervous
Colony
Output
Interface
DTB
Nervous
Colony
DTB
Nervous
Colony
Network card
DTB
Nervous
Colony
Grobal Interface
as human’s hand
Field Effect Transistor Nerve-Computer Interface
Nerve Fascicle
Nerve Stump sutures
I/O Pins
Extension Module
Collagen tube[1][2]
(Polyglycolic acid Collagen Tube)
Nerve Stump
Nerve – Computer
frame
Laminin coted
Chip
Collagen fibers[1]
suture
• Goal: Carring out ultra-high resolutional
communication between Nervous System
and Computer.
• Applied for a patent (B.K.An,10-2006-0078155,KR)
Photograph of a nerve being secured in the polyglyc Regeneration of Nerve fivors [S.E. Mackin
olic acid conduit.
non, A. L. Dellon, Surgery of the periphera
[fig 1, Plast Reconstr Surg 106:1036–1048]
l nerve, Fig1-17, p21-23]
[1] K. Matsumoto, et al., Brain Res 868:315–328, 2000.
[2] Yuji I, et al., Neurosurgery 55:640-648, 2004
An, Byoung-Kwon
Potentials in neurons [D.L.Felten, Netter’s
Atlas of Human Neuroscience, p17]