Self-reconfigurable robots are composed of many individual modules that can autonomously move to transform the shape and structure of the robot. The task of selfreconfiguration, transforming a set of modules from one arrangement to another specified arrangement, is a key problem for these robots and has been heavily studied. However, consideration of this problem has typically been limited to k...

The use of embedded technology has become widespread. Many complex engineered systems comprise embedded features to perform self-diagnosis or self-reconfiguration. These features require fast response times in order to be useful in domains where embedded systems are typically deployed. Researchers often advocate the use of compilation-based approaches to store the set of environments (resp. sol...

Using optical technology for the design of packet switches/routers offers several advantages such as scalability, high bandwidth, power consumption, and cost. However, reconfiguring the optical fabric of these switches requires significant time under current technology (microelectromechanical system mirrors, tunable elements, bubble switches, etc.). As a result, conventional slot-by-slot schedu...

AbstructOuter solar system exploration and missions to comets and planets with severe environmental conditions require long-term survivability of space systems. This challenge has recently been approached with new ideas, such as using mechanisms for hardware adaptation inspired from biology. The application f evolution-inspired formalisms to hardware design and self-configuration lead to the ...

in this research optimal reconfiguration strategy of the improved srr reconfigurable mobile robot based on force-angle stability measure has been designed using genetic algorithm. path tracking nonlinear controller which keeps robot’s maximum stability has been designed and simulated in matlab. motion equations of the robot have been derived in parametric form by means of newton- euler, lagrang...

A self-assembling and self-repairing mechanical system is experimentally studied to demonstrate its effectiveness. We developed a 2-D model of autonomous mechanical unit capable of dynamic reconfiguration and inter-unit communication. Self-assembly and self-repair experiments have been carried out using a distributed algorithm developed under the constraints of the system’s homogeneity and loca...

In recent years, software increasingly exhibits self-* properties like selfoptimization or self-healing. Such properties require reconfiguration at runtime in order to react to changing environments or detected defects. A reconfiguration might add or delete components as well as it might change the communication topology of the system. Considering communication protocols between an arbitrary nu...

In this pap(_r, the notion of normaliz(_t no_L_p_._'ifici .ty is iiltro(hu'_l. The n(tilSl)t_'ifi('ity measures tfi(! unt'(!rtainty of the _._timatt_l t)arametcrs that r(,fl(u't iinpairmcnt in a controlled system. Basted on this notion, a quantity called a r(_:onfig_tratian cov(,rage is cah'ulat(_k It repr(_ents the likelihood ,,f suc(:es.s of a control re¢onfigaration action. This coverage lin...

We present a runtime solution to self-configuration of systems that are subject to hard realtime constraints. The presented approach builds on an admission control scheme, that verifies the implications of a configuration change on system timing, prior to the actual reconfiguration process. Based on this verification process, the self-configuration finds feasible priority assignments for otherw...