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As part of a massively distributed heterogeneous system, TerminatorBot, a novel, centimeter-scale crawling robot, has been developed to address applications in surveillance, search-and-rescue, and planetary exploration. Its two three-degree-of-freedom arms, which stow inside the cylindrical body for ballistic deployment and protected transport, comprise a(More)
Small robots can be beneficial to important applications such as civilian search and rescue and military surveillance, but their limited resources constrain their functionality and performance. To address this, a reconfigurable technique based on field-programmable gate arrays (FPGAs) may be applied, which has the potential for greater functionality and(More)
A motive toolbox of reconfigurable modules is described to extend capabilities of the TerminatorBot. The robot can be statically reconfigured with both sensors and actuators for particular applications by way of the morphing bus. The morphing bus is a parallel bus that adapts to the modules connected. A software tool is provided to aid the user in static(More)
Holonomic behavior is desirable in the tight confines of a rubbled, collapsed-structure environment. But arbitrary motion is difficult to achieve, mechanically, particularly since treads are the most common form of locomotive device in search and rescue robots. We are developing a reconfigurable suite of locomotive modules that permit side-slipping(More)
In this paper we present a novel serpentine marsupial robot that consists of three articulated modules of 10 treads each, ringing the circumference. The treads of each cylindrical tread module move in two dimensions, resulting in holonomic behavior. The differentially-driven planetary gears permit both transverse and longitudinal tread motion while both(More)
A novel tread design is described for the crawling robot TerminatorBot that allows side-slipping locomotion. This module creates a tread/limb hybrid robot capable of both forward locomotion and transverse locomotion. This paper focuses on the preliminary analysis of the rubber cantilever beams that result in nonisotropic behavior of the tread which we hope(More)
The present management of retained biliary calculi utilizing irrigation with heparin and other agents through the T tube has proved disappointing. The use of basket catheters under fluoroscopy is more successful but has limited usefulness in extraction of impacted and certain other stones. The preliminary use of postoperative choledochoscopy utilizing a(More)
With the innovations and development in sophisticated video editing technology and a wide spread of video information and services in our society, it is becoming increasingly significant to assure the trustworthiness of video information. Therefore in surveillance, medical and various other fields, video contents must be protected against attempt to(More)
The smaller the robot the easier it is for it to access voids in a collapsed structure. Yet, small size brings a host of problems due to resource constraints. One of the primary constraints on small robots is limited motive power to surmount obstacles and rough terrain. We are developing a small reconfigurable robotic system with various add-on modules to(More)
We have investigated the performance of estimating the 3D motion and structure when the scale information is obtained by utilizing the cooperative efforts of multiple robots. The method determines the relative positions of robots by tracking a specific geometric target present on each of them, and then uses the extended Kalman filter to estimate the motion(More)