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CONTENTS

Chapter Page No.

1. Abstract 5

2. Introduction 6

3. Fractal robots x

4. Movement algorithm 31

5. Self repair 35

6. Application of fractal robots 41

7. Limitation 51

8. Conclusion 52

9. Reference 53



ABSTRACT

Fractal Robots is an emerging new service that promises to

revolutionize every aspect of human technology. Fractal robots are objects made

from cubic bricks that can be controlled by a computer to change shape and

reconfigure themselves into objects of different shapes. These cubic motorized

bricks can be programmed to move and shuffle themselves to change shape to make

objects like a house potentially in a few seconds. This technology has the potential

to penetrate every field of human work like construction, medicine, research and

others. Fractal robots can enable buildings to be built within a day, help perform

sensitive medical operations and can assist in laboratory experiments. This

technology is called Digital Matter Control and is implemented here with a machine

called robotic cubes and the entire technology is called Fractal Robot Technology.

Also Fractal Robots have built-in self repair which means they can continue without

human intervention.

This session covers an overview of this technology, the capability of

Fractal Robots, the role they can play in shaping our future.



1. INTRODUCTION

The birth of every technology is the result of the quest for automation

of some form of human work. This has led to many inventions that have made life

easier for us. Fractal Robot is a science that promises to revolutionize technology in

a way that has never been witnessed before.

The principle behind Fractal Robots is very simple. You take some

cubic bricks made of metals and plastics, motorize them, put some electronics

inside them and control them with a computer and you get machines that can

change shape from one object to another. Almost immediately, you can now build a

home in a matter of minutes if you had enough bricks and instruct the bricks to

shuffle around and make a house! It is exactly like kids playing with Lego bricks

and making a toy hose or a toy bridge by snapping together Lego bricks-except now

we are using computer and all the work is done under total computer control. No

manual intervention is required. Fractal Robots are the hardware equivalent of

computer software



Figure (1) Basic block

A modular robot can be defined as a robotic system constructed from a set of

standardized components (or building blocks).

Modular robots are of interest because they permit the construction of a

wide variety specialized robots from the set of standard components. Over the last ten

years, research efforts in the field of modular robotics have been directed towards

robotic manipulations with the goal of versatility and adaptability [Hamlin and

Sanderson, 1996; Yim et al., 20001. Less effort has been made in the field of self-

reconfigurable modular robots, which are modular robots which can autonomously

change their configuration. Most robots have been built to perform particular tasks.

Stationary manipulators are designed to move materials, parts, or tools for industrial

applications. While mobile robots are able to move effectively on hard and smooth

terrains [Muir and Neumann, 19871, legged robots have been studied because of their



agility in traversing uneven terrain [Todd, 19851. In some applications, robots should

have the ability to perform a wide range of tasks autonomously.

1.1 What are Fractals?

A fractal is anything which has a substantial measure of exact or

statistical self-similarity. Wherever you look at any part of its body it will be similar

to the whole object. The modular self reconfigurable robot is proposed in order to

make a system adaptable to the different given tasks and unknown environment.

Where the modular reconfigurable robots would be used? A modular, self-

reconfigurable robot is most useful in an unknown, complex environment. For

example, a building that has been damaged by earthquake contains a variety of

obstructions and may not be not be suitable for any particular Standard robot. A

reconfigurable robot, with the ability to locomote over a variety of terrains, through

gaps and over obstacles can perform well in this situation. With the adaptability of

the modular robot, it can pass through narrow passageways (in a snake-like

configuration), it could reshape into a legged robot and walk over rubble and it can

climb stairs or even onto desks by self-reconfiguration.

Another application is space/planetary exploration, where

unpredictable terrains on a planet have to be explored by a robot before human

beings are sent.



A variety of self-reconfiguring modular robots have been investigated

[Tomita et al., 1999; Yoshida et al., 1999; Castano and Will, 2000; Rus and Vona,

2000; Unsal and Khosla, 20001. In this paper, we survey existing modular robots

and propose our own design for heterogeneous selfreconfigurable modular robotic

system.

Figure (2) Homogeneous fractum

We believe that a successful self-reconfigurable modular robot must be

heterogeneous simply because a homogeneous robot whose modules each contain

all of the actuation, sensing, CPU and battery requirements will be physically too

large. In this area, as in many others, it helps to mimic biological systems and to

develop specialized heterogeneous modules.



