This thesis presents a detailed design, calibration, and control of a modular and reconfigurable robot (MRR) system. A MRR system not only includes modular mechanical hardware, but also modular electrical hardware, control algorithms and software. Also, those modular components can be easily constructed into various manipulator configurations to accomplish a wider range of tasks. MRRs represent the next generation of industrial manipulators that cope with the transition from mass to customer-oriented production. The main contributions of this thesis are: 1) mechanical design and calibration of multi-input multi-output (MIMO) joint modules of MRR, and 2) control design to handle multiple configuration and overcome disturbance due to dynamics uncertainty. From the mechanical design point of view, this thesis presents two main topics: 1) each joint is not only modularly designed, but also has multiple-input multiple-output (MIMO) physical connection ports, which contributes to the concept of reconfigurability. Strictly speaking, single-input single-output (SISO) modular joint falls into the category of modular manipulator, and the robot reconfiguration is achieved by integrating different types of modules. For example, with single revolute MIMO joint module, both rotary and pivotal joint can be generated. On the other hand, if you would like to switch from rotary movement to pivotal movement with a SISO joint module, using another pivotal joint module is the only way to achieve this goal, and 2) for precise automation application, joints and links should be accurately connected and oriented when reconfigured. Our proposed modular joint has four connection ports which can be configured as either a rotary joint or a pivotal joint. In addition, key and keyway connection mechanism provides high accuracy in positioning the link onto the joint. Therefore, this structure reduces or eliminates MRRs system calibration time when reconfigured. Furthermore, zero link offset when used as a pivotal joint increases the robot dexterity, maximizes the reachability, and results in kinematics simplicity. The main challenge in the control of an MRR system with harmonic drives (HD) is the significant uncertainties due to friction, unmodelled dynamics, varying payload, gravitation, dynamic coupling between motions of joints, and the configuration changes. In order to compensate all unpredictable effects, we proposed a decentralized saturation-type robust control scheme based on direct-Lyapunov method and backstepping techniques. To better understand the system dynamics behavior, the HD flexspline compliance and friction calibration and results are also provided. The results are used for controller design. The proposed controller is verified through both computer simulation and experimental analysis.

Configurable devices have become more and more popularnowadays. This is because they can improve the system performance inmany ways. In this thesis work it is studied how introduction of coarse grain configurability can improve the ePUMA, the low power highspeed DSP platform, in terms ofperformance and power consumption. This study takes two DSP algorithms, Fast Fourier Transform (FFT) and FIR filtering asbenchmarks to study the effect of this new feature. Architectures are presented for calculation of FFT and FIR filters and it is shown how they can contribute to the system performance. Finally it is suggestedto consider coarse grain configurability as an option for improvement of the system.

This thesis presents a detailed design, calibration, and control of a modular and reconfigurable robot (MRR) system. A MRR system not only includes modular mechanical hardware, but also modular electrical hardware, control algorithms and software. Also, those modular components can be easily constructed into various manipulator configurations to accomplish a wider range of tasks. MRRs represent the next generation of industrial manipulators that cope with the transition from mass to customer-oriented production. The main contributions of this thesis are: 1) mechanical design and calibration of multi-input multi-output (MIMO) joint modules of MRR, and 2) control design to handle multiple configuration and overcome disturbance due to dynamics uncertainty. From the mechanical design point of view, this thesis presents two main topics: 1) each joint is not only modularly designed, but also has multiple-input multiple-output (MIMO) physical connection ports, which contributes to the concept of reconfigurability. Strictly speaking, single-input single-output (SISO) modular joint falls into the category of modular manipulator, and the robot reconfiguration is achieved by integrating different types of modules. For example, with single revolute MIMO joint module, both rotary and pivotal joint can be generated. On the other hand, if you would like to switch from rotary movement to pivotal movement with a SISO joint module, using another pivotal joint module is the only way to achieve this goal, and 2) for precise automation application, joints and links should be accurately connected and oriented when reconfigured. Our proposed modular joint has four connection ports which can be configured as either a rotary joint or a pivotal joint. In addition, key and keyway connection mechanism provides high accuracy in positioning the link onto the joint. Therefore, this structure reduces or eliminates MRRs system calibration time when reconfigured. Furthermore, zero link offset when used as a pivotal joint increases the robot dexterity, maximizes the reachability, and results in kinematics simplicity. The main challenge in the control of an MRR system with harmonic drives (HD) is the significant uncertainties due to friction, unmodelled dynamics, varying payload, gravitation, dynamic coupling between motions of joints, and the configuration changes. In order to compensate all unpredictable effects, we proposed a decentralized saturation-type robust control scheme based on direct-Lyapunov method and backstepping techniques. To better understand the system dynamics behavior, the HD flexspline compliance and friction calibration and results are also provided. The results are used for controller design. The proposed controller is verified through both computer simulation and experimental analysis.

