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GRÖNÅS, DANIEL, and FREDRIK MAZUR. "Robotic Cuber : A Rubik´s Cube solving robot." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279807.
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Since the 1970s, the Rubik’s Cube puzzle has intrigued millions of people. It did not take long until people tried to solve the cube as fast as possible, and started to compete. However, in recent years, a new trend of robots solving the cube has flourished. The purpose of this project was to investigate time and precision aspects of a Rubik’s cube solving robot. A four armed robot was designed and a system was built. The construction made it possible to first scan the cube using a webcam and solve the cube by letting the robot perform the movements necessary for solving. Differences in time for different scrambles was analyzed as well as the robot’s precision. Since the robot only had four arms, the results showed differences in turning the up- and downside of the cube. To get access to these sides, the robot had to perform a flip motion. Since the software used was not optimized to minimize these moves there were differences in solving time. Moreover, the robot’s precision differed depending on its setup and how fast it was programmed to go. Two different setups was compared, one being slow and having big margins between each move and the other one being more rapid. Both setups worked, although calibration was more crucial for the faster one.Sedan 70-talet har Rubiks kub fängslat miljontals människor. Det tog inte lång tid innan kampen om att lösa kuben så snabbt som möjligt uppstod och med det även tävlingar. Under de senaste åren har däremot en ny trend kommit med robotar som löser kuben. Projektets syfte var att undersöka tids- och precisionsaspekter för en robot som löser en Rubiks kub. I det här projeketet byggdes en fyrarmad robot med uppgift att lösa kuben. Systemet skapades så att kuben först skannas med en webkamera och sedan sätts på plats i roboten som löser kuben. Skillnader i tid för olika blandningar samt robotens precision analyserades. Eftersom roboten konstruerades med fyra armar var det tydliga skillnader i tid för upp- och nersidans drag. För att få tillgång till dessa sidor var hela kuben tvungen att roteras. Eftersom mjukvaran som användes inte var optimerad för att minimera nyttjandet av dessa rörelser varierade lösningstiderna. Dessutom var det skillnader i robotens precision beroende på systemets kalibrerade hastighet. Två olika inställningar jämfördes där en var långsammare med större marginaler mellan varje drag och den andra var snabbare. Båda fungerade för att lösa kuben men kalibreringen blev mycket avgörande för den snabbare inställningen.
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Valdo, Clayton Augusto. "CUBe." Florianópolis, SC, 2000. http://repositorio.ufsc.br/xmlui/handle/123456789/78366.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico.Made available in DSpace on 2012-10-17T13:19:21Z (GMT). No. of bitstreams: 0Bitstream added on 2014-09-25T17:35:15Z : No. of bitstreams: 1 171571.pdf: 4273258 bytes, checksum: 0ab8b7ab58c0a05a570d8853889a8247 (MD5)
O objetivo deste trabalho é mostrar uma abordagem em Sistemas Distribuídos para a integração de aplicações em Comércio Eletrônico e ERP (Enterprise Resource Planing) em um sistema chamado CUBe, através da mediação dos Agentes Móveis; como tema de dissertação do curso de Pós-Graduação da Universidade Federal de Santa Catarina.
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Zimčíková, Jana. "Kostka / Cube." Master's thesis, Vysoké učení technické v Brně. Fakulta výtvarných umění, 2013. http://www.nusl.cz/ntk/nusl-232397.
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Enclosed in a glass cube, in the space of the gallery, as an artistic act of being, in the confined space of the mind. The time of interaction and bodily impulses will be recorded on the cube's inner walls. The cube as a means to reveal the hidden territory of existence, a space of imagination and thought which drives one towards fulfillment through direct participation.
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GIDLÖF, TIM, and CARL GRUNEAU. "Balancing Cube." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279818.
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In todays society there are microprocessors in almost every new item that is produced for home use. They are all being connected and smart, and by that microcontrollers are playing an increasingly important role in peoples private life. In this thesis in mechatronics a controller will be implemented on an Arduino to make it possible for a cube to balance in upright position. The cube is in theory an inverted pendulum with one degree of freedom, and is intended to balance using an inertia wheel at the top of the structure. A PID regulator was used, and at the time this report was written, the right parameter values for the PID was not found. The cube is able to shift its position back and forth over the setpoint with support on each side to prevent it from falling. A bit more tuning is required to make it balance on its ownI dagens samhälle är det microprocessorer i nästan alla nya produkter som skapas för den privata marknaden. De är alla sammankopplade och smarta. I och med det spelar mikrokontrollers en allt större roll i människors dagliga liv. I den här rapporten inom mekatronik implementeras en regulator i en arduino för att balansera en kub stående på en kant. I teorin är en kub en inverterad pendel med en frihetsgrad och är tänkt att balansera med hjälp av ett reaktionshjul monterat överst på prototypen. En PID regulator användes och då denna rapporten skrevs hade rätt parametrar inte påträffats. Kuben klarar av att ändra position fram och tillbaka över referensläget då den blockeras från att ramla. För att den ska klara av att balansera av sig själv behöver regulatorn ställas in bättre.
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Borén, Ossian. "white cube gamecube." Thesis, Konstfack, Institutionen för Konst (K), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:konstfack:diva-3868.
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Wang, Yuan. "The Cube House." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/91184.
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My thesis is about how to solve the social problem of lack of family communication. This problem happens to me, and I believe happens to some others as well. To solve the problem, I used architectural methods to build a residence for my family that encourages communication. These methods can help other families.Master of Architecture
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Zach, David. "Slicing the Cube." Kent State University Honors College / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ksuhonors1304703026.
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Ryan, Caitlyn G. "Rubik’s Cube Life." Youngstown State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=ysu1343057479.
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Murray, Sean. "The lilac cube." ScholarWorks@UNO, 2004. http://louisdl.louislibraries.org/u?/NOD,94.
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Thesis (M.F.A.)--University of New Orleans, 2004.Title from electronic submission form. "A thesis ... in partial fulfillment of the requirements for the degree of Master of Fine Arts in the Department of Drama and Communications."--Thesis t.p. Vita. Includes bibliographical references.
