Modular Robotic Systems: Characteristics and Applications

Employing Modular Robotic Systems (MRS) in different application domains confronts a large number of challenging problems in design, optimization, and planning, and so identifying characteristics of such problems is an important step toward finding proper solution approaches for them. In this paper, we address this issue and provide a comprehensive study on MRS through a structured survey about MRS characteristics and their applications. A novel framework called MITE is proposed to characterize both the properties and applications of MRS from four perspectives of Module, Information, Task, and Environment, based on more than 120 domain-specific features, supplemented by a mapping scheme for describing the interrelations of the four basic aspects of the Task component, namely, Application (for describing high-level tasks such as navigation and rescue), Behavior (for referring to constitutive behaviors like locomotion and manipulation which bring about Applications), Goal (for characterizing the way Behaviors are accomplished), and Operation (for designating activities specific to modular robots, such as self-reconfiguration and gait control). Also, by providing a methodical review on modular robotics, the paper deals with some analyses on recent trends, research gaps and challenges, as well as open problems in the field of MRS.     

Correction to: Automatic COVID-19 detection mechanisms and approaches from medical images: a systematic review

Multimedia Tools and Applications -     

Lack of associative filters in lattice implication algebras

Jun et al. (Bull Korean Math Soc 35(1):53–61, 1998) introduced the notion of associative filters in lattice implication algebra and studied some of its properties. In this paper, we show that there is no associative filter in lattice implication algebra.     

On the stability issues of switched singular time‐delay systems with slow switching based on average dwell‐time

The issue of exponential stability analysis of continuous‐time switched singular systems consisting of a family of stable and unstable subsystems with time‐varying delay is investigated in this paper. It is very difficult to analyze the stability of such systems because of the existence of time‐delay and unstable subsystems. In this regard, on the basis of the free‐weighting matrix approach, by constructing the new Lyapunov‐like Krasovskii functional, and using the average dwell‐time approach, delay‐dependent sufficient conditions are derived and formulated in terms of LMIs to check the exponential stability of such systems. This paper also highlights the relationship between the average dwell‐time of the switched singular time‐delay system, its stability, exponential convergence rate of differential states, and algebraic states. Finally, a numerical example is given to confirm the analytical results and illustrate the effectiveness of the proposed strategy. Copyright © 2012 John Wiley & Sons, Ltd.     

The Solution of the Spherical Raman–Nath Equation for Free-Electron Laser in the Presence of Ion-Channel Guiding

In this paper, the Wei–Norman Lie algebraic approach has been employed to solve the spherical Raman–Nath equation for free electron laser in the presence of ion channel guiding and helical wiggler exactly. The result can be applied to discuss quantum free electron laser.     

Transparent autonomization in CORBA

Increasingly, software systems are constructed by integrating and composing multiple existing applications. The resulting complexity increases the need for self-management of the system. However, adding autonomic behavior to composite systems is difficult, especially when the constituent components are heterogeneous and they were not originally designed to support such interactions. Moreover, entangling the code for self-management with the code for the business logic of the original applications may actually increase the complexity of the systems, counter to the desired goal. In this paper, we address autonomization of composite systems that use CORBA, one of the first widely used middleware platforms introduced more than 17 years ago that is still commonly used in numerous systems. We propose a model, called Adaptive CORBA Template (ACT), that enables autonomic behavior to be added to CORBA applications automatically and transparently, that is, without requiring any modifications to the code implementing the business logic of the original applications. To do so, ACT uses “generic” interceptors, which are added to CORBA applications at startup time and enable autonomic behavior to be introduced later at runtime. We have developed ACT/J, a prototype of ACT in Java. We describe a case study in which ACT/J is used to introduce three types of autonomic behavior (self-healing, self-optimization, and self-configuration) to a distributed surveillance application.     

Fullerene: biomedical engineers get to revisit an old friend

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Synthesis of Co<Subscript>2</Subscript>P/Co nanocomposites using single source precursor by thermal decomposition method

In this article, the synthesis and characterization of Co₂P/Co nanocomposites are reported. Three kinds of precursors are studied: bis(salicylidene)cobalt(II) [Co(sal)₂], bis(salicylate)cobalt(II) [Co(Hsal)₂] and cobalt oxalate [Co(O₄C₂)·4H₂O]. The cobalt(II) acetate tetrahydrate Co(CH₃COO)₂·4H₂O is used as reference. The nanocomposites are prepared by thermal decomposition method using triphenylphosphine as a surfactant solvent and phosphorus precursor. A possible mechanism of the formation of the nanocomposites is put forward to explain the experimental observations. This is the first time that Co₂P/Co nanocomposites are synthesized. To study the crystalline structure, composition, size, morphology and magnetic property of the products, characterization techniques including XRD, SEM, TEM, FT-IR and VSM are employed.