Heterogeneous Self-Reconfiguring Robotics

Self-reconfiguring (SR) robots are modular systems that can autonomously change shape, or reconfigure, for increased versatility and adaptability in unknown environments. In this thesis, we investigate planning and control for systems of non-identical modules, known as heterogeneous SR robots. Although previous approaches rely on module homogeneity as a critical property, we show that the planning complexity of fundamental algorithmic problems in the heterogeneous case is equivalent to that of systems with identical modules. Primarily, we study the problem of how to plan shape changes while considering the placement of specific modules within the structure. We characterize this key challenge in terms of the amount of free space available to the robot and develop a series of decentralized reconfiguration planning algorithms that assume progressively more severe free space constraints and support reconfiguration among obstacles. In addition, we compose our basic planning techniques in different ways to address problems in the related task domains of positioning modules according to function, locomotion among obstacles, self-repair, and recognizing the achievement of distributed goal-states. We also describe the design of a novel simulation environment, implementation results using this simulator, and experimental results in hardware using a planar SR system called the Crystal Robot. These results encourage development of heterogeneous systems. Our algorithms enhance the versatility and adaptability of SR robots by enabling them to use functionally specialized components to match capability, in addition to shape, to the task at hand

Operational support systems for satellite communications

The role of satellite communications is changing from providing bandwidth linking network operators interconnections towards providing IP enabled communications to end users. This migration from few high-value routes towards many low-value routes means that integration and automation of processes with terrestrial networks becomes critical in driving down unit costs. Integration and automation is necessary on all planes: user, control and management. In satellite communications, management aspects, underpinned by Operational Support Systems (OSS) have received the least research attention, making this a valuable topic for study. In most areas, OSS for satellite systems are similar to other domains. However there are some notable areas of difference which have been the focus of this research. The eTOM business framework, developed by the TMF, has been used to highlight aspects of OSS unique to satellite. Since satellite capacity represents the highest operational cost of a satellite route, effective management while minimising the overhead traffic is critical. The transmission of IP packets is assumed and the real-time measurement of QoS parameters such as packet delay and loss emerged as the most important differences. A number of approaches to QoS measurement are feasible, however the use of trace packets is most promising especially for high network loads. An experiment compares the results from simulations, mathematical models and from a test network, using Poisson and self-similar traffic flows. The relationship between measurement accuracy and trace packet intensity is explored and the measurement response time to steps in traffic load is estimated. It is discovered that measurement accuracy improves as the queue load increases, in contrast to alternative approaches such as sampling of user packets. The response time to steps depends upon the degree of self-similarity and is generally longer than the times recommended by standards. A pragmatic approach to management of different modes is proposed where the measurement method is changed depending on the load

Heterogeneous Self-Reconfiguring Robotics: Ph.D. Thesis Proposal

Self-reconfiguring robots are modular systems that can change shape, or reconfigure, to match structure to task. They comprise many small, discrete, often identical modules that connect together and that are minimally actuated. Global shape transformation is achieved by composing local motions. Systems with a single module type, known as homogeneous systems, gain fault tolerance, robustness and low production cost from module interchangeability. However, we are interested in heterogeneous systems, which include multiple types of modules such as those with sensors, batteries or wheels. We believe that heterogeneous systems offer the same benefits as homogeneous systems with the added ability to match not only structure to task, but also capability to task. Although significant results have been achieved in understanding homogeneous systems, research in heterogeneous systems is challenging as key algorithmic issues remain unexplored. We propose in this thesis to investigate questions in four main areas: 1) how to classify heterogeneous systems, 2) how to develop efficient heterogeneous reconfiguration algorithms with desired characteristics, 3) how to characterize the complexity of key algorithmic problems, and 4) how to apply these heterogeneous algorithms to perform useful new tasks in simulation and in the physical world. Our goal is to develop an algorithmic basis for heterogeneous systems. This has theoretical significance in that it addresses a major open problem in the field, and practical significance in providing self-reconfiguring robots with increased capabilities

Streamlines for Motion Planning in Underwater Currents

Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning over hundreds of kilometres in complicated flows. The idea is to search a reduced space of control inputs that consists of stream functions whose level sets, or streamlines, optimally connect two given points. Such stream functions are generated by superimposing a control input onto the underlying current flow. A streamline represents the resulting path that a vehicle would follow as it is carried along by the current given that control input. We provide rigorous analysis that shows how our method avoids exhaustive search of the control space, and demonstrate simulated examples in complicated flows including a traversal along the east coast of Australia, using actual current predictions, between Sydney and Brisbane.Comment: 7 pages, 4 figures, accepted to IEEE ICRA 2019. Copyright 2019 IEE

Sunlight readability and luminance characteristics of light-emitting diode push button switches.

Lighted push button switches and indicators serve many purposes in cockpits, shipboard applications and military ground vehicles. The quality of lighting produced by switches is vital to operators' understanding of the information displayed. Utilizing LED technology in lighted switches has challenges that can adversely affect lighting quality. Incomplete data exists to educate consumers about potential differences in LED switch performance between different manufacturers. LED switches from four different manufacturers were tested for six attributes of lighting quality: average luminance and power consumption at full voltage, sunlight readable contrast, luminance contrast under ambient sunlight, legend uniformity, and dual-color uniformity. Three of the four manufacturers have not developed LED push button switches that meet lighting quality standards established with incandescent technology