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Mannes, Quentin. "ICE Cubes Mission: Design, Development and Documentation of the Cube-Zero System." Thesis, Luleå tekniska universitet, Rymdteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-65732.
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The International Space Station provides a high-quality of microgravity and extended exposure time which makes it a platform of choice for microgravity research. In order to increase accessibility of onboard experimentation, Space Applications Services will soon launch the ICE Cubes facility as part of its ICE Cubes Service. The facility is foreseen to host standardized plug-and-play payload cubes to reduce overall cost and procedure time required to install payloads on the station. To remotely support the facility it is decided to develop a utility cube named Cube-Zero that will be launched and installed with the facility on the station. This thesis work included the complete design, development and documentation of the cube. The thesis started by conducting a preliminary needs and market study from which two specific purposes were defined for the cube. In addition to its original function of support-utility, the cube is tasked to be a technical commercial demonstrator for the service. This led to the conceptual design of the cube as a multidisciplinary framework able to host two user-defined experiment modules. The preliminary concept was further refined in this paper and with support of prototypes, simulations and analyses led to a final functional design for the Cube-Zero. The work is concluded with the manufacturing of an engineering model of the cube. The model is fully operational, can support the test of the facility before launch and can demonstrate to users its versatility and ease of use in operating any kind of experiment module. Eventually, the information gathered in this thesis report will support future users into developing their own Cube-Zero payload module and guide Space Applications Services into manufacturing, testing and operating the Cube-Zero protoflight model.ICE Cubes
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Antwi, Daniel K. "A Personalized Smart Cube for Faster and Reliable Access to Data." Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/30253.
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Organizations own data sources that contain millions, billions or even trillions of rows
and these data are usually highly dimensional in nature. Typically, these raw repositories
are comprised of numerous independent data sources that are too big to be copied or
joined, with the consequence that aggregations become highly problematic. Data cubes
play an essential role in facilitating fast Online Analytical Processing (OLAP) in many
multi-dimensional data warehouses. Current data cube computation techniques have
had some success in addressing the above-mentioned aggregation problem. However,
the combined problem of reducing data cube size for very large and highly dimensional
databases, while guaranteeing fast query response times, has received less attention.
Another issue is that most OLAP tools often causes users to be lost in the ocean of
data while performing data analysis. Often, most users are interested in only a subset
of the data. For example, consider in such a scenario, a business manager who wants
to answer the crucial location-related business question. "Why are my sales declining
at location X"? This manager wants fast, unambiguous location-aware answers to his
queries. He requires access to only the relevant ltered information, as found from the
attributes that are directly correlated with his current needs. Therefore, it is important
to determine and to extract, only that small data subset that is highly relevant from a
particular user's location and perspective.
In this thesis, we present the Personalized Smart Cube approach to address the abovementioned scenario. Our approach consists of two main parts. Firstly, we combine
vertical partitioning, partial materialization and dynamic computation to drastically
reduce the size of the computed data cube while guaranteeing fast query response times.
Secondly, our personalization algorithm dynamically monitors user query pattern and
creates a personalized data cube for each user. This ensures that users utilize only that
small subset of data that is most relevant to them.
Our experimental evaluation of our Personalized Smart Cube approach showed that
our work compared favorably with other state-of-the-art methods. We evaluated our
work focusing on three main criteria, namely the storage space used, query response
time and the cost savings ratio of using a personalized cube. The results showed that our
algorithm materializes a relatively smaller number of views than other techniques and it
also compared favourable in terms of query response time. Further, our personalization
algorithm is superior to the state-of-the art Virtual Cube algorithm, when evaluated
in terms of the number of user queries that were successfully answered when using a
personalized cube, instead of the base cube.
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Zschiegner, Stephan, Stefanie Russ, Armin Bunde, and Jörg Kärger. "Cube-based diffusion algorithm." Universitätsbibliothek Leipzig, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:15-qucosa-194510.
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We study molecular diffusion in (linear) nanopores with different types of roughness in the so-called Knudsen regime. Knudsen diffusion represents the limiting case of molecular diffusion in pores, where mutual encounters of the molecules within the free pore
space may be neglected and the time of flight between subsequent collisions with the pore walls significantly exceeds the interaction time between the pore walls and the molecules. In this paper we present in full detail the algorithm, which we used in our previous studies, where we showed complete equivalence of self- (or tracer-) and transport diffusion.
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Björk, Friström Viking, and Ludvig Bjärkeback. "Autonomous Rubik's Cube Solver." Thesis, KTH, Mekatronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-190859.
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Today the industry is constantly getting more automated. Every machine need an algorithm to run and some even need to make decisions in how to perform their tasks in the best way. These problems can be as large as transportation systems, or as small as solving a puzzle. The 3D-puzzle known as Rubik’s cube have enticed millions of people since its release in mid 1970s. With 43 quintillion possible combinations the Rubik’s cube present a complex problem that requires both logical thinking and memorization. Recently Rubik’s Cube community has seen a rise of robots that can automatically solve a Rubik’s Cube.The goal of this Bachelor’s Thesis is to investigate the e˙ect of di˙erent solving algorithms on the energy consumption of a mechanical system. The Demonstrator system we will use is a Rubik’s cube solver that can solve any scrambled cube. This is done by optically scanning the cube and building a virtual image of it. Two di˙erent solving algorithms will be run in order to solve the cube and calculate the required permutations. The energy consumption in the two cases of the algorithms will be calculated and compared. From this data, conclusions regarding choice of algorithm will be made. A more complex algorithm that results in fewer moves will be more energy eÿcient, at least under the circumstances that the computation cost is ignored. When compared, the optimized algorithm only used 8% of the simpler version.Dagens industrier blir allt mer och mer automatiserad. Varje maskin behöver en algoritm för att fungra, och vissa maskiner måste även ta beslut om hur de ska utföra sin uppgift på bästa vis. Dessa problem kan vara allt från stora transportproblem, till att lösa små pussel. 3D pusslet Rubiks Kub har fänglsat miljoner människor sedan det skapades i mitten av 1970-talet. Med 43 Kvin-tiljoner möjliga kombinationer är Rubiks Kub ett komplicerat problem som kräver både logiskt tänkande och memorisering. Senaste trenden är att skapa robotar som löser kuben automatiskt.Målet med detta kandiatprojekt är att utreda kopplingen mellan val av lös-ningsalgoritm och energiåtgången för ett mekaniskat system. För att genomföra utredningen ska vi andvända oss av en kubiks kub lösare som kan automatiskt lösa en kub från alla positioner. Den fungerar genom att kuben läses in optiskt och så skapas en virituell kopia. Två olika lösningsalgoritmer kommer att köras för att lösa kuben och deras resultat i energiåtgång kommer att gämföras. Från denna data kommer slutsatser att dras om de två algoritmerna. En mer kom-pliserad algoritm som kräver färre drag kommer att vara mer energie˙ektivt, åtminstånde när man ignorerar beräkningskostnad och dess energi. Vi kom fram till att en optimerad algoritm andvände bara 8% av energin jämför med en simplare algoritm.
