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    Experiments in Robotic Self-Repair: A 3D Printer Repairs Its Own Timing Pulley

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    Name:
    acc2022_final_V3.pdf
    Size:
    9.839Mb
    Format:
    PDF
    Description:
    Accepted manuscript
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    Type
    Conference Paper
    Authors
    Caballero, Renzo
    Feron, Eric cc
    KAUST Department
    King Abdullah University of Science and Technology,Computer, Electrical and Mathematical Sciences and Engineering Division,Thuwal,Kingdom of Saudi Arabia
    Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division
    Electrical and Computer Engineering Program
    Date
    2022-09-05
    Permanent link to this record
    http://hdl.handle.net/10754/680990
    
    Metadata
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    Abstract
    We observe an experiment for self-repair in robots that can fabricate their own parts. A challenge emerges when imperfections or degradations in the robot impact its ability to fabricate ideal components to guarantee self-repair. In the proposed experiment, we start with a defective or degraded component. We do not fabricate an ideal part initially, but only after a sequence of increasing-in-quality parts. We construct and validate two mathematical models to describe the experiment and match the observations. We observe convergence to the ideal part in all experiments and models, thus restoring the capability for self-repair to the robot.
    Citation
    Caballero, R., & Feron, E. (2022). Experiments in Robotic Self-Repair: A 3D Printer Repairs Its Own Timing Pulley. 2022 American Control Conference (ACC). https://doi.org/10.23919/acc53348.2022.9867553
    Publisher
    IEEE
    Conference/Event name
    2022 American Control Conference (ACC)
    DOI
    10.23919/acc53348.2022.9867553
    Additional Links
    https://ieeexplore.ieee.org/document/9867553/
    ae974a485f413a2113503eed53cd6c53
    10.23919/acc53348.2022.9867553
    Scopus Count
    Collections
    Conference Papers; Electrical and Computer Engineering Program; Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

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