1.2 HISTORY

ACM

The active cord mechanism (ACM).A snake like robot mechanism was

an early development by Hirose [Hirose, 19931.]

Figure (3) ACM

The ACM is a homogeneous modular robot and it was used to try to mimic snake

movement. Both manipulation and locomotion have been implemented in for the

ACM.

TETROBOT

Hamlin and Sanderson [Hamlin and Sanderson, i 9961 implemented a

modular system. TETROBOT.



Figure (4) TETROBOT

Novel spherical joints were used to design a homogeneous truss structured robot (see

Figure i (b)). The joint design allows the structure to spherically move around a centre of

rotation. However, connecting parts are manually assembled. The authors presented

possible configurations of the system as follows: Double Octahedral, Tetrahedral

Manipulator (as shown in Figure i (b)) and Six Legged Walker TETROBOT. Suggested

applications were space/sea exploration and construction sites.

CEBOT

A cellular robotic system (CEBOT) was developed by Fukuda and

Kawauchi [Fukuda and Kawauchi, i 9901. This is a homogeneous modular robot where

each cell has limited sensing and computation. The problem of determining an optimal

arrangement of cells for a particular task was studied. Experiments in automated re-

configuration were carried out but the robot did not self-reconfigure, a manipulator arm

was required for this.

FRACTA

Murata et al. considered 3D [Murata et aL, i9981 and



2D [Tomita et al., I 9991 categories of homogeneous distributed system. In the 3D

design, Fracta (as shown in Figure I (c)) has three symmetric axes with twelve degrees

of freedom. A unit is composed of a 265 mm cube weighing 7kg with connecting arms

attached to each face. Self- reconfiguration is performed by means of rotating the arms

Figure (5) FRACTA

and an automatic connection mechanism. Each unit has an on-board microprocessor and

Communication system. The drawback of this approach is that each module is quite big

and heavy. The connection mechanism uses six sensors and encoders, further increasing

system complexity. However, this is one of the few systems that can achieve 3D self-

reconfiguration. This system perfectly illustrates the problems with a homogeneous

design: the modules become big and cumbersome.

MOLECULES

A similar type of 3D homogeneous self-reconfigurable system is the

Molecule. Figure I (d) shows a molecule. Each molecule consists of a pair of two-DOF



atoms, connected by a link (called a bond). By suitably connecting a number of modules

one can form 3D shapes [Rus and McGray, I 9981. Twelve movements of each atom can

perform self- reconfiguration. Independent movement on a substrate of molecules

including straight-line traversal and 90 degrees convex and concave transitions to

adjacent surface can be performed.

Figure (6) MOLECULE

METAMORPHIC

The Metamorphic robotic system was demonstrated by Chirikjian

[Chirikjian, I 994; Pamecha and Chirikjian, I 9961 (see Figure 2(a)’). Each module is a

planar hexagonal shape with three DOFs that can combine with others with varying



geometry. Each module has abilities to connect, disconnect and rotate around its

neighbours. However, it is a limited, planar mechanism.

Figure (7) Metamorphic Module

PROTEO

A metamorphic robot, Proteo, was proposed by Bojinov et al [Bojinov

et aL, 20001. Each module is a rhombic dodecahedron with twelve identical connection

faces which allow other modules to attach.

Figure (8) proteo



Electromagnets are used for module connection. Motion is simply composed of a number

of rotations about the edges of the faces (however, only simulations have been given of

this). This robot consists of compact homogeneous rhombus units. This is an interesting

concept but the use of twelve connecting faces leads to high complexity and high cost.

CRYSTALLINE

The concept of a Crystalline module was described by Rus and Vona

[Rus and Vona, 20001 (see Figure 2(c)). Each module has a square cross-section with a

connection mechanism using channels and rotating keys to lock modules together. A

distributed robotic system is actuated by expanding and contracting each module. Each

module can expand its size by a factor of two from original size.

.

Figure (9) Crystalline



The module has an onboard CPU, Jr communication and power supply .Limited degrees

of freedom were its disadvantage. External connecters are needed for the re-configuration

and the working of the modules



1.3 Comparison of different modules

From the given comparison we can find that fractal robotic module is the

advantageous one. It consists of almost all the advantages of all the modules available.

It consisting of homogeneous 3d modules having 6 degrees of freedom with out fail

safe connecting mechanism.



