Distributed part differentiation in a smart surface

Baz, Didier El; Boyer, Vincent; Bourgeois, Julien; Dedu, Eugen; Boutoustous, Kahina

doi:10.1016/j.mechatronics.2011.05.005

Cited by 17 publications

(3 citation statements)

References 12 publications

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“…More recent publications introduce platforms with sensing capabilities and feedback control (Boutoustous et al, 2010; El Baz et al, 2012; Fromherz and Jackson 2003; Luntz et al, 2001). When feedback control is employed, the control system solves the problem of commanding individual actuators so that forces with required directions and magnitudes are exerted at the current locations on the manipulated object(s).…”

Section: Introductionmentioning

confidence: 99%

“…Distributed manipulation platforms using feedback control can be divided into those with centralized (Furuhata et al, 1991; Fromherz and Jackson, 2003; Konishi and Fujita, 1994; Luntz et al, 2001; Pister et al, 1990), distributed (Boutoustous et al, 2010; El Baz et al, 2012) and (fully) decentralized control. In a centralized control scheme, there is one place where all the measured information is collected and processed and from which commands to all the actuators are issued.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Alternating direction method of multipliers-based distributed control for distributed manipulation by shaping physical force fields

Gurtner

Zemanek

Hurák

2023

The International Journal of Robotics Research

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This paper proposes an algorithm for decomposing and possibly distributing an optimization problem that naturally emerges in distributed manipulation by shaping physical force fields through actuators distributed in space (arrays of actuators). One or several manipulated objects located in this field can “feel the force” and move simultaneously and independently. The control system has to produce commands for all actuators so that desired forces are developed at several prescribed places. This can be formulated as an optimization problem that has to be solved in every sampling period. Exploiting the structure of the optimization problem is crucial for platforms with many actuators and many manipulated objects, hence the goal of decomposing the huge optimization problem into several subproblems. Furthermore, if the platform is composed of interconnected actuator modules with computational capabilities, the decomposition can give guidance for the distribution of the computation to the modules. We propose an algorithm for decomposing/distributing the optimization problem using Alternating Direction Method of Multipliers (ADMM). The proposed algorithm is shown to converge to modest accuracy for various distributed platforms in a few iterations. We demonstrate our algorithm through numerical experiments corresponding to three physical experimental platforms for distributed manipulation using electric, magnetic, and pressure fields. Furthermore, we deploy and test it on real experimental platforms for distributed manipulation using an array of solenoids and ultrasonic transducers.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Alternating direction method of multipliers-based distributed control for distributed manipulation by shaping physical force fields

Gurtner

Zemanek

Hurák

2023

The International Journal of Robotics Research

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show abstract

“…Other smart surface work aims to develop a micro-scale system for conveying, sorting and positioning micro-parts. Such a smart surface is designed through distributed cells, which contain sensors, processing units and actuators [26]. [27] investigated a simple smart structure model, which comprised a two-mass chain with three springs.…”

Section: Introductionmentioning

confidence: 99%

Reconfiguration of a smart surface using heteroclinic connections

Zhang

McInnes

2017

Proc. R. Soc. A.

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A reconfigurable smart surface with multiple equilibria is presented, modelled using discrete point masses and linear springs with geometric nonlinearity. An energy-efficient reconfiguration scheme is then investigated to connect equal-energy unstable (but actively controlled) equilibria. In principle, zero net energy input is required to transition the surface between these unstable states, compared to transitions between stable equilibria across a potential barrier. These transitions between equal-energy unstable states, therefore, form heteroclinic connections in the phase space of the problem. Moreover, the smart surface model developed can be considered as a unit module for a range of applications, including modules which can aggregate together to form larger distributed smart surface systems.

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Designing a quasi-spherical module for a huge modular robot to create programmable matter

Piranda

Bourgeois

2018

Auton Robot

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There are many ways to implement programmable matter. One is to build it as a huge modular selfreconfigurable robot composed of a large set of spherical micro-robots, like in the Claytronics project. These micro-robots must be able to stick to each other and move around each other. However, the shape of these micro-robots has not been studied yet and remains a difficult problem as there are numerous constraints to respect. In this article, we propose a quasi-spherical structure for these micro-robots, which answers all the constraints for building programmable matter, helping the realization of an interactive computer-aided design (CAD) framework. We study different scenarios, validate the ability to move and propose methods for manufacturing these micro-robots.

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Distributed part differentiation in a smart surface

Cited by 17 publications

References 12 publications

Alternating direction method of multipliers-based distributed control for distributed manipulation by shaping physical force fields

Alternating direction method of multipliers-based distributed control for distributed manipulation by shaping physical force fields

Reconfiguration of a smart surface using heteroclinic connections

Designing a quasi-spherical module for a huge modular robot to create programmable matter

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