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Multiagent Control of Modular Self-Reconfigurable Robots


Tad Hogg
HP Labs
Hristo Bojinov Jeremy Kubica Arancha Casal PARCs modular robotics group
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topics
modular robots multi-agent control results

modular robots
collections of modules
each module is a robot

self-reconfigurable
modules can change connections so overall robot changes shape

modular self-reconfigurable robots


MSR
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why change shape?


adjust shape to task e.g., locomotion
wheel, spider, snake,

e.g., manipulation
match finger size to object size

topics
modular robots
Proteo Prismatic future possibilities

multi-agent control results

Proteo
rhombic dodecahedron space filling

Proteo
modules move over neighbors

each edge of cube is a diagonal of RD face


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topics
modular robots
Proteo Prismatic future possibilities

multi-agent control results

prismatic MSR robots


modules connect via arms extending arms moves neighbors examples
Crystalline robot (Dartmouth)
moves in 2 dimensions

TeleCube (PARC)
moves in 3 dimensions

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TeleCube
cubes 6 independent arms 2:1 length ratio

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neighbors cooperate to move

physical move virtual move

contract

expand
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topics
modular robots
Proteo actual modules Prismatic future possibilities

multi-agent control results

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devices for smart matter


micro-electomechanical (MEMS) bacteria molecular quantum sensor + computer + actuator
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micromachines (MEMS)
made with photolithography
e.g., programmable force fields (open loop)

hard to assemble

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biological machines
biotechnology: program bacteria
e.g., T. Knight, R. Weiss at MIT AI Lab

limited abilities

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programs for bacteria


gene regulatory networks engineered changes give some program control over behavior

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molecular machines
ribosomes:
DNA mRNA

protein

make proteins in cells

protein motors
move material in cells ATP synthase rotor
size: 10nm
See Nature, 386, 299 (1997)

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molecular machines
carbon nanotubes and buckyballs
strong, light, flexible, electronic devices easy to make hard to arrange

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molecular machines
complex molecules for robot parts currently:
only theory hard to make hard to assemble

potential: cheap, fast, strong parts


example designs: E. Drexler, R. Merkle, A. Globus example medical applications: R. Freitas, Jr., Nanomedicine, 1999
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quantum computers
potential: much faster algorithms
e.g., factoring

very difficult to build


quantum search heuristic

amplitudes while solving a 10-variable 3-SAT instance with 3 solutions

Java demo: www.hpl.hp.com/shl/projects/quantum/demo

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quantum machines
potential: detail control over materials
e.g., interfere two ways to absorb light => transparent

very difficult to build


See T. Hogg and G. Chase, Quantum smart matter, 1996 www.arxiv.org/abs/quant-ph/9611021 S. Lloyd and L. Viola, Control of open quantum systems dynamics, 2000 www.arxiv.org/abs/quant-ph/0008101
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quantum machines
example: coin weighing puzzle
quantum sensor finds bad coin in single try

See B. Terhal, J. Smolin, Single quantum querying of a database, 1997 www.arxiv.org/abs/quant-ph/9705041


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devices: summary
smaller devices
harder to make harder to connect, assemble greater potential capability

but need many, cheap devices statistical or systems view

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challenge: How to build?


physical/engineering constraints
unreliable parts misconnected

limits early technology economics


build cheaply

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challenge: How to use?


information/computational constraints
limited, changing info from environment computational complexity
e.g., planning optimal device use

limits even mature technology

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topics
modular robots multi-agent control results

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control challenge
coordinate many modules sensor & actuator errors
decompose programming task to only need local info (small scale) high-level task description (large scale)
e.g., grasp object of unspecified shape cf., H. Simon: nearly decomposable systems
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control before hardware?


many, small modules dont yet exist
hence, hardware details unknown but can study general issues

control may simplify hardware design


e.g., manage in spite of defects identify compute/communicate tradeoffs

sensor + computer + actuator


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physics vs. size


MEMS

gravity
friction

Brownian motion molecular thermal noise

decoherence

quantum

faster smaller harder to build


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multi-agent control
matches control to physics
different agents for each scale

matches control to available info


rapid response to local info manager agents: overall coordination
without need for details

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motivation: biology
social insects, multicellular organisms, ecology
reliable behavior from unreliable parts
examples termite mounds embryo growth

cf. incentive issues noncooperative agents economics, common law,


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motivation: teams
robot soccer insect-like robot teams
e.g., foraging

MSR robots have


tighter physical constraints direct access to neighbor locations
e.g., no need for vision to find neighbors

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topics
modular robots multi-agent control results
computational ecology Proteo Telecube

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computational ecology
dynamical behavior of simple agents
asynchronous, local decisions delays, imperfect information mean-field statistical theory
see B. Huberman, The Ecology of Computation, 1988

apply to actual robot behaviors


see K. Lerman et al. in Artificial Life, 2001

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techniques
finite-state machine for each module
simple script, some randomness

local communication
create gradients through structure
scents

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topics
modular robots multi-agent control results
computational ecology Proteo Telecube

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example: growing a chain


modes:
SLEEP, SEARCH(red), SEED(yellow), FINAL(white)

initially: all in SLEEP, randomly pick one SEED

seed:
picks growth direction emits scent
attracts modules

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growing a chain
descend gradient + propagate scent emit scent=0 if neighbor is seed

SEARCH

SEED

SLEEP

if neighbor became seed

FINAL
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S+1

scent
S S-1 SEED S=0

set S=min(neighbors)+1 move around neighbor until lower value found if seed found: become new seed
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structures
recursive branching
multilevel arms

grow around object


using contact sensors

See H. Bojinov et al., Multiagent Control of Self-reconfigurable Robots, 2000 www.arxiv.org/abs/cs.RO/0006030


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topics
modular robots multi-agent control results
computational ecology Proteo Telecube

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locomotion
make snake shape move toward goal
barrier
follow wall find gap

higher-level control: general direction


building on low-level agent behavior
see: Kubica et al, Proc. ICRA 2001
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object manipulation
exert forces to move object
based on contact with object scent recruits other modules

modules on surface form rigid shell


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summary
simple agents perform basic tasks
reconfiguration locomotion manipulate objects

apply to different hardware types


Proteo: surface motions TeleCube: internal motions
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future directions
quantify capabilities design more complex behaviors implement on hardware

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quantify capabilities
examples of agent-based control
are only specific instances

quantify
how robust? how accurate? what cost?
e.g., power use

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agent design
combine with higher-level agents
e.g., switch among low-level behaviors

automate agent design


e.g., genetic algorithms (FXPAL)

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test on hardware
various existing robots
few, fairly large modules

large number of tiny modules


dont yet exist

wait for hardware vs. simulate?


understand likely hardware capabilities e.g., MEMS,
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conclusions
agent-based control for MSR robots
gives robust low-level behaviors simplifies higher-level task control

biological system models


suggest module rules useful even if not biologically accurate
www.hpl.hp.com/shl/people/tad
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