Limited mobility of mobile ground robots in highly unstructured environments is a problem that inhibits the use of such robots in applications with irregular terrain. Furthermore, applications with hazardous environments are good candidates for the use of robotics to reduce the risk of harm to people. Urban search and rescue (USAR) is an application where the environment is irregular, highly unstructured and hazardous to rescuers and survivors. Consequently, it is of interest to effectively use ground robots in applications such as USAR, by employing mobility enhancement techniques, which stem from the robot’s mechanical design. In this case, a robot may go over an obstacle rather than around it. In this thesis the Reconfigurable Robot Team of Mobile Modules with Manipulators (R2TM3) is proposed as a solution to limited mobility in unstructured terrains, specifically aimed at USAR. In this work the conceptualization, mechatronic development, controls, implementation and testing of the system are given. The R2TM3 employs a mobile modular system in which each module is highly functional: self mobile and capable of manipulation with a five degree of freedom (5-DOF) serial manipulator. The manipulator configuration, the docking system and cooperative strategy between the manipulators and track drives enable a system that can perform severe obstacle climbing and also remain highly manoeuvrable. By utilizing modularity, the system may emulate that of a larger robot when the modules are docking to climb obstacles, but may also get into smaller confined spaces by using single robot modules. The use of the 5-DOF manipulator as the docking device allows for module docking that can cope with severe misalignments and offsets – a critical first step in cooperative obstacle management in rough terrain. The system’s concept rationale is outlined, which has been formulated based on a literature review of mobility enhanced systems. Based on the concept, the realization of a low cost prototype is described in detail. Single robot and cooperative robot control methods are given and implemented. Finally, a variety of experiments are conducted with the concept prototype which shows that the intended performance of the concept has been met: mobility enhancement and manoeuvrability.

This work lays out the development of a reconfigurable electronic system, which is composed of biologically relevant circuits. This system has been termed a Field-Programmable Neuron Array (FPNA) and is analogous to the more familiar Field-Programmable Gate Array (FPGA) and Field-Programmable Analog Array (FPAA). At the core of the system is an array of output somas based on previously developed bio-physically based channel models. Linking them together is a complex 2D dendrite matrix, FPAA-like floating-gate routing, and associated support circuitry. Several levels of generality give this system unprecedented re-configurability. The dendrite matrix can be arbitrarily configured so that many different topologies of dendrites can be investigated. Different soma circuits can be connected / disconnected to / from the dendrite matrix. Outputs from the somas can be arbitrarily routed to input synapses that exist at each dendrite node as well as the soma nodes. Lastly, the dynamics of each node consist of a mixture of individually tunable parts and global biases. All of this can be configured in concert to investigate neural circuits that exist in biological systems. This chip will have a significant impact on research in many fields including neuroscience, neuromorphic engineering, and robotics. This chip will allow for rapid prototyping of spinal circuits. Since the fundamental circuits of the system are chosen to be biologically relevant, outputs from the various nodes should also be relevant, thus yielding itself to use by neuroscientists. This system also provides a tool by where biological systems can be emulated in real-world electronic systems. Solutions to many problems faced by roboticists (such as bi-pedal standing / walking / running / jumping / climbing and the transitions between states) are present in biology. By providing a chip that can duplicate the same neural circuits that are responsible for these processes in the biology, the hypothesis is that researchers can begin to solve some of the same types of problems in artificial systems.

