Journal articles: 'Autonomous Reconfigurable Vehicle'

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Topini, Edoardo, Marco Pagliai, and Benedetto Allotta. "Dynamic Maneuverability Analysis: A Preliminary Application on an Autonomous Underwater Reconfigurable Vehicle." Applied Sciences 11, no. 10 (May 14, 2021): 4469. http://dx.doi.org/10.3390/app11104469.

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Since the development of the first autonomous underwater vehicles, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations, in addition to surveys. As a result, the development of autonomous underwater reconfigurable vehicles (AURVs) with the capability of interacting with the surrounding environment and autonomously changing the configuration, according to the task at hand, can represent a real breakthrough in underwater system technologies. Driven by these considerations, an innovative AURV has been designed by the Department of Industrial Engineering of the University of Florence (named as UNIFI DIEF AURV), capable of efficiently reconfiguring its shape according to the task at hand. In particular, the UNIFI DIEF AURV has been provided with two extreme configurations: a slender (“survey”) configuration for long navigation tasks, and a stocky (“hovering”) configuration designed for challenging goals as intervention operations. In order to observe the several dynamic features for the two different configurations, a novel formulation for the dynamic maneuverability analysis (DMA) of an AURV, adapting Yoshikawa’s well-known manipulability theory for robotic arms, is proposed in this work. More specifically, we introduce a novel analysis which relates the vehicle body-fixed accelerations with the rotational speed of each thruster, taking into account also the AURV dynamic model for each configuration and the propulsion system.

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Knapik, Dawid, Krzysztof Kołek, Maciej Rosół, and Andrzej Turnau. "Autonomous, reconfigurable mobile vehicle with rapid control prototyping functionality." IFAC-PapersOnLine 52, no. 8 (2019): 13–18. http://dx.doi.org/10.1016/j.ifacol.2019.08.041.

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Koju, Surya Man, and Nikil Thapa. "FPGA Based Vehicle to Vehicle Communication in Spartan 3E." Journal of Science and Engineering 8 (November 12, 2020): 14–21. http://dx.doi.org/10.3126/jsce.v8i0.32858.

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This paper presents economic and reconfigurable RF based wireless communication at 2.4 GHz between two vehicles. It implements digital VLSI using two Spartan 3E FPGAs, where one vehicle receives the information of another vehicle and shares its own information to another vehicle. The information includes vehicle’s speed, location, heading and its operation, such as braking status and turning status. It implements autonomous vehicle technology. In this work, FPGA is used as central signal processing unit which is interfaced with two microcontrollers (ATmega328P). Microcontroller-1 is interfaced with compass module, GPS module, DF Player mini and nRF24L01 module. This microcontroller determines the relative position and the relative heading as seen from one vehicle to another. Microcontroller-2 is used to measure the speed of vehicle digitally. The resulting data from these microcontrollers are transmitted separately and serially through UART interface to FPGA. At FPGA, different signal processing such as speed comparison, turn comparison, distance range measurement and vehicle operation processing, are carried out to generate the voice announcement command, warning signals, event signals, and such outputs are utilized to warn drivers about potential accidents and prevent crashes before event happens.

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De Novi, G., C. Melchiorri, J. C. Garcia, P. J. Sanz, P. Ridao, and G. Oliver. "New approach for a Reconfigurable Autonomous Underwater Vehicle for Intervention." IEEE Aerospace and Electronic Systems Magazine 25, no. 11 (November 2010): 32–36. http://dx.doi.org/10.1109/maes.2010.5638803.

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Higashi, Toshimitsu, Kosuke Sekiyama, and Toshio Fukuda. "Autonomous Formation of Transportation Order under Dynamical Environment." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 494–500. http://dx.doi.org/10.20965/jrm.2000.p0494.

