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103 results on '"Støy, Kasper"'

1. Soft Manipulation Surface With Reduced Actuator Density For Heterogeneous Object Manipulation

Author

Ingle, Pratik, Støy, Kasper, and Faiña, Andres

Subjects
Computer Science - Robotics
Abstract

Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other hand, surface-based approaches provide flexibility for handling fragile and heterogeneous objects but require numerous actuators, increasing complexity. We propose new manipulation hardware that utilizes equally spaced linear actuators placed vertically and connected by a soft surface. In this setup, object manipulation occurs on the soft surface through coordinated movements of the surrounding actuators. This approach requires fewer actuators to cover a large manipulation area, offering a cost-effective solution with a lower DOF compared to dense actuator arrays. It also effectively handles heterogeneous objects of varying shapes and weights, even when they are significantly smaller than the distance between actuators. This method is particularly suitable for managing highly fragile objects in the food industry.

Published
2024

3. Swarm-Inspired Controller: An Inference-Free Approach to Distributed Manipulation

Author

Bessone, Nicolas, Stoy, Kasper, Zahadat, Payam, Goos, Gerhard, Series Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Hamann, Heiko, editor, Dorigo, Marco, editor, Pérez Cáceres, Leslie, editor, Reina, Andreagiovanni, editor, Kuckling, Jonas, editor, Kaiser, Tanja Katharina, editor, Soorati, Mohammad, editor, Hasselmann, Ken, editor, and Buss, Eduard, editor

Published
2024
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4. Affecta-Context: The Context-Guided Behavior Adaptation Framework

Author

Frederiksen, Morten Roed, Støy, Kasper, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Lee, Soon-Geul, editor, An, Jinung, editor, Chong, Nak Young, editor, Strand, Marcus, editor, and Kim, Joo H., editor

Published
2024
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5. Physical Neural Cellular Automata for 2D Shape Classification

Author

Walker, Kathryn, Palm, Rasmus Berg, Garcia, Rodrigo Moreno, Faina, Andres, Stoy, Kasper, and Risi, Sebastian

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence
Abstract

Materials with the ability to self-classify their own shape have the potential to advance a wide range of engineering applications and industries. Biological systems possess the ability not only to self-reconfigure but also to self-classify themselves to determine a general shape and function. Previous work into modular robotics systems has only enabled self-recognition and self-reconfiguration into a specific target shape, missing the inherent robustness present in nature to self-classify. In this paper we therefore take advantage of recent advances in deep learning and neural cellular automata, and present a simple modular 2D robotic system that can infer its own class of shape through the local communication of its components. Furthermore, we show that our system can be successfully transferred to hardware which thus opens opportunities for future self-classifying machines. Code available at https://github.com/kattwalker/projectcube. Video available at https://youtu.be/0TCOkE4keyc.

Published
2022

7. Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots

Author

Hamann, Heiko, Soorati, Mohammad Divband, Heinrich, Mary Katherine, Hofstadler, Daniel Nicolas, Kuksin, Igor, Veenstra, Frank, Wahby, Mostafa, Nielsen, Stig Anton, Risi, Sebastian, Skrzypczak, Tomasz, Zahadat, Payam, Wojtaszek, Przemyslaw, Støy, Kasper, Schmickl, Thomas, Kernbach, Serge, and Ayres, Phil

Subjects
Computer Science - Emerging Technologies, Computer Science - Robotics
Abstract

Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a principled foundation towards the design and implementation of living architectural systems that provide functionalities beyond those of orthodox building practice, such as self-repair, material accumulation and self-organization. Plants and robots work together to create a living organism that is inhabited by human beings. User-defined design objectives help to steer the directional growth of the plants, but also the system's interactions with its inhabitants determine locations where growth is prohibited or desired (e.g., partitions, windows, occupiable space). We report our plant species selection process and aspects of living architecture. A leitmotif of our project is the rich concept of braiding: braids are produced by robots from continuous material and serve as both scaffolds and initial architectural artifacts before plants take over and grow the desired architecture. We use light and hormones as attraction stimuli and far-red light as repelling stimulus to influence the plants. Applied sensors range from simple proximity sensing to detect the presence of plants to sophisticated sensing technology, such as electrophysiology and measurements of sap flow. We conclude by discussing our anticipated final demonstrator that integrates key features of flora robotica, such as the continuous growth process of architectural artifacts and self-repair of living architecture., Comment: 16 pages, 12 figures