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Zschiegner, Stephan, Stefanie Russ, Armin Bunde, and Jörg Kärger. "Cube-based diffusion algorithm." Diffusion fundamentals 4 (2007) 13, S. 1-8, 2007. https://ul.qucosa.de/id/qucosa%3A14287.
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We study molecular diffusion in (linear) nanopores with different types of roughness in the so-called Knudsen regime. Knudsen diffusion represents the limiting case of molecular diffusion in pores, where mutual encounters of the molecules within the free pore
space may be neglected and the time of flight between subsequent collisions with the pore walls significantly exceeds the interaction time between the pore walls and the molecules. In this paper we present in full detail the algorithm, which we used in our previous studies, where we showed complete equivalence of self- (or tracer-) and transport diffusion.
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BRANDMAIER, SEBASTIAN, and DENIS RAMSDEN. "PID Regulated Balancing Cube." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279815.
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In this project a cube was constructed with the intent for it to balance on one of its edges by regulating the speed of a reaction wheel. To be able to do this, a research was done to understand the mechanics of the system and to know what components were required for the project. A brushed DC motor was used with one reaction wheel on each end of its shaft, using the moment of inertia to convert the torque from the motor to an angular acceleration of the cube. A control system was implemented to regulate the speed of the motor depending on the angular offset of the cube. This control system was chosen to be a proportional–integral–derivative (PID) controller, and a number of different tuning methods were used to determine the parameters of said controller to create a stable system. Despite the different methods used, the cube did not successfully balance for a longer period of time.Under detta projekt har en kub konstruerats med syfte att balansera på en av sina kanter genom att reglera hastigheten på ett reaktionshjul. En undersökning genomfördes för att få en bra förståelse för det mekaniska systemet samt för att ta reda på vilka komponenter som var väsentliga för projektet. En borstad likströmsmotor användes tillsammans med ett reaktionshjul på varsin sida av motorns drivande axel vars tröghetsmoment utnyttjades för att överföra momentet från motorn till en vinkelacceleration på kuben. En regulator implementerades för att styra hastigheten på reaktionshjulen beroende på vinkelavvikelsen från jämviktsläget. Regulatorn som valdes var en proportionell, integrerande och deriverande (PID) regulator och flera olika metoder användes för att bestämma regulatorns parametervärden som avgör dess egenskaper. Trots att olika metoder prövades lyckades inte kuben balansera under en längre period.
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Chawaga, Mary. "The Cube^3: Three Case Studies of Contemporary Art vs. the White Cube." Scholarship @ Claremont, 2017. http://scholarship.claremont.edu/scripps_theses/1066.
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Museums are culturally constructed as places dedicated to tastemaking, preservation, historical record, and curation. Yet the contemporary isn’t yet absorbed by history, so as museums incorporate contemporary art these commonly accepted functions are disrupted. Through case studies, this thesis examines the successes and failures of three New York museums (MoMA, Dia:Beacon and New Museum) as they grapple with the challenging, perhaps irresolvable, tension between the contemporary and the very idea of the museum.
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Park, Jahng S. "Performance analysis of partitioned multistage cube network and adaptive routed single-stage cube network." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-07292009-090453/.
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Service, Stewart Walter. "The Cube as Site Mediation." Thesis, Griffith University, 2016. http://hdl.handle.net/10072/367894.
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This research project explores how photographs of an installation can recontextualise specific Brisbane sites to initiate dialogues about human interaction. The sites chosen are peripheral, located at the edges of significant human activity and largely disregarded. Through installing the reductive form of the cube, I aim to engage with the nature and geometry of the sites. The cube has a rich presence in art as a material object of mathematical form that can prompt a re-evaluation of the surrounding environment. Artists such as Tony Smith, Hans Haacke, Antony Gormley, and Ilkka Halso have used to the cube in installations to interrogate sites and to initiate dialogues. The cube as referenced by these artists has much to do with scale and human presence. Similarly, my use of the cube, encapsulated in my photographs, aims to mediate the selected sites by creating a sense of dislocation that could stimulate dialogues about places, history, and human impacts.Thesis (Masters)
Master of Visual Arts (MVA)
Queensland College of Art
Arts, Education and Law
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Kenny, Hedlund. "Wing-, cube- and aeroelastic simulations inUnicorn." Thesis, KTH, Aerodynamik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-30237.
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Nilsson, Andreas, and Anton Spång. "Benchmarking Beginner Algorithms for Rubik's Cube." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-166643.
