As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility. Toward these ends the Control ad libitum philosophy is proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms. A control system for exploration and mapping, search and deploy, and foraging was developed to evaluate the architecture in three sets of hardware-in-the-loop experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: a) dynamically form the control system, b) dynamically form the robot team, c) dynamically form the processing network, and d) handle heterogeneous teams. Secondly, the real-time performance of the distributed algorithms was tested, and proved effective for the moderate sized systems tested. Furthermore, the distributed Just-in-time Cooperative Simultaneous Localization and Mapping (JC-SLAM) algorithm demonstrated accuracy equal to or better than traditional approaches in resource starved scenarios, while reducing exploration time significantly. The JC-SLAM strategies are also suitable for integration into many existing particle filter SLAM approaches, complementing their unique optimizations. Thirdly, the control system was subjected to concurrent software and hardware failures in a series of increasingly complex experiments. Even with unrealistically high rates of failure the control system was able to successfully complete its tasks. The HAA implementation designed following the Control ad libitum philosophy proved to be capable of dynamic team formation and extremely robust against both hardware and software failure; and, due to the modularity of the system there is significant potential for reuse of assets and future extensibility. One future goal is to make the source code publically available and establish a forum for the development and exchange of new agents.

As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility. Toward these ends the Control ad libitum philosophy is proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms. A control system for exploration and mapping, search and deploy, and foraging was developed to evaluate the architecture in three sets of hardware-in-the-loop experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: a) dynamically form the control system, b) dynamically form the robot team, c) dynamically form the processing network, and d) handle heterogeneous teams. Secondly, the real-time performance of the distributed algorithms was tested, and proved effective for the moderate sized systems tested. Furthermore, the distributed Just-in-time Cooperative Simultaneous Localization and Mapping (JC-SLAM) algorithm demonstrated accuracy equal to or better than traditional approaches in resource starved scenarios, while reducing exploration time significantly. The JC-SLAM strategies are also suitable for integration into many existing particle filter SLAM approaches, complementing their unique optimizations. Thirdly, the control system was subjected to concurrent software and hardware failures in a series of increasingly complex experiments. Even with unrealistically high rates of failure the control system was able to successfully complete its tasks. The HAA implementation designed following the Control ad libitum philosophy proved to be capable of dynamic team formation and extremely robust against both hardware and software failure; and, due to the modularity of the system there is significant potential for reuse of assets and future extensibility. One future goal is to make the source code publically available and establish a forum for the development and exchange of new agents.

This thesis presents the development and validation of a novel interface modelling methodology integrated with a system architectural analysis framework that emphasises the need to manage the integrity of deriving and allocating requirements across multiple levels of abstraction in a structured manner. The state of the art review in this research shows that there is no shared or complete interface definition model that could integrate diverse interaction viewpoints for defining system requirements with complete information. Furthermore, while existing system modelling approaches define system architecture with functions and their allocation to subsystems to meet system requirements, they do not robustly address the importance of considering well-defined interfaces in an integrated manner at each level of systems hierarchy. This results in decomposition and integration issues across the multiple levels of systems hierarchy. Therefore, this thesis develops and validates following: -Interface Analysis Template as a systematic tool that integrates diverse interaction viewpoints for modelling system interfaces with intensive information for deriving requirements. -Coupling Matrix as an architecture analysis framework that not only allocates functions to subsystems to meet requirements but also promotes consistent consideration of well-defined interfaces at each level of design hierarchy. Insights from the validation of developed approach with engineering case studies within an automotive OEM are discussed, reflecting on the effectiveness, efficiency and usability of the methods.

From the earliest days of mass production in the automotive industry there has been a progressive move towards the use of flexible manufacturing systems that cater for product variants that meet market demands. In recent years this market has become more demanding with pressures from legislation, globalisation and increased customer expectations. This has lead to the current trends of mass customisation in production. In order to support this manufacturing systems are not only becoming more flexible† to cope with the increased product variants, but also more agile‡ such that they may respond more rapidly to market changes. Modularisation§ is widely used to increase the agility of automation systems, such that they may be more readily reconfigured¶. Also with globalisation into India and Asia semi-automatic machines (machines that interact with human operators) are more frequently used to reduce capital outlay and increase flexibility. There is an increasing need for tools and methodologies that support this in order to improve design robustness, reduce design time and gain a competitive edge in the market. The research presented in this thesis is built upon the work from COMPAG/COMPANION (COMponent- based Paradigm for AGile automation, and COmmon Model for PArtNers in automatION), and as part of the BDA (Business Driven Automation), SOCRADES (Service Oriented Cross-layer infrastructure for Distributed smart Embedded deviceS), and IMC-AESOP (ArchitecturE for Service- Oriented Process – monitoring and control) projects conducted at Loughborough University UK. This research details the design and implementation of a toolkit for building and simulating automation systems comprising components with behaviour described using Finite State Machines (FSM). The research focus is the development of the engineering toolkit that can support the automation system lifecycle from initial design through commissioning to maintenance and reconfiguration as well as the integration of a virtual human. This is achieved using a novel data structure that supports component definitions for control, simulation, maintenance and the novel integration of a virtual human into the automation system operation.