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This paper proposes a system, that realizes collective autonomous behavior such as an autonomous conveyance order formation in the AGV (Auto Guided Vehicle) transportation system. We attempt to deal with a large-scale distributed autonomous system in a dynamic environment feasibly. However, if we use a global evaluation function in order to control each agent, it is necessary to rewrite the global evaluation function of the system whenever the environment changes. If we use such a method, the system cannot be called a real distributed autonomous system. In this paper, we propose two ideas in order to realize dynamically reconfigurable formation in the dynamic environment, namely, learning based on the agent's own action and interaction with other agents by relative evaluation. By use of these ideas, it is shown that dynamically reconfigurable formation emerges as an autonomous conveyance order formation of AGV transportation in the dynamic environment.

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Katebi, M. R., and M. J. Grimble. "Integrated control, guidance and diagnosis for reconfigurable autonomous underwater vehicle control." International Journal of Systems Science 30, no. 9 (January 1999): 1021–32. http://dx.doi.org/10.1080/002077299291886.

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Hemmati, Maryam, Morteza Biglari-Abhari, and Smail Niar. "Adaptive Real-Time Object Detection for Autonomous Driving Systems." Journal of Imaging 8, no. 4 (April 11, 2022): 106. http://dx.doi.org/10.3390/jimaging8040106.

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Accurate and reliable detection is one of the main tasks of Autonomous Driving Systems (ADS). While detecting the obstacles on the road during various environmental circumstances add to the reliability of ADS, it results in more intensive computations and more complicated systems. The stringent real-time requirements of ADS, resource constraints, and energy efficiency considerations add to the design complications. This work presents an adaptive system that detects pedestrians and vehicles in different lighting conditions on the road. We take a hardware-software co-design approach on Zynq UltraScale+ MPSoC and develop a dynamically reconfigurable ADS that employs hardware accelerators for pedestrian and vehicle detection and adapts its detection method to the environment lighting conditions. The results show that the system maintains real-time performance and achieves adaptability with minimal resource overhead.

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Pugi, Luca, Marco Pagliai, and Benedetto Allotta. "A robust propulsion layout for underwater vehicles with enhanced manoeuvrability and reliability features." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 232, no. 3 (March 26, 2017): 358–76. http://dx.doi.org/10.1177/1475090217696569.

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Design of autonomous underwater vehicles is deeply influenced by required mission specifications. In particular, some activities like inspection of offshore plants or harsh marine environments require underwater vehicle with high autonomy, good propulsion performances and manoeuvrability. These features are deeply influenced by design and performances of the propulsion system. In particular, performances of underwater vehicles (both remotely operated and autonomous) are deeply influenced by four quadrants performances of propellers and by complex fluid dynamics interactions that are difficult to be, even roughly, evaluated. In this work, a study of a reconfigurable propulsion layout and its comparison with a conventional one is introduced. In particular, this study is also focused on modelling techniques that should really represent a reasonable trade-off in terms of accuracy and involved computational resources for fast prototyping and simulation of this kind of mechatronic systems.

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Cantelli, Bonaccorso, Longo, Melita, Schillaci, and Muscato. "A Small Versatile Electrical Robot for Autonomous Spraying in Agriculture." AgriEngineering 1, no. 3 (August 6, 2019): 391–402. http://dx.doi.org/10.3390/agriengineering1030029.

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Boosting innovation and research in the agricultural sector is crucial if farmers are asked to produce more with less. Precision agriculture offers different solutions to assist farmers in improving efficiency and reducing labor costs while respecting the legal requirements. Precision spraying enables the treatment of only the plants that require it, with the right amount of products. Our research group has developed a solution based on a reconfigurable vehicle with a high degree of automation for the distribution of plant protection products in vineyards and greenhouses. The synergy between the vehicle and the spraying management system we developed is an innovative solution with high technological content, and attempts to account for the current European and global directives in the field of agricultural techniques. The objectives of our system are the development of an autonomous vehicle and a spraying management system that allows safe and accurate autonomous spraying operations.

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Glas, Benjamin, Oliver Sander, Vitali Stuckert, Klaus D. Müller-Glaser, and Jürgen Becker. "Prime Field ECDSA Signature Processing for Reconfigurable Embedded Systems." International Journal of Reconfigurable Computing 2011 (2011): 1–12. http://dx.doi.org/10.1155/2011/836460.