Published
2017

8. EvoBot: Towards a Robot-Chemostat for Culturing and Maintaining Microbial Fuel Cells (MFCs)

Author

Theodosiou, Pavlina, Faina, Andres, Nejatimoharrami, Farzad, Stoy, Kasper, Greenman, John, Melhuish, Chris, Ieropoulos, Ioannis, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Mangan, Michael, editor, Cutkosky, Mark, editor, Mura, Anna, editor, Verschure, Paul F.M.J., editor, Prescott, Tony, editor, and Lepora, Nathan, editor

Published
2017
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9. DSLs in Robotics: A Case Study in Programming Self-reconfigurable Robots

Author

Schultz, Ulrik Pagh, Bordignon, Mirko, Stoy, Kasper, Nordmann, Arne, Hochgeschwender, Nico, Wrede, Sebastian, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Cunha, Jácome, editor, Fernandes, João P., editor, Lämmel, Ralf, editor, Saraiva, João, editor, and Zaytsev, Vadim, editor

Published
2017
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10. Evolution and Morphogenesis of Simulated Modular Robots: A Comparison Between a Direct and Generative Encoding

Author

Veenstra, Frank, Faina, Andres, Risi, Sebastian, Stoy, Kasper, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Squillero, Giovanni, editor, and Sim, Kevin, editor

Published
2017
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13. Evolving Robot Controllers for Structured Environments Through Environment Decomposition

Author

Moreno, Rodrigo, Faiña, Andres, Støy, Kasper, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Mora, Antonio M., editor, and Squillero, Giovanni, editor

Published
2015
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15. LocoKit: A Robot Construction Kit for Studying and Developing Functional Morphologies

Author

Larsen, Jørgen Christian, Brandt, David, Stoy, Kasper, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Ziemke, Tom, editor, Balkenius, Christian, editor, and Hallam, John, editor

Published
2012
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16. Fractal Gene Regulatory Networks for Robust Locomotion Control of Modular Robots

Author

Zahadat, Payam, Christensen, David Johan, Schultz, Ulrik Pagh, Katebi, Serajeddin, Stoy, Kasper, Hutchison, David, Kanade, Takeo, Kittler, Josef, Kleinberg, Jon M., Mattern, Friedemann, Mitchell, John C., Naor, Moni, Nierstrasz, Oscar, Pandu Rangan, C., Steffen, Bernhard, Sudan, Madhu, Terzopoulos, Demetri, Tygar, Doug, Vardi, Moshe Y., Weikum, Gerhard, Goebel, Randy, Siekmann, Jörg, Wahlster, Wolfgang, Doncieux, Stéphane, editor, Girard, Benoît, editor, Guillot, Agnès, editor, Hallam, John, editor, Meyer, Jean-Arcady, editor, and Mouret, Jean-Baptiste, editor

Published
2010
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24. Photoelectric sensor setup and characterization for general interface detection in laboratory scale liquid-liquid extraction processes

Author

Garcia, Rodrigo Moreno, Faina, Andres, and Støy, Kasper

Subjects
Lab automation, Liquid-liquid extraction, Photoelectric sensor
Abstract

Liquid-liquid extraction is a well-known and widely used process in chemistry and laboratory settings.The manual version of this process relies on visual inspection of the mixture, looking for interface formation and stabilization, and for draining the liquids separately. Different automatic devices have been developed for the purpose of separating immiscible liquids, however these solutions are often designed with a specific chemical process in mind. An automatically adjustable LLE device, that can detect and adapt to different substances can shorten adjustment time and enable automatic experimentation in laboratory settings. These kinds of devices are a key part of AI orchestrated, automatic experimentation and screening systems.To enable adaptation in a robust way, an interface detection setup that is able to detect a range of interfaces is presented in this work. The use of a light sensor, that encompasses an array of photo detectors for different light wavelengths, and an arrangement that takes advantage of the optical properties of liquids is investigated for detecting different interfaces with varying optical features. Light sensors have the advantage of not coming in contact with the chemicals involved, as they can be located outside glass vessels. An array of simple sensors reduces the complexity of the signals to be analyzed while at the same time providing enough relevant information to feed more elaborated detection techniques, i.e., machine learning approaches.A dataset is created from sensor measures, characterized, and related to different interface features. Data is automatically generated using a normal glass separatory funnel, connected to a peristaltic pump for controlling the level of liquid inside, but the setup can be adapted for different kinds of vessels and existing automation tools. An analysis of light refraction and reflection inside the funnel is performed. The light source is located on the opposite side to the light sensor and the whole setup is shielded from external light. The dataset obtained will allow the creation of machine learning models (e.g. neural networks) to improve the detection capabilities of the sensor and generalize it to not seen before interfaces.This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 957189

