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Until the early 1600s , astronomers had only their eyes and a collection of geometric devices to observe the universe and measure locations of stellar objects . AbstractWe wish to create versatile robots by using self-reconfiguration : hundreds of small modules autonomously organize and reorganize as geometric structures to best fit the terrain on which the robot has to move , the shape of the object the robot has to manipulate , or the sensing needs for the given task . Procedural models also allow the implementation of geometric models to be hidden using the principle of data abstraction .