Limited Lookahead Supervisory Control with Buffering in Discrete Event Systems

The Supervisory Control Theory (SCT) of Discrete Event Systems (DES) provides systematic approaches for designing control command sequences for plants that can be modeled as DES. The design is done "offline" (before supervisor becomes operational) and is based on the plant and design specification DES models. These models are typically large, resulting in DES supervisors that require large computer memory - often unavailable in embedded mobile systems such as space vehicles. An alternative is to use the Limited Lookahead Policies (LLP) in which only models of individual plant components and specifications are stored (which take far less memory). The supervisory control command sequences are then calculated "online" during plant operation. In this way, "online" memory requirement can be reduced at the expense of higher "online" computational operations. In this thesis, the implementation issues of LLP supervisors are studied. The design of LLP supervisors is based on assumptions some of which may not hold in practice. Notably it is assumed that after every event, the supervisory control command can be calculated and applied before the next event occurs. This assumption usually does not hold. To address this issue, a novel technique is proposed in which supervisory control commands are calculated in advance (and online) for a predefined window of events in the future and buffered. When the window starts, the commands would be ready after each event. This eliminates the delay due to online calculations and reduces the delay in responding to new events to levels close to those of standard supervisors (designed "offline"). In an effort to assess the proposed methodology and better understand the implementation issues of SCT, a two degree-of-freedom solar tracker with two servo motors is selected as the plant. Previously, a standard supervisor had been designed for this solar tracker to guide the tracker and perform a sweep to find a sufficiently bright direction to charge the battery and other parts of the system (from its Photo Voltaic cell). The design of the standard supervisor and its software implementation is improved and polished in this thesis. Next the LLP with buffering is implemented. Several experimental results confirm that the plant under the supervision of LLP supervisor with buffering can match the behavior of the plant under the supervision of standard supervisor

Addressing Tasks Through Robot Adaptation

Developing flexible, broadly capable systems is essential for robots to move out of factories and into our daily lives, functioning as responsive agents that can handle whatever the world throws at them. This dissertation focuses on two kinds of robot adaptation. Modular self-reconfigurable robots (MSRR) adapt to the requirements of their task and environments by transforming themselves. By rearranging the connective structure of their component robot modules, these systems can assume different morphologies: for example, a cluster of modules might configure themselves into a car to maneuver on flat ground, a snake to climb stairs, or an arm to pick and place objects. Conversely, environment augmentation is a strategy in which the robot transforms its environment to meet its own needs, adding physical structures that allow it to overcome obstacles. In both areas, the presented work includes elements of hardware design, algorithms, and integrated systems, with the common goal of establishing these methods of adaptation as viable strategies to address tasks. The research takes a systems-level view of robotics, placing particular emphasis on experimental validation in hardware

Heterogeneous Robot Swarm – Hardware Design and Implementation

Swarm robotics is one the most fascinating, new research areas in the field of robotics, and one of it's grand challenge is the design of swarm robots that are both heterogeneous and self-sufficient. This can be crucial for robots exposed to environments that are unstructured or not easily accessible for a human operator, such as a collapsed building, the deep sea, or the surface of another planet. In Swarm robotics; self-assembly, self-reconfigurability and self-replication are among the most important characteristics as they can add extra capabilities and functionality to the robots besides the robustness, flexibility and scalability. Developing a swarm robot system with heterogeneity and larger behavioral repertoire is addressed in this work. This project is a comprehensive study of the hardware architecture of the homogeneous robot swarm and several problems related to the important aspects of robot's hardware, such as: sensory units, communication among the modules, and hardware components. Most of the hardware platforms used in the swarm robot system are homogeneous and use centralized control architecture for task completion. The hardware architecture is designed and implemented for UB heterogeneous robot swarm with both decentralized and centralized control, depending on the task requirement. Each robot in the UB heterogeneous swarm is equipped with different sensors, actuators, microcontroller and communication modules, which makes them distinct from each other from a hardware point of view. The methodology provides detailed guidelines in designing and implementing the hardware architecture of the heterogeneous UB robot swarm with plug and play approach. We divided the design module into three main categories - sensory modules, locomotion and manipulation, communication and control. We conjecture that the hardware architecture of heterogeneous swarm robots implemented in this work is the most sophisticated and modular design to date