Autonomic computing holds great promise for software systems of the future, but at the same time poses great challenges for Software Engineering. Autonomic computing research aims to design software systems that self-configure, self-repair, self-optimize and self-protect, so as to reduce software maintenance cost while improving performance. The aim of our research is to develop tool-supported methodologies for designing and operating autonomic systems. Like other researchers in this area, we assume that autonomic system architectures consist of monitoring, analysis/diagnosis, planning, and execution components that define a feedback loop and serve as the basis for system self-management. This thesis proposes an autonomic framework founded on models of requirements and design. This framework defines the normal operation of a software system in terms of models of its requirements (goal models) and/or operation (statechart models). These models determine what to monitor and how to interpret log data in order to diagnose failures. The monitoring component collects and manages log data. The diagnostic component analyzes log data, identifies failures, and pinpoints problematic components. We transform the diagnostic problem into a propositional satisfiability (SAT) problem solvable by off-the-shelf SAT solvers. Log data are preprocessed into a compact propositional encoding that scales well with growing problem size. For repair, our compensation component executes compensation actions to restore the system to an earlier consistent state. The framework repairs failures through reconfiguration when monitoring and diagnosis use requirements. The reconfiguration component selects a best system reconfiguration that contributes most positively to the system's non-functional requirements. It selects a reconfiguration that achieves this while reconfiguring the system minimally. The framework does not currently offer a repair mechanism when monitoring and diagnosis use statecharts. We illustrate our framework with two medium-sized, publicly-available case studies. We evaluate the framework's performance through a series of experiments on randomly generated and progressively larger specifications. The results demonstrate that our approach scales well with problem size, and can be applied to industrial sized software applications.

Autonomic computing holds great promise for software systems of the future, but at the same time poses great challenges for Software Engineering. Autonomic computing research aims to design software systems that self-configure, self-repair, self-optimize and self-protect, so as to reduce software maintenance cost while improving performance. The aim of our research is to develop tool-supported methodologies for designing and operating autonomic systems. Like other researchers in this area, we assume that autonomic system architectures consist of monitoring, analysis/diagnosis, planning, and execution components that define a feedback loop and serve as the basis for system self-management. This thesis proposes an autonomic framework founded on models of requirements and design. This framework defines the normal operation of a software system in terms of models of its requirements (goal models) and/or operation (statechart models). These models determine what to monitor and how to interpret log data in order to diagnose failures. The monitoring component collects and manages log data. The diagnostic component analyzes log data, identifies failures, and pinpoints problematic components. We transform the diagnostic problem into a propositional satisfiability (SAT) problem solvable by off-the-shelf SAT solvers. Log data are preprocessed into a compact propositional encoding that scales well with growing problem size. For repair, our compensation component executes compensation actions to restore the system to an earlier consistent state. The framework repairs failures through reconfiguration when monitoring and diagnosis use requirements. The reconfiguration component selects a best system reconfiguration that contributes most positively to the system's non-functional requirements. It selects a reconfiguration that achieves this while reconfiguring the system minimally. The framework does not currently offer a repair mechanism when monitoring and diagnosis use statecharts. We illustrate our framework with two medium-sized, publicly-available case studies. We evaluate the framework's performance through a series of experiments on randomly generated and progressively larger specifications. The results demonstrate that our approach scales well with problem size, and can be applied to industrial sized software applications.

This dissertation describes the design, analysis, planning, and control of a self-reconfigurable modular robotic system. The proposed robotic system mainly contains three major types of robotic modules: load carrier, manipulation module, and locomotion module. Each module is capable of navigation and interaction with the environment individually. In addition, the robotic system is proposed to reassemble autonomously into various configurations to perform complex tasks such as humanoid configuration to enable enhanced functionality to reconfigure into a configuration that would enable the system to cross over a ditch. A non-back drivable active docking mechanism with two Degrees of Freedom (DOFs) was designed to fit into the tracked units of the robot modules for achieveing the reconfiguration. The quantity and location of the docking mechanisms are customizable and selectable to satisfy various mission requirements and adapt to different environments. During the reconfiguration process, the target coupling mechanism of each module reconfigurable with each other autonomously. A Lyapunov function-based precision controller was developed to align the target docking mechanisms in a close range and high precision for assembling the robot modules autonomously into other configurations. Additionally, an trajectory optimization algorithm was developed to help the robot determine when to switch the locomotion modes and find the fastest path to the destination with the desired pose. / Doctor of Philosophy / Though the capabilities of individual robot platforms have advanced greatly from their original rigid construction to more modern reconfigurable platforms, it is still difficult to build a singular platform capable of adapting to all situations and environments that users may want or need it to function in. To help improve the versatility of robot systems, modular robots have become an active area of research. These modular robotic systems are made up of multiple robotic platforms capable of docking together, breaking apart, or otherwise reconfiguring to form a multitude of shapes to overcome and adapt to many diverse challenges and environments. This dissertation describes the design of a new modular robotic system with autonomous docking and reconfiguration. Existing technologies and motivations for the creation of a new modular robotic system are covered. Then the physical design, with a primary focus on the docking mechanism, is reviewed. A validation of the proposed robotic system in a virtual environment with real physical properties is demonstrated. Following this, the development of a Lyapunov function-based controller to autonomously align the docking mechanisms is presented. The overall docking process was also preliminarily verified using a prototype of a locomotion module and an active docking mechanism. In addition, the trajectory optimization and tracking methods are presented in the end.

