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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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Conference Location: San Diego, CA, USA
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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].

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