Purdue University Mark

Purdue University

Distributed Computing Research

Heterogeneous Wireless Sensor/Actuator/Control Networks

Wireless communication is a fundamental requirement for distributed embedded systems, but heterogeneity is the quintessential component of robotic teaming. Unlike wireless sensor networks, which often rely on multiple identical copies of the same node over a distributed area, robotics implies close interaction with the environment, which is often unique to local conditions. Manipulators can be distinct from locomotors and each can be unique to particular sub-tasks of a larger goal. Only in relatively simple applications, such as exploration, can robot teams consist of multiple copies of the same thing. In general, heterogeneity is fundamental to distributed robotics and is fundamental to the approach taken by researchers at the Collaborative Robotics Lab.

Our work in Heterogeneous Wireless Sensor/Actuator/Control Networks investigates common architectural components for the real-time control of heterogeneous, wireless, distrbuted robotic systems. The goal of our architecture is to enable self-adaptive capabilities among cyber-physical systems. Our ReFrESH architecture is the software foundation of this framework, while various hardware architectures, built in-house and elsewhere, form the basis for actual implementation.

This work has been supported by NSF through grants 1450342-CNS, 0923518-MRI, 1111568-IIS and the members of the NSF Center for Robots and Sensors for the Human Well-Being (RoSeHUB)

ReFrESH

ReFrESH - Reconfigurable Framework for Embedded systems both Software and Hardware - is a multi-layered software middleware architecture over a real-time kernel that provides design-time and run-time infrastructure for the construction of self-adaptive systems. Like real-time middleware made working with real-time operating systems easier, middleware for fault tolerance and self-adaptivity is making systems that can adapt to and learn from changes in their environment a mangeable task.

RecoNode (Purdue University)

RecoNode is high-performance node for wireless sensor networks or wireless real-time control networks that combines a high degree of static and dynamic reconfigurability with high performance and ease of use. The RecoNode combines multi-core processing with dynamically reprogrammable gate arrays using the Xilinx Vertex SoC processor line. The unique and high throughput Morphing Bus I/O bus for embedded applications speeds access to complex digital sensors and actuators.
Two RecoNode Stacks
Yanzhe Cui with two RecoNode stacks and MorphingBus I/O wedges.

UM003 (Purdue University)

The UM003 is a ATmega-based microcontroller board that includes multiple channels of H-bridge motors drivers and hardware encoder counters for robot control.

FireFly (University of Pennsylvania)

The FireFly is a microcontroller board from Rahul Mangharam's group at UPenn.

Distributed Robotic Hardware


Heterogeneous team of robots controlled by the RecoNode.

NUCLEOS

The NUCLEOS is a printable paper/polymer robot based on a mechanical design by Ron Fearing, but augmented with a printable neuromorphic architecture.

Awesome NUCLEOS Video!!

MOTHERSHIP

The MOTHERSHIP is a holonomic robot for unknown, rubble-strewn environments such as Urban Search-and-Rescue. Based on a novel dual-ring gear differential drive 2-D tread mechanism, the MOTHERSHIP is a hybrid design that combines treads, limbs, and serpentine mobiltiy modes.
MOTHERSHIP on Stairs
MOTHERSHIP on stairs in the Collaborative Robotics Lab
Awesome MOTHERSHIP Video!!

Dexterous Hexrotor

The Dexterous Hexrotor was the first of the fully-actuated holonomic hexrotors to explore full mobility for physical interaction with the environment.

TerminatorBot

The TerminatorBot (also called CRAWLER for Cylindrical Robot for Autonomous Walking and Lifting during Emergency Response) is a search-and-rescue robot that evoloved from the DARPA Distributed Robotics program. It is distinct from the Scouts (mentioned below) in its ability to manipulate objects and crawl over very difficult terrain. Inspired by the final scene of the original Terminator movie, this millibot is able to manipulate objects with its arms and locomote by dragging itself with the same arms. Below are pictures of a 75mm-diameter prototype of the TerminatorBot as well as a Lego-based mock-up.