This work discusses <i>autonomous computing systems</i>, as implemented in hardware, and the properties required for such systems to function. Particular attention is placed on shifting the associated complexity into the systems themselves, and making them responsible for their own resources and operation. The resulting systems present simpler interfaces to their environments, and are able to respond to changes within themselves or their environments with little or no outside intervention. This work proposes a roadmap for the development of autonomous computing systems, and shows that their individual components can be implemented with present day technology. This work further implements a proof-of-concept demonstration system that advances the state-of-the-art. The system detects activity on connected inputs, and responds to the conditions without external assistance. It works from mapped netlists, that it dynamically parses, places, routes, configures, connects, and implements within itself, at the finest granularity available, while continuing to run. The system also models itself and its resource usage, and keeps that model synchronized with the changes that it undergoes—a critical requirement for autonomous systems. Furthermore, because the system assumes responsibility for its resources, it is able to dynamically avoid resources that have been masked out, in a manner suitable for defect tolerance. / Ph. D.

Self-reconfigurable robotic systems are variable-morphology machines capable of changing their overall structure by rearranging the modules they are composed of. Individual modules are capable of connecting and disconnecting to and from one another, which allows the robot to adapt to changing environments. Optimally reconfiguring such systems is computationally prohibitive and thus in general self-reconfiguration approaches aim at approximating optimal solutions. Nonetheless, even for approximate solutions, centralized methods scale poorly in the number of modules. Therefore, the objective of this research is the development of decentralized self-reconfiguration methods for modular robotic systems. Building on completeness results of the centralized algorithms in this work, decentralized methods are developed that guarantee stochastic convergence to a given target shape. A game-theoretic approach lays the theoretical foundation of a novel potential game-based formulation of the self-reconfiguration problem. Furthermore, two extensions to the basic game-theoretic algorithm are proposed that enable agents to modify the algorithms' parameters during runtime and improve convergence times. The flexibility in the choice of utility functions together with runtime adaptability makes the presented approach and the underlying theory suitable for a range of problems that rely on decentralized local control to guarantee global, emerging properties. The experimental evaluation of the presented algorithms relies on a newly developed multi-robotic testbed called the "Robotarium" that is equipped with custom-designed miniature robots, the "GRITSBots". The Robotarium provides hardware validation of self-reconfiguration on robots but more importantly introduces a novel paradigm for remote accessibility of multi-agent testbeds with the goal of lowering the barrier to entrance into the field of multi-robot research and education.

Field-programmable gate arrays (FPGAs) are excellent devices for high-performance computing, system-on-chip realization, and rapid system prototyping. While FPGAs offer flexibility and performance, they continue to lag behind application specific integrated circuit (ASIC) performance and power consumption. As manufacturing technology improves and IC feature size decreases, FPGAs may further lag behind ASICs due to interconnection scalability issues. To improve FPGA scalability, this thesis proposes an architectural enhancement to improve global communications in large FPGAs, where chip-length programmable interconnects are slow. It is expected that this architectural enhancement, based on wire emulation techniques, can reduce chip-length communication latency and routing congestion. A prototype wire emulation system that uses FPGA self-reconfiguration as a non-traditional means of intra-FPGA communication is implemented and verified on a Xilinx Virtex-II XC2V1000 FPGA. Wire emulation benefits and impact to FPGA architecture are examined with quantitative and qualitative analysis. / Master of Science

The objective of this thesis is to develop a method for the reconfiguration of three-dimensional modular robots. A modular robot is composed of simple individual building blocks or modules. Each of these modules needs to be controlled and actuated individually in order to make the robot perform useful tasks. The presented method allows us to reconfigure arbitrary initial configurations of modules into any pre-specified target configuration by using graph grammar rules that rely on local information only. Local in a sense that each module needs just information from neighboring modules in order to decide its next reconfiguration step. The advantage of this approach is that the modules do not need global knowledge about the whole configuration. We propose a two stage reconfiguration process composed of a centralized planning stage and a decentralized, rule-based reconfiguration stage. In the first stage, paths are planned for each module and then rewritten into a ruleset, also called a graph grammar. Global knowledge about the configuration is available to the planner. In stage two, these rules are applied in a decentralized fashion by each node individually and with local knowledge only. Each module can check the ruleset for applicable rules in parallel. This approach has been implemented in Matlab and currently, we are able to generate rulesets for arbitrary homogeneous input configurations.