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Growing ubiquity and safety relevance of embedded systems strengthen the need to protect their functionality against malicious attacks. Communication and system authentication by digital signature schemes is a major issue in securing such systems. This contribution presents a complete ECDSA signature processing system over prime fields for bit lengths of up to 256 on reconfigurable hardware. By using dedicated hardware implementation, the performance can be improved by up to two orders of magnitude compared to microcontroller implementations. The flexible system is tailored to serve as an autonomous subsystem providing authentication transparent for any application. Integration into a vehicle-to-vehicle communication system is shown as an application example.

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Viana, Kerman, Asier Zubizarreta, and Mikel Diez. "A Reconfigurable Framework for Vehicle Localization in Urban Areas." Sensors 22, no. 7 (March 28, 2022): 2595. http://dx.doi.org/10.3390/s22072595.

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Accurate localization for autonomous vehicle operations is essential in dense urban areas. In order to ensure safety, positioning algorithms should implement fault detection and fallback strategies. While many strategies stop the vehicle once a failure is detected, in this work a new framework is proposed that includes an improved reconfiguration module to evaluate the failure scenario and offer alternative positioning strategies, allowing continued driving in degraded mode until a critical failure is detected. Furthermore, as many failures in sensors can be temporary, such as GPS signal interruption, the proposed approach allows the return to a non-fault state while resetting the alternative algorithms used in the temporary failure scenario. The proposed localization framework is validated in a series of experiments carried out in a simulation environment. Results demonstrate proper localization for the driving task even in the presence of sensor failure, only stopping the vehicle when a fully degraded state is achieved. Moreover, reconfiguration strategies have proven to consistently reset the accumulated drift of the alternative positioning algorithms, improving the overall performance and bounding the mean error.

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Inoue, Shinichi, Akihisa Urata, Takumi Kodama, Tobias Huwer, Yuya Maruyama, Sho Fujita, Hidenori Shinno, and Hayato Yoshioka. "High-Precision Mobile Robotic Manipulator for Reconfigurable Manufacturing Systems." International Journal of Automation Technology 15, no. 5 (September 5, 2021): 651–60. http://dx.doi.org/10.20965/ijat.2021.p0651.

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The manufacturing industry has identified a new megatrend of mass customization, which is one of the essential goals of Industry 4.0. This megatrend requires the realization of manufacturing that can respond quickly and flexibly to various changing production requirements and ensure the achievement of various quality criteria. However, the manufacturing cannot be realized by conventional manufacturing systems in which reconfigurations need to be performed by skilled engineers. This paper proposes a new reconfigurable manufacturing system concept based on an ultra-flexible transfer system. Particularly, an autonomous mobile robotic manipulator, consisting of a high-performance automated guided vehicle module and a collaborative robotic manipulator module, represents a key component of the system concept. In this context, the focus is on the cooperative control between the modules of the autonomous mobile manipulator, which is essential for high-precision processes (e.g., machining, assembly, measurement, inspection), and its wide operating area. The experimental results confirm that the proposed cooperative control improves the positioning performance of the autonomous mobile manipulator, including the time required for positioning and the positioning accuracy.

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Wang, Biao, Chao Wu, and Tong Ge. "Self-Repairing Control System for a Hybrid Underwater Vehicle." Advanced Materials Research 834-836 (October 2013): 1256–62. http://dx.doi.org/10.4028/www.scientific.net/amr.834-836.1256.

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A novel remotely operated underwater vehicle-a hybrid remotely operated underwater vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes. For broad-area survey, the vehicle can operate as an autonomous underwater vehicle (AUV) capable of mapping the sea floor with sonars and cameras. For close up imaging and sampling, the vehicle can operate as a remotely operated underwater vehicle (ROV) employing a optic fiber tether for real-time telemetry of data and video to its operators on a surface ship. In order for the vehicle to achieve a certain survivability and reliability level, a self-repairing control system (SRCS) has been designed. This paper presents the two basic technologies in SRCS: fault diagnosis and isolation (FDI) and reconfigurable control. For FDI, a model-based hierarchical fault diagnosis system is designed for the HROV. Then, control strategies which reconfigure the control system at intervals according to information from the FDI system are presented. Combining the two technologies, we obtained the fundamental frame of SRCS for the HROV.

