CISE Research Instrumentation: Distributed Reconfigurable Robot Systems

9818299Rus, danielbruce， DonaldDartmouth学院ecise研究仪器：分布式可重构机器人系统该研究仪器支持以下研究项目：-自我重新配置机器人-使用MEMS设备进行分布式操作-大规模并行重新配置机器人系统的分布式控制，以及-自我重新配置MEMS机器人该奖项支持达特茅斯学院计算机科学系正在进行的研究，并为模拟设施（用于设计和控制）和物理硬件（用于机器人实验）做出贡献。国防部将购买专门用于支持上述项目的计算和制造设备：Stratasys系统、工作站、MotionStar动作捕捉系统等。本研究项目的目标是建立微型和MEMS规模的自重构机器人系统，并开发基于科学的高度分布式可重构机器人系统的规划和控制。利用自组织和自组装原理，设计和制造结构与功能相结合的微型和MEMS自配置机器人。该设备将用于上述研究，具体包括：(1)开发自配置微型机器人系统；(2)开发MEMS器件的大规模并行控制算法；(3)开发大规模并联重构机器人系统分布式控制新算法；(4)结合大规模并联微加工MEMS执行器和自重构系统的研究成果，设计、制造、控制和编程利用MEMS技术构建的自重构微机器人系统。可重构机器人科学的这些进步将极大地增强分布式机器人系统的能力。

9818299Rus, DanielaBruce, DonaldDartmouth CollegeCISE Research Instrumentation: Distributed Reconfigurable Robot SystemsThis research instrumentation enables research projects in:- Self-Reconfiguring Robotics- Distributed Manipulation with MEMS Devices- Distributed Control for Massively Parallel Reconfiguring Robot Systems, and - Self-Reconfiguring MEMS RobotsThis award supports on-going research in the Department of Computer Science at Dartmouth College and contributes to simulation facilities (for design and control) and physical hardware (for robotics experiments). The Department will purchase computing and fabrication equipment which will be dedicated to support the aforementioned projects: Stratasys system, workstations, MotionStar motion capture system, etc. The goal of this research project is to build self-reconfiguring robotics systems at the mini and MEMS scale, and to develop a science-based for planning and controlling highly distributed reconfigurable robot systems. Mini and MEMS self-configuring robots that employ the principles of self-organization and self-assembly to combine structure with function will be designed and built. The equipment will be used for the research mentioned, including in particular: (1) developing self-configuring mini-robot systems; (2) developing massively parallel control algorithms for MEMS devices; (3) developing novel algorithms for distributed control of massively parallel reconfiguring robot systems; and (4) combining the results on massively-parallel micro-fabricated MEMS actuators and self-reconfiguring systems to design, fabricate, control and program self-reconfiguring micro-robot systems, built using MEMS technology. These advances in reconfigurable robotics science will greatly enhance the capabilities of distributed robot systems.