1.4 Fractal Robots

A Fractal Robot physically resembles itself according to the definition

above. The robot can be animated around its joints in a uniform manner. Such robots

can be straight forward geometric patterns/images that look more like natural

structures such as plants. This patented product however has a cubic structure. The

figure below shows a collection of such cubes.

Figure (10) Fracta



Fractal Robots start at one size to which half size or double size cubes

can be attached and to each of these half size/double size cubes can be attached

respectively adinfinitum. This is what makes them fractal. So a fractal cube can be

of

any size. The smallest expected size is between 1000 and 10,000 atoms wide. These

cubes are embedded with computer chips that control their movement.

Figure (10) re-arranging

Thus they can be programmed to configure themselves into any

shape. The implication of this concept is very powerful. This concept can be used to



build buildings, bridges, instruments, tools and almost anything else you can think

of. It can be done with hardly any manual intervention. These robots can assist in

production and manufacture of goods thus bringing down the manufacturing price

down dramatically. We believe that a successful self-reconfigurable modular robot

must be heterogeneous simply because a homogeneous robot whose modules each

contain all of the actuation, sensing, CPU and battery requirements will be

physically too large. In this area, as in many others, it helps to mimic biological

systems and to develop specialized heterogeneous modules.

1.5 Heterogeneous Fractals

A Molecule robot consists of two atoms linked by a rigid connection

called a bond. Each atom has five inter-Molecule connection points and two degrees of

freedom.





Figure (11) Male fractum

One degree of freedom allows the atom to rotate 180 degrees relative to its bond

connection, and the other degree of freedom allows the atom (thus the entire

Molecule) to rotate relative 180 degrees relative to one of the inter-Molecule

connectors at a right angle to the bond connection



The leftmost Molecule pair translates to the right of the 4-Molecule structure. The

ability to translate a pair from one side of the structure to the other allows a global

translation of the structure by successive pair translations. For a structure of this size it

is necessary to provide a stabilizing base to which the male Molecules can attach.

Figure (12) Female fractum

This is needed because there are not enough stationary Molecules to provide a stable

structure when certain moves are done by a moving male Molecule (the torque needed

to move a male can tip the structure made up of the other three non-moving units). The

base would not be necessary if we had more units. Note that the speed of this movie

has been increased by a factor of three--normally a gripper connection takes about 15

seconds which makes the movie a bit too tedious to watch in real time...



2. FRACTAL ROBOT MECHANISM

2.1 Simple Construction details

Considerable effort has been taken in making the robotic cubes

as simple as possible after the invention has been conceived. The design is such that

it has fewest possible moving parts so that they can be mass produced. Material

requirements have been made as flexible as possible so that they can be built from

metals and plastics which are cheaply available in industrialized nations but also

from ceramics and clays which are environmentally friendlier and more readily

available in developing nations.

The robotic cubes are assembled from face plates which have been

manufactured and bolted to a cubic frame as illustrated in figure 1.



Figure 13 (Cubic structure)

The cube therefore is hollow and the plates have all the mechanisms.

Each of these face plates have electrical contact pads that allow power and data

signals to be routed from one robotic cube to another The plates also have 45 degree

petals that push out of the surface to engage the neighbouring face that allows one

robotic cube to lock to its neighbour. The contact pads could be on the plates

themselves or be mounted separately on a purpose built solenoid operated pad as

shown in figure 2.



Figure 14 (Contact pads)

The contact pads are arranged symmetrically around four edges to allow

for rotational symmetry. These contacts are relayed out and only transmit power when

required to do so. If they are operating submerged, the contact pads can be forced into

contact under pressure because of the petals, removing most of the fluid between the gaps

before transmitting power through them.

A 3D rendered image of what the robotic cube looks like in practice is

shown in figure 3.



Figure 15 (single cube)

The contact pads are not shown in figure 4. What is shown are four v

shaped grooves running the length of the plate that allow the petals to operate so

that the cubes can lock to each other and also each other using its internal

mechanisms. The cubes have inductive coupling to transmit power and data signals.

This means that there care no connectors on the surface of the robotic cube. If the

connectors are used, wiring problems may follow. Unlike contact pads, inductive

coupling scale very well.



2.2 Movement Mechanism

To see the internal mechanisms, we need a cross section of the plate as

illustrated in figure 4.

