New Method for Robotic Systems Architecture Analysis, Modeling, and Design

This thesis suggests a robotic system architecture analysis, modeling, and design workflow that is systematic and intuitive. Firstly, a revised hybrid robotic paradigm model is proposed. Secondly, a method for robotic system subtask analysis, system type identification, and functional hierarchy modeling is presented and examined. Lastly, three robotic system design cases that are under the influence of the proposed method are studied. The main contribution of this work is to serve as a system investigation and decision-making tool, while providing an abstracted blueprint for designing a robotic system architecture that requires extensive interaction between the cyber and physical worlds.