No description available.

No description available.

No description available.

No description available.

One of the enduring objects used to represent the technological future is the robot. This legacy means that its promise has the ability to evolve in accordance with our societal and cultural dreams and aspirations. It can reflect the current state of technological development, our hopes for that technology and also our fears; fundamentally though, after almost a century of media depictions and corporate promises, the robot is yet to enter our homes and lives in any meaningful way. This thesis begins by asking the question: how does an emerging technology (such as robotic) become a domestic product? In addressing this issue I draw from the theory of domestication and the method of speculative design to describe three possible technological journeys: how technology does not, does and could become a domestic product: 1. Technology does not make the transition from laboratory to domestic life. Robots have made countless departures from the habitat of the research laboratory, apparently headed towards the domestic habitat, but the vast majority never arrive. This observation leads to the identification of a third habitat and the current destination for the majority of proposed domestic robots – robot-related imaginaries. _6 In this theatre-like environment, robots exist as either promises or warnings of a potential technological future. The habitat includes technology fairs, laboratory open houses, news articles and the films and novels of science fiction. I conclude by suggesting reasons why these visions of the future so often fail to become domestic products. 2. Technology does make the transition from laboratory to domestic life. Borrowing from the science of ecology and biological concepts of evolution and domestication, I make an analogy between the shift of habitats that occurs when an organism successfully goes through the process of artificial selection (natural to domestic) and the transition an emerging technology makes in order to become a suitable product for domestic use (laboratory to domestic). 3. How technology could make the transition from laboratory to domestic life. This section makes up the core of the thesis as I describe speculative design and how it can be used to present more plausible depictions of near-future technological applications. By stepping out of the normative relationship that ties technological development to commercial markets, speculative design opens a space for alternative perspectives, critical reflection and an examination of contemporary and near-future technological application. Throughout the thesis these theoretical investigations run parallel to the practice-based element, allowing for interplay between the two. This resulted in three projects that exemplify the speculative design approach applied to robots, inviting dialogue and contemplation on what a preferable robotic future might be.

This thesis describes the model-based development and validation of an advisor for the maintenance of artificially ventilated patients in the intensive care unit (ICU). The advisor employs fuzzy logic to represent an anaesthetist's decision making process when adjusting ventilator settings to safely maintain a patient's blood-gases and airway pressures within desired limits. Fuzzy logic was chosen for its ability to process both quantitative and qualitative data. The advisor estimates the changes in inspired O2 fraction (FI02), peak inspiratory pressure (PEEP), respiratory rate (RR), tidal volume (VT) and inspiratory time (TIN), based upon observations of the patient state and the current ventilator settings. The advisor rules only considered the ventilation of patients on volume control (VC) and pressure regulated volume control (PRVC) modes. The fuzzy rules were handcrafted using known physiological relationships and from tacit knowledge elicited during dialogue with anaesthetists. The resulting rules were validated using a computer-based model of human respiration during artificial ventilation. This model was able to simulate a wide range of patho-physiology, and using data collected from ICU it was shown that it could be matched to real clinical data to predict the patient's response to ventilator changes. Using the model, five simulated patient scenarios were constructed via discussion with an anaesthetist. These were used to test the closed-loop performance of the prototype advisor and successfully highlighted divergent behaviour in the rules. By comparing the closed-loop responses against those produced by an anaesthetist (using the patient-model), rapid rule refinement was possible. The modified advisor demonstrated better decision matching than the prototype rules, when compared against the decisions made by the anaesthetist. The modified advisor was also tested using data collected from ICU. Direct comparisons were made between the decisions given by an anaesthetist and those produced by the advisor. Good decision matching was observed in patients with well behaved physiology but soon ran into difficulties if a patients state was changing rapidly or if the patient observations contained large measurement errors.

