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Since there are hundreds of cubes in a typical system, the chance of failure is very remote under normal circumstances. It is always possible to redundant tools and then functional integrity can also be restored. This technique gives the highest possible resilience for emergency systems, space, nuclear and military applications.
There are other levels of repair. A second level of repair involves the partial dismantling of cubes and re-use of the plate mechanisms used to construct the cubes.
For this scheme to work, the cube has to be partially dismantled and then re-assembled at a custom robot assembly station. The cubic robot is normally built from six plates that have been bolted together. To save on space and storage, when large numbers of cubes are involved, these plates mechanisms can be stacked onto a conveyor belt system and assembled into the whole unit Dept.
By reversing the process, fractal robots can be dismantled and stored away until needed. Figure 11 If any robotic cubes are damaged, they can be brought back to the assembly station by other robotic cubes, dismantled into component plates, tested and then re-assembled with plates that are fully operational. Potentially all kinds of things can go wrong and whole cubes may have to be discarded in the worst case.
But based on probabilities, not all plates are likely to be damaged, and hence the resilience of this system is much improved over self repair by cube level replacement. The third scheme for self repair involves smaller robots servicing larger robots. Since the robot is fractal, it could send some of its fractally smaller machines to affect self repair inside large cubes. This form of self repair is much more involved but easy to understand.
If the smaller cubes break, they would need to be discarded - but they cheaper and easier to mass produce. With large collections of cubes, self repair of this kind becomes extremely important.
It increases reliability and reduces down time. Without self repair, a microscope is needed every time something breaks. Each petal could be directly driven by single motor or they could be driven as a pair with the aid of a flexible strip of metal. The commands to control a Fractal Robot are all commands for movement such as move left.
The e3lectronics Dept. A Fractal O. Fractal architecture dominates the functions of the core of the O. S coverts fractally written code into machine commands for movement. Because shape changing robots are fractals. Transparent data communication 2. Fractal Robot hardware is designed to integrate as seamlessly with software datastructures as possible.
S The Fractal O. Data compression at all levels 3. Kuttippuram The data signals are fed to a bus fractal bus. Awareness of built in self repair.
The largest component of the Fractal Robot system is the software. S is containerized into fractal data structures that permit possible compatibility and conversion issues possible.
S uses a no: S plays a crucial role in making the integration of the system seamless and feasible. Everything that is available to the O. It helps in sending and receiving fractally controlled data. RAM and some counters. To reduce the flow of instructions the message is broadcast to a local machine that controls a small no: A Fractal bus permits Hardware and software to merge seamlessly into one unified datastructure.
Computer software controls the shaping of objects that are synthesized by moving cubes around. Each is identified in advance and then a no: So its internal design consists if ROM.
Towards this end. All cubes communicate using a simple no: The first time around. The new cube is joined to the tail of the growing rod and pushed out again to grow the rod. N-streamer is easy to understand. Commands are issued to a collection of cubes telling each cube where to go. If it can't perform an operation. Paint spraying robots use this technique. However there are better structured ways to storing movement patterns.
It turns out that all movements other than pick and place are variations of just two basic schemes called the N-streamer and L-streamer. Entire collection of movements needed to perform particular operations are worked out and stored exactly like conventional robots store movement paths.
A command of "cube move left by 2 positions" results in only one cube moving in the entire machine. A rod is pushed out from a surface. If it can't do that as well.
There are only three basic movement methods. Regardless of complexity. The purpose Dept.
Fractal Robots Seminar Report pdf
Figure 5 Basically. L-streamers are also tentacles but grown using a different algorithm. When large numbers of cubes follow similar paths. Once a tentacle is grown. The steps illustrated in figure 2b to 2e can be repeated to grow the tentacle to any length required. L-streamer is a little more involved to explain and requires the aid of figure 5.