Published
2021

25. A Low-Cost Open-Source Cloud-based Liquid Handling Robotic Platform for Performing Remote Real-Time Collaborative Experiments

Author

Nejatimoharrami, Farzad, Faina, Andres, and Støy, Kasper

Abstract

We have developed a robotic-system capable of performing routine liquid-handling experiments, as well as artificial chemical life experiments. Our platform consists of an actuation-layer on top, an experimental-layer in the middle, and a sensing-layer at the bottom. The actuation-layer comprises the robot-head and modules mounted on it. The modules, e.g. pipet-modules, OCT-scanner, extruder, PH-probe, are designed to perform actions on experiments. The head holds modules and moves in the horizontal plane. The experimental-layer holds the reaction vessels. The sensing-layer consists of a camera below the experimental-layer to monitor the experiment. It collects data from experiment, and provides feedback for robot to interact with experiment.

Published
2018

27. Beyond self-assembly: Mergeable nervous systems, spatially targeted communication, and supervised morphogenesis for autonomous robots

Author

Dorigo, Marco, Bersini, Hugues, Birattari, Mauro, Allwright, Michael, Christensen, Anders Lyhne, O'Grady, Rehan, Støy, Kasper, Mathews, Nithin, Dorigo, Marco, Bersini, Hugues, Birattari, Mauro, Allwright, Michael, Christensen, Anders Lyhne, O'Grady, Rehan, Støy, Kasper, and Mathews, Nithin

Abstract

The study of self-assembling robots represents a promising strand within the emerging field of modular robots research. Self-assembling robots have the potential to autonomously adapt their bodies to new tasks and changing environments long after their initial deployment by forming new or reorganizing existing physical connections to peer robots. In previous research, many approaches have been presented to enable self-assembling robots to form composite morphologies. Recent technological advances have also increased the number of robots able to form such morphologies by at least two orders of magnitude. However, to date, composite robot morphologies have not been able to solve real-world tasks nor have they been able to adapt to changing conditions entirely without human assistance or prior knowledge.In this thesis, we identify three reasons why self-assembling robots may not have been able to fully unleash their potential and propose appropriate solutions. First, composite morphologies are not able to show sensorimotor coordination similar to those seen in their monolithic counterparts. We propose "mergeable nervous systems" -- a novel methodology that unifies independent robotic units into a single holistic entity at the control level. Our experiments show that mergeable nervous systems can enable self-assembling robots to demonstrate feats that go beyond those seen in any engineered or biological system. Second, no proposal has been tabled to enable a robot in a decentralized multirobot system select its communication partners based on their location. We propose a new form of highly scalable mechanism to enable "spatially targeted communication" in such systems. Third, the question of when and how to trigger a self-assembly process has been ignored by researchers to a large extent. We propose "supervised morphogenesis" -- a control methodology that is based on spatially targeted communication and enables cooperation between aerial and ground-based self-assembling, Doctorat en Sciences de l'ingénieur et technologie, info:eu-repo/semantics/nonPublished

Published
2018

29. Towards EvoBot: A liquid-handling robot able to automatize and optimize experiments based on real-time feedback

Author

Faina, Andres, Nejatimoharrami, Farzad, and Støy, Kasper

Subjects
Robotics, Liquid handling
Abstract

The EVOBLISS project combines scientific approaches from robotics, artificial intelligence, chemistry, and microbiology and aims to capitalize on the state of the art in these disparate disciplines and combine them together into a coherent project to produce i) a generally useful, expandable and customizable technical platform for the artificial evolution of new materials and applications based on a real-time feedback robotic workstation and ii) a specific improved technology, namely a microbial fuel cell, that incorporates natural as well as artificial macro-, micro-, and nanoscale elements for improved function. Scientifically, we will investigate the possibility of optimizing artificial chemical life, microbial ecosystems, and nanoparticles and their physiochemical, dynamic environments using robot facilitated, artificial evolution.This paper deals with the first goal of the EVOBLISS project, to produce a useful, expandable and customizable technical platform for the artificial evolution of new materials and applications. Specifically, the objective of this paper is to define the capabilities of our liquid handling robot, called EvoBot. This robot will be a mature and robust version of the SplotBot robot which was used to show the feasibility of this approach [1]. This robot was able to perform proof of concept experiments, but was too fragile to conduct systematic scientific experiments in artificial chemical life. Furthermore, the EvoBot robot will increase the features of the SplotBot robot in order to make new types of experiments. Proceeding, the capabilities of the EvoBots are presented based on prerequisites for mature and robust functionality, and also features requested by partners.