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Over the years different algorithms have been developed to step-by-step solve parts of the Rubik's cube until finally reaching the unique solution. This thesis explores two commonly known beginner algorithms for solving Rubik’s cube to find how they differ in solving speed and amount of moves. The algorithms were implemented and run on a large amount of scrambled cubes to collect data. The results showed that Layer-by-layer with daisy algorithm had a lower average amount of moves than the Dedmore algorithm. The main difference in amount of moves lies in the steps that solve the last layer of the cube. The Layer-by-layer with daisy algorithm uses only one-seventh of the time-consuming operations that Dedmore algorithm uses, which concludes that it is more suitable for speedcubing.Över åren har ett antal olika algoritmer utvecklats för att steg-för-steg lösa delar av Rubik's kub för att till sist komma fram till den unika lösningen. Denna rapport utforskar två allmänt kända nybörjaralgoritmer för att lösa Rubik's kub, för att finna hur dem skiljer sig åt i tid samt antal operationer för att nå lösningen. Algoritmerna implementerades och kördes på ett stort antal blandade kuber för att samla data. Resultatet visar att Lager-för-lager med daisy algoritmen hade ett lägre genomsnittligt antal förflyttningar jämfört med Dedmore algoritmen. Den största skillnaden i antalet förflyttningar ligger i stegen som löser sista lagret av kuben. Lager-för-lager med daisy algoritmen använder bara en sjundedel av de mest tidskrävande förflyttningarna jämfört med Dedmore algoritmen, slutsatsen av detta är att Lager-för-lager med daisy algoritmen är bättre lämpad för lösning av kuben på tid.
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Reddy, Lalitha Bhavana. "Grid file implementation of data cube /." Available to subscribers only, 2006. http://proquest.umi.com/pqdweb?did=1240708301&sid=2&Fmt=2&clientId=1509&RQT=309&VName=PQD.
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Wagner, Julia E. "Cube forms of continuity in space /." Connect to online version, 2008. http://ada.mtholyoke.edu/setr/websrc/pdfs/www/2008/291.pdf.
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Hagen, Mark. "Geometry and combinatorics of cube complexes." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=107799.
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We study the geometry of median graphs and CAT(0) cube complexes by introducing two combinatorial objects: the contact graph and the simplicial boundary. The first of these encodes the intersections of hyperplane-carriers. We prove that this graph is always quasi-isometric to a tree, and deduce that groups acting properly and cocompactly on cube complexes are weakly hyperbolic relative to the collection of hyperplane-stabilizers. Using diagrammatic techniques of Casson-Sageev-Wise, we study complete bipartite subgraphs of the contact graph, and prove a cubical version of the flat plane theorem. Similar considerations lead to a characterization of strong relative hyperbolicity of cocompactly cubulated groups relative to the hyperplane stabilizers. Motivated by the question of which contact graphs are quasi-isometric to bounded trees, we introduce the simplicial boundary of a locally finite cube complex, which is a combinatorial analogue of the Tits boundary and encodes, roughly, the cubical flat sectors in the cube complex. We establish basic properties of the simplicial boundary, and use these to characterize locally finite, essential, one-ended cube complexes with bounded contact graph. This leads to a reinterpretation and modified proof of the Caprace-Sageev rank-rigidity theorem. Finally, we relate the graph metric on the 1-skeleton of the simplicial boundary of the cube complex X to the divergence of geodesic rays in the median graph X. We show that a group G acting properly, cocompactly, and essentially on the geodesically complete cube complex X has linear divergence function if and only if the simplicial boundary of X is connected. Otherwise, the divergence function of G is at least quadratic; this partially generalizes a result of Behrstock-Charney on the divergence of right-angled Artin groups.Nous étudions la geometrie des graphes medians et des complexes cubiques CAT(0) en introduisant deux objets combinatoires: le graphe de contact et la frontière simpliciale. Le premier de ces objets encode les intersections des porteurs des hyperplans. Nous prouvons que ce graphe est toujours quasi-isométrique à un arbre, et en déduisons que les groupes agissant de manière propre et cocompacte sur les complexes cubiques sont faiblement hyperboliques relativement à la famille des stabilisateurs des hyperplans. En utilisant des techniques diagrammatiques de Casson-Sageev-Wise, nous étudions les sous-graphes bipartis complets du graphes de contact, et prouvons une version du théorème sur l'existence d'un plongement d'un plan (le "flat plane theorem"). Des considérations similaires nous mènent à une caractérisation des groupes cocompactement cubulés qui sont fortement hyperboliques relativement aux stabilisateurs des hyperplans. Motivés par la désir de savoir quels graphes de contact sont quasi-isométriques à des pointes, nous introduisons la frontière simpliciale d'un complexe cubique localement fini, qui est un analogue combinatoire de la frontière de Tits, et encode les secteurs cubiques plats du complexe cubique. Nous établissons les propriétés élémentaires de la frontière simpliciale, et utilisons celles-ci pour caractériser les complexes cubiques localement finis, essentiels et à un bout, qui ont un graphe de contact borné. Cela nous mène à une interpretation alternative du théorème de rigidité de rang de Caprace-Sageev. Nous mettons une relation entre la frontière simpliciale d'un complexe cubique X, et la divergence des rayons géodésiques dans le graphe médian X1. Nous montrons qu'un groupe G qui agit proprement, cocompactement et essentiellement sur X, diverge demanière linéaire si et seulement si la frontière simpliciale de X est connexe. Cela généralise un résultat de Behrstock-Charney sur la divergence desgroupes d'Artin à angle droit.
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SILVA, SOFIA RIBEIRO MANSO DE ABREU E. "CATALOGUE OF LINKED DATA CUBE DESCRIPTIONS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=23640@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCOORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
Dados estatísticos são considerados uma das principais fontes de informação e são essenciais em muitos campos, uma vez que podem funcionar como indicadores sociais e econômicos. Um conjunto de dados estatísticos compreende um conjunto de observações feitas em determinados pontos de um espaço lógico e é muitas vezes organizado como o que se chama de cubo de dados. A definição correta dos cubos de dados, especialmente das suas dimensões, ajuda a processar as observações e, mais importante, ajuda a combinar as observações de diferentes cubos de dados. Neste contexto, os princípios de Linked Data podem ser proveitosamente aplicados à definição de cubos de dados, no sentido de que os princípios oferecem uma estratégia para proporcionar a semântica ausentes das suas dimensões, incluindo os seus valores. Esta dissertação descreve inicialmente uma arquitetura de mediação para ajudar a descrever e consumir dados estatísticos, expostos como triplas RDF, mas armazenados em bancos de dados relacionais. Uma das características desta mediação é o Catálogo de Descrições de Cubos de Dados Interligados, que vai ser descrito em detalhes na dissertação. Este catálogo contém uma descrição padronizada em RDF para cada cubo de dados, que está realmente armazenado em cada banco de dados (relacional). Portanto, a principal discussão nesta dissertação é sobre a forma de representar em RDF cubos representando dados estatísticos e armazenados em bancos de dados relacionais, ou seja, como mapear os conceitos de banco de dados para RDF de uma forma em que seja fácil consultar, analisar e reutilizar dados estatísticos no formato RDF.
