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# Fractal Robots

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by

Tweet## Chandan Lokanath

on 7 December 2012#### Transcript of Fractal Robots

Pick and place en.wikipedia.org/wiki/Fractal

ebookbrowse.com/45083668-fractal-robots-doc-d310706041

faculty.samfox.wustl.edu/.../Fractals/construction_technology.htm

http://seminarprojects.com/Thread-fractal-robots-seminar-report

http://www.autopenhosting.org/robots/ References Fractal robots are still under development

It may take a lot of time for this technology to be implemented

The raw materials needed are cheap, making it affordable for developing nations like ours.

Using Fractal Robots will help in saving economy, time etc and they can be used even for the most sensitive tasks like diffusing a bomb or performing bloodless surgeries

Once the concept of fractal robots is implemented technology will be revolutionized in a way that world has never witnessed before. CONCLUSION Technology is still in infancy

Current cost is very high ($1000 per cube for the 1st generation of cubes, after which it will reduce to $100 or so).

Needs very precise & flexible controlling software.

Cannot work without the aid of a computer

A special operating system should be designed for its working LIMITATIONS The use of new technology of fractal shape changing robots in defense applications is going to completely change the way warfare is conducted in the next millennium.

The machines even at the slow speeds can dodge incoming shells at 2 km distance by opening a hole in any direction ,while most tanks and aircraft need to keep a 4 km distance from each other to avoid being hit, this machine can avoid being hit and return fire inside 2 km.

These robots can even be equipped with weapons making them totally lethal to any passing war fighters, aircraft, tanks.

With self repair, these robots behave like immortal machines because of with they cannot be defeated easily and they can sustain firing and bomb blasts!!! Defense technology Fire fighting robots need to enter a building through entrances that may be very small. The machines themselves may be very large and yet they must get through and once inside, they may have to support the building from collapse.

To a great extent fire fighting is an art and not completely reliant technology. You need men and machine to salvage the best out of the worst possible situations and often application of a little common sense is far better than sending in the big machines.

But equally there are times where only machines with capabilities far beyond what we have today are capable of rescuing a particular situation. The application of shape changing robots is about those situations Fire fighting In a N-streamer algorithm a rod is pushed out from a surface, and then another cube is moved into the vacant position.

The new cube is joined to the tail of the growing rod and pushed out again to grow the rod.

The purpose of the rod is to grow a 'tentacle'. Once a tentacle is grown, other robots can be directed to it and move on top of it to reach the other side.

For bridge building applications, the tentacles are grown vertically to make tall posts. N -streamer Regardless of complexity, the cubes move only between integer positions and only obey commands to move left, right, up, down, forward and backward. If it can't perform an operation, it simply reverses back. If it can't do that as well, the software initiates self repair algorithms

There are only three basic movement methods.

Pick and place

N-streamers

L-streamers MOVEMENT ALGORITHMS This is an important and pioneering advancement for fractal computer technology.

A Fractal bus permits Hardware and software to merge seamlessly into one unified datastructure.

It helps in sending and receiving fractally controlled data. Fractal Bus The Fractal O. S plays a crucial role in making the integration of the system seamless and feasible. A Fractal O. S uses a no: of features to achieve these goals.

Transparent data communication

Data compression at all levels

Awareness of built in self repair

A Fractal O. S coverts fractally written code into machine commands for movement. The data signals are fed to a bus (fractal bus). The electronics have to be kept simple so that they can be miniaturized. Towards this end, the Fractal Robot uses principally state logic.

So its internal design consists if ROM, RAM and some counters. Fractal O.S All active robotic cubes which are computer controlled have a limited microcontroller to perform basic operations such as the communication and control of internal mechanism.

The largest component of the Fractal Robot system is the software

Fractal Robot hardware is designed to integrate as seamlessly with software data structures as possible

Fractal architecture dominates the functions of the core of the O.S, the data structures, the implementation of the devices etc. Everything that is available to the O.S is containerized into fractal data structures that permit possible compatibility and conversion issues possible. Control of Fractal Robots Fractal robots can be built from metals and plastics which are cheaply available in industrialized nations and also from eco friendly materials such as ceramics and clays which are readily available in developing nations

The robotic cubes are assembled from face plates which have been manufactured and bolted to a cubic frame.

The cube therefore is hollow and the plates (illustrated in figure 2) have all the mechanisms.

