Reconfigurable component connectors

This thesis provides formal methods for reconfigurable component connectors.UBL - phd migration 201

AO-OpenCom: an AO-Middleware architecture supporting flexible dynamic reconfiguration

Middleware has emerged as a key technology in the construction of distributed systems. As a consequence, middleware is increasingly required to be highly modular and configurable, to support separation of concerns between services, and, crucially, to support dynamic reconfiguration: i.e. to be capable of being changed while running. Aspect-oriented middleware is a promising technology for the realisation of distributed reconfiguration in distributed systems. In this paper we propose an aspect-oriented middleware platform called AO-OpenCom that builds AO-based reconfiguration on top of a dynamic component approach to middleware system composition. The goal is to support extremely flexible dynamic reconfiguration that can be applied at all levels of the system and uniformly across the distributed environment. We evaluate our platform by the capability in meeting flexible reconfiguration and the impact of these overheads

Modelling of Modular Robot Configurations Using Graph Theory

Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot’s configurations are represented in a mathematical way, forward kinematics can be obtained

On Modelling and Analysis of Dynamic Reconfiguration of Dependable Real-Time Systems

This paper motivates the need for a formalism for the modelling and analysis of dynamic reconfiguration of dependable real-time systems. We present requirements that the formalism must meet, and use these to evaluate well established formalisms and two process algebras that we have been developing, namely, Webpi and CCSdp. A simple case study is developed to illustrate the modelling power of these two formalisms. The paper shows how Webpi and CCSdp represent a significant step forward in modelling adaptive and dependable real-time systems.Comment: Presented and published at DEPEND 201

A new meta-module for efficient reconfiguration of hinged-units modular robots

We present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for central-point-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results.Peer ReviewedPostprint (author's final draft