Swarm constructability: designing through embedded tectonic behaviors in swarm robotic systems

Con questa tesi di laurea si muovono i primi passi di una ricerca applicata finalizzata alla costruzione-deposizione di materiale da parte di sciami di mini-robot dal comportamento indipendente che si coordinano tramite segnali lasciati e rilevati nell’ambiente in cui si muovono. Lo sviluppo di tecniche di progettazione e fabbricazione digitale ha prodotto un aumento nel grado di interconnessione tra tecnologia e design, dunque, di nuove possibilità tettoniche. Le relazioni tettoniche tradizionali stanno infatti subendo una trasformazione radicale, potendo essere esplicitamente informate e dunque mediate attraverso gli strumenti digitali dall’ideazione alla produzione. Questa mediazione informata del contenuto tettonico (che opera costantemente) è distintivo di un approccio material-based alla progettazione che aumenta l’integrazione tra struttura, materia e forma entro le tecnologie di fabbricazione (R.Oxman). Dei numerosi processi di fabbricazione per l’architettura che si servono di tecnologia robotica, pochi sono capaci di superare la logica gerarchica, rigida e lineare-sequenziale che serve di fatto agli obiettivi di automazione ed ottimizzazione. La distribuzione di forme di intelligenza semplificata ad un numero elevato di unità robot è quindi qui proposta come alternativa al modello appena descritto. Incorporando semplici decisioni di carattere architettonico negli agenti-robot che costituiscono il sistema distribuito di entità autonome, la loro interazione e le decisioni prese individualmente producono comportamento collettivo e l’integrazione delle suddette relazioni tettoniche. Nello sviluppo del progetto, si è fatto così riferimento a modelli comportamentali collettivi (di sciame) osservabili in specie comunitarie che organizzano strutture materiali -come termiti e vespe- ed in organismi semplici -come le muffe cellulari della specie Physarum polycephalum. Per queste specie biologiche il processo di costruzione non dipende da un ‘piano generale’ ma è guidato esclusivamente da azioni dei singoli individui che comunicano lasciando tracce chimiche nell’ambiente e modificano il loro comportamento rilevando le tracce lasciate dagli altri individui. A questo scopo, oltre alle simulazioni in digitale, è stato indispensabile sviluppare dei prototipi funzionali di tipo fisico, ovvero la realizzazione di mini-robot dal movimento indipendente, in grado di coordinarsi tra loro tramite segnali lasciati nell’ambiente e capaci di depositare materiale.

Messa a punto di metodi per la caratterizzazione meccanica in vitro di segmenti ossei

In the last decade, the mechanical characterization of bone segments has been seen as a fundamental key to understanding how the distribution of physiological loads works on the bone in everyday life, and the resulting structural deformations. Therefore, characterization allows to obtain the main load directions and, consequently, to observe the structural lamellae of the bone disposal, in order to recreate a prosthesis using artificial materials that behave naturally. This thesis will expose a modular system which provides the mechanical characterization of bone in vitro segment, with particular attention to vertebrae, as the current object of study and research in the lab where I did my thesis work. The system will be able to acquire and process all the appropriately conditioned signals of interest for the test, through dedicated hardware and software architecture, with high speed and high reliability. The aim of my thesis is to create a system that can be used as a versatile tool for experimentation and innovation for future tests of the mechanical characterization of biological components, allowing a quantitative and qualitative assessment of the deformation in analysis, regardless of anatomical regions of interest.

Authoring tools and management information systems: study of a generalizable architecture

The need to effectively manage the documentation covering the entire production process, from the concept phase right through to market realise, constitutes a key issue in the creation of a successful and highly competitive product. For almost forty years the most commonly used strategies to achieve this have followed Product Lifecycle Management (PLM) guidelines. Translated into information management systems at the end of the '90s, this methodology is now widely used by companies operating all over the world in many different sectors. PLM systems and editor programs are the two principal types of software applications used by companies for their process aotomation. Editor programs allow to store in documents the information related to the production chain, while the PLM system stores and shares this information so that it can be used within the company and made it available to partners. Different software tools, which capture and store documents and information automatically in the PLM system, have been developed in recent years. One of them is the ''DirectPLM'' application, which has been developed by the Italian company ''Focus PLM''. It is designed to ensure interoperability between many editors and the Aras Innovator PLM system. In this dissertation we present ''DirectPLM2'', a new version of the previous software application DirectPLM. It has been designed and developed as prototype during the internship by Focus PLM. Its new implementation separates the abstract logic of business from the real commands implementation, previously strongly dependent on Aras Innovator. Thanks to its new design, Focus PLM can easily develop different versions of DirectPLM2, each one devised for a specific PLM system. In fact, the company can focus the development effort only on a specific set of software components which provides specialized functions interacting with that particular PLM system. This allows shorter Time-To-Market and gives the company a significant competitive advantage.

Virtual sensing technology applied to a swarm of autonomous robots.

This thesis proposes a novel technology in the field of swarm robotics that allows a swarm of robots to sense a virtual environment through virtual sensors. Virtual sensing is a desirable and helpful technology in swarm robotics research activity, because it allows the researchers to efficiently and quickly perform experiments otherwise more expensive and time consuming, or even impossible. In particular, we envision two useful applications for virtual sensing technology. On the one hand, it is possible to prototype and foresee the effects of a new sensor on a robot swarm, before producing it. On the other hand, thanks to this technology it is possible to study the behaviour of robots operating in environments that are not easily reproducible inside a lab for safety reasons or just because physically infeasible. The use of virtual sensing technology for sensor prototyping aims to foresee the behaviour of the swarm enhanced with new or more powerful sensors, without producing the hardware. Sensor prototyping can be used to tune a new sensor or perform performance comparison tests between alternative types of sensors. This kind of prototyping experiments can be performed through the presented tool, that allows to rapidly develop and test software virtual sensors of different typologies and quality, emulating the behaviour of several hardware real sensors. By investigating on which sensors is better to invest, a researcher can minimize the sensors’ production cost while achieving a given swarm performance. Through augmented reality, it is possible to test the performance of the swarm in a desired virtual environment that cannot be set into the lab for physical, logistic or economical reasons. The virtual environment is sensed by the robots through properly designed virtual sensors. Virtual sensing technology allows a researcher to quickly carry out real robots experiment in challenging scenarios without all the required hardware and environment.