Modular Reconfigurable Systems: Theory and Application

提出的模块化可重构系统（MRSs）研究是对申请人当前模块化可重构机器（MRMs）研究的持续发展。目标是开发一种基于模块的方法，用于设计、分析和控制模块化可重构系统（MRS），该系统能够执行一组称为配置的单独系统的所有任务。所述MRS由许多称为子系统的模块化可重构机器（mrm）组成。该方法的目标是在最小化设计空间的同时最大化MRS的功能空间。换句话说，单个MRS可以通过重新配置使用最少数量的模块来完成给定配置集中的所有任务。该方法由三个主要部分组成，分别处理MRS中涉及的两个层面，即子系统层面和模块层面，其中有离散部分和连续部分。可重构机器人就是前者的一个例子，因为它是由离散的环节组成的。飞机的变形机翼就是后者的一个例子，因为它被一层连续的表皮覆盖着。模块分解是将模块识别为构建块的第一步，将给定配置定义的功能空间与模块定义的设计空间联系起来。将发展两级分解方法：i)从系统到子系统，ii)从子系统到模块。模块设计是在通过模块分解定义的设计空间内设计模块的第二步。它通过提供几何、拓扑和分组三种模块设计来处理重构问题，模块综合是将模块设计与所需功能联系起来的最后一步。一个基于多学科设计优化（MDO）方法的框架将被开发。目标是考虑到许多需要的学科来优化模块。拟议的研究将有助于在这一新兴领域培养一批研究生，并协助开发正在进行的与工业界合作的项目，包括变形机翼、机器人铆接、机器人去毛刺和机器人检查，这些项目已经产生了影响。

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.