Figure 16 (Movement mechanism)

The petals are pushed in and out of the slots with the aid of a motor.

Each petal could be directly driven by single motor or they could be driven as a pair

with the aid of a flexible strip of metal. The petals have serrated edges and they



engage into the neighbouring robotic cube through the 45 degree slots. The serrated

edges of the petals are engaged by either a gear wheel or a large screw thread

running the length of the slot which slides the cubes along.

2.3 Implementation of computer control

All active robotic cubes have a limited microcontroller to perform

basic operations such as the communication and control of internal mechanism. The

commands to control a Fractal Robot are all commands for movement such as move

left, right etc and hence the computer program to control the robot is greatly

simplified in that whatever software that is developed for a large scale robot, it also

applies to the smaller scale with no modifications to the command structure.

The largest component of the Fractal Robot system is the software.

Because shape changing robots are fractals, everything around the robot such as

tooling, operating system, software etc must be fractally organized inorder to take

advantage of the fractal operation. Fractal Robot hardware is designed to integrate

as seamlessly with software datastructures as possible. So, it is essential that

unifying Fractal architecture is followed to the letter for compatibility and

interoperability. Fractal architecture dominates the functions of the core of the O.S,

the datastructures, the implementation of the devices etc. Everything that is

available to the O.S is containerized into fractal data structures that permit possible

compatibility and conversion issues possible.



2.3.1 Fractal O.S

The Fractal O. S plays a crucial role in making the integration of the

system seamless and feasible. A Fractal O. S uses a no: of features to achieve these

goals.

1. Transparent data communication

2. Data compression at all levels

3. Awareness of built in self repair.

A Fractal O. S coverts fractally written code into machine commands

for movement. The data signals are fed to a bus (fractal bus). The e3lectronics have to

be kept simple so that they can be miniaturized. Towards this end, the Fractal Robot

uses principally state logic. So its internal design consists if ROM, RAM and some

counters.

2.3.2 Fractal Bus

This is an important and pioneering advancement for fractal

computer technology. A Fractal bus permits Hardware and software to merge



seamlessly into one unified datastructure. It helps in sending and receiving fractally

controlled data.

Computer software controls the shaping of objects that are

synthesized by moving cubes around. To reduce the flow of instructions the

message is broadcast to a local machine that controls a small no: of cubes (typically

around 100 cubes). All cubes communicate using a simple no: scheme. Each is

identified in advance and then a no: is assigned. The first time around, the whole

message and the no: is sent but the next time only the no: is sent.



3.DATA TRANFER

A CMOS Bluetooth receiver is implemented using a single conversion low-IF

architecture. A IF of 600 KHz is employed to minimize the power dissipation in the

quadrature IF circuitry, which employs switched opamp technique to guarantee the

1-V OPERATION.

REALIZED IN A 0.35-ΜM

CMOS PROCESS (VTN = 0.6V, VTP = -0.77 V) ANDA

SINGLE 1-V SUPPLY, THE

PROPOSED BLUETOOTH

RECEIVER ACHIEVES A

MEASURED IIP3 OF -18

DBM, AN IMAGE

REJECTION OF 28 DB, A

NOISE FIGURE OF 29 DB

AND A SENSITIVITY OF –

70 DBM WHILE

CONSUMING A LOW

POWER DISSIPATION OF10 MW.

3. MOVEMENT ALGORITHMS

There are many mechanical designs for constructing cubes, and cubes

come in different sizes, but the actual movement method is always the same.

Regardless of complexity, the cubes move only between integer positions and only

obey commands to move left, right, up, down, forward and backward. If it can't



perform an operation, it simply reverses back. If it can't do that as well, the software

initiates self repair algorithms.

There are only three basic movement methods.

• Pick and place

• N-streamers

• L-streamers

Pick and place is easy to understand. Commands are issued to a

collection of cubes telling each cube where to go. A command of "cube 517 move

left by 2 positions" results in only one cube moving in the entire machine. Entire

collection of movements needed to perform particular operations are worked out

and stored exactly like conventional robots store movement paths. (Paint spraying

robots use this technique.)

However there are better structured ways to storing movement patterns.

It turns out that all movements other than pick and place are variations of just two

basic schemes called the N-streamer and L-streamer.