Statistical Data are considered one of the major sources of information and are essential in many fields as they can work as social and economic indicators. A statistical data set comprises a colletion of observations made at some points of a logical space and is often organized as what is called a data cube. The proper definition of the data cubes, especially of theis dimensions, helps processing the observations and, more importantly, helps combining observations from different data cubes. In this contexto, the Linked Data principles can be profitably applied to the definition of data cubes, in the sense that the principles offer a strategy to provide the missing semantics of the dimensions, including their values. This dissertion first describes a mediation architecture to help describing and consuming statistical data, exposed as RDFtriples, but stored in relational databases. One of the features of this architesture is the Catalogue of Linked Data Cube Descriptions, which is described in detail in the dissertation. This catalogue has a standardized description in RDF of each data cube actually stored in statistical (relational) databases. Therefore, the main discussion in this dissertation is how to represent the data cubes in RDF, i.e., how to map the database concepts to RDF in a way that makes it easy to query, analyze and reuse statistical data in the RDF format.
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Peterson, Erik Fred. "Reconstituting a World: Constructing a Cube." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/23679.
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The following is an exploration into the composition and construction of a marine research laboratory situated on a remote sea cliff off the coast of Norway. The settlement is composed as a model of the world. Located at the chaotic boundary of earth, sea and sky, the construction acts against these forces as threshold and counterpoint. It is the reconstitution of a world, a settlement, a center in a perceived infinity.
Master of Architecture
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Jayachandran, Prasanth. "A Distributed Interactive Cube Exploration System." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366369292.
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Lathrop, Joel. "Cube attacks on cryptographic hash functions /." Online version of thesis, 2009. http://hdl.handle.net/1850/10821.
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Crabtree, Karlton. "Polarization Conversion Cube Corner Retro-Reflector." Diss., The University of Arizona, 2010. http://hdl.handle.net/10150/195564.
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This document presents the polarization conversion cube-corner retroreflector (PC-CCR). The PCCCR is a cube-corner retroreflector which transforms the electricfield as follows: the major axis is rotated by 90° and the handedness is reversed.Since the polarization properties of a CCR are dependent on the polarization properties of each surface, exploration of the space of Mueller matrices is organized by surface type. The Mueller matrix of CCR having each of several surface types is calculated, including the traditional hollow metal and solid glass CCR types. PCCCR only occur for non-isotropic surface types. Four particular surface polarization properties are found which produce PCCCR. Three examples of PCCCR are presented using sub-wavelength grating surfaces. Several other interesting CCR are presented, including a 45° polarization rotator.
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洪宜偉 and Edward Hung. "Data cube system design: an optimization problem." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2000. http://hub.hku.hk/bib/B31222730.
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van, Eesbeeck Laurent. "Solving Rubik’s Cube with Non-Standard Moves." Thesis, KTH, Matematik (Avd.), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-151379.
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Still another thesis on Rubik’s cube? Is there still something new to write on that puzzle? In this document, we approach the cube with a rather unusual question: “how would you solve the cube if, instead of using the 6 classical rotations, you were restricted to a set of arbitrary moves?” To answer that question, we will dive into group theory. Inspired by some previous work on the factorization of the symmetric group, we have developed an algorithm that answers our initial question. However, being able to solve the cube with any set of moves has a trade-off: while some algorithms solve the cube in 20 moves, ours requires several thousands. One could go further than this thesis by: improving our algorithm, providing rigourous bounds on its complexity, or generalizing the algorithm to the n × n × n cube.
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Shehu, Usman Gulumbe. "Cube technique for Nearest Neighbour(s) search." Thesis, University of Strathclyde, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248365.
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TRINDADE, DANIEL RIBEIRO. "3D NAVIGATION TECHNIQUES USING THE CUBE MAP." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2010. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=16322@1.
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COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIORA utilização de visualizadores 3D é algo cada vez mais comum em diversos ramos de atividades. O surgimento de novas tecnologias, com o resultante aumento do poder de processamento dos computadores atuais, tornou possível a criação de ambientes virtuais 3D maiores e mais ricos em detalhes. No entanto, a navegação em ambientes 3D, especialmente os ambientes multiescala, ainda é um problema para muitos usuários. O objetivo deste trabalho é propor soluções para alguns problemas de navegação 3D, a fim de melhorar a experiência de uso nesse tipo de aplicação. Nesse sentido, são apresentadas técnicas que permitem ajustar automaticamente a velocidade de navegação, os planos de corte e o ponto de centro de rotação. É proposta também uma solução para a detecção e tratamento de colisão entre a câmera e os modelos da cena, além de uma técnica que visa impedir que os usuários fiquem perdidos quando nenhum objeto da cena é visualizado. Essas soluções são baseadas na construção e manutenção de uma estrutura chamada de cubo de distâncias (cube map, no original em inglês), que fornece informações sobre a localização espacial dos pontos da cena em relação à câmera. Atualmente em desenvolvimento no Tecgraf/PUC-Rio, o SiVIEP (Sistema de Visualização Integrado de Exploração e Produção) é um visualizador voltado para profissionais da área de exploração e produção de petróleo, que serviu para a detecção e entendimento dos problemas mencionados e para a validação das soluções implementadas.