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Narayanan, S., Heath A. Ruff, Narasimha Rao Edala, Jonathan A. Geist, Kiran Kumar Patchigolla, Mark Draper, and Mike Haass. "Human-Integrated Supervisory Control of Uninhabited Combat Aerial Vehicles." Journal of Robotics and Mechatronics 12, no. 6 (December 20, 2000): 628–39. http://dx.doi.org/10.20965/jrm.2000.p0628.

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Uninhabited aerial vehicles are aircraft without the onboard presence of pilot or aircrew. Even though the human is removed from the direct control of the aircraft, the human is typically involved in the process as a supervisor in a multiple task telerobotics control system. The supervisor must receive the appropriate information for efficient decision making and input the information required to augment the autonomous control of the vehicle as necessary. This article presents an approach that applies human operator modeling methods to perform semiotic analysis and identifies the content and form of the information required for effective supervisory control. This paper also outlines a computational modeling and simulation architecture that supports concurrent multi-user connectivity and reconfigurable user interfaces. The potential utilization of this architecture to systematically evaluate interface concepts and the role of automation in these systems is also described. Finally, an empirical evaluation is described that benchmarks the effectiveness of the architecture.Human-Integrated Supervisory Control of Uninhabited Combat Aerial Vehicles.

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Biggie, Harel, Eugene Rush, Danny Riley, Shakeeb Ahmad, Michael Ohradzansky, Kyle Harlow, Michael Miles, et al. "Flexible Supervised Autonomy for Exploration in Subterranean Environments." Field Robotics 3, no. 1 (January 20, 2023): 125–89. http://dx.doi.org/10.55417/fr.2023004.

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While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in realworld underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission, and make high-impact strategic decisions.We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and reconfigurable communications.

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Allotta, B., R. Costanzi, F. Mugnai, M. Reggiannini, A. Ridolfi, and D. Scaradozzi. "SEARCH & INSPECTION ARCHAEOLOGICAL UNDERWATER CAMPAIGNS IN THE FRAMEWORK OF THE EUROPEAN ARROWS PROJECT." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-2/W15 (August 19, 2019): 63–70. http://dx.doi.org/10.5194/isprs-archives-xlii-2-w15-63-2019.

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<p><strong>Abstract.</strong> Autonomous Underwater Vehicles (AUVs), benefiting from significant investments in the past years, are commonly used for military security and offshore Oil&Gas applications. The ARROWS project, aimed at exporting the AUV technology to the field of underwater archaeology, a low-budget research field compared to the previous ones. The paper focuses on the strategy for vehicle coordination adopted within the project, a Search and Inspection (S&I) approach borrowed from the defense field (e.g., mine countermeasure &ndash; MCM) that proved to be an efficient solution also for the main phases of an underwater archaeological mission. The other main novelty aspect is represented by MARTA (MArine Robotic Tool for Archaeology) AUV: it is a modular vehicle easily and quickly reconfigurable developed in the framework of ARROWS according to the project Archaeological Advisory Group (AAG) guidelines. Results from the final demonstration of the project, held in Estonia during Summer 2015, are proposed in the paper as an experimental proof of the validity of the proposed S&I strategy, and MARTA functioning and its adaptability to the mission requirements. Even in its first prototype version, MARTA successfully played the Inspection role within the AUV team, collaborating with a commercial Search AUV. Acoustic and optical data collected during the mission and processed to increase their intelligibility for the human operator are proposed and discussed.</p>

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Yang, Shuming, Changlin Xie, Yuqiang Cheng, Dianyi Song, and Mengyu Cui. "Autonomous Attitude Reconstruction Analysis for Propulsion System with Typical Thrust Drop Fault." Aerospace 9, no. 8 (July 29, 2022): 409. http://dx.doi.org/10.3390/aerospace9080409.

