METAMORPHIC METAMORPHIC ROBOTSROBOTS

SUMITTED BY: SUBMITTED TO:SUMITTED BY: SUBMITTED TO: SUMIT DALAL MS. PURNIMASUMIT DALAL MS. PURNIMA 1508155 MS. NEELIMA1508155 MS. NEELIMA EC1 MS. MONIKAEC1 MS. MONIKA

METAMORPHIC ROBOTSMETAMORPHIC ROBOTS

METAMORPHISM- to change the external METAMORPHISM- to change the external shape shape

ROBOTS-a mechanical intelligent agentROBOTS-a mechanical intelligent agent

CONTENTCONTENT

IntroductionIntroduction Algorithms for practical applicationAlgorithms for practical application Its advantagesIts advantages Its possible usesIts possible uses ConclusionConclusion references references

INTRODUCTIONINTRODUCTION

Changes shape according to terrainChanges shape according to terrain

Combination of several basic unitsCombination of several basic units

TransformerTransformer

ALGORITHM FOR PRACTICAL ALGORITHM FOR PRACTICAL IMPLEMENTATIONIMPLEMENTATION

Include four stepsInclude four steps

1. certain terms & assumptions1. certain terms & assumptions

2. graph transversal algorithm2. graph transversal algorithm

3. distributed reconfiguration3. distributed reconfiguration

4. tackling obstacle4. tackling obstacle

TERMS & ASSUMPTIONTERMS & ASSUMPTION

Plane partitioned in to equal sized Plane partitioned in to equal sized hexagon cellshexagon cells

Identical modules ( basic unit )Identical modules ( basic unit ) At any time each module knows itsAt any time each module knows its

- position- position

-edges in contact -edges in contact

Continued….Continued….

-module move in the empty hexagon-module move in the empty hexagon

GRAPH TRAVERSAL GRAPH TRAVERSAL ALGORITHMALGORITHM

Aim is to go from initial configuration to Aim is to go from initial configuration to required configuration required configuration

presently presently needs needs here here here to go (say to climb )here to go (say to climb ) !!!! here in between we need here in between we need to find best shape to take to find best shape to take

Admissible and non admissible Admissible and non admissible configurationconfiguration

The space in between is taken to The space in between is taken to be divide in hexagonsbe divide in hexagons

-node as hexagon-node as hexagon-the interconnection as edge -the interconnection as edge

Transverse graph algorithmTransverse graph algorithm

DISTRIBUTED DISTRIBUTED RECONFIGURATIONRECONFIGURATION

After path decision needs to move in the After path decision needs to move in the modules in itmodules in it

-which module will move (free)-which module will move (free)

-which is free-which is free

Continued…Continued…

-the program in each module tells-the program in each module tells

-where it presently is-where it presently is

-where to go to get required shape-where to go to get required shape

-which so ever becomes free that -which so ever becomes free that

move with required delay move with required delay

Continued…Continued…

space in betweenspace in between

Initial finalInitial final

Position destinationPosition destination

TACKLING OBSTACLETACKLING OBSTACLE

-obstacle is seen as the set of forbidden hexagons -obstacle is seen as the set of forbidden hexagons that module cant enterthat module cant enter

-so by any sensing element can make out which -so by any sensing element can make out which are forbidden hexagonsare forbidden hexagons

-camera or IR etc.-camera or IR etc.

then programmed accordinglythen programmed accordingly

ADVANTAGESADVANTAGES

-they are robust-they are robust

-the property of metamorphism-the property of metamorphism

-they individual robot can handle wide -they individual robot can handle wide variety of tasksvariety of tasks

-cost effective-cost effective

NEGATIVE POINTSNEGATIVE POINTS

-the hardware and software both are -the hardware and software both are complexcomplex

-a common man cant afford it-a common man cant afford it

POSSIBLE USESPOSSIBLE USES

-bridge building-bridge building

-structural support-structural support

-satellite recovery-satellite recovery

CONCLUSIONCONCLUSION

-can carry everything in one bag (or don’t -can carry everything in one bag (or don’t even need a bag )so world of even need a bag )so world of compactnesscompactness

-very very versatile & most faithful machine -very very versatile & most faithful machine for human for human

-if see it in matrix (movie) view point then it -if see it in matrix (movie) view point then it can be a threat to the civilizationcan be a threat to the civilization

REFERNCESREFERNCES

www.seminarprojects.com/Thread-www.seminarprojects.com/Thread-metamorphicmetamorphic--robotsrobots

www.cs.vassar.edu/~walter/spie.ps.gzwww.cs.vassar.edu/~walter/spie.ps.gz

www.google .comwww.google .com