Dynamic Analysis and Distributed Control of the Tetrobot Modular Reconfigurable Robotic System

Reconfigurable robotic systems can be adapted to different tasks or environments by reorganizing their mechanical configurations. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. In order to implement these new generations of robotic system, new approaches must be considered for design, analysis, and control. This paper presents an efficient distributed computational scheme which computes the kinematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. The entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recursive propagation algorithm. Two different dynamic resolution of redundancy schemes, the centralized Jacobian method and the distributed virtual force method, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of the control architecture for a large family of configurations.     

可重构制造系统的关键技术

可重构制造系统是一种新型的制造模式 .本文中详细阐述了可重构制造系统的特点以及研究内容 ,并提出了拟开展的一些研究工作     

可重构体系结构的特征及应用

文章介绍了可重构体系结构的概念、特征和应用。着重介绍了可重构体系结构的分类及其适用领域,可重构计算系统的总体结构特征和可重构处理单元RPU的结构特征,对基于FPGA的可重构系统和其他可重构系统进行了比较,并总结了当前可重构体系结构的优点以及存在的问题。     

CONRO: Towards Deployable Robots with Inter-Robots Metamorphic Capabilities

Metamorphic robots are modular robots that can reconfigure their shape. Such capability is desirable in tasks such as earthquake search and rescue and battlefield surveillance and scouting, where robots must go through unexpected situations and obstacles and perform tasks that are difficult for fixed-shape robots. The capabilities of the robots are determined by the design specification of their modules. In this paper, we present the design specification of a CONRO module, a small, self-sufficient and relatively homogeneous module that can be connected to other modules to form complex robots. These robots have not only the capability of changing their shape (intra-robot metamorphing) but also can split into smaller robots or merge with other robots to create a single larger robot (inter-robot metamorphing), i.e., CONRO robots can alter their shape and their size. Thus, heterogeneous robot teams can be built with homogeneous components. Furthermore, the CONRO robots can separate the reconfiguration stage from the locomotion stage, allowing the selection of configuration-dependent gaits. The locomotion and automatic inter-module docking capabilities of such robots were tested using tethered prototypes that can be reconfigured manually. We conclude the paper discussing the future work needed to fully realize the construction of these robots.     

杆系柔性成形模具及其板成形加工关键技术

提出了一种可重构、低成本、高效率的板件成形加工模具———杆系柔性成形模,该装置可以快速重构各种形状的板件成形加工模具。详细地分析了杆系柔性成形模的结构及其重构方案,采用可更换的“变形冲压头”与离散杆配合,较好地构成模具成形面,保证板件有较好的成形精度;提出了一种新颖的板成形方法———模内压板与成形复合工艺,通过这种工艺方法与杆系柔性成形模相结合,可以抑制板件在成形过程中的受压屈曲与起皱,并可以减小成形板件的回弹量。该模具对复杂曲面板件的成形加工具有明显的优越性。     

密码协处理器指令级并行编译研究

立足于处理器体系结构的研究,结合可重构设计技术以确保密码处理的灵活性是密码协处理器研究的重要方法,其中如何提升密码协处理器的性能是至关重要的问题。基于VLIW体系结构以及可重构设计技术,设计专用指令密码协处理器。编译器作为密码协处理器的重要组成部分,重点研究了密码协处理器指令级并行编译技术,通过提高指令级并行度来提升密码协处理器的性能。     

GSM和GPS频段的单极子可重构天线的设计

该文提出了一种新型的频率可重构微带缝隙天线,通过在曲折缝隙上加载MEMS开关,实现了良好的频率可调特性,即在GSM900,DCS 1800,PCS 1900和GPS频段的切换。谐振缝隙采用主缝隙和平面曲折缝隙结构,天线结构更加紧凑,尺寸较传统直缝隙天线减小了40%。     

基于网络业务分类的服务类别框架

研究基于开放式可重构路由交换平台的通用服务类别框架。通过对网络技术的分析提出基于不同实现技术的业务支撑模式,并分析归纳现有网络业务,提出基于开放式可重构路由交换平台组件、构件级的通用服务类别框架。     

开放可重构路由器协议标准及软件架构技术方案探讨

为满足多网融合、业务融合的迫切需要,路由器的研究已从性能提高发展到功能的可灵活扩展、可重构。文章对网络设备的开放可重构体系架构进行了初步探讨,提出了支持开放可重构的支撑协议标准集基本框架和软件架构模型。该技术方案可在现有的底层资源之上开拓实现标准化的功能扩展,使得网络设备具有可重构特性,提供多种业务的支持能力。     

可重构路由器中多路径查找方法研究

面对大量差异化的用户业务,现有网络无法适应的问题日趋凸现,进而对网络节点处理能力的要求更加苛刻。依靠提高节点处理速度,增大节点处理容量,以及增加复杂控制算法等方法去适应日新月异的新型业务,显然不是明智之举。为此,应摆脱传统网络技术体系的束缚,构建面向服务提供的新型网络节点设备——可重构路由器。针对不同的业务聚类,可重构路由器将为其提供负载平衡和策略路由,与此同时还要对多业务、多下一跳路由进行分析,并给出准确的路由查找信息。提出了基于TCAM索引表的并行多下一跳路由查找方案,并对其性能进行了分析。