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The propulsion system is one of the important and vulnerable sub-systems in a strap-on launch vehicle. Among different failure modes, the thrust drop fault is the most common and remediable one. It degrades vehicle attitude tracking ability directly. To this end, this paper focuses on the design and application of attitude reconstruction problems with a thrust loss fault during the ascending flight phase. We firstly analyze the special failure modes and impacts on the propulsion system through a Failure Modes and Effects Analysis (FMEA). Then, six degrees of freedom dynamic and kinematic models are formulated, which are integrated into the Matlab/Simulink environment afterward. The above models’ validation is realized through numerical simulations with different fault severity. Simulation results show that the max attitude deviation is only 0.67° approximately in the pitch angle channel under normal conditions, and the flight attitude angle deviation is directly proportional to the thrust loss percentage when the thrust drop fault occurs. Based on the validated models, a practical reconfigurable ideal through adjusting the control allocation matrix is analyzed. Then, an automation redistribution mechanism based on the moment equivalent principle before and after the thrust drop is proposed to realize proportional allocation of virtual control command among the actuators. The effectiveness of the designed attitude reconstruction method is demonstrated through numerical simulations and comparison analysis under various fault scenarios. The results show that the rocket attitude can be quickly adjusted to the predetermined program angle within about 2.5 s after the shutdown failure of a single engine, and the flight speed and altitude can also reach the required value with another 17 s engine operation. Therefore, the designed control reconfiguration strategy can deal with the thrust loss fault with high practicability and can be applied to real-time FTC systems. Last but not least, conclusions and prospects are presented to inspire researchers with further exploration in this field.

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Mario Andres Cordoba, G. "The EFIGENIA EJ-1 An S/VTOL Autonomous Unmanned Aerial Vehicle Autocontrolled with an Adaptive Digital Reconfigurable Guidance, Navigation and Flight Control System." IFAC Proceedings Volumes 34, no. 15 (September 2001): 385–90. http://dx.doi.org/10.1016/s1474-6670(17)40758-0.

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Lappas, Vaios, Hyo-Sang Shin, Antonios Tsourdos, David Lindgren, Sylvain Bertrand, Julien Marzat, Hélène Piet-Lahanier, Yiannis Daramouskas, and Vasilis Kostopoulos. "Autonomous Unmanned Heterogeneous Vehicles for Persistent Monitoring." Drones 6, no. 4 (April 10, 2022): 94. http://dx.doi.org/10.3390/drones6040094.

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Swarms of unmanned vehicles (air and ground) can increase the efficiency and effectiveness of military and law enforcement operations by enhancing situational awareness and allowing the persistent monitoring of multiple hostile targets. The key focus in the development of the enabling technologies for swarm systems is the minimisation of uncertainties in situational awareness information for surveillance operations supported by ‘system of systems’ composed of static and mobile heterogeneous sensors. The identified critical enabling techniques and technologies for adaptive, informative and reconfigurable operations of unmanned swarm systems are robust static sensor network design, mobile sensor tasking (including re-allocation), sensor fusion and information fusion, including behaviour monitoring. The work presented in this paper describes one of the first attempts to integrate all swarm-related technologies into a prototype, demonstrating the benefits of swarms of heterogeneous vehicles for defence applications used for the persistent monitoring of high-value assets, such as military installations and camps. The key enabling swarm system technologies are analysed here, and novel algorithms are presented that can be implemented in available COTS-based unmanned vehicles. The algorithms have been designed and optimised to require small computational power, be flexible, be reconfigurable and be implemented in a large range of commercially available unmanned vehicles (air and ground).

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Halba, Khalid, Charif Mahmoudi, and Edward Griffor. "Robust Safety for Autonomous Vehicles through Reconfigurable Networking." Electronic Proceedings in Theoretical Computer Science 269 (April 10, 2018): 48–58. http://dx.doi.org/10.4204/eptcs.269.5.