The TerminatorBot is intended to be a manipulative node in a heterogeneous fabric for ubiquitous computing. Nodes in this computational fabric will contain many of the capabilities needed for a robot: computation, wireless communication, sensing, and manipulation. A novel aspect of these nodes is their capability for run-time reconfiguration (RTR) through both software and hardware. Hardware RTR is being implemented with a Field Programmable Gate Array (FPGA).

Recent work has focused on "Core-Bored" Search and Rescue. Due to its ability to fold itself inside its cylindrical shell, the TerminatorBot can be dropped into holes bored for insertion of a SearchCam. Since the SearchCam is limited to line-of-sight once inside the hole, obstructions can limit its usefulness. In that case, the TerminatorBot can be lowered into the same 3-inch diameter bore hole used with "cameras-on-a-stick" to provide a more mobile observation platform.

Pair of TerminatorBots
Two TerminatorBots collaboratively navigating on rock and wood chips.

As part of a workshop sponsored by the NSF R4 program and the NSF Safety, Security, and Rescue Research Center, the TerminatorBot is shown here at the rubble pile at the Lakehurst Naval Air Station with New Jersey Task Force 1.

TerminatorBot at Lakehurst
TerminatorBot after a drop into a vertical sewer pipe.

TerminatorBot Search-and-Rescue
TerminatorBot in mock Search-and-Rescue operation. (Robot was manually controlled to perform this.)

Prior Projects - Distributed Robotics

Scout

The "Scout" and "Ranger" robots were the principal products of the DARPA-sponsored Distributed Robotics contract at the University of Minnesota.

Scout Minibots
Miniature Scout robots for surveillance and reconnaissance.

Ranger with launcher
Ranger with launcher capable of holding up to 12 heterogeneous, launchable, miniature robots.

