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Self Healing Robots

This document discusses self-healing robots. It provides a brief history of robots and introduces self-healing robots, which have the ability to adapt to minor injuries and continue working by automatically repairing damaged parts. The document outlines the working mechanisms, including error detection and recovery, self-reconfiguration principles, and bonding and reconfiguration algorithms. Potential applications are discussed, along with advantages like versatility and robustness and disadvantages such as increased power consumption and testing delays.

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Pavithra Gunasekaran
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2K views25 pages

Self Healing Robots

This document discusses self-healing robots. It provides a brief history of robots and introduces self-healing robots, which have the ability to adapt to minor injuries and continue working by automatically repairing damaged parts. The document outlines the working mechanisms, including error detection and recovery, self-reconfiguration principles, and bonding and reconfiguration algorithms. Potential applications are discussed, along with advantages like versatility and robustness and disadvantages such as increased power consumption and testing delays.

Uploaded by

Pavithra Gunasekaran
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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SELF HEALING ROBOTS

PRESENTED BY , P.SRIVITHIYA LAKSHMI ECE A

CONTENT
ROBOT HISTORY OF ROBOTS INTRODUCTION SELF HEALLING ROBOTS WORKING MECHANISM FUTURE DIRECTIONS ADVANTAGES

DISADVANTAGES
APPLICATION CONCLUSION REFERENCE

ROBOT
Derived from CZECH word ROBOTA.

Definition It is a re-programmable multi functional manipulated designed to move materials.

PROPERTIES
Is not 'natural' i.e. has been artificially created. Can sense its environment. Can manipulate things in its environment. Has some degree of intelligence

environment or automatic control / pre-programmed sequence.


Can move with one or more axes of rotation or translation.

Robot was introduced by TOSHIO FUKUDA in the year 1980s .

Early development in 1990 by ,


MARK YIM JOSEPH MICHAEL

SATOSHI MURATA

MICHAEL ,MURATA developed lattice recognized type of robot.

YIM developed chain based system

SATOSHI MURATA- developed MTRAN 2,3

RECENT RESEARCH-starfish robot

Starfish research done in computational synthesis lab at Cornell university -2003 Recent projects NASA PROGRAM in intelligent system

OTHER DEVELOPMENTS

AMOEBA- (2005) STOCHASTIC-3D(2005) MOLECUBES(2005) SUPER BOT(2006) MICHE(2006)

INTRODUCTION
SELF-HEALING ROBOTS

It have an ability to adapt to minor injuries and continue its job .


It rectifies the error by itself. It has the capability of replacing the damaged parts by its own sense.

HOW IT WORKS???
While working , there may be a cause of error in the robotic parts It can be detected by itself. This method is known as ERROR RECOVERY.

ERROR RECOVERY
The need for automated error recovery is even more acute in the field of remote robotics, where human operators cannot manually repair or provide compensation for damage or failure.

SELF-RECONFIGURATION PRINCIPLES

WORKING PHASES
I. Predict state: predict its state for locomotion II. Stop: estimator predicts the roll and pitch, if the current configuration is not suitable, locomotion stops. III. Reconfigure: selects the suitable configuration and starts proceeding IV. Resume Motion: After a suitable reconfiguration has been enabled the robot resumes its motion.

FEATURES OF SELF-HEALING ROBOTS


Robots have the ability to change their shape in accordance with the changing environment

They can be automatically re-assembled after their failure.


It can morph their shapes which is suitable for a person who use it.

MECHANISMS

Bonding mechanism

Reconfiguration algorithms
Configuration Configuration recognition Decentralized control

FUTURE DIRECTION
Self-repairing system Self-sustaining system Self-replicating system Self-fueling system

ADVANTAGES
VERSATILITY ADAPTABILITY ROBUSTNESS {self repair} LOW COST

DISADVANTAGES
More power consumption. Difficult to construct. Manufacturing needs more time . Testing delay

APPLICATIONS
Space exploration and Space colonization applications Construction of large architectural systems were difficult Deep sea exploration/mining Search and rescue in unstructured environments

CONCLUSIONS
It processes demonstrate both topological and parametric self-modeling.

This suggests grasping that future machines may be able to continually detect changes in their own environment.

REFERENCE
http://ccsl.mae.cornell.edu/research/selfm odels/ http://www.mae.cornell.edu/ccsl/papers/S cience06_Bongard.pdf

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