Current manufacturing automation systems (specifically the powertrain sector) have been facing challenges with constant pressures of globalisation, environmental concerns and ICT (Information and Communication Technology) innovations. These challenges instigate new demands for shorter product lifecycles and require customised products to be manufactured as efficiently as possible. Manufacturing systems must therefore be agile to remain competitive by supporting frequent reconfigurations involving distributed engineering activities.

Today, conventional substation protection and control systems are of a widely distributed character. One substation can easily have as many as 50 data processing points that all perform similar algorithms on voltage and current data. There is also only limited communication between protection devices, and each device is only aware of the bay in which it is installed. With the intent of implementing a substation protection system that is simpler, more efficient and better suited for future challenges, Ellevio AB implemented a centralized system in a primary substation in 2015. It is comprised of five components that each handle one type of duty: Data processing, communication, voltage measurements, current measurements and breaker control. Since its implementation, the centralized system has been in parallel operation with the conventional, meaning that it performs station wide data acquisition, processing and communication, but is unable to trip the station breakers. The only active functionality of the centralized system is the voltage regulation. This work is an evaluation of the centralized system and studies its protection functionality, voltage regulation, fault response and output signal correlation with the conventional system. It was found that the centralized system required the implementation of a differential protection function and protection of the capacitor banks and busbar coupling to provide protection equivalent to that of the conventional system. The voltage regulation showed unsatisfactory long regulation time lengths, which could have been a result of low time resolution. The fault response and signal correlation were deemed satisfactory.

L’objectif de ce travail de recherche est de proposer une méthode d’aide à l’intégration d’innovations dès la conception préliminaire des systèmes complexes. Cette étape de la conception a en effet de forts impacts sur le reste de cycle de vie du produit. En se focalisant sur l’aide à la génération d’architectures de système complexe, cette méthode utilise un réseau Bayésien combiné à un problème de satisfaction de contraintes (CSP) pour générer et évaluer automatiquement des architectures de systèmes complexes. Le modèle de réseau Bayésien proposé est utilisé pour représenter le problème de conception de l’architecture en termes de variables de décision, de contraintes et de performances. Un algorithme parcourt le graphe ainsi défini afin de générer les solutions d’architecture qui sont considérées comme faisables et qui présentent un niveau de confiance acceptable. Ce niveau de confiance estime l’incertitude associée à chaque architecture générée. Les performances des architectures sont aussi calculées grâce au réseau bayésien. Une fois les architectures générées, un modèle de problème de satisfaction de contraintes permet d’optimiser le placement des composants au vu des contraintes de placement et des objectifs d’optimisation préalablement définis par les concepteurs. Un logiciel a été développé pour faciliter la modélisation du problème et la visualisation des solutions. Deux cas industriels ont permis de tester la méthode et de nombreuses solutions d’architecture ont été générées. Afin de tester la faisabilité de l’étape de sélection d’architectures dans un cadre industriel, un atelier de sélection d’architectures a été organisé afin d’être par la suite analysé. Il a impliqué quatre concepteurs de Thales et portait sur un des cas industriels précédents. Cette dernière étude a souligné des difficultés dans la définition des critères de sélection des architectures et propose des recommandations pour un futur support à la sélection d’architecture système. / The aim of this research work is to propose a method allowing innovation integration in early design stages and supporting architecture design of complex systems that have significant implications for the rest of overall system life-cycle. Focusing on system architectures generation support, this method proposes to use Bayesian networks combined with Constraint Satisfaction Problem (CSP) techniques in order to semi-automatically generate and evaluate complex systems architectures. Bayesian network model is used to represent the design problem in terms of decision variables, constraints and performances. Furthermore, an architecture generation algorithm is proposed to generate feasible solutions and to cluster them with regard to a given confidence level threshold. This confidence level is representing the estimation of the uncertainty on the overall system. Estimation of architecture performances are also calculated within the Bayesian network. Once the system architectures are generated, a CSP model optimises the component placement regarding placement constraints and optimisation objectives defined by designers. Software has been developed for the purpose of problem modelling and solutions visualisation. Two industrial implementations yielded in a generation of a high number of architecture solutions. In order to test the feasibility of architecture selection in an industrial environment, a study was conducted integrating four system designers. This study underlined the difficulties in defining architecture selection criteria and provides recommendations for the future system architecture selection support.