N-streamer is easy to understand. A rod is pushed out from a surface,

and then another cube is moved into the vacant position. The new cube is joined to

the tail of the growing rod and pushed out again to grow the rod. The purpose of the

rod is to grow a 'tentacle'. Once a tentacle is grown, other robots can be directed to

it and

http://www.ecu.pwp.blueyonder.co.uk/ntdc/repair.htm





move on top of it to reach the other side. For bridge building applications, the

tentacles are grown vertically to make tall posts.

L-streamer is a little more involved to explain and requires the aid of

figure 5. L-streamers are also tentacles but grown using a different algorithm.

Figure 17 (L-streamers single array)

Basically, an L-shape of cubes numbered 4, 5, 6 in figure 2a attached to

a rod numbered 1, 2, 3, and then a new cube 7 is added so that the rod grows by one



cube until it looks like figure 2f. The steps illustrated in figure 2b to 2e can be

repeated to grow the tentacle to any length required.

When large numbers of cubes follow similar paths, common cubes are

grouped into a collection and this collection is controlled with same single commands

(left, right, up, down, forward and backward) as if they were a single cube as

illustrated in figure 6.

Figure 18 (L-streamers multi array)

By grouping cubes and moving them, any structure can be programmed

in and synthesized within minutes. Once the pattern is stored in a computer, that

pattern can be replayed on command over and over again. The effect is somewhat

similar to digitally controlled putty which is as flexible as computer software.

Digitally Controlled Matter Is The Hardware Equivalent Of Computer Software.



Tools mounted inside cubes are moved with similar commands. The

commands to operate the tool are stored alongside the cube movement instructions

making the system a very powerful programmable machine.

http://www.ecu.pwp.blueyonder.co.uk/ntdc/tooling.htm

http://www.ecu.pwp.blueyonder.co.uk/ntdc/tooling.htm



4. SELF REPAIR

There are three different kinds of self repair that can be employed in a

fractal robot. The easiest to implement is cube replacement.

Figures 7 to 10 illustrates some images taken from an animation.

Figure 19 (step 1)

In respect of self repair, the animations show how a walking machine

that has lost a leg rebuilds itself by shifting cubes around from its body. Some of

the intermediate steps are illustrated across figures 2 to 4.



Figure 20 (step 2)

Instead of discarding its leg, the robot could

reconfigure into a different walking machine and carry the broken parts with in it.

The faulty parts are moved to places where their reduced functionality can be

tolerated.

Figure 21 (step 3)



Figure 22 (step 4)

Regardless of how many cubes are damaged, with this self repair

algorithm, cubes can detach further and further back to a known working point and

then re-synthesize lost structures. The more cubes there are in the system, the more

likely the system can recover from damage. If too many cubes are involved, then it

will require assistance from a human operator. In such circumstances, the system

will stop until an operator directs it to take remedial actions.

Systems designed with fractal robots have no redundancy despite

having built in self repair. Every cube in a system could be carrying tools and

instrumentation and thus loss of any one cube is loss of functionality. But the

difference in a fractal robot environment is that the cubes can shuffle themselves

around to regain structural integrity despite loss of functionality.



In space and nuclear applications (also in military applications), it is

difficult to call for help when something goes wrong. Under those circumstances, a

damaged part can be shuffled out of the way and a new one put in its place under

total automation saving the entire mission or facility at a much lower cost than

simply allowing the disaster to progress. The probability of success is extremely

high in fact. Take for example a triple redundant power supply. Although the

probability of each supply failing is same as the norm for all power supplies of that

type, the chances of more than one failing is very much less. By the time a third

power supply is added the probability becomes miniscule. The same logic applies to

fractal robots when restoring mechanical integrity. Since there are hundreds of

cubes in a typical system, the chance of failure is very remote under normal

circumstances. It is always possible to redundant tools and then functional integrity

can also be restored. This technique gives the highest possible resilience for

emergency systems, space, nuclear and military applications.

There are other levels of repair. A second level of repair involves the

partial dismantling of cubes and re-use of the plate mechanisms used to construct

the cubes. For this scheme to work, the cube has to be partially dismantled and then

re-assembled at a custom robot assembly station. The cubic robot is normally built

from six plates that have been bolted together. To save on space and storage, when

large numbers of cubes are involved, these plates mechanisms can be stacked onto a

conveyor belt system and assembled into the whole unit by robotic assembly station

as notionally illustrated in figure 11. (By reversing the process, fractal robots can be

dismantled and stored away until needed.)