Each of these face plates have electrical contact pads that allow power and data signals to be routed from one robotic cube to another .They also have 45 degree petals that push out of the surface to engage the neighbouring face that allows one robotic cube to lock to its neighbour.

The contact pads are arranged symmetrically around four edges to allow for rotational symmetry Construction A fractal is anything which has a substantial measure of exact or statistical self-similarity.

Any part of its body will be similar to the whole object.

They are recursive

They are Fine or detailed structures even at arbitrarily small scales CHARACTERISTICS OF FRACTALS A fractal is a mathematical set that has a fractal dimension that usually exceeds its topological dimension and may fall between the integers.

Fractals are typically self-similar patterns, where self-similar means they are "the same from near as from far".

Fractals may be exactly the same at every scale FRACTALS Shape changing robots are ideal for making all manners of bridges from small to the very largest.

The bridging technology introduced here can be used to patch up earthquake-damaged bridges, and they can also be used as a means for the shape changing robot to cross very rough terrain.

To grow a suspension bridge, the shape changing robot grows a bridge by extending a rod and it feeds the rod using the L-shape streamer from underneath the rod.

The bridge assembly machine is built principally from simple mass manufactured repeating cubes that move under computer control, and reshape into different scaffolds in a matter of seconds

APPLICATIONS OF FRACTAL ROBOTS The petals sit on a ledge such that a separation distance is always maintained between the robotic cubes. The separation distance allows the robotic cubes to slide with minimal friction.

The separation distance between the robotic cubes is important to allow the robotic cubes trapped in the centre of a structure to move as illustrated in the figure below. Separation Distance Between Cubes The petals which are placed on ledges are pushed in and out of the slots with the aid of a motor. Each petal could be directly driven by single motor or they could be driven as a pair with the aid of a flexible strip of metal.

The petals have serrated edges and they engage into the neighbouring robotic cube through the 45 degree slots.

The serrated edges edges of the petals are engaged by either a gear wheel or a large screw thread running the length of the slot which slide the cubes along Movement mechanism By,

Bhimashankar Sutar(25)

Chandan L(27)

Chethan R(29)

III A (CSE) DIGITAL ELECTRONICS

FRACTAL ROBOTS RVCE Figure showing a collection of such cubes used in making a fractal robot A Fractal Robot physically resembles itself according to the definition of fractals.

A Fractal robot is a new kind of robot made from motorized cubic bricks that move under computer control.

The robot can be animated around its joints in a uniform manner.

Such robots can be straight forward geometric patterns/images that look more like natural structures such as plants

These cubic motorized bricks can be programmed to move and shuffle themselves to change shape to make objects likes a house potentially in a few seconds because of their motorized internal mechanisms Fractal Robots Shape changing robots can enter a building through entrances that are as small as 4 cubes.

Figures below show how a robot enters a room through a duct by changing its shape.

These shape changing robots could be carrying a fire hose in which case on entering they can apply the hose immediately

A small camera can be attached to these robots so that the interior of a building can be visualized. Fractal robots are used for Entering Buildings figure 2 fig 1 L-streamer is a little more involved to explain and requires the aid of figures shown on the left hand side.

L-streamers are also tentacles but grown using a different algorithm.

Basically, an L-shape of cubes numbered 4, 5, 6 in figure 1a attached to a rod numbered 1, 2, 3, and then a new cube 7 is added so that the rod grows by one cube until it looks like figure 1f.

The steps illustrated in figure 2b to 2e can be repeated to grow the tentacle to any length required.

When large numbers of cubes follow similar paths, common cubes are grouped into a collection and this collection is controlled with same single commands (left, right, up, down, forward and backward) as if they were a single cube as illustrated in figure 2 L Streamer Fig 4- Contact pads are arranged symmetrically around four edges to allow for rotational symmetry Fig 3-Contact pads are mounted on the plates and a solenoid operated pad Fig 2-face plates of the cubes that have electrical contact pads Fig 1-Assembly of the cubes The construction of robotic cubes can be shown in a sequence of figures as shown below A strange attractor Koch snowflake mandelbrot set magnified 2000 times Julia set Limited Palette SOME EXAMPLES Pick and place algorithm uses a set of Commands that are issued to a collection of cubes telling each cube where to go.

A command of "cube 517 move left by 2 positions" results in only one cube moving in the entire machine.

