BEES for ANTS: Space Mission Applications for the Autonomous NanoTechnology Swarm

Clark, P. E.; Rilee, M. L.; Curtis, S. A.; Truszkowski, Walt; Marr, G.; Cheung, Cynthia; Rudisill, Marianne

doi:10.2514/6.2004-6303

Cited by 43 publications

(21 citation statements)

References 9 publications

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“…For example, Sutcliffe and Maiden's work [1] with establishing a domain theory for RE draws heavily from cognitive science and the human use of analogical reasoning. The NASA ANTS (Autonomous Nano Technology Swarm) project involves large collections (i.e., swarms) of mission-independent small, autonomous, self-similar, reconfigurable robot-like entities can collectively perform mission-specific tasks [27], such space exploration, including planetary surfaces. The general objective is to understand and then mimic the behavior of social insect colonies that can perform relatively sophisticated tasks based on efficient social interaction and coordination.…”

Section: Biologically-inspired Computingmentioning

confidence: 99%

Research Directions in Requirements Engineering

Cheng

Atlee

2007

Future of Software Engineering (FOSE '07)

460

263

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This paper reviews the current state of the art of requirements engineering (RE) research and identifies RE research challenges for future systems. First, the paper overviews the highlights of RE research over the past two decades; the research is considered with respect to requirements technologie, including notations and methodologies, developed to address specific RE tasks, such as elicitation, modeling, and analysis. Such a review enables us to identify mature areas of research, as well as areas that warrant further investigation. Next, we identify several research challenges posed by emerging systems for the future. In order to help delineate the scope of future RE research directions, we then identify several strategies for performing RE research. (The spectrum of research strategies ranges from empirical research to paradigm shifts.) Finally, within the context of these RE research strategies, we identify "hot areas" of research that address RE needs for emerging systems of the future.

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Section: Biologically-inspired Computingmentioning

confidence: 99%

Research Directions in Requirements Engineering

Cheng

Atlee

2007

Future of Software Engineering (FOSE '07)

460

263

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“…Another interesting group of robots that fit our definition is a subset of morphing robots in which the robots manipulate their body shape to roll over/through the environment. Some noteworthy examples include the TetWalkers [26] and the morphing robot of [27].…”

Section: Hardware Realizationsmentioning

confidence: 99%

Robotic tumbling locomotion

Hemes

Canelon

Dancs

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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In this paper we introduce tumbling, a relatively unexplored method of locomotion in which the robot utilizes net body rotations while ambulating. Tumbling for mobile robots is attractive in that it can enable increased mobility on smaller scales, often while reducing hardware requirements. As motivation for this interesting form of locomotion we provide a geometric analysis of a vertical step climbing task, one that tumbling robots perform well with respect to their size and complexity. In addition to our analysis we present results of a hardware experiment with a tumbling robot performing the task for varying combinations of frictional coefficients at the step and ground.

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“…Clark et al [1] proposed a tetrahedral walking robot which consists of telescopic rods in each edge and rolls by controlling the change of the length of six struts. The robot is composed of six motor driven electric telescoping legs with an extension ratio of 2.5.…”

Section: Introductionmentioning

confidence: 99%

A pneumatic cylinder driving polyhedron mobile mechanism

2012

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A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper. The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge. It locomotes by rolling and the rolling principle refers to the center of mass (CM) of the mechanism moved out of the supporting area and let it tip over through the controlling of the motion sequence of these cylinders. Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism. Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism. After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits. At last, a prototype is fabricated to achieve the rolling successfully to demonstrate the proposed concept.

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BEES for ANTS: Space Mission Applications for the Autonomous NanoTechnology Swarm

Cited by 43 publications

References 9 publications

Research Directions in Requirements Engineering

Research Directions in Requirements Engineering

Robotic tumbling locomotion

A pneumatic cylinder driving polyhedron mobile mechanism

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