In this research, a laboratory platform which has 2 degrees of freedom (DOF), the Twin Rotor MIMO System (TRMS), is investigated. Although, the TRMS does not fly, it has a striking similarity with a helicopter, such as system nonlinearities and cross-coupled modes. Therefore, the TRMS can be perceived as an unconventional and complex "air vehicle" that poses formidable challenges in modelling, control design and analysis and implementation. These issues are the subject of this work. The linear models for 1 and 2 DOFs are obtained via system identification techniques. Such a black-box modelling approach yields input-output models with neither a priori defined model structure nor specific parameter settings reflecting any physical attributes. Further, a nonlinear model using Radial Basis Function networks is obtained. Such a high fidelity nonlinear model is often required for nonlinear system simulation studies and is commonly employed in the aerospace industry. Modelling exercises were conducted that included rigid as well as flexible modes of the system. The approach presented here is shown to be suitable for modelling complex new generation air vehicles. Modelling of the TRMS revealed the presence of resonant system modes which are responsible for inducing unwanted vibrations. In this research, open-loop, closed-loop and combined open and closed-loop control strategies are investigated to address this problem. Initially, open-loop control techniques based on "input shaping control" are employed. Digital filters are then developed to shape the command signals such that the resonance modes are not overly excited. The effectiveness of this concept is then demonstrated on the TRMS rig for both 1 and 2 DOF motion, with a significant reduction in vibration. The linear model for the 1 DOF (SISO) TRMS was found to have the non-minimum phase characteristics and have 4 states with only pitch angle output. This behaviour imposes certain limitations on the type of control topologies one can ado·pt. The LQG approach, which has an elegant structure with an embedded Kalman filter to estimate the unmeasured states, is adopted in this study. The identified linear model is employed in the design of a feedback LQG compensator for the TRMS with 1 DOF. This is shown to have good tracking capability but requires. high control effort and has inadequate authority over residual vibration of the system. These problems are resolved by further augmenting the system with a command path prefilter. The combined feedforward and feedback compensator satisfies the performance objectives and obeys the constraint on the actuator. Finally, 1 DOF controller is implemented on the laboratory platform.

Applications using reconfigurable logic have been widely demonstrated to offer better performance over software-based solutions. However, good performance rating is often destroyed by poor reconfiguration latency - time required to reconfigure hardware to perform the new task. Recent research focus on design automation techniques to address reconfiguration latency bottleneck. The contribution to novelty of this thesis is in new placement and routing techniques resulting in minimising reconfiguration latency of reconfigurable systems. This presents a part of design process concerned with positioning and connecting design blocks in a logic gate array. The aim of the research is to optimise the placement and interconnect strategy such that dynamic changes in system functionality can be achieved with minimum delay. A review of previous work in the field is given and the relevant theoretical framework developed. The dynamic reconfiguration problem is analysed for various reconfigurable technologies. Several algorithms are developed and evaluated using a representative set of problem domains to assess their effectiveness. Results obtained with novel placement and routing techniques demonstrate configuration data size reduction leading to significant reconfiguration latency improvements.

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The rapid developments in computer technology have resulted in a widespread use of discrete event dynamic systems (DEDSs). This type of system is complex because it exhibits properties such as concurrency, conflict and non-determinism. It is therefore important to model and analyse such systems before implementation to ensure safe, deadlock free and optimal operation. This thesis investigates current modelling techniques and describes Petri net theory in more detail. It reviews top down, bottom up and hybrid Petri net synthesis techniques that are used to model large systems and introduces on object oriented methodology to enable modelling of larger and more complex systems. Designs obtained by this methodology are modular, easy to understand and allow re-use of designs. Control is the next logical step in the design process. This thesis reviews recent developments in control DEDSs and investigates the use of Petri nets in the design of supervisory controllers. The scheduling of exclusive use of resources is investigated and an efficient Petri net based scheduling algorithm is designed and a re-configurable controller is proposed. To enable the analysis and control of large and complex DEDSs, an object oriented C++ software tool kit was developed and used to implement a Petri net analysis tool, Petri net scheduling and control algorithms. Finally, the methodology was applied to two industrial DEDSs: a prototype can sorting machine developed by Eurotherm Controls Ltd., and a semiconductor testing plant belonging to SGS Thomson Microelectronics Ltd.