Entire collection of movements needed to perform particular operations are worked out and stored exactly like conventional robots store movement paths.

Paint spraying robots use this technique.

Full transcriptebookbrowse.com/45083668-fractal-robots-doc-d310706041

faculty.samfox.wustl.edu/.../Fractals/construction_technology.htm

http://seminarprojects.com/Thread-fractal-robots-seminar-report

http://www.autopenhosting.org/robots/ References Fractal robots are still under development

It may take a lot of time for this technology to be implemented

The raw materials needed are cheap, making it affordable for developing nations like ours.

Using Fractal Robots will help in saving economy, time etc and they can be used even for the most sensitive tasks like diffusing a bomb or performing bloodless surgeries

Once the concept of fractal robots is implemented technology will be revolutionized in a way that world has never witnessed before. CONCLUSION Technology is still in infancy

Current cost is very high ($1000 per cube for the 1st generation of cubes, after which it will reduce to $100 or so).

Needs very precise & flexible controlling software.

Cannot work without the aid of a computer

A special operating system should be designed for its working LIMITATIONS The use of new technology of fractal shape changing robots in defense applications is going to completely change the way warfare is conducted in the next millennium.

The machines even at the slow speeds can dodge incoming shells at 2 km distance by opening a hole in any direction ,while most tanks and aircraft need to keep a 4 km distance from each other to avoid being hit, this machine can avoid being hit and return fire inside 2 km.

These robots can even be equipped with weapons making them totally lethal to any passing war fighters, aircraft, tanks.

With self repair, these robots behave like immortal machines because of with they cannot be defeated easily and they can sustain firing and bomb blasts!!! Defense technology Fire fighting robots need to enter a building through entrances that may be very small. The machines themselves may be very large and yet they must get through and once inside, they may have to support the building from collapse.

To a great extent fire fighting is an art and not completely reliant technology. You need men and machine to salvage the best out of the worst possible situations and often application of a little common sense is far better than sending in the big machines.

But equally there are times where only machines with capabilities far beyond what we have today are capable of rescuing a particular situation. The application of shape changing robots is about those situations Fire fighting In a N-streamer algorithm a rod is pushed out from a surface, and then another cube is moved into the vacant position.

The new cube is joined to the tail of the growing rod and pushed out again to grow the rod.

The purpose of the rod is to grow a 'tentacle'. Once a tentacle is grown, other robots can be directed to it and move on top of it to reach the other side.

For bridge building applications, the tentacles are grown vertically to make tall posts. N -streamer Regardless of complexity, the cubes move only between integer positions and only obey commands to move left, right, up, down, forward and backward. If it can't perform an operation, it simply reverses back. If it can't do that as well, the software initiates self repair algorithms

There are only three basic movement methods.

Pick and place

N-streamers

L-streamers MOVEMENT ALGORITHMS This is an important and pioneering advancement for fractal computer technology.

A Fractal bus permits Hardware and software to merge seamlessly into one unified datastructure.

It helps in sending and receiving fractally controlled data. Fractal Bus The Fractal O. S plays a crucial role in making the integration of the system seamless and feasible. A Fractal O. S uses a no: of features to achieve these goals.

Transparent data communication

Data compression at all levels

Awareness of built in self repair

A Fractal O. S coverts fractally written code into machine commands for movement. The data signals are fed to a bus (fractal bus). The electronics have to be kept simple so that they can be miniaturized. Towards this end, the Fractal Robot uses principally state logic.

So its internal design consists if ROM, RAM and some counters. Fractal O.S All active robotic cubes which are computer controlled have a limited microcontroller to perform basic operations such as the communication and control of internal mechanism.

The largest component of the Fractal Robot system is the software

Fractal Robot hardware is designed to integrate as seamlessly with software data structures as possible

Fractal architecture dominates the functions of the core of the O.S, the data structures, the implementation of the devices etc. Everything that is available to the O.S is containerized into fractal data structures that permit possible compatibility and conversion issues possible. Control of Fractal Robots Fractal robots can be built from metals and plastics which are cheaply available in industrialized nations and also from eco friendly materials such as ceramics and clays which are readily available in developing nations

The robotic cubes are assembled from face plates which have been manufactured and bolted to a cubic frame.

The cube therefore is hollow and the plates (illustrated in figure 2) have all the mechanisms.

