Modular Self-Reconfigurable Robot Systems

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel

Don't Repeat Yourself: Seamless Execution and Analysis of Extensive Network Experiments

This paper presents MACI, the first bespoke framework for the management, the scalable execution, and the interactive analysis of a large number of network experiments. Driven by the desire to avoid repetitive implementation of just a few scripts for the execution and analysis of experiments, MACI emerged as a generic framework for network experiments that significantly increases efficiency and ensures reproducibility. To this end, MACI incorporates and integrates established simulators and analysis tools to foster rapid but systematic network experiments. We found MACI indispensable in all phases of the research and development process of various communication systems, such as i) an extensive DASH video streaming study, ii) the systematic development and improvement of Multipath TCP schedulers, and iii) research on a distributed topology graph pattern matching algorithm. With this work, we make MACI publicly available to the research community to advance efficient and reproducible network experiments

Realising the open virtual commissioning of modular automation systems

To address the challenges in the automotive industry posed by the need to rapidly manufacture more product variants, and the resultant need for more adaptable production systems, radical changes are now required in the way in which such systems are developed and implemented. In this context, two enabling approaches for achieving more agile manufacturing, namely modular automation systems and virtual commissioning, are briefly reviewed in this contribution. Ongoing research conducted at Loughborough University which aims to provide a modular approach to automation systems design coupled with a virtual engineering toolset for the (re)configuration of such manufacturing automation systems is reported. The problems faced in the virtual commissioning of modular automation systems are outlined. AutomationML - an emerging neutral data format which has potential to address integration problems is discussed. The paper proposes and illustrates a collaborative framework in which AutomationML is adopted for the data exchange and data representation of related models to enable efficient open virtual prototype construction and virtual commissioning of modular automation systems. A case study is provided to show how to create the data model based on AutomationML for describing a modular automation system

Programming Quantum Computers Using Design Automation

Recent developments in quantum hardware indicate that systems featuring more than 50 physical qubits are within reach. At this scale, classical simulation will no longer be feasible and there is a possibility that such quantum devices may outperform even classical supercomputers at certain tasks. With the rapid growth of qubit numbers and coherence times comes the increasingly difficult challenge of quantum program compilation. This entails the translation of a high-level description of a quantum algorithm to hardware-specific low-level operations which can be carried out by the quantum device. Some parts of the calculation may still be performed manually due to the lack of efficient methods. This, in turn, may lead to a design gap, which will prevent the programming of a quantum computer. In this paper, we discuss the challenges in fully-automatic quantum compilation. We motivate directions for future research to tackle these challenges. Yet, with the algorithms and approaches that exist today, we demonstrate how to automatically perform the quantum programming flow from algorithm to a physical quantum computer for a simple algorithmic benchmark, namely the hidden shift problem. We present and use two tool flows which invoke RevKit. One which is based on ProjectQ and which targets the IBM Quantum Experience or a local simulator, and one which is based on Microsoft's quantum programming language Q$\#$.Comment: 10 pages, 10 figures. To appear in: Proceedings of Design, Automation and Test in Europe (DATE 2018

HERO: Heterogeneous Embedded Research Platform for Exploring RISC-V Manycore Accelerators on FPGA

Heterogeneous embedded systems on chip (HESoCs) co-integrate a standard host processor with programmable manycore accelerators (PMCAs) to combine general-purpose computing with domain-specific, efficient processing capabilities. While leading companies successfully advance their HESoC products, research lags behind due to the challenges of building a prototyping platform that unites an industry-standard host processor with an open research PMCA architecture. In this work we introduce HERO, an FPGA-based research platform that combines a PMCA composed of clusters of RISC-V cores, implemented as soft cores on an FPGA fabric, with a hard ARM Cortex-A multicore host processor. The PMCA architecture mapped on the FPGA is silicon-proven, scalable, configurable, and fully modifiable. HERO includes a complete software stack that consists of a heterogeneous cross-compilation toolchain with support for OpenMP accelerator programming, a Linux driver, and runtime libraries for both host and PMCA. HERO is designed to facilitate rapid exploration on all software and hardware layers: run-time behavior can be accurately analyzed by tracing events, and modifications can be validated through fully automated hard ware and software builds and executed tests. We demonstrate the usefulness of HERO by means of case studies from our research

A modular software architecture for UAVs

There have been several attempts to create scalable and hardware independent software architectures for Unmanned Aerial Vehicles (UAV). In this work, we propose an onboard architecture for UAVs where hardware abstraction, data storage and communication between modules are efficiently maintained. All processing and software development is done on the UAV while state and mission status of the UAV is monitored from a ground station. The architecture also allows rapid development of mission-specific third party applications on the vehicle with the help of the core module

Designing Scalable Business Models

Digital business models are often designed for rapid growth, and some relatively young companies have indeed achieved global scale. However despite the visibility and importance of this phenomenon, analysis of scale and scalability remains underdeveloped in management literature. When it is addressed, analysis of this phenomenon is often over-influenced by arguments about economies of scale in production and distribution. To redress this omission, this paper draws on economic, organization and technology management literature to provide a detailed examination of the sources of scaling in digital businesses. We propose three mechanisms by which digital business models attempt to gain scale: engaging both non- paying users and paying customers; organizing customer engagement to allow self- customization; and orchestrating networked value chains, such as platforms or multi-sided business models. Scaling conditions are discussed, and propositions developed and illustrated with examples of big data entrepreneurial firms

CORBYS cognitive control architecture for robotic follower

In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the preliminary integration of the CORBYS architecture to support a robotic follower. Experimental results on high-level empowerment-based trajectory planning have demonstrated the effectiveness of ROS-based communication between distributed modules developed in a multi-site research environment as typical for distributed collaborative projects such as CORBYS