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Ben Zion MY, Fersula J, Bredeche N, Dauchot O. Morphological computation and decentralized learning in a swarm of sterically interacting robots. Sci Robot 2023; 8:eabo6140. [PMID: 36812334 DOI: 10.1126/scirobotics.abo6140] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2023]
Abstract
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here, we present a mechanical design rule that allows robots to act in a collision-dominated environment. We introduce Morphobots, a robotic swarm platform developed to implement embodied computation through a morpho-functional design. By engineering a three-dimensional printed exoskeleton, we encode a reorientation response to an external body force (such as gravity) or a surface force (such as a collision). We show that the force orientation response is generic and can augment existing swarm robotic platforms (e.g., Kilobots) as well as custom robots even 10 times larger. At the individual level, the exoskeleton improves motility and stability and also allows encoding of two contrasting dynamical behaviors in response to an external force or a collision (including collision with a wall or a movable obstacle and on a dynamically tilting plane). This force orientation response adds a mechanical layer to the robot's sense-act cycle at the swarm level, leveraging steric interactions for collective phototaxis when crowded. Enabling collisions also promotes information flow, facilitating online distributed learning. Each robot runs an embedded algorithm that ultimately optimizes collective performance. We identify an effective parameter that controls the force orientation response and explore its implications in swarms that transition from dilute to crowded. Experimenting with physical swarms (of up to 64 robots) and simulated swarms (of up to 8192 agents) shows that the effect of morphological computation increases with growing swarm size.
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Affiliation(s)
- Matan Yah Ben Zion
- Gulliver UMR CNRS 7083, ESPCI, PSL Research University, 75005 Paris, France.,Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, CNRS, ISIR, F-75005 Paris, France.,School of Physics and Astronomy and Center for Physics and Chemistry of Living Systems, Tel Aviv University, Tel Aviv 6997801, Israel
| | - Jeremy Fersula
- Gulliver UMR CNRS 7083, ESPCI, PSL Research University, 75005 Paris, France.,Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, CNRS, ISIR, F-75005 Paris, France
| | - Nicolas Bredeche
- Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, CNRS, ISIR, F-75005 Paris, France
| | - Olivier Dauchot
- Gulliver UMR CNRS 7083, ESPCI, PSL Research University, 75005 Paris, France
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Chanover NJ, Uckert K, Voelz DG, Boston P. The Development and Demonstration of the Portable Acousto-Optic Spectrometer for Astrobiology in Cave Environments. EARTH AND SPACE SCIENCE (HOBOKEN, N.J.) 2023; 10:e2022EA002370. [PMID: 37033405 PMCID: PMC10078596 DOI: 10.1029/2022ea002370] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/06/2022] [Revised: 12/09/2022] [Accepted: 12/22/2022] [Indexed: 06/19/2023]
Abstract
Planetary caves are desirable environments for the search for biosignatures corresponding to extant or extinct extraterrestrial life due to the protection they offer from surface-level solar radiation and ionizing particles. Near-infrared (NIR) reflectance spectroscopy is one of a multitude of techniques that, when taken together, can provide a comprehensive understanding of the geomicrobiology in planetary subsurface regions. To that end, we developed two portable NIR spectrometers that employ acousto-optic tunable filters and demonstrated them in three geochemically distinct cave environments. The instruments were deployed both as stand-alone spectrometers positioned against the targets manually and as a component of an instrument payload mounted on a quadruped robot capable of vertical excursions of several meters. In situ measurements of calcium carbonates, sulfates, metal oxides, and microbial colonies and mats revealed spectral signatures that enable a distinction between the targets of interest and the underlying substrates. The ruggedness and portability of the instruments, and their low size, weight, and power, spectral agility, and active illumination make AOTF-based spectrometers ideally suited for studies of planetary caves.