Each of these face plates have electrical contact pads that allow power and data signals to be routed from one robotic cube to another .They also have 45 degree petals that push out of the surface to engage the neighbouring face that allows one robotic cube to lock to its neighbour.

The contact pads are arranged symmetrically around four edges to allow for rotational symmetry Construction A fractal is anything which has a substantial measure of exact or statistical self-similarity.

Any part of its body will be similar to the whole object.

They are recursive

They are Fine or detailed structures even at arbitrarily small scales CHARACTERISTICS OF FRACTALS A fractal is a mathematical set that has a fractal dimension that usually exceeds its topological dimension and may fall between the integers.

Fractals are typically self-similar patterns, where self-similar means they are "the same from near as from far".

Fractals may be exactly the same at every scale FRACTALS Shape changing robots are ideal for making all manners of bridges from small to the very largest.

The bridging technology introduced here can be used to patch up earthquake-damaged bridges, and they can also be used as a means for the shape changing robot to cross very rough terrain.

To grow a suspension bridge, the shape changing robot grows a bridge by extending a rod and it feeds the rod using the L-shape streamer from underneath the rod.

The bridge assembly machine is built principally from simple mass manufactured repeating cubes that move under computer control, and reshape into different scaffolds in a matter of seconds

APPLICATIONS OF FRACTAL ROBOTS The petals sit on a ledge such that a separation distance is always maintained between the robotic cubes. The separation distance allows the robotic cubes to slide with minimal friction.

The separation distance between the robotic cubes is important to allow the robotic cubes trapped in the centre of a structure to move as illustrated in the figure below. Separation Distance Between Cubes The petals which are placed on ledges are pushed in and out of the slots with the aid of a motor. Each petal could be directly driven by single motor or they could be driven as a pair with the aid of a flexible strip of metal.

The petals have serrated edges and they engage into the neighbouring robotic cube through the 45 degree slots.

The serrated edges edges of the petals are engaged by either a gear wheel or a large screw thread running the length of the slot which slide the cubes along Movement mechanism By,

Bhimashankar Sutar(25)

Chandan L(27)

Chethan R(29)

III A (CSE) DIGITAL ELECTRONICS

FRACTAL ROBOTS RVCE Figure showing a collection of such cubes used in making a fractal robot A Fractal Robot physically resembles itself according to the definition of fractals.

A Fractal robot is a new kind of robot made from motorized cubic bricks that move under computer control.

The robot can be animated around its joints in a uniform manner.

Such robots can be straight forward geometric patterns/images that look more like natural structures such as plants

These cubic motorized bricks can be programmed to move and shuffle themselves to change shape to make objects likes a house potentially in a few seconds because of their motorized internal mechanisms Fractal Robots Shape changing robots can enter a building through entrances that are as small as 4 cubes.

Figures below show how a robot enters a room through a duct by changing its shape.

These shape changing robots could be carrying a fire hose in which case on entering they can apply the hose immediately

A small camera can be attached to these robots so that the interior of a building can be visualized. Fractal robots are used for Entering Buildings figure 2 fig 1 L-streamer is a little more involved to explain and requires the aid of figures shown on the left hand side.

L-streamers are also tentacles but grown using a different algorithm.

Basically, an L-shape of cubes numbered 4, 5, 6 in figure 1a attached to a rod numbered 1, 2, 3, and then a new cube 7 is added so that the rod grows by one cube until it looks like figure 1f.

The steps illustrated in figure 2b to 2e can be repeated to grow the tentacle to any length required.

When large numbers of cubes follow similar paths, common cubes are grouped into a collection and this collection is controlled with same single commands (left, right, up, down, forward and backward) as if they were a single cube as illustrated in figure 2 L Streamer Fig 4- Contact pads are arranged symmetrically around four edges to allow for rotational symmetry Fig 3-Contact pads are mounted on the plates and a solenoid operated pad Fig 2-face plates of the cubes that have electrical contact pads Fig 1-Assembly of the cubes The construction of robotic cubes can be shown in a sequence of figures as shown below A strange attractor Koch snowflake mandelbrot set magnified 2000 times Julia set Limited Palette SOME EXAMPLES Pick and place algorithm uses a set of Commands that are issued to a collection of cubes telling each cube where to go.

A command of "cube 517 move left by 2 positions" results in only one cube moving in the entire machine.

Entire collection of movements needed to perform particular operations are worked out and stored exactly like conventional robots store movement paths.

Paint spraying robots use this technique.