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Ozcan, Y. Ugur, Ozgur Ozdemir, and Gunes Karabulut Kurt. "Reconfigurable Intelligent Surfaces for the Connectivity of Autonomous Vehicles." IEEE Transactions on Vehicular Technology 70, no. 3 (March 2021): 2508–13. http://dx.doi.org/10.1109/tvt.2021.3060667.

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Fife, Wade S., and James K. Archibald. "Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles." EURASIP Journal on Embedded Systems 2007 (2007): 1–14. http://dx.doi.org/10.1155/2007/80141.

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Fife, WadeS, and JamesK Archibald. "Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles." EURASIP Journal on Embedded Systems 2007, no. 1 (2007): 080141. http://dx.doi.org/10.1186/1687-3963-2007-080141.

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Brown, Liam, Robert Clarke, Ali Akbari, Ujjar Bhandari, Sara Bernardini, Puneet Chhabra, Ognjen Marjanovic, Thomas Richardson, and Simon Watson. "The Design of Prometheus: A Reconfigurable UAV for Subterranean Mine Inspection." Robotics 9, no. 4 (November 18, 2020): 95. http://dx.doi.org/10.3390/robotics9040095.

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The inspection of legacy mine workings is a difficult, time consuming, costly task, as traditional methods require multiple boreholes to be drilled to allow sensors to be placed in the voids. Discrete sampling of the void from static locations also means that full coverage of the area cannot be achieved and occluded areas and side tunnels may not be fully mapped. The aim of the Prometheus project is to develop an autonomous robotic solution that is able to inspect the mine workings from a single borehole. This paper presents the challenges of operating autonomous aerial vehicles in such an environment, as well as physically entering the void with an autonomous robot. The paper address how some of these challenges can be overcome with bespoke design and intelligent controllers. It details the design of a reconfigurable UAV that is able to be deployed through a 150 mm borehole and unfold to a tip-to-tip diameter of 780 mm, allowing it to carry a payload suitable for a full autonomous mission.

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Fagundes Gasparoto, Henrique, Olivier Chocron, Mohamed Benbouzid, and Pablo Siqueira Meirelles. "Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots." Journal of Marine Science and Engineering 9, no. 2 (February 7, 2021): 170. http://dx.doi.org/10.3390/jmse9020170.

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Manoeuvrability is one of the essential keys in the development of improved autonomous underwater vehicles for challenging missions. In the last years, more researches were dedicated to the development of new hulls shapes and thrusters to assure more manoeuvrability. The present review explores various enabling technologies used to implement the vectorial thrusters (VT), based on water-jet or propellers. The proposals are analysed in terms of added degrees of freedom, mechanisms, number of necessary actuators, water-tightness, electromagnetomechanical complexity, feasibility, etc. The usage of magnetic coupling thrusters (conventional or reconfigurable) is analysed in details since they can assure the development of competitive full waterproof reconfigurable thrusters, which is a frictionless, flexible, safe, and low-maintenance solution. The current limitations (as for instance the use of non conductive hull) are discussed and ideas are proposed for the improvement of this new generation of underwater thrusters, as extending the magnetic coupling usage to obtain a fully contactless vector thrust transmission.

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Fagundes Gasparoto, Henrique, Olivier Chocron, Mohamed Benbouzid, Pablo Siqueira Meirelles, and Luiz Saraiva Ferreira. "Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs." Energies 12, no. 1 (December 25, 2018): 56. http://dx.doi.org/10.3390/en12010056.

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The concept of reconfigurable magnetic coupling thrusters (RMCT) applied to the vectorial thrust of autonomous underwater vehicles (AUV) has been recently developed and presented. This technology ensures greater robot watertightness with enhanced maneuvering capabilities, which are desired features in agile AUVs for marine renewable energy (MRE) system maintenance. It is possible since in RMCTs the driving torque is magnetically transmitted to the propeller, which has its orientation changed. This work is focused on the coupling and control torque calculation and further analysis of the latest prototype version (Flat-RMCT), in the static condition for the full thrust vector range. For this purpose, a numerical model is implemented and validated with experimental results. The numerical model is based on the finite volume integral method. The results indicate that the minimum magnetic reluctance propensity creates not only the expected magnetic spring effect but also an auto-driving torque due to the non-axial symmetry of coupling rotors, which exists only for reconfigurable couplings. Mathematical functions are proposed to model these effects and they are used to extend the understanding of the coupling. These models can be used to compose a full and accurate dynamic model for a better RMCT simulation, identification, and control.