Published
2014

33. Increased Versatility of Modular Robots through Layered Heterogeneity

Author

Larsen, Jørgen Christian, Støy, Kasper, and Garcia, Ricardo Franco Mendoza

Abstract

This paper introduces a new class of modularrobots, called: “layered heterogeneous modular robots”, whichis a type of modular robot, where the functionality of a robotis modularized into three layers of heterogeneous modules:mechanics, actuation and electronics. This novel approach maymake it possible to create dynamic, power-efficient and robustlocomotive modular robots, extending the usability of modularrobots. Early tests show that the system is able to performdynamic locomotion with speeds up to 11.8cm/sec with a specificresistance of 9.65. Also static structures have been constructed,forming a tower that is able to withstand a load of 29 timesits own weight placed on top of the tower, without any powerconsumption. These tests show that the system is comparablein performance to those of non-modular robots.

Published
2010

35. Radio Frequency communication for modular robots

Author

Syddansk universitet, Støy, Kasper, Arimany Castells, Guillem, Syddansk universitet, Støy, Kasper, and Arimany Castells, Guillem

Abstract

Projecte realitzat mitjançant programa de mobilitat. University of Southern Denmark.Mærsk Mc-Kinney Møller Institute, We explore the suitability of Wireless Radio Frequency (RF) inter-module communication for modular robots. Our hypothesis is that, instead of using Infrared (IR) and wired links, RF could be used for module localization and for local and global communication.

Published
2011

37. LOST: Localization-Space Trails for Robot Teams.

Author

Vaughan, Richard T., Støy, Kasper, Sukhatme, Gaurav S., and Matarić, Maja J.

Subjects
*MOBILE robots, *AUTONOMOUS robots, *ALGORITHMS
Abstract

We describe localization-space trails (LOST), a method that enables a team of robots to navigate between places of interest in an initially unknown environment using a trail of landmarks. The landmarks are not physical; they are waypoint coordinates generated online by each robot and shared with teammates. Waypoints are specified in each robot's local coordinate system, and contain references to features in the world that are relevant to the team's task and common to all robots. Using these task-level references, robots can share waypoints without maintaining a global coordinate system. The method is tested in a series of real-world multirobot experiments. The results demonstrate that the method: 1) copes with accumulating odometry error; 2) is robust to the failure of individual robots; 3) converges to the best route discovered by any robot in the team. In one experiment, a team of four autonomous mobile robots performs a resource transportation task in our uninstrumented ofrice building. Despite significant divergence of their local coordinate systems, the robots are able to share waypoints, forming and following a common trail between two predetermined locations for more than three hours, traveling a total of 8.2 km (5.1 miles) before running out of power. Designed to scale to large populations, LOST is fully distributed, with low costs in processing, memory, and bandwidth. It combines metric data about the position of features in the world with instructions on how to get from one place to another; producing something between a map and a plan. [ABSTRACT FROM AUTHOR]

Published
2002
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41. A Low-Cost Multi-robot System for Research, Teaching, and Outreach

Author

McLurkin, James, Lynch, Andrew J., Rixner, Scott, Barr, Thomas W., Chou, Alvin, Foster, Kathleen, Bilstein, Siegfried, Martinoli, Alcherio, editor, Mondada, Francesco, editor, Correll, Nikolaus, editor, Mermoud, Grégory, editor, Egerstedt, Magnus, editor, Hsieh, M. Ani, editor, Parker, Lynne E., editor, and Støy, Kasper, editor

Published
2013
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43. Physical Interactions in Swarm Robotics: The Hand-Bot Case Study

Author

Bonani, Michael, Rétornaz, Philippe, Magnenat, Stéphane, Bleuler, Hannes, Mondada, Francesco, Martinoli, Alcherio, editor, Mondada, Francesco, editor, Correll, Nikolaus, editor, Mermoud, Grégory, editor, Egerstedt, Magnus, editor, Hsieh, M. Ani, editor, Parker, Lynne E., editor, and Støy, Kasper, editor

Published
2013
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46. Cooperative Grasping and Transport Using Multiple Quadrotors

Author

Mellinger, Daniel, Shomin, Michael, Michael, Nathan, Kumar, Vijay, Martinoli, Alcherio, editor, Mondada, Francesco, editor, Correll, Nikolaus, editor, Mermoud, Grégory, editor, Egerstedt, Magnus, editor, Hsieh, M. Ani, editor, Parker, Lynne E., editor, and Støy, Kasper, editor

Published
2013
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