Here repairing involves the partial dismantling of cubes and re-use of the plate

mechanisms used to construct the cubes. In this scheme conveying of dismantled

cubes are through belts

Figure 23 (Dismantling)



If any robotic cubes are damaged, they can be brought back to the

assembly station by other robotic cubes, dismantled into component plates, tested

and then re-assembled with plates that are fully operational. Potentially all kinds of

things can go wrong and whole cubes may have to be discarded in the worst case.

But based on probabilities, not all plates are likely to be damaged, and hence the

resilience of this system is much improved over self repair by cube level

replacement. The third scheme

for self repair involves smaller robots servicing larger robots. Since the robot is

fractal, it could send some of its fractally smaller machines to affect self repair

inside large cubes.

This form of self repair is much more involved but easy to understand.

If the smaller cubes break, they would need to be discarded - but they cheaper and

easier to mass produce. With large collections of cubes, self repair of this kind

becomes extremely important. It increases reliability and reduces down time. Self

repair strategies are extremely important for realizing smaller machines as the

technology shrinks down to 1 mm and below. Without self repair, a microscope is

needed every time something breaks. Self repair is an important breakthrough for

realizing micro and nanotechnology related end goals.

There is also a fourth form of self repair and that of self

manufacture. It is the ultimate goal. The electrostatic mechanisms can be



manufactured by a molecular beam deposition device. The robots are 0.1 to 1

micron minimum in size and they are small enough and dexterous enough to

maintain the molecular beam deposition device.

5. APPLICATIONS OF FRACTAL ROBOTS

5a. Bridge building

One of the biggest problems in civil engineering is to get enough

bridges built as rapidly as possible for mass transit and rapid development of an

economy. Shape changing robots are ideal for making all manners of bridges from

small to the very largest.



Figure (24) Bridge building

.

The bridging technology introduced here can be used to patch up

earthquake damaged bridges, and they can also be used as a means for the shape

changing robot to cross very rough terrain. To grow a suspension bridge, the shape

changing robot grows a bridge by extending a rod and it feeds the rod using the L-

shape streamer from underneath the rod. The bridge assembly machine is built

principally from simple mass manufactured repeating cubes that move under computer

control, and reshape into different scaffolds in a matter of seconds.

5b. Fire fighting

Fire fighting robots need to enter a building through entrances that may

be very small. The machines themselves may be very large and yet they must get

through and once inside, they may have to support the building from collapse.

To a great extent fire fighting is an art and not completely reliant

technology. You need men and machine to salvage the best out of the worst

possible situations and often application of a little common sense is far better than

sending in the big machines. But equally there are times where only machines with

http://www.stellar.demon.co.uk/streams.htm






capabilities far beyond what we have today are capable of rescuing a particular

situation. The application of shape changing robots is about those situations.

Entering Buildings

Shape changing robots can enter a building through entrances that are

as small as 4 cubes. Figure 1 below shows what a robot can do to enter a room

through a duct. These shape changing robots could be carrying a fire hose in which

case on entering they can apply the hose immediately. Fractal robot can crawl

through small tunnel carrying usefull devices and an attain any shape on the rough

terrain according to the program.

Medical technology in the future may be applied on the spot to victims

of fire using shape changing robots that are completely integrated into the robot in a

machine that is fundamentally identical to the robot - only fractally smaller.

http://www.stellar.demon.co.uk/medical.htm




Figure (25) Entering a terrain

Only a shape changing robot with fractal fingers and fractal tools can

sift through the rubble without disturbing it further to search for survivors and bring

them out alive. Using conventional methods, you always run the risk of trampling

over someone with your equipment or loosening something that leads to further

disturbance.



5c. Defense technology

The use of new technology of fractal shape changing robots in defense

applications is going to completely change the way warfare is conducted in the next

millennium.

The machines even at the slow speeds shown in animated figure above

can dodge incoming shells at 2 km distance by opening a hole in any direction. While

most tanks and aircraft need to keep a 4 km distance from each other to avoid being

hit, this machine can avoid being hit and return fire inside 2 km,

Figure (26) Defense technology

http://www.stellar.demon.co.uk/defence.htm






While carrying a formidable array of fractal weapons integrated into a

true multi-terrain vehicle, making them totally lethal to any passing war fighters,

aircraft, tanks, and armoured personnel carriers; surviving shelling, rockets and

missiles. As the technology moves on to hydraulic & pneumatic technology, shell

avoidance is feasible at practically point blank range.