This thesis discusses the investigation and development of design methodologies for the creation of multifunctional band-pass filters capable of tuning to different frequency bands as well as varying their fractional bandwidth. This research also studies polynomial synthesis procedures as a tool for the derivation of reconfigurable planar filters with advanced asymmetrical responses. The work presented here relates to the evolving multifunction philosophy of RF systems. This analysis presents a comprehensive study of microwave resonators, which generate reliable and scalable filter topologies with tunable properties. The study includes the analysis of single, dual and triple-mode filters together with an investigation of the coupling behavior of synchronously and asynchronously tuned resonators. This study identified the main properties responsible for frequency and bandwidth control in a filter, and consequently systematically created innovative design techniques. The research also deals with the development of synthesis procedures for filters with advanced asymmetrical responses. The main goal of this effort is the creation of planar reconfigurable filters with arbitrary assigned transmission zeros. These advanced realizations requite meeting complex design specifications of advanced systems in both commercial and military applications. This work involves an in-depth investigation of polynomial synthesis methods for filters with crossed-coupled resonators and fully canonical form realizations using topologies with source and load coupling.

Problems of some regularities in strings, such as repetition, period, seed, square, etc., have been studied extensively recently. Many algorithms have been proposed to solve these problems in O(1) time complexity on an n imes n reconfigurable bus model, where $n$ is the length of the given string. In this paper, we concentrate to solve problems of another form of regularity, the string superprimitivity test problem and the LCS (longest common subsequence) problem in strings on the reconfigurable bus model. And we propose a O(log n) time parallel algorithm to solve the string superprimitivity test problem. We also review some algorithms for the LCS problem. Further research is also given in this paper.

Limited mobility of mobile ground robots in highly unstructured environments is a problem that inhibits the use of such robots in applications with irregular terrain. Furthermore, applications with hazardous environments are good candidates for the use of robotics to reduce the risk of harm to people. Urban search and rescue (USAR) is an application where the environment is irregular, highly unstructured and hazardous to rescuers and survivors. Consequently, it is of interest to effectively use ground robots in applications such as USAR, by employing mobility enhancement techniques, which stem from the robot’s mechanical design. In this case, a robot may go over an obstacle rather than around it. In this thesis the Reconfigurable Robot Team of Mobile Modules with Manipulators (R2TM3) is proposed as a solution to limited mobility in unstructured terrains, specifically aimed at USAR. In this work the conceptualization, mechatronic development, controls, implementation and testing of the system are given. The R2TM3 employs a mobile modular system in which each module is highly functional: self mobile and capable of manipulation with a five degree of freedom (5-DOF) serial manipulator. The manipulator configuration, the docking system and cooperative strategy between the manipulators and track drives enable a system that can perform severe obstacle climbing and also remain highly manoeuvrable. By utilizing modularity, the system may emulate that of a larger robot when the modules are docking to climb obstacles, but may also get into smaller confined spaces by using single robot modules. The use of the 5-DOF manipulator as the docking device allows for module docking that can cope with severe misalignments and offsets – a critical first step in cooperative obstacle management in rough terrain. The system’s concept rationale is outlined, which has been formulated based on a literature review of mobility enhanced systems. Based on the concept, the realization of a low cost prototype is described in detail. Single robot and cooperative robot control methods are given and implemented. Finally, a variety of experiments are conducted with the concept prototype which shows that the intended performance of the concept has been met: mobility enhancement and manoeuvrability.

