This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.

This paper describes efficient flight control algorithms for building a reconfigurable ad-hoc wireless sensor networks between nodes on the ground and airborne nodes mounted on autonomous vehicles to increase the operational range of an aerial robot or the communication connectivity. Two autonomous flight control algorithms based on adaptive gradient climbing approach are developed to steer the aerial vehicles to reach optimal locations for the maximum communication throughputs in the airborne sensor networks. The first autonomous vehicle control algorithm is presented for seeking the source of a scalar signal by directly using the extremum-seeking based forward surge control approach with no position information of the aerial vehicle. The second flight control algorithm is developed with the angular rate command by integrating an adaptive gradient climbing technique which uses an on-line gradient estimator to identify the derivative of a performance cost function. They incorporate the network performance into the feedback path to mitigate interference and noise. A communication propagation model is used to predict the link quality of the communication connectivity between distributed nodes. Simulation study is conducted to evaluate the effectiveness of the proposed reconfigurable airborne wireless networking control algorithms.

본 논문은 순차적으로 전압 인가된 RF MEMS 스위치를 이용하여 재구성 슬롯 안테나를 설계하였다. MEMS 스위치의 구동전압은 하부 전극과 상부 스위치 사이의 에어캡 높이에 따른 스위치의 특성을 ANSYS 시뮬레이션으로 분석하였다. MEMS 스위치의 구동전압은 하부전극과 상부 스위치 사이의 에어캡 높이와 스위치 형상에 의해 결정된다. 설계된 MEMS 스위치의 길이는 각각 240μm, 320 μm, 400 μm 이고, 에어캡은 6μm이었다. 설계된 슬롯 안테나는 전체크기가 10 mm x 10 mm이며, 슬롯의 크기는 길이가 500 μm, 폭이 200 μm이었다. 그리고 CPW 급전선은 전체의 길이는 5 mm이며, 입구에서의 CPW는 30-80-30 μm이괴, 슬롯에서의 CPW는 150-300-150 μm이다. 세안된 소사의 공진주파수의 튜닝은 RF MEMS 스위치에 DC 바이어스를 인가함으로서 안테나의 전기적인 길이를 변화시켜 이루어진다. 설계된 슬롯 안테나를 시뮬레이션, 제조 및 측정을 하였다.