Nothing survives on extended warranties in a battlefield. With self

repair , these immortal machines are no match for state of the art research directions

in present day military robotic systems, which are mere toys in comparison.

5d. Earth Quake Applications:

Once a building is damaged by earthquakes, the terrain inside (and

outside) the building is completely undefined. You need true multi-terrain vehicles

with walking abilities that can transform interchangeably into crawling machines to

get past obstacles and reach the buildings and structures that need to be repaired.

http://www.stellar.demon.co.uk/reconfig.htm

http://www.stellar.demon.co.uk/fixleg.htm


http://www.stellar.demon.co.uk/walk.htm

http://www.stellar.demon.co.uk/crawl.htm

http://www.stellar.demon.co.uk/reconfig.htm



http://www.stellar.demon.co.uk/walk.htm

http://www.stellar.demon.co.uk/crawl.htm



Figure (27) Shape before entering

You need fire fighting robots to fight fires, you medical robots to look after the injured

and you need that same machine to become the machines that will enter the buildings,

erect support structures and prevent it from collapsing. Figure 15 and 16 below show

how a very large shape changing robot can enter a building through a narrow window

and rebuild itself one on the other side.

Figure 16 shows the reconfiguration of robot after entering the unknown terrain

http://www.stellar.demon.co.uk/fire.htm







Figure (28) After re-configuration

5e. Medical Applications

A fractal robot system with 1 mm cubes can squirt into the human

body through a 2 mm pin hole and rebuild itself inside the body into surgical

instruments and perform the operation without having to open up the patient (figure

1). A size 1 mm is just adequate for nearest point of entry into the site of injury

from the surface to perform very complicated surgery to remove cancers, cysts,

blood clots and stones. The machine reaches its objective from nearest geometric

point of entry by threading itself past major blood vessels or pinching and severing

them if they are not for negotiation. The smaller the machines the more readily it

can be used to directly operate from the nearest entry point with the least amount of

wounding to the patient.



Thus a fractal machine is needed to deal with a fractal wound. The

faster the machines operate all around the body, the more likely the patient can

survive the damage.

Figure (29) Fractal surgeon

In normal use, this machine must be able to drain bad blood and fluids,

detect and remove all foreign objects that have entered the body, sew up minor

wounds after cleaning and medicating them, sew together blood vessels and nerve



bundles using microsurgery methods before sealing major wounds, move shattered

bone fragments inside the body and hold them in position for a few days while it

sets back, and when necessary, perform amputations that involves cutting through

flesh and bone. This surgical robot as described is called a Fractal Surgeon.

5f. Space Exploration

Space is probably one of the best application areas for fractal robots

because of its cheapness, built in self repair and 100% automation possibilities.

Figure (30) Space exploration

http://www.ecu.pwp.blueyonder.co.uk/new/repair.htm

http://www.ecu.pwp.blueyonder.co.uk/new/automate.htm


http://www.ecu.pwp.blueyonder.co.uk/new/repair.htm




Space is extremely expensive and if things go wrong and there is

nowhere to turn for help. Using fractal robots it is possible to build anything from

space stations to satellite rescue vehicles without any human intervention.

6. LIMITATIONS

• Technology is still in infancy

• Current cost is very high ($1000 per cube for the 1st generation of cubes,

after which it will reduce to $100 or so).

• Needs very precise & flexible controlling software.



7. CONCLUSION

It may take about 4-5 years for this technology to be introduced and

tried out all over the world. But once the first step is taken and its advantages well

understood it will not take much time for it to be used in our everyday life. Using

Fractal Robots will help in saving economy; time etc and they can be used even for

the most sensitive tasks. Also the raw materials needed are cheap, making it

affordable for developing nations also. This promises to revolutionize technology in

a way that has never been witnessed before.



8. REFERENCE

All the information about the matter has been collected from the following

sites:

http://www.seminartopicsonline.com

• http://www.fractal-bus.co.uk

• http://wikipedia.org

• http;//www.seminartpicsonline.com

• http://seminarsonly.com

http://www.seminartopicsonline.com/

http://www.fractal-bus.co.uk/

http://www.seminartopicsonline.com/

http://www.fractal-bus.co.uk/

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