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Sharma, Dimple, Lev Kirischian, and Valeri Kirischian. "Run-Time Mitigation of Power Budget Variations and Hardware Faults by Structural Adaptation of FPGA-Based Multi-Modal SoPC." Computers 7, no. 4 (October 11, 2018): 52. http://dx.doi.org/10.3390/computers7040052.

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Systems for application domains like robotics, aerospace, defense, autonomous vehicles, etc. are usually developed on System-on-Programmable Chip (SoPC) platforms, capable of supporting several multi-modal computation-intensive tasks on their FPGAs. Since such systems are mostly autonomous and mobile, they have rechargeable power sources and therefore, varying power budgets. They may also develop hardware faults due to radiation, thermal cycling, aging, etc. Systems must be able to sustain the performance requirements of their multi-task multi-modal workload in the presence of variations in available power or occurrence of hardware faults. This paper presents an approach for mitigating power budget variations and hardware faults (transient and permanent) by run-time structural adaptation of the SoPC. The proposed method is based on dynamically allocating, relocating and re-integrating task-specific processing circuits inside the partially reconfigurable FPGA to accommodate the available power budget, satisfy tasks’ performances and hardware resource constraints, and/or to restore task functionality affected by hardware faults. The proposed method has been experimentally implemented on the ARM Cortex-A9 processor of Xilinx Zynq XC7Z020 FPGA. Results have shown that structural adaptation can be done in units of milliseconds since the worst-case decision-making process does not exceed the reconfiguration time of a partial bit-stream.

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Zhu, Fusheng, Weiwen Cai, Zhigang Wang, and Fang Li. "AI-Empowered Propagation Prediction and Optimization for Reconfigurable Wireless Networks." Wireless Communications and Mobile Computing 2022 (January 17, 2022): 1–10. http://dx.doi.org/10.1155/2022/9901960.

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Vehicular ad-hoc network (VANET) is one of the most important components to realizing intelligent connected vehicles, which is a high-commercial-value vertical application of the fifth-generation (5G) mobile communication system and beyond communications. VANET requires both ultrareliable low latency and high-data rate communications. In order to evolve towards the reconfigurable wireless networks (RWNs), the 5G mobile communication system is expected to adapt the key parameters of its radio nodes rapidly. However, the current propagation prediction approaches are difficult to balance accuracy and efficiency, which makes the current network unable to perform autonomous optimization agilely. In order to break through this bottleneck, an accurate and efficient propagation prediction and optimization method empowered by artificial intelligence (AI) is proposed in this paper. Initially, a path loss model based on a multilayer perception neural network is established at 2.6 GHz for three base stations in an urban environment. Not like empirical models using environment types or deterministic models employing three-dimensional environment models, this AI-empowered model explores the environment feature by introducing interference clutters. This critical innovation makes the proposed model so accurate as ray tracing but much more efficient. Then, this validated model is utilized to realize a coverage prediction for 20 base stations only within 1 minute. Afterward, key parameters of these base stations, such as transmission power, elevation, and azimuth angles of antennas, are optimized using simulated annealing. This whole methodology paves the way for evolving the current 5G network to RWNs.

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Quaglia, Giuseppe, Carmen Visconte, Leonardo Sabatino Scimmi, Matteo Melchiorre, Paride Cavallone, and Stefano Pastorelli. "Design of a UGV Powered by Solar Energy for Precision Agriculture." Robotics 9, no. 1 (March 13, 2020): 13. http://dx.doi.org/10.3390/robotics9010013.

