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BEGIN:VCALENDAR VERSION:2.0 PRODID:-//Penn Engineering Events - ECPv6.16.4.1//NONSGML v1.0//EN CALSCALE:GREGORIAN METHOD:PUBLISH X-WR-CALNAME:Penn Engineering Events X-ORIGINAL-URL:https://seasevents.nmsdev7.com X-WR-CALDESC:Events for Penn Engineering Events REFRESH-INTERVAL;VALUE=DURATION:PT1H X-Robots-Tag:noindex X-PUBLISHED-TTL:PT1H BEGIN:VTIMEZONE TZID:America/New_York BEGIN:DAYLIGHT TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:EDT DTSTART:20200308T070000 END:DAYLIGHT BEGIN:STANDARD TZOFFSETFROM:-0400 TZOFFSETTO:-0500 TZNAME:EST DTSTART:20201101T060000 END:STANDARD BEGIN:DAYLIGHT TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:EDT DTSTART:20210314T070000 END:DAYLIGHT BEGIN:STANDARD TZOFFSETFROM:-0400 TZOFFSETTO:-0500 TZNAME:EST DTSTART:20211107T060000 END:STANDARD BEGIN:DAYLIGHT TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:EDT DTSTART:20220313T070000 END:DAYLIGHT BEGIN:STANDARD TZOFFSETFROM:-0400 TZOFFSETTO:-0500 TZNAME:EST DTSTART:20221106T060000 END:STANDARD END:VTIMEZONE BEGIN:VEVENT DTSTART;TZID=America/New_York:20210715T130000 DTEND;TZID=America/New_York:20210715T140000 DTSTAMP:20210712T210417Z CREATED:20210712T210417Z LAST-MODIFIED:20210712T210417Z UID:5107-1626354000-1626357600@seasevents.nmsdev7.com SUMMARY:MEAM PhD Thesis Defense: "Modular Robots Morphology Transformation and Task Execution" DESCRIPTION:Self-reconfigurable modular robots are composed of a small set of modules with uniform docking interfaces. Different from conventional robots that are custom-built and optimized for specific tasks\, modular robots are able to adapt to many different activities\, and handle hardware and software failures by rearranging their components. This reconfiguration capability allows these systems to exist in a variety of morphologies\, and the introduced flexibility enables self-reconfigurable modular robots to handle a much wider range of tasks\, but also complicates the design\, control\, and planning. \nThis thesis considers a hierarchy framework in order to deploy modular robots in the real world: the robot first identifies its current morphology\, then reconfigures itself into a new morphology if needed\, and finally executes either manipulation or locomotion tasks. A reliable system architecture is necessary to handle a large number of modules. The number of possible morphologies constructed by modules increases exponentially as the number of modules grows\, and these morphologies usually have many degrees of freedom with complex constraints. In this thesis\, hardware platforms and several control methods and planning algorithms are developed to build this hierarchy framework leading to the system-level deployment of modular robots\, including a hybrid modular robot (SMORES-EP) and a modular truss robot (VTT). Graph representations of modular robots are introduced as well as several algorithms for morphology identification. Efficient mobile-style reconfiguration strategies are explored for hybrid modular robots\, and a real-time planner based on optimal control is developed to perform dexterous manipulation tasks. For modular truss robots\, configuration space is studied and a hybrid planning framework (sampling-based and search-based) is presented to handle reconfiguration activities. A non-impact rolling locomotion planner is then developed to drive an arbitrary truss robot in an environment. URL:https://seasevents.nmsdev7.com/event/meam-phd-thesis-defense-modular-robots-morphology-transformation-and-task-execution/ LOCATION:Zoom – Email MEAM for Link\, peterlit@seas.upenn.edu CATEGORIES:Doctoral,Dissertation or Thesis Defense ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu END:VEVENT END:VCALENDAR