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Affiliation(s)
- N. J. Chanover
- Astronomy DepartmentNew Mexico State UniversityLas CrucesNMUSA
| | - K. Uckert
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | - D. G. Voelz
- Klipsch School of Electrical and Computer EngineeringNew Mexico State UniversityLas CrucesNMUSA
| | - P. Boston
- NASA Ames Research CenterMoffett FieldCAUSA
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Wynne JJ, Titus TN, Agha‐Mohammadi A, Azua‐Bustos A, Boston PJ, de León P, Demirel‐Floyd C, De Waele J, Jones H, Malaska MJ, Miller AZ, Sapers HM, Sauro F, Sonderegger DL, Uckert K, Wong UY, Alexander EC, Chiao L, Cushing GE, DeDecker J, Fairén AG, Frumkin A, Harris GL, Kearney ML, Kerber L, Léveillé RJ, Manyapu K, Massironi M, Mylroie JE, Onac BP, Parazynski SE, Phillips‐Lander CM, Prettyman TH, Schulze‐Makuch D, Wagner RV, Whittaker WL, Williams KE. Fundamental Science and Engineering Questions in Planetary Cave Exploration. JOURNAL OF GEOPHYSICAL RESEARCH. PLANETS 2022; 127:e2022JE007194. [PMID: 36582809 PMCID: PMC9787064 DOI: 10.1029/2022je007194] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/13/2022] [Revised: 04/21/2022] [Accepted: 04/22/2022] [Indexed: 06/17/2023]
Abstract
Nearly half a century ago, two papers postulated the likelihood of lunar lava tube caves using mathematical models. Today, armed with an array of orbiting and fly-by satellites and survey instrumentation, we have now acquired cave data across our solar system-including the identification of potential cave entrances on the Moon, Mars, and at least nine other planetary bodies. These discoveries gave rise to the study of planetary caves. To help advance this field, we leveraged the expertise of an interdisciplinary group to identify a strategy to explore caves beyond Earth. Focusing primarily on astrobiology, the cave environment, geology, robotics, instrumentation, and human exploration, our goal was to produce a framework to guide this subdiscipline through at least the next decade. To do this, we first assembled a list of 198 science and engineering questions. Then, through a series of social surveys, 114 scientists and engineers winnowed down the list to the top 53 highest priority questions. This exercise resulted in identifying emerging and crucial research areas that require robust development to ultimately support a robotic mission to a planetary cave-principally the Moon and/or Mars. With the necessary financial investment and institutional support, the research and technological development required to achieve these necessary advancements over the next decade are attainable. Subsequently, we will be positioned to robotically examine lunar caves and search for evidence of life within Martian caves; in turn, this will set the stage for human exploration and potential habitation of both the lunar and Martian subsurface.
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Affiliation(s)
- J. Judson Wynne
- Department of Biological Sciences and Center for Adaptable Western LandscapesNorthern Arizona UniversityFlagstaffAZUSA
| | | | | | - Armando Azua‐Bustos
- Centro de AstrobiologíaCSIC‐INTAUnidad María de MaeztuInstituto Nacional de Técnica Aeroespacial Ctra de Torrejón a AjalvirMadridSpain
- Instituto de Ciencias BiomédicasFacultad de Ciencias de la SaludUniversidad Autónoma de ChileSantiagoChile
| | | | - Pablo de León
- Human Spaceflight LaboratoryDepartment of Space StudiesUniversity of North DakotaGrand ForksNDUSA
| | | | - Jo De Waele
- Department of Biological, Geological and Environmental SciencesUniversity of BolognaBolognaItaly
| | - Heather Jones
- Robotics InstituteCarnegie Mellon UniversityPittsburghPAUSA
| | - Michael J. Malaska
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | - Ana Z. Miller
- Laboratório HERCULESUniversity of ÉvoraÉvoraPortugal
- Instituto de Recursos Naturales y AgrobiologíaConsejo Superior de Investigaciones CientíficasSevilleSpain
| | - Haley M. Sapers
- Department of Earth and Space Science and EngineeringYork UniversityTorontoONCanada
| | - Francesco Sauro
- Department of Biological, Geological and Environmental SciencesUniversity of BolognaBolognaItaly
| | - Derek L. Sonderegger
- Department of Mathematics and StatisticsNorthern Arizona UniversityFlagstaffAZUSA
| | - Kyle Uckert
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | | | - E. Calvin Alexander
- Earth and Environmental Sciences DepartmentUniversity of MinnesotaMinneapolisMNUSA
| | - Leroy Chiao
- Department of Mechanical EngineeringRice UniversityHoustonTXUSA
| | - Glen E. Cushing
- U.S. Geological SurveyAstrogeology Science CenterFlagstaffAZUSA
| | - John DeDecker
- Center for Mineral Resources ScienceColorado School of MinesGoldenCOUSA
| | - Alberto G. Fairén
- Centro de AstrobiologíaCSIC‐INTAUnidad María de MaeztuInstituto Nacional de Técnica Aeroespacial Ctra de Torrejón a AjalvirMadridSpain
- Department of AstronomyCornell UniversityIthacaNYUSA
| | - Amos Frumkin
- Institute of Earth SciencesThe Hebrew UniversityJerusalemIsrael
| | - Gary L. Harris
- Human Spaceflight LaboratoryDepartment of Space StudiesUniversity of North DakotaGrand ForksNDUSA
| | - Michelle L. Kearney
- Department of Astronomy and Planetary SciencesNorthern Arizona UniversityFlagstaffAZUSA
| | - Laura Kerber
- Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaCAUSA
| | - Richard J. Léveillé
- Department of Earth and Planetary SciencesMcGill UniversityMontrealQCCanada