For bridge building applications. The commands to operate the tool are stored alongside the cube movement instructions making the system a very powerful programmable machine. Tools mounted inside cubes are moved with similar commands. The effect is somewhat similar to digitally controlled putty which is as flexible as computer software.
Once the pattern is stored in a computer. Figures 7 to 10 illustrates some images taken from an animation. Figure 8 Dept. Figure 7 In respect of self repair.
The easiest to implement is cube replacement. Some of the intermediate steps are illustrated across figures 2 to 4.
The faulty parts are moved to places where their reduced functionality can be tolerated. In such circumstances. The more cubes there are in the system. If too many cubes are involved. Regardless of how many cubes are damaged. The cubic robot is normally built from six plates that have been bolted together. By the time a third power supply is added the probability becomes miniscule. Every cube in a system could be carrying tools and instrumentation and thus loss of any one cube is loss of functionality.
Since there are hundreds of cubes in a typical system.
This technique gives the highest possible resilience for emergency systems. To save on space and storage. A second level of repair involves the partial dismantling of cubes and re-use of the plate mechanisms used to construct the cubes. Take for example a triple redundant power supply. The probability of success is extremely high in fact.
Although the probability of each supply failing is same as the norm for all power supplies of that type. It is always possible to redundant tools and then functional integrity can also be restored. There are other levels of repair.
Under those circumstances. For this scheme to work. The same logic applies to fractal robots when restoring mechanical integrity. In space and nuclear applications also in military applications.
But the difference in a fractal robot environment is that the cubes can shuffle themselves around to regain structural integrity despite loss of functionality. The third scheme for self repair involves smaller robots servicing larger robots. It increases reliability and reduces down time. Potentially all kinds of things can go wrong and whole cubes may have to be discarded in the worst case.
But based on probabilities. Figure 11 If any robotic cubes are damaged. This form of self repair is much more involved but easy to understand. Since the robot is fractal.
If the smaller cubes break. With large collections of cubes. By reversing the process. Self repair is an important breakthrough for realizing micro and nanotechnology related end goals. There is also a fourth form of self repair and that of self manufacture.
Without self repair. The electrostatic mechanisms can be manufactured by a molecular beam deposition device. The robots are 0.
It is the ultimate goal. Shape changing robots are ideal for making all manners of bridges from small to the very largest. The bridging technology introduced here can be used to patch up earthquake damaged bridges. Bridge building Figure 12 One of the biggest problems in civil engineering is to get enough bridges built as rapidly as possible for mass transit and rapid development of an economy. To grow a suspension bridge. The bridge assembly machine is built principally from simple mass manufactured repeating cubes that move under computer control.
Figure 13 Dept. The application of shape changing robots is about those situations. The machines themselves may be very large and yet they must get through and once inside.
Figure 1 below shows what a robot can do to enter a room through a duct. Entering Buildings Shape changing robots can enter a building through entrances that are as small as 4 cubes. To a great extent fire fighting is an art and not completely reliant technology. You need men and machine to salvage the best out of the worst possible situations and often application of a little common sense is far better than sending in the big machines.
But equally there are times where only machines with capabilities far beyond what we have today are capable of rescuing a particular situation. These shape changing robots could be carrying a fire hose in which case on entering they can apply the hose immediately.
Fire fighting Fire fighting robots need to enter a building through entrances that may be very small. Only a shape changing robot with fractal fingers and fractal tools can sift through the rubble without disturbing it further to search for survivors and bring them out alive. With self repair. Using convetional methods.The plates also have 45 degree petals that push out of the surface to engage the neighbouring face that allows one robotic cube to lock to its neighbour.
ICET Page These cubic motorized bricks can be programmed to move and shuffle themselves to change shape to make objects like a house potentially in a few seconds. Without self repair, a microscope is needed every time something breaks. Once a tentacle is grown. Onat Pagaduan. Regardless of how many cubes are damaged, with this self repair algorithm, cubes can detach further and further back to a known working point and then re-synthesize lost structures.
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