Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconf...

Self-reconfigurable vehicles are able to transform into new formations on the basis of mutual communication and positioning so as adapt a environment tasks. Compared with fixed-formation vehicles, reconfigurable feature multifunction high reliability. First, modular vehicle Mecanum wheel is designed, motion control method derived through establishment analysis its kinematics model. Afterwards, ...

Autonomic computing concerns the design and development of software systems with self-maintenance capabilities and behaviors that conform to high-level policies. Self-reconfiguration is a key feature of an autonomic system. It enables selftransition from the current configuration, which may have failed or be under-performing, to a new configuration that better addresses system goals. In this pa...

In this paper, we present a reconfiguration algorithm for shape-shifting modular robots with triangular structure. The is derived from novel description of the configuration space based on extended binary trees. Extended trees representing same are grouped into equivalence classes, which allows one-to-one correspondence between and its mathematical representation. Reconfiguration then accomplis...

This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The proposed approach consists in tuning the observer parameters in order to make the filters decoupled from faults affecting selected groups of actuators or effectors. The control allocation actively uses input redundancy in ...

This study explored the concept of a floating offshore wind farm (FOWF) that self-reconfigures turbine (WT) positions. The self-reconfiguration (SR) mechanism moves degraded turbines to different positions delay failures occurring and reduce power loss. A 40-turbine agent-based simulation was created utilising performance data. For first time, SR designed optimised with principles self-engineer...

In this manuscript, we discuss new solutions for mechanical design and motion planning for a class of three-dimensional modular self-reconfigurable robotic system, namely I-Cubes. This system is a bipartite collection of active links that provide motions for self-reconfiguration, and cubes acting as connection points. The links are three degree of freedom manipulators that can attach to and det...