The use of 3D viewers is becoming common in several activities. The appearance of new technologies, with the resulting increase in processing power, made possible the creation of larger and richer 3D virtual environments. However, the navigation in 3D environments, especially the multiscale ones, is still a problem for many users. The goal of this work is to propose solutions to some 3D navigation problems in order to improve the user experience with this kind of application. In this sense, techniques to automatically adjust the navigation speed, the clipping planes and the rotation center are presented. It is also proposed a solution for the detection and treatment of collision between the camera and the scene, and a technique that aims to prevent users from getting lost when no scene object is visualized. These solutions are based on the construction and maintenance of a structure called cube map, which provides information about the spatial location of the scene points relative to the camera. Currently in development at Tecgraf/PUCRio, the SiVIEP (Integrated Visualization System for Exploration and Production) is a viewer aimed at professionals in the area of oil exploration and production that was used to detect and understand the mentioned problems, and also for validating the implemented solutions.
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TAPIA, XIMENA ALEXANDRA CABRERA. "ENLIDA: ENRICHMENT OF LINKED DATA CUBE DESCRIPTIONS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=23868@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCOORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
O termo dados interligados refere-se a conjuntos de triplas RDF organizados segundo certos princípios que facilitam a publicação e o acesso a dados por meio da infraestrutura da Web. Os princípios para organização de dados interligados são de grande importância pois oferecem uma forma de minimizar o problema de interoperabilidade entre bancos de dados expostos na Web. Este trabalho propõe enriquecer um banco de dados que contém descrições em RDF de cubos de dados, interligando seus componentes com entidades definidas em fontes de dados externas através de triplas owl:sameAs. O trabalho propõe uma arquitetura composta por dois componentes principais, o enriquecedor automático e o enriquecedor manual. O primeiro componente gera triplas owl:sameAs automaticamente enquanto que o segundo componente permite ao usuário definir manualmente as ligações. Em conjunto, estes componentes facilitam a definição de cubos de dados de acordo com os princípios de dados interligados
The term Linked Data refers to a set of RDF triples organized according to certain principles that facilitate the publishing and consumption of data using the Web infrastructure. The importance of the Linked Data principles stems from the fact that they offer a way to minimize the interoperability problem between databases exposed on the Web. This dissertation proposes to enrich a database that contains Linked Data cube descriptions by interconnecting the components of the data cubes with entities defined in external data sources, using owl:sameAs triples. The dissertation proposes an architecture consisting of two major components, the automatic enriching component and the manual enriching component. The first component automatically generates owl:sameAs triples, while the second component helps the user manually define owl:sameAs triples that the automatic component was not able to uncover. Together, these components therefore facilitate the definition of data cubes according to the Linked Data principles.
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MacKinnon, Benjamin B. "The Automorphism Group of the Halved Cube." VCU Scholars Compass, 2016. http://scholarscompass.vcu.edu/etd/4609.
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An n-dimensional halved cube is a graph whose vertices are the binary strings of length n, where two vertices are adjacent if and only if they differ in exactly two positions. It can be regarded as the graph whose vertex set is one partite set of the n-dimensional hypercube, with an edge joining vertices at hamming distance two. In this thesis we compute the automorphism groups of the halved cubes by embedding them in R n and realizing the automorphism group as a subgroup of GLn(R). As an application we show that a halved cube is a circulant graph if and only if its dimension of is at most four.
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Knebel, Timothy F. "EEG theta power during Necker cube reversals." Thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-07212009-040317/.
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Hung, Edward. "Data cube system design : an optimization problem /." Hong Kong : University of Hong Kong, 2000. http://sunzi.lib.hku.hk/hkuto/record.jsp?B21852340.
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Mahmoud, Mahmoud N. "Integrated Solar Panel Antennas for Cube Satellites." DigitalCommons@USU, 2010. https://digitalcommons.usu.edu/etd/742.
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This thesis work presents an innovative solution for small satellite antennas by integrating slot antennas and solar cells on the same panel to save small satellite surface real estate and to replace deployed wire antennas for certain operational frequencies. The two main advantages of the proposed antenna are: 1) the antenna does not require an expensive deployment mechanism that is required by dipole antennas; 2) the antenna does not occupy as much valuable surface real estate as patch antennas. The antenna design is based on using the spacing between the solar cells to etch slots in these spaces to create radiating elements.
The initial feasibility study shows it is realistic to design cavit-backed slot antennas directly on a solar panel of a cube satellite. Due to the volume of the satellite, it is convenient to design antennas at S band or higher frequencies. Although it is possible to design integrated solar panel antennas in lower frequencies, such research is not the scope of this thesis work.
In order to demonstrate and validate the design method, three fully integrated solar panel antennas were prototyped using Printed Circuit Board (PCB) technology (PCB is a common solar panel material for small satellites). The first prototype is a circularly polarized antenna. The second is a linearly polarized two-element antenna array. The third prototype is a dual band linearly polarized antenna array. Measured results agree well with simulations performed using Ansoft's High Frequency Structure Simulater (HFSS).
The thesis also presents a feasibility study of optimization methods and reconfigurable solar panel antenna arrays. The optimization study explores methods to use genetic algorithms to find optimal antenna geometry and location. The reconfigurable study focuses on achieving different antenna patterns by switching on and off the slot elements placed around the solar cells on solar panels of a cube satellite.
It is shown that the proposed integrated solar panel antenna is a robust and cost-effective antenna solution for small satellites. It is also shown that given a solar panel with reasonable size, one can easily achieve multiple antenna patterns and polarization by simple switching.
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Danielsson, Mattias. "A benchmark of algorithms for the Professor’s Cube." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-168198.
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Rubik’s Cube is a well known puzzle that has entertained for decades. This thesis studies two relatively new phenomenons; the 53 cube, also known as the Professor’s Cube , and the practice of speedcubing. This report presents two existing algorithms developed by speedcubers that enable human executors to quickly solve the puzzle. The algorithms are implemented and their results compared in order to show which one requires fewer steps to solve the puzzle. The conclusion is that it is faster to use the original Davenport algorithm instead of the newer version by Monroe if the number of twists is your limiting factor.
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Rosen, Philipp von Heizer Michael. "Michael Heizer : Outside and Inside the White Cube /." München : Schreiber, 2005. http://www.loc.gov/catdir/toc/fy0703/2006436579.html.
