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This paper discusses issues in the design and implementation of metamorphic robotic systems. A metamorphic robotic system is a collection of independently controlled mechatronic modules, each o f which has the ability to connect, disconnect, and climb o ver adjacent modules. A metamorphic system can dynamically reconngure by the locomotion of modules over(More)
Expression of pipe in the somatic tissue of the Drosophila ovary is required for the formation of embryonic dorsal-ventral polarity. pipe, which encodes an enzyme similar to the glycosaminoglycan-modifying enzyme heparan sulfate 2-O-sulfotransferase, is expressed in a spatially restricted domain of follicle cells on the ventral side of the egg chamber.(More)
—This paper addresses the design and commutation of a novel kind of spherical stepper motor in which the poles of the stator are electromagnets and the poles of the rotor (rotating ball) are permanent magnets. Due to the fact that points on a sphere can only be arranged with equal spacing in a limited number of cases (corresponding to the Platonic solids),(More)
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract— Our prior work [1] presented a decentralized algorithm for(More)
—This paper presents several algorithms that solve the problem of determining the orientation of a freely rotating ball that is partially enclosed in a housing. The ball is painted in two colors (black and white) and the housing has a number of sensors that detect these colors. The question we answer is: Knowing how the ball is painted, knowing the location(More)
— This paper presents a constraint-aware decentralized approach to construction with teams of robots. We present an extension to existing work on a distributed controller for robotic construction of simple structures. Our previous work described a set of adaptive algorithms for constructing truss structures given a target geometry using continuous and(More)
The development of the head and tail regions of the Drosophila embryo is dependent upon the localized polar activation of Torso (Tor), a receptor tyrosine kinase that is uniformly distributed in the membrane of the developing embryo. Trunk (Trk), the proposed ligand for Tor, is secreted as an inactive precursor into the perivitelline fluid that lies between(More)
The establishment of Drosophila embryonic dorsal-ventral (DV) polarity relies on serine proteolytic activity in the perivitelline space between the embryonic membrane and the eggshell. Gastrulation Defective cleaves and activates Snake, which processes and activates Easter, which cleaves Spätzle to form the activating ligand for the Toll receptor. Ventral(More)
Drosophila embryonic dorsal-ventral (DV) polarity is controlled by a group of sequentially acting serine proteases located in the fluid-filled perivitelline space between the embryonic membrane and the eggshell, which generate the ligand for the Toll receptor on the ventral side of the embryo. Spatial control of the protease cascade relies on the Pipe(More)