Publications

  • M. Ayad, R. Nawrocki, R.M. Voyles, J. Lee, H. Lee, D. Leon-Salas, "NUCLEOs: Toward Rapid-Prototyping of Robotic Materials That Can Sense, Think and Act," in ASME Conf on Smart Materials, Adaptive Structures and Intelligent Systems, San Antonio, TX, Nov., 2018.
  • Y Cui, RM Voyles, X Zhao, J Bao, E Bond, "An Infrastructure to Support Self-Adaptation for Resource Constrained Robotic Systems," in 2017 IEEE Intl Conf on Automation Science and Engineering (CASE), pp. xx-yy, 2017.
  • D Kim, RM Voyles, "Quadruple Adaptive Redundancy with Fault Detection Estimator," in 2017 IEEE Intl Conf on Automation Science and Engineering (CASE), pp. xx-yy, 2017.
  • R.A. Nawrocki, R.M. Voyles, S.E. Shaheen, "A mini review of neuromorphic architectures and implementations," in IEEE Transactions on Electron Devices, v. 63, n. 10, 2016, pp. 3819-3829.
  • M Ayad, R Voyles, J Bae, "Locally selectable protocol for sparse, highly-volatile, robotic wireless video sensor networks," in International Journal of Sensor Networks 20 (2), 70-83, 2016
  • JT Lane, RM Voyles, "A 2-D tread mechanism for hybridization in USAR robotics," in 2015 IEEE Intl Symp on Safety, Security, and Rescue Robotics.
  • G Jiang, R Voyles, K Sebesta, H Greiner, "Mock-up of the exhaust shaft inspection by dexterous hexrotor at the DOE WIPP site," in IEEE Intl Symp on Safety, Security, and Rescue Robotics, 2015.
  • Y Cui, JT Lane, RM Voyles, "Real-time software module design framework for building self-adaptive robotic systems," in IEEE/RSJ Intl Conf on Intelligent Robots and Systems (IROS), 2015.
  • Y Cui, RM Voyles, JT Lane, A Krishnamoorthy, MH Mahoor, "A mechanism for real-time decision making and system maintenance for resource constrained robotic systems through ReFrESH," in Autonomous Robots 39 (4), 487-502, 2015.
  • R.A. Nawrocki, R.M. Voyles, S.E. Shaheen, "Neurons in Polymer: Hardware Neural Units Based on Polymer Memristive Devices and Polymer Transistors," in IEEE Transactions on Electron Devices, v. 61, n. 10, 2014, pp. 3513 - 3519.
  • R.A. Nawrocki, E.M. Gallager, D.P. Ostrowski, B.A. Bailey, X. Jiang, R.M. Voyles, N. Kopidakis, D.C. Olson, S.E. Shaheen, "An inverted, organic WORM device based on PEDOT:PSS with very low turn-on voltage," in Organic Electronics, v. 15, n. 8, 2014, pp. 1791-1798.
  • Y. Cui, R.M. Voyles, R.A. Nawrocki, and G. Jiang, " Morphing Bus: A New Paradigm in Peripheral Interconnect Bus," in IEEE Transactions on Components, Packaging and Manufacturing Technology, v. 4, n. 2, 2014, pp. 341-351.
  • Y Cui, J Lane, R Voyles, A Krishnamoorthy, "A new fault tolerance method for field robotics through a self-adaptation architecture," in Proc of IEEE International Symposium on Safety, Security, and Rescue Robotics, 2014.
  • R.M. Voyles, J. Bae, A.C. Larson, and M.A. Ayad, "Wireless video sensor networks for sparse, resource-constrained, multi-robot teams," in Journal of Intelligent Service Robots, v. 2, n.4, 2009, pp. 235-246.
  • Y Cui, J Lane, R Voyles, A Krishnamoorthy, "A new fault tolerance method for field robotics through a self-adaptation architecture," in Proc of IEEE International Symposium on Safety, Security, and Rescue Robotics, 2014.
  • M. Ayad, J.J. Zhang, R.M. Voyles, M.H. Mahoor, "Mobile robot connectivity maintenance based on RF mapping," in Proc. of the 2013 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 3398-3405.
  • Amy C. Larson, Guleser K. Demir, and Richard Voyles, "Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction ," to appear in Autonomous Robots.
  • A. Larson and R. Voyles, "TerminatorBot: A Novel Robot with Dual-Use Mechanism for Locomotion and Manipulation," in IEEE/ASME Transactions on Mechatronics, v. 10, n. 1, pp. 17-25, 2005.
  • R.M. Voyles, A.C. Larson, M. Lapoint and J. Bae, " Core-Bored Search-and-Rescue Applications for an Agile Limbed Robot," in Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 1, pp. 58-63.
  • R.M. Voyles, A.C. Larson, K.B. Yesin, B. Nelson, "Using Orthogonal Visual Servoing Errors for Classifying Terrain," in Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 1, pp. 772 - 777.
  • R.M. Voyles, "A Mesoscale Mechanism for Adaptive Mobile Manipulation," in Proceedings of the ASME Dynamic Systems and Control Division, ASME Annual Meeting, v. 2, pp. 957-964.
  • R.M. Voyles, "TerminatorBot: A Robot with Dual-Use Arms for Manipulation and Locomotion," in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, v 1, pp. 61-66.
  • K. Yesin, B. Nelson, N. Papanikolopoulos, R. Voyles and D. Krantz, "Active Video System for a Miniature Reconnaissance Robot" in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, v 4, pp. 3920-3925.

Robotics Sources

Distributed Robotics Source List

Semiconductor Manufacturers

Copyright: © 2000,2003,2005,2017-2019 by Richard M. Voyles


rvoyles [at] purdue [dot] edu

Collaborative Robotics Laboratory, Purdue University, West Lafayette, IN 47907, (765) 494-3733