Anomaly detection requires a system that can reliably convert measurements of an object into knowledge about that object. Previously, we have shown that an information-theoretic approach to the design and analysis of such systems provides insight into system performance as it pertains to architectural variations in source fluence, view number/angle, spectral resolution, and spatial resolution.(1) However, this work was based on simulated measurements which, in turn, relied on assumptions made in our simulation models and virtual objects. In this work, we describe our experimental testbed capable of making transmission x-ray measurements. The spatial, spectral, and temporal resolution is sufficient to validate aspects of the simulation-based framework, including the forward models, bag packing techniques, and performance analysis. In our experimental CT system, designed baggage is placed on a rotation stage located between a tungsten-anode source and a spectroscopic detector array. The setup is able to measure a full 360 rotation with 18,000 views, each of which defines a 10 ms exposure of 1,536 detector elements, each with 64 spectral channels. Measurements were made of 1,000 bags that comprise 100 clutter instantiations each with 10 different target materials. Moreover, we develop a systematic way to generate bags representative of our desired clutter and target distributions. This gives the dataset a statistical significance valuable in future investigations.

Development Related Termination of the Root Apical Meristem Activity Abstract Root system architecture is modulated through growth and branching of individual roots, while the growth is strictly regulated via long term apical meristem (RAM) maintenance and cell elongation. RAM activity is not consistent during root on- togeny, which was shown in several dicotyledonous species as change in root meristem structure and decline in root growth rate during individual root development. This thesis is focused on changes in extent and arrangement of meristematic tissues and their derivatives within adventitious roots of Acorus calamus and Oryza sativa during long term cultivation. Changes in meristem and elongation zone length, the root cap length, radial tissue complexity, as well as the changes in root hair emergence, etc., are put into relation with quantified expression level of selected important regulatory elements taking part in RAM maintenance (WOX and SCR family transcription factors). Methodology and approach for future research in this field are outlined. Keywords: Root, Apical Meristem, Root System Architecture, RAM Termination

Abstract Peer-to-Peer (P2P) networking changes the way of people utilizing Internet, for example, sharing and consuming digital content, from the ground up. It continues to show its power and strength when it is combined with other emerging technologies, such as Web Services. This thesis contributes to the research and development of P2P networks from four aspects. Firstly, a P2P and Web Services converged multiple-tier system architecture is proposed. The architecture proposed enables providing Web Services in the context of heterogeneous access networks in an efficient way by utilizing P2P paradigm. A lightweight middleware architecture is introduced to fit the diversified mobile terminals. A theoretical analysis is given to provide a comparative study with the conventional centralized architecture. Secondly, a General Truncated Pyramid Peer-to-Peer (GTPP) architecture is presented to analyze the performance of hierarchical architecture compared with flat architecture. The motivation behind the GTPP architecture is to see whether an added tier can bring with it added value and functionality. A detailed mathematical analysis is provided which takes into consideration various performance metrics, including the lookup hopcount, lookup latency, maintenance traffic from a single peer point of view, and maintenance traffic from the whole system point of view. Furthermore, simulation results with respect to the lookup hopcount are also provided. Through mathematical analysis and simulation results, an optimal value regarding the number of tiers of the GTPP architecture is found, showing that 2~3 tiers are appropriate for most of situations. A specialized model is also proposed to improve the performance of hierarchical architecture. Thirdly, the performance evaluation of a communication-oriented Kademlia-based P2P system is provided in detail. NetHawk EAST-based simulation models and a prototype are both utilized to evaluate the performance. Simulation results from NetHawk EAST-based simulation models demonstrate the optimal design choices regarding the resource lookup parallelism degree and resource replication degree, and show the unnecessary existence of the messages used to detect the liveness of peers in a DHT overlay. Measurements from the prototype show the feasibility of mobile nodes acting as fully fledged overlay nodes from three different perspectives, namely CPU processing load, network traffic load, and battery consumption. The optimal size of packets which consumes battery in the most efficient way is also found through battery consumption measurements. Fourthly, the effects of different churn models on the performance of structured P2P networks are analyzed. Specifically, three typical churn models are analyzed to provide a comparative result. The simulation results show that the difference among the effects of different churn models on the performance of structured P2P networks is quantitative rather than qualitative. This provides some guidance for the selection of different churn models for the contemporary researchers.