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Background: Modular self-reconfigurable robot is a hot topic in current robotics research, the modular self-reconfigurable robot is composed of several modules with certain autonomous ability and perceptual ability. Through mutual docking and assembly, the overall configuration is changed to achieve different moves and operation functions. Compared with the traditional robot, it has strong adaptability to the environment and the ability to deal with changeable tasks. Objective: The recent modular self-reconfigurable robot is summarized, and its structure, characteristics and development are introduced. Methods: This paper summarizes the patents and research progress of modular self-reconfigurable robot, and introduces the current development of modular self-reconfigurable robot from the aspects of structure features, docking methods, driving types and applications. Results: This paper classifies the structural features, docking methods and driving types of various modular self-reconfigurable robots, summarizes the typical features, and discusses the current and future development of modular self-reconfigurable robots. Conclusion: Modular self-reconfigurable robot is a new subject in the field of robotics research in recent years. Through the docking among a large number of unit modules which changes the overall configuration, extends the motion form and realizes different motion gait, modular self-reconfigurable robot can replace traditional robot to complete the work in a complex environment, which is of great significance to the development of robot. Therefore, more modular self-reconfigurable robot patents should be invented.

Because Automatic Digital Multimeter is huge and not compatible, automatic digital multimeter provide a serial communication interface to avoid the trouble of moving the instrument. This paper uses the method of serial communication based on UART, through the UART interface design, solving the problems of automatic digital multimeter serial communication. The results of the study show that using UART serial communication, users can quickly and efficiently measure the data of voltage, current online, etc. It is convenient and easy.

In order to accomplish the field bus and intelligence transformation for traditional vortex flow meter, we design a platform embedded µC/OS-III and develop a complete set of HART and RS485 communication interface on this platform. It can be easily composed with traditional vortex flow meter to achieve function of remote control and collection in the case of minor change to the originals. With this platform's help, traditional vortex flow meter can upgrade quickly and improve the market competitiveness.

This paper presents some motion path tracking algorithms of mobile robot based on machine vision. The machine vison subsystem of robot capture the information of motion path in real-time, which is stored and processed to get the distance error and angle error of robot and motion path. With those algorithms, system could eliminate the errors , tracking the motion path precisely and moving stable.