The bodies of fish change shape over propulsive, behavioral, developmental, and evolutionary time scales, a general phenomenon that we call "reconfiguration". Undulatory, postural, and form-reconfiguration can be distinguished, studied independently, and examined in terms of mechanical interactions and evolutionary importance. Using a combination of live, swimming fishes and digital robotic fis...

Self-assembly of modular robotic systems enables the construction complex configurations to adapt different tasks. This paper presents a framework for SMORES types robots efficiently self-assemble into tree topologies. These form kinematic chains that have been shown be capable large variety manipulation and locomotion tasks, yet they can reconfigure using mobile reconfiguration. A desired topo...

In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a si...

Harvard University . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Cambridge, MA RESEARCH Programming Myriads, Sept 2004 – present: Applying biologically-inspired programming paradigms for robust collective behavior to several application domains. Current projects include: (1) self-reconfiguration in modular robots (2)...

Fault-tolerant (FT) architectures based on classic spatial and temporal redundancy are used in an increasing number of applications. However, the hardware platforms underlying modern highreliability systems have little resemblance to those that were common when such architectures were devised. The earlier fault models are not necessarily out-of-date (e.g. stuck-at faults still play an important...

In this article we examine the problem of dynamic self-reconfiguration of a class of modular robotic systems referred to as metumorpkic systems. A metamorphic robotic system is a collection of mechatronic modules, each of which has the ability to connect, disconnect, and climb over adjacent modules. A change in the macroscopic morphology results from the locomotion of each module over its neigh...

This paper introduces a flexible and reconfigurable protocol stack framework containing agent-based self-optimisation-capabilities for mobile terminals. The framework architecture and implemented self-optimisation and reconfiguration concepts are described. The feasibility of the approach is demonstrated by integrating a TCP / IP protocol stack implementation on the proposed framework architect...

The paper proposes a self-learning evolutionary multi-agent system for distribution network reconfiguration. The network reconfiguration is modeled as a multi-objective combinational optimization. An autonomous agent-entity cognizes the physical aspects as operational states of the local substation, the agent-entities establish relationship network based on the interactions to provide service. ...

Self-optimization is a promising approach to cope with the increasing complexity of today’s automation networks. The high complexity is mainly caused by a rising amount of network nodes and increasing real-time requirements. Dynamic hardware reconfiguration is a key technology for selfoptimizing systems, enabling, e.g., Real-Time Communication Systems (RCOS) that adapt to varying requirements a...

Architectural runtime reconfiguration is a promising means for controlling the quality of service (QoS) of distributed software systems. Particularly self-adaptation approaches rely on runtime reconfiguration capabilities provided by the systems under control. For example, our online capacity management approach SLAstic employs changing component deployments and server allocations to control th...