Video coding is widely used in our daily life. Due to its high computational complexity, hardware implementation is usually preferred. In this research, we investigate both ASIC hardware design approach and reconfigurable hardware design approach for video coding applications. First, we present a unified architecture that can perform Discrete Cosine Transform (DCT), Inverse Discrete Cosine Transform (IDCT), DCT domain motion estimation and compensation (DCT-ME/MC). Our proposed architecture is a Wavefront Array-based Processor with a highly modular structure consisting of 8*8 Processing Elements (PEs). By utilizing statistical properties and arithmetic operations, it can be used as a high performance hardware accelerator for video transcoding applications. We show how different core algorithms can be mapped onto the same hardware fabric and can be executed through the pre-defined PEs. In addition to the simplified design process of the proposed architecture and savings of the hardware resources, we also demonstrate that high throughput rate can be achieved for IDCT and DCT-MC by fully utilizing the sparseness property of DCT coefficient matrix. Compared to fixed hardware architecture using ASIC design approach, reconfigurable hardware design approach has higher flexibility, lower cost, and faster time-to-market. We propose a self-reconfigurable platform which can reconfigure the architecture of DCT computations during run-time using dynamic partial reconfiguration. The scalable architecture for DCT computations can compute different number of DCT coefficients in the zig-zag scan order to adapt to different requirements, such as power consumption, hardware resource, and performance. We propose a configuration manager which is implemented in the embedded processor in order to adaptively control the reconfiguration of scalable DCT architecture during run-time. In addition, we use LZSS algorithm for compression of the partial bitstreams and on-chip BlockRAM as a cache to reduce latency overhead for loading the partial bitstreams from the off-chip memory for run-time reconfiguration. A hardware module is designed for parallel reconfiguration of the partial bitstreams. The experimental results show that our approach can reduce the external memory accesses by 69% and can achieve 400 MBytes/s reconfiguration rate. Detailed trade-offs of power, throughput, and quality are investigated, and used as a criterion for self-reconfiguration. Prediction algorithm of zero quantized DCT (ZQDCT) to control the run-time reconfiguration of the proposed scalable architecture has been used, and 12 different modes of DCT computations including zonal coding, multi-block processing, and parallel-sequential stage modes are supported to reduce power consumptions, required hardware resources, and computation time with a small quality degradation. Detailed trade-offs of power, throughput, and quality are investigated, and used as a criterion for self-reconfiguration to meet the requirements set by the users.

