Abstract-For certain applications, field robotic systems require small size for cost, weight, access, stealth or other reasons. Small size results in constraints on critical resources such as power, space (for sensors and actuators), and computing cycles, but these robots still must perform many of the challenging tasks of their larger brethren. The need for advanced capabilities such as machine vision, applicationspecific sensing, path planning, self localization, etc. is not reduced by small-scale applications, but needs may vary