Real-time image processing requires not only sophisticated heuristic algorithms customized for a particular application, but also needs substantial computational power to handle a massive quantity of input image data. Reconfigurable System-on- Chip (rSoC), a powerful method to harness the power of FPGA technology, is well suited to real-time image processing. It balances the design cost and performance via a combination of hardware and software. However, hardware/software co-design requires specialized design skills, and designs are complex. This thesis investigates how best to use FPGA-based reconfigurable computing to provide efficient speed-up of real-time image processing algorithms. Existing rSoC systems, face detection and recognition algorithms, hardware/software co-design methods are first reviewed and analyzed. The advantages and disadvantages of existing research results are also presented. However, these existing approaches all have shortcomings. A new rSoC system without a separate host machine is presented for standalone embedded platforms. A new hardware/software co-design method including hardware/software communication and partitioning is also explained. This rSoC system is a highly modular system, it runs without a host machine and it supports the Linux operating systems. Hardware and software designs can be rapidly implemented on this new platform. A new method for hardware/software communication in rSoC design is presented, which is based on shared memory and semaphores, and makes hardware coprocessors appear like software processes. Individual processes in hardware-software systems can communicate without knowing whether other co-operating processes are hardware or software. This approach enables re-useable hardware components to be readily accessed by designers, without specialist hardware knowledge. Processes also can be easily swapped between hardware and software. The partitioning method handles the software/hardware partition iteratively during the implementation. The partition is based on experimental profiling, so it is easier to realize and may achieve a more optimal result than a fixed a priori partition. An example face recognition system has been implemented to test the new design method. It is a four-stage pipeline architecture which contains image capture, face detection, image enhancement, and face recognition. Firstly, a software-only solution using semaphores and shared memory method is implemented on a Linux PC. Results of 5.5 frames per second indicate that the speed may not be fast enough for real-time image processing. Secondly, that software-only solution is moved to the new rSoC platform. The performance of 0.1 frames per second is worse than PC platform since the PC’s CPU is much more powerful than the rSoC’s. Finally the new design method is used to move some bottleneck modules to hardware. The new hardware/software communication method is used, so software modules remain unchanged and unaware of the movement of other modules to hardware. Results show that moving only one module to hardware was not helpful. However when both the bottleneck modules were moved to hardware, the system speedup was approximately 200 with a final system speed of 19 frames per second.

Many complex natural and man made systems are inherently concurrent in nature, consisting of many autonomous parts that interact with each other. Cellular automata allow the concurrency and interactions of these complex systems to be modelled. Using a reconfigurable a computing platform for running cellular automata models allows the natural concurrency of digital electronics to be directly exploited by the system being modelled. This thesis investigates methods and philosophies for developing cellular automata models on a reconfigurable computing platform, the SPACE machine. Modelling and verification techniques are developed using a process algebra, Circal. These techniques allow the desired behaviour of a system to be specified and simulated. The model is then translated into a digital design, which can be verified as correct against the behavioural model using the Circal system. Three cellular automata system are used to develop the methods and philosophies. The Game of Life is used to investigate how to model and implement CA on the SPACE machine. The Philosophies and techniques that are developed for the Game of Life are used in the following systems. More complex cellular automata models of road traffic are used to further develop the modelling techniques developed in the Game a Life. A user interface, which was created for viewing the outputs from the Game a Life, is extended to allow cellular automata cells to be dynamically placed and moved about on the computing surface, allowing the user to observe and modify experiment in real time. A cellular automata based cryptography system is then used to further enhance the techniques developed, and particularly to explore the area of producing dynamically reconfigured circuits as the inputs to the system change. The thesis concludes that there are many real life complex systems, such as road traffic simulation and cryptography, which require high performs systems to run on. The methods and philosophies developed in this thesis allow CA systems to be modelled using process algebra and run directly in digital hardware, allowing the natural concurrency of the hardware to be fully exploited.