Due to the limited access to the individual embedded cores in System-on-Chips (SoCs), testing is more time consuming and costly than testing standalone Field Programmable Gate Arrays (FPGAs). However, the ability for an embedded processor core to reconfigure FPGA cores in SoC applications opens new opportunities for Built-In Self-Test (BIST) of the FPGA cores themselves. This paper discusses a ...

This paper concerns open-loop control laws for reconfiguration of tensegrity towers. By postulating the control strategy as an equilibrium tracking control, very little control energy is required. Several different reconfiguration scenarios are possible for different string connectivity schemes. This includes unit radius control, twist angle control and truncation parameter control. All these c...

This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots (RB) metamodules. We explore how reconfiguration by locomotion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules—two Roombots modules connected seriall...

For years, transactional protocols have been defined for particular application needs. Traditionally, when implementing a transaction service, a protocol is chosen and remains the same during the system execution. Nevertheless, the dynamic nature of nowadays application contexts (e.g., mobile, ad-hoc, peer-to-peer) and context variations (semantics-related aspects) motivates the need for transa...

The M-TRAN is a modular robot capable of both three-dimensional self-reconfiguration and whole body locomotion. Introducing regularity in allowed structures reduced difficulties of its reconfiguration problems. Several locomotion patterns in various structures were designed systematically using a CPG controller model and GA optimization. Then they were verified by experimentation. Results showe...