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Role of Feedback in the Asymptotic Self-Repair Behavior of a 3D Printer | IEEE Conference Publication | IEEE Xplore

Role of Feedback in the Asymptotic Self-Repair Behavior of a 3D Printer


Abstract:

An experiment where a 3D printer attempts to repair itself by printing a sequence of increasing-in-quality parts is presented and analyzed. Perturbations are added to som...Show More

Abstract:

An experiment where a 3D printer attempts to repair itself by printing a sequence of increasing-in-quality parts is presented and analyzed. Perturbations are added to some parts of the mechanical structures in the printer to simulate damaged or worn-out parts. Mathematical modeling and simulations are used to predict the asymptotic behavior of the self-repair process after many repair attempts. We show that—in most cases—the system converges to a non-ideal state and validations are presented. Finally, a controller is designed and added to the system, and its benefits to the self-repair process are studied.
Date of Conference: 31 May 2023 - 02 June 2023
Date Added to IEEE Xplore: 03 July 2023
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ISSN Information:

Conference Location: San Diego, CA, USA
Computer, Electrical and Mathematical Sciences and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Kingdom of Saudi Arabia
Computer, Electrical and Mathematical Sciences and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Kingdom of Saudi Arabia
Computer, Electrical and Mathematical Sciences and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Kingdom of Saudi Arabia

I. Introduction

Robotics and automation is a field in rapid evolution; new possibilities and applications are constantly unfolding [1]–[3]. However, other possibilities that were once thought to potentially rapidly change the way we live appear to stubbornly resist their introduction into everyday human existence [4], [5]. An example of the latter is self-repairing systems. Self-repairing robots could potentially play an essential role in the possibility of creating a "work-free civilization" where the large majority of humanity is freed from tedious tasks—ranging from manual to intellectual processes, including the manufacture and assembly or disassembly of the robots themselves [6] [7]. In addition, there are many environments on Earth where robots are the only modality capable of functioning systematically and over extended periods of time [8], and self-repair capability would be very appreciated in such scenarios. Examples of these environments include deserts [9] and deep ocean floors where human presence is either limited in time or downright impossible [10].

Computer, Electrical and Mathematical Sciences and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Kingdom of Saudi Arabia
Computer, Electrical and Mathematical Sciences and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Kingdom of Saudi Arabia
Computer, Electrical and Mathematical Sciences and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Kingdom of Saudi Arabia

References

References is not available for this document.