- Geosciences DepartmentJohn Abbott CollegeSte‐Anne‐de‐BellevueQCCanada
| | | | - Matteo Massironi
- Dipartimento di GeoscienzeUniversità degli Studi di PadovaPadovaItaly
| | - John E. Mylroie
- Department of GeosciencesMississippi State UniversityStarkvilleMSUSA
| | - Bogdan P. Onac
- School of GeosciencesUniversity of South FloridaTampaFLUSA
- Emil G. Racoviță InstituteBabeș‐Bolyai UniversityCluj‐NapocaRomania
| | | | | | | | - Dirk Schulze‐Makuch
- Astrobiology GroupCenter of Astronomy and AstrophysicsTechnische Universität BerlinBerlinGermany
- Section GeomicrobiologyGFZ German Research Centre for GeosciencesPotsdamGermany
- Department of Experimental LimnologyLeibniz‐Institute of Freshwater Ecology and Inland Fisheries (IGB)StechlinGermany
| | - Robert V. Wagner
- School of Earth and Space ExplorationArizona State UniversityTempeAZUSA
| | - William L. Whittaker
- Department of Biological, Geological and Environmental SciencesUniversity of BolognaBolognaItaly
| | - Kaj E. Williams
- U.S. Geological SurveyAstrogeology Science CenterFlagstaffAZUSA
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Kinematic design of a novel Multi-legged robot with Rigid-flexible coupling grippers for asteroid exploration. ROBOTICA 2022. [DOI: 10.1017/s0263574722000509] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Abstract
Multi-legged robots with rigid-flexible coupling grippers have appealing applications to asteroid exploration with the microgravity. However, these robots usually have significantly complicated structures, which leads to a great challenge for the kinematic design.This paper proposes the kinematic design method for a novel multi-legged robot with the microspine gripper. First, the structure of the multi-legged asteroid exploration robot and the microspine gripper are demonstrated. Second, four performance evaluation indices, which are used to evaluate the stiffness, velocity, motion / force transfer efficiency and gripper attachment efficiency of the robot, are derived from the kinematic model. Non-dimensional design spaces of parameters to be optimized are drawn, and performance atlases are presented in design spaces. Third, the stiffness model of the microspine is derived. In addition, the constraint condition of the restoring spring is established, and the stiffness of restoring springs are optimized using the genetic algorithm. Several experiments are conducted to verify the stiffness model of the microspine. Finally, the prototype is developed and the experimental results validates the kinematic design method.
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SISPO: Space Imaging Simulator for Proximity Operations. PLoS One 2022; 17:e0263882. [PMID: 35245306 PMCID: PMC8896705 DOI: 10.1371/journal.pone.0263882] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/12/2021] [Accepted: 01/28/2022] [Indexed: 11/19/2022] Open
Abstract
This paper describes the architecture and demonstrates the capabilities of a newly developed, physically-based imaging simulator environment called SISPO, developed for small solar system body fly-by and terrestrial planet surface mission simulations. The image simulator utilises the open-source 3-D visualisation system Blender and its Cycles rendering engine, which supports physically based rendering capabilities and procedural micropolygon displacement texture generation. The simulator concentrates on realistic surface rendering and has supplementary models to produce realistic dust- and gas-environment optical models for comets and active asteroids. The framework also includes tools to simulate the most common image aberrations, such as tangential and sagittal astigmatism, internal and external comatic aberration, and simple geometric distortions. The model framework’s primary objective is to support small-body space mission design by allowing better simulations for characterisation of imaging instrument performance, assisting mission planning, and developing computer-vision algorithms. SISPO allows the simulation of trajectories, light parameters and camera’s intrinsic parameters.
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Stochastic Models and Control of Anchoring Mechanisms for Grasping in Microgravity. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12063196] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/10/2022]
Abstract
Robots equipped with anchoring mechanisms have attractive applications in asteroid exploration. However, complex application scenarios bring great challenges to the modeling and control of anchoring mechanisms. This paper presents a grasping model and control method for an anchoring mechanism for asteroid exploration. First, the structure of the anchoring mechanism is demonstrated. Second, stochastic grasping models based on surface properties are established. The effectiveness of the grasping model is verified by experiments. A stiffness-modeling method of the microspine is proposed. On this basis, the stochastic grasping model of the anchoring mechanism is established, and the grasping cloud diagram of the anchoring mechanism is drawn. Third, in order to reduce the collision force between the anchor mechanism and the asteroid surface, a control method for the anchoring mechanism in the movement process is proposed based on the motion mode of the asteroid-exploration robot. Finally, a prototype is developed, and the experimental results validate the motion ability of the robot and the control method.
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