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In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains and to perform precision field operations with perception. In particular, the integration of a 7 DOFs (degrees of freedom) manipulator and a mobile frame results in a reconfigurable workspace, which opens to samples collection and inspection in non-structured environments. Moreover, Agri.q mounts an orientable landing platform for drones which is made of solar panels, enabling multi-robot strategies and solar power storage, with a view to sustainable energy. In fact, the device will assume a central role in a more complex automated system for agriculture, that includes the use of UAV (unmanned aerial vehicle) and UGV for coordinated field monitoring and servicing. The electronics of the device is also discussed, since Agri.q should be ready to send-receive data to move autonomously or to be remotely controlled by means of dedicated processing units and transmitter-receiver modules. This paper collects all these elements and shows the advances of the previous works, describing the design process of the mechatronic system and showing the realization phase, whose outcome is the physical prototype.

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Navarro, Pedro J., Leanne Miller, Alberto Gila-Navarro, María Victoria Díaz-Galián, Diego J. Aguila, and Marcos Egea-Cortines. "3DeepM: An Ad Hoc Architecture Based on Deep Learning Methods for Multispectral Image Classification." Remote Sensing 13, no. 4 (February 17, 2021): 729. http://dx.doi.org/10.3390/rs13040729.

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Current predefined architectures for deep learning are computationally very heavy and use tens of millions of parameters. Thus, computational costs may be prohibitive for many experimental or technological setups. We developed an ad hoc architecture for the classification of multispectral images using deep learning techniques. The architecture, called 3DeepM, is composed of 3D filter banks especially designed for the extraction of spatial-spectral features in multichannel images. The new architecture has been tested on a sample of 12210 multispectral images of seedless table grape varieties: Autumn Royal, Crimson Seedless, Itum4, Itum5 and Itum9. 3DeepM was able to classify 100% of the images and obtained the best overall results in terms of accuracy, number of classes, number of parameters and training time compared to similar work. In addition, this paper presents a flexible and reconfigurable computer vision system designed for the acquisition of multispectral images in the range of 400 nm to 1000 nm. The vision system enabled the creation of the first dataset consisting of 12210 37-channel multispectral images (12 VIS + 25 IR) of five seedless table grape varieties that have been used to validate the 3DeepM architecture. Compared to predefined classification architectures such as AlexNet, ResNet or ad hoc architectures with a very high number of parameters, 3DeepM shows the best classification performance despite using 130-fold fewer parameters than the architecture to which it was compared. 3DeepM can be used in a multitude of applications that use multispectral images, such as remote sensing or medical diagnosis. In addition, the small number of parameters of 3DeepM make it ideal for application in online classification systems aboard autonomous robots or unmanned vehicles.

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Meng, Jiawei, Joao Buzzatto, Yuanchang Liu, and Minas Liarokapis. "On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review." Frontiers in Robotics and AI 8 (March 25, 2022). http://dx.doi.org/10.3389/frobt.2021.739173.

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Over the last decade, there has been an increased interest in developing aerial robotic platforms that exhibit grasping and perching capabilities not only within the research community but also in companies across different industry sectors. Aerial robots range from standard multicopter vehicles/drones, to autonomous helicopters, and fixed-wing or hybrid devices. Such devices rely on a range of different solutions for achieving grasping and perching. These solutions can be classified as: 1) simple gripper systems, 2) arm-gripper systems, 3) tethered gripping mechanisms, 4) reconfigurable robot frames, 5) adhesion solutions, and 6) embedment solutions. Grasping and perching are two crucial capabilities that allow aerial robots to interact with the environment and execute a plethora of complex tasks, facilitating new applications that range from autonomous package delivery and search and rescue to autonomous inspection of dangerous or remote environments. In this review paper, we present the state-of-the-art in aerial grasping and perching mechanisms and we provide a comprehensive comparison of their characteristics. Furthermore, we analyze these mechanisms by comparing the advantages and disadvantages of the proposed technologies and we summarize the significant achievements in these two research topics. Finally, we conclude the review by suggesting a series of potential future research directions that we believe that are promising.

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Journal articles on the topic 'Autonomous Reconfigurable Vehicle'

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