Les récentes avancées technologiques en particulier dans le domaine de la miniaturisation de dispositifs robotiques laissent présager l'émergence de grands ensembles distribués de petits robots qui coopéreront en vue d'accomplir des tâches complexes (e.g., robotique modulaire, robots en essaims, microsystèmes électromécaniques distribués). Ces grands ensembles seront composés d'entités indépendantes, intelligentes et communicantes qui agiront comme un ensemble à part entière. Pour cela, elles s'auto-organiseront et collaboreront en vue d'accomplir des tâches complexes. Ces systèmes présenteront les avantages d'être plus polyvalents et plus robustes que les systèmes robotiques conventionnels tout en affichant un prix réduit. Ces ensembles formeront des systèmes distribués complexes dans lequel chaque entité sera un système embarqué à part entière avec ses propres capacités et ressources toute fois limitées. Coordonner de tels systèmes posent des défis majeurs et ouvrent de nouvelles opportunités dans l'algorithmique distribuée. Je défends la thèse qu'il faut d'ores et déjà identifier et implémenter des algorithmes distribués servant de primitives de base à la coordination de ces ensembles. Dans ce travail, nous nous focalisons sur une classe particulière de robots, à savoir les robots modulaires distribués formant de grands ensembles de modules fortement contraints en ressources (mémoire, calculs, etc.), placés dans une grille régulière et capables de communiquer entre voisins connexes uniquement. J'ai identifié et implémente trois primitives servant à la coordination de ces systèmes, à savoir l'élection d'un nœud central au réseau, la synchronisation temporelle ainsi que l'auto-reconfiguration. Dans ce manuscrit, je propose un ensemble d'algorithmes distribués réalisant ces primitives. J'ai évalué mes algorithmes en utilisant des expériences sur des modules matériels et en simulation sur des systèmes, composés de quelques dizaines à plus d'une dizaine de milliers de modules. Ces expériences montrent que nos algorithmes passent à l'échelle et sont adaptés aux grands ensembles distribués de systèmes embarqués avec des ressources fortement limités à la fois en mémoire et en calcul. / Technological advances especially in the miniaturization of robotic devices foreshadow the emergence of large-scale ensembles of small-size resource-constrained robots that distributively cooperate to achieve complex tasks (e.g., modular self-reconfigurable robots, swarm robotic systems, distributed microelectromechanical systems, etc.). These ensembles are formed from independent, intelligent and communicating units which act as a whole ensemble. These units cooperatively self-organize themselves to achieve common goals. These systems are tought to be more versatile and more robust than conventional robotic systems while having at the same time a lower cost.These ensembles form complex asynchronous distributed systems in which every unit is an embedded system with its own but limited capabilities. Coordination of such large-scale distributed embedded systems poses significant algorithmic issues and open for new opportunities in distributed algorithms. In my thesis, I defend the idea that distributed algorithmic primitives suitable for the coordination of these ensembles should be both identified and designed.In this work, we focus on a specific class of modular robotics systems, namely large-scale distributed modular robotic ensembles composed of resource-constrained modules that are organized in a lattice structure and which can only communicate with neighboring modules. We identified and implemented three building blocks, namely centrality-based leader election, time synchronization and self-reconfiguration.We propose a collection of distributed algorithms to realize these primitives. We evaluate them using both hardware experiments and simulations on systems ranging from a dozen of modules to more than a dozen of thousands of modules. We show that our algorithms scale well and are suitable for large-scale embedded distributed systems with scarce memory and computing resources.

Nous avons étudié durant cette thèse les moyens de rendre le déploiement d'un intergiciel auto-adaptatif. Le type d'intergiciel que nous avons considéré ici est hiérarchique (structure de graphe) et distribué. Chaque sommet du graphe modélise un processus qui peut être déployé sur une machine physique ou virtuelle d'une infrastructure de type grille/cloud, les arêtes modélisent des liens de communications entre processus. Il offre aux clients des services de calcul haute performance. Les infrastructures de grilles/cloud étant élastiques (perte et ajout de nœuds), un déploiement statique n'est pas la solution idéale car en cas de panne on risque de tout reprendre à zéro, ce qui est coûteux. Nous avons donc proposé un algorithme auto-stabilisant pour que l'intergiciel puisse retrouver un état stable sans intervention extérieure, au bout d'un temps fini, lorsqu'il est confronté à certains types de pannes. Les types de pannes que nous avons considérés sont les pannes transitoires (simulé par la perte de nœuds, l'ajout de nouveaux nœuds, la perte de liens entre deux nœuds). Pour évaluer ces algorithmes, nous avons conçu un simulateur. Les résultats des simulations montrent qu'un déploiement, sujet à des pannes transitoires, s'auto-adapte. Avant d'en arriver à la phase de programmation du simulateur, nous avons d'abord proposé un modèle d'infrastructure distribuée (ce modèle permet de décrire des environnements de type grille/cloud), un modèle pour décrire certains types d'intergiciels hiérarchiques et enfin un modèle pouvant décrire un intergiciel en cours d'exécution (processus déployés sur les machines). / We have studied the means to make a middleware deployment self-adaptive. Our use case middleware is hierarchical and distributed and can be modeled by a graph. A vertex models a process and an edge models a communication link between two processes. The middleware provides high performance computing services to the users.Once the middleware is deployed on a computing infrastructure like a grid or cloud, how it adapt the changes in dynamic environment? If the deployment is static, it may be necessary to redo all the deployment process, which is a costly operation. A better solution would be to make the deployment self-adaptive. We have proposed a rules-based self-stabilizing algorithm to manage a faulty deployment. Thus, after the detection of an unstable deployment, caused by some transients faults (joining of new nodes or deletion of existing nodes which may modify the deployment topology), the system will eventually recover a stable state, without external help, but only by executing the algorithm.We have designed an ad hoc discrete events simulator to evaluate the proposed algorithm. The simulation results show that, a deployment, subjected to transients faults which make it unstable, adapts itself. Before the simulator design, we had proposed a model to describe a distributed infrastructure, a model to describe hierarchical middleware and a model to describe a deployment, that is the mapping between the middleware processes and the hardware on which they are running on.