Modular Reconfigurable Systems: Theory and Application

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The proposed research on Modular Reconfigurable Systems (MRSs) is a continuous development of the applicant's current research on Modular Reconfigurable Machines (MRMs). The objective is to develop a module-based method for design, analysis and control of a modular reconfigurable system (MRS) that is capable of performing all the tasks intended for a set of individual systems called configurations. The said MRS is composed of a number of modular reconfigurable machines (MRMs) called subsystems. The goal of this method is to maximize the function space of a MRS while minimizing the design space. In other words, a single MRS can fulfill all the tasks within the given set of configurations by using a minimal number of modules through reconfiguration. The proposed method is composed of three major components to deal with two levels involved in a MRS, namely, subsystem level and module level, with discrete and continuous parts. A reconfigurable robot is an example of the former because it is made of discrete links. An aircraft morphing wing is an example of the latter because it is covered by a continuous skin. Module Decomposition is the first step to identify modules as building blocks to relate the function space defined by the given configurations to the design space defined by the modules. A two-level decomposition method will be developed: i) from system to subsystem and ii) from subsystem to module. Module Design is the second step to design modules within the design space defined through module decomposition. It deals with the reconfiguration issues by providing three module designs: geometrical, topological and grouping, Module synthesis is the last step to relate the module design back to the required functions. A framework will be developed based on a multidisciplinary design optimization (MDO) approach. The goal is to optimize the modules considering a number of needed disciplines. The proposed research will help to train a number of graduate students in this emerging area and assist in the development of ongoing collaborative projects with industry on morphing wings, robotic riveting, robotic deburring and robotic inspection, which have already generated impacts.