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Martin, Brigitte. "Perception et expression d'espaces nouveaux issus du cube." Paris 8, 1993. http://www.theses.fr/1993PA080822.
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Le but de cette these est d'etudier le developpement, au cours du vingtieme siecle, d'une nouvelle forme d'expression tridimensionnelle, la boite d'art. Dans la premiere partie, elle comprend une etude du systeme de figuration classique ayant exerce son hegemonie dans le domaine pictural depuis la renaissance jusqu'au debut de ce siecle. Puis, dans la seconde partie, elle met en lumiere la rupture engendree par les cubistes, et la volonte des artistes contemporains, determines a s'exprimer en dehors de toutes conventions, de ne plus representer l'objet mais de le presenter dans son double rapport contenant contenu, et ce alors meme que l'environnement technique, scientifique, economique et social est en pleine mutation. Dans la troisieme partie, au regard des propositions plastiques, la boite, consideree en tant qu'objet symbolique, renvoie a l'espace referentiel et originel ainsi qu'a l'idee de sacre. Constituant metaphoriquement une sorte d'enveloppe corporelle, ce contenant abritant toujours un mystere permet aux artistes d'aller a la rencontre de l'autre tendant a se replier sur lui-meme. Dans la quatrieme partie, la boite est consideree en tant que volume geometrique : les oeuvres abstraites donnent l'occasion aux spectateurs de percevoir l'espace par l'intermediaire de leur corps, et de le vivre dans un nouveau rapport. Enfin, la derniere partie est consacree au phenomene de mise en abime de la boite dans les musees, et de fetichisme de l'objet par les artistesThe aim of this thesis is the study of the development, along the twentieth century, of a new form of three-dimensional expression : the boxed art. The first part deals with a study of the system of the cklassical figurative art, which has imposed its hegemony in the pictoral field from the renaissance up to the beginning of this century. The second part enlightens the break generated by the cubist and the resolution of the contemporay artist to express himself with no convention, not to depict the object but to present it in its double relation contents container, when the technical, scientific, economical and social environment is changing. In the third part, when we study the works, we can see that the box - considered as a symbol object - refers to a referential and original space as well as to the idea of sacred. Metaphorically constituting a kind of corporal envelope, this container - always implying a mystery - allows the artist to meet the other who turns in on himself. In the fourth part, the box is considered as a geometric object : abstract works prompt each observer to percieve space through his body and to feel it a new way. The last part is about the phenomenon of the interlocking of different boxes in museums, of the fetichism of the object by the artist
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Maharry, John Andrew. "A Characterization of Graphs with No Cube Minor /." The Ohio State University, 1996. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487934589975195.
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Petrakos, Nikolaos. "Cube-type algebraic attacks on wireless encryption protocols." Thesis, Monterey, California : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Sep/09Sep%5FPetrakos.pdf.
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Thesis (M.S. in Computer Science and M.S. in Applied Mathematics)--Naval Postgraduate School, September 2009.Thesis Advisor(s): Dinolt, George ; Michael, James Bret ; Stanica, Pantelimon. "September 2009." Description based on title screen as viewed on November 5, 2009. Author(s) subject terms: Wireless Security, Cryptanalysis, Boolean Functions, Algebraic Attacks, Correlation Attacks, Cube Attacks, Bluetooth, Security Protocols. Includes bibliographical references (p. 77-80). Also available in print.
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Ruffoni, Lorenzo. "Cube Complexes and Virtual Fibering of 3-Manifolds." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2013. http://amslaurea.unibo.it/5637/.
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Una 3-varietà si dice virtualmente fibrata se ammette un rivestimento finito che è un fibrato con base una circonferenza e fibra una superficie. In seguito al lavoro di geometrizzazione di Thurston e Perelman, la generica 3-varietà risulta essere iperbolica; un recente risultato di Agol afferma che una tale varietà è sempre virtualmente fibrata. L’ingrediente principale della prova consiste nell’introduzione, dovuta a Wise, dei complessi cubici nello studio delle 3-varietà iperboliche. Questa tesi si concentra sulle proprietà algebriche e geometriche di queste strutture combinatorie e sul ruolo che esse hanno giocato nella dimostrazione del Teorema di Fibrazione Virtuale.
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Robinson, Stuart. "The Other White Cube: Finding Museums Among Us." Diss., The University of Arizona, 2014. http://hdl.handle.net/10150/317041.
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Since hitting mass markets in the 1920s, refrigerators have occupied a lovable corner not just in American kitchens but also in American culture. The story of humankind has always been the story of food, around which we congregate, negotiate power, and explore methods of control. As the U.S. transitioned to industrial, mechanical convenience in the twentieth century, refrigerators replaced hearths as household communication centers, and it has become commonplace to decorate refrigerator surfaces with photographs, keepsakes, lists, and other items of visual culture. As meaningful, expressive arrangements, the curatorial dimensions of such displays have called for their investigation. From January to June of 2013, the Other White Cube Project studied the cultural phenomenon by collecting photographs and questionnaires online at theotherwhitecube.com. From 200 submissions, the project connected activities at home with institutional roles at large. The educational effort performed post-museum theory, in which audiences and institutions share power, build community, and promote awareness. By equating museums with everyday spaces, curators with everyday people, and art with everyday objects, the Other White Cube Project approached three keys to learning in art museums - comfort, relevance, and readability. The project also examined the aesthetic, social, and practical barometers that direct daily choices, which shape consciousness and subsequent interactions with space. In that sense, everyone is a curator - of some kind and of some place.
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Fawole, Olutosin C. "A Multifunctional Solar Panel Antenna for Cube Satellites." DigitalCommons@USU, 2012. https://digitalcommons.usu.edu/etd/1365.
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The basic cube satellite (CubeSat) is a modern small satellite that has a standard size of about one liter (the 1U CubeSat). Three 1U CubeSats could be stacked to form a 3U CubeSat. Their low-cost, short development time, and ease of deployment make CubeSats popular for space research, geographical information gathering, and communication applications. An antenna is a key part of the CubeSat communication subsystem. Traditionally, antennas used on CubeSats are wrapped-up wire dipole antennas, which are deployed after satellite launch. Another antenna type used on CubeSats is the patch antenna. In addition to their low gain and efficiency, deployable dipole antennas may also fail to deploy on satellite launch. On the other hand, a solid patch antenna will compete for space with solar cells when placed on a CubeSat face, interfering with satellite power generation. Slot antennas are promising alternatives to dipole and patch antennas on CubeSats. When excited, a thin slot aperture etched on a conductive sheet (ground plane) is an efficient bidirectional radiator. This open slot antenna can be backed by a reflector or cavity for unidirectional radiation, and solar cells can be placed in spaces on the ground plane not occupied by the slot. The large surface areas of 3U CubeSats can be exploited for a multifunctional antenna by integrating multiple thin slot radiators, which are backed by a thin cavity on the CubeSat surfaces. Solar cells can then be integrated on the antenna surface. Polarization diversity and frequency diversity improve the overall performance of a communication system. Having a single radiating structure that could provide these diversities is desired. It has been demonstrated that when a probe excites a square cavity with two unequal length crossed-slots, the differential radiation from the two slots combines in the far-field to yield circular polarization. In addition, it has been shown that two equal-length proximal slots, when both fed with a stripline, resonate at a frequency due to their original lengths, and also resonate at a lower frequency due to mutual coupling between the slots, leading to a dual-band operation. The multifunctional antenna designs presented are harmonizations and extensions of these two independent works. In the multifunctional antenna designs presented, multiple slots were etched on a 83 mm x 340 mm two-layer shallow cavity. The slots were laid out on the cavity such when the cavity was excited by a probe at a particular point, the differential radiation from the slots would combine in the far-field to yield Left-Handed Circular Polarization (LHCP). Furthermore, when the cavity was excited by another probe at an opposite point, the slots would produce Right-Handed Circular Polarization (RHCP). In addition, as forethought, these slots were laid out on the cavity such that some slots were close together enough to give Linearly Polarized (LP) dual-band operation when fed with a stripline. This antenna was designed and optimized via computer simulations, fabricated using Printed Circuit Board (PCB) technology, and characterized using a Vector Network Analyzer (VNA) and NSI Far Field Systems.
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Castro, Trejo Aline. "Codes de Gray généralisés à l'énumération des objets d'une structure combinatoire sous contrainte." Thesis, Grenoble, 2012. http://www.theses.fr/2012GRENM057/document.
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Le cube de Fibonacci est un sous-graphe isométrique de l'hyper- cube ayant un nombre de Fibonacci de sommets. Le cube de Fibonacci a été initialement introduit par W-J. Hsu comme un réseau d'interconnexion et, comme l'hypercube, il a des propriétés topologiques très attractives, mais avec une croissance plus modérée. Parmi ces propriétés, nous discutons de l'hamiltonicité dans le cube de Fibonacci et aussi dans le cube de Lucas qui est obtenu à partir du cube de Fibonacci en supprimant toutes les chaînes qui commencent et nissent avec 1. Nous trouvons également le nombre de som- mets des cubes de Fibonacci et Lucas ayant une certaine excentricité. En n, nous présentons une étude de deux cubes du point de vue de la domination et du 2-packingThe Fibonacci cube is an isometric subgraph of the hypercube having a Fibonacci number of vertices. The Fibonacci cube was originally proposed by W-J. Hsu as an interconnection network and like the hypercube it has very attractive topological properties but with a more moderated growth. Among these properties, we discuss the hamiltonicity in the Fibonacci cube and also in the Lucas cube which is obtained by removing all the strings that begin and end with 1 from the Fibonacci cube. We give also the eccentricity sequences of the Fibonacci and the Lucas cubes. Finally, we present a study of both cubes from the domination and the 2-packing points of view
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Duberg, Daniel, and Jakob Tideström. "Comparison of Rubik’s Cube Solving Methods Made for Humans." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-166727.
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This study analyzed and compared four different methods of solving a Rubik’s Cube. Those four methods being the method on Rubik’s official website, the CFOP method, the Roux method and the ZZ method. The factors that were considered were the number of moves each method requires for solving a Rubik’s Cube, how many algorithms they require as well as how concrete or intuitive they are. Our conclusion is that the CFOP, Roux, and ZZ method are fairly equivalent when it comes to move span, but CFOP has the lowest average number of moves used to solve a Rubik’s Cube. CFOP has more concrete algorithms and cases while both Roux and ZZ are more intuitive, ZZ uses fewer types of moves than Roux however. The solution on Rubik’s official website does not compare, at its best it uses as many moves as the others do at their worst. It is however concrete and uses few algorithms for each part.
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Sackett, Colin Derek. "CUBE centre for the understanding of the built environment /." Diss., Pretoria : [s.n.], 2006. http://upetd.up.ac.za/thesis/available/etd-10122006-121654.
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Erde, Joshua Paul. "Decomposing the cube into paths and other combinatorial problems." Thesis, University of Cambridge, 2014. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.708073.
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Claici, Sebastian. "Aggregation for modular robots in the pivoting cube model." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/107376.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 61-66).
In this thesis, we present algorithms for self-aggregation and self-reconfiguration of modular robots in the pivoting cube model. First, we provide generic algorithms for aggregation of robots following integrator dynamics in arbitrary dimensional configuration spaces. We describe solutions to the problem under different assumptions on the capabilities of the robots, and the configuration space in which they travel. We also detail control strategies in cases where the robots are restricted to move on lower dimensional subspaces of the configuration space (such as being restricted to move on a 2D lattice). Second, we consider the problem of finding a distributed strategy for the aggregation of multiple modular robots into one connected structure. Our algorithm is designed for the pivoting cube model, a generalized model of motion for modular robots that has been effectively realized in hardware in the 3D M-Blocks. We use the intensity from a stimulus source as a input to a decentralized control algorithm that uses gradient information to drive the robots together. We give provable guarantees on convergence, and discuss experiments carried out in simulation and with a hardware platform of six 3D M-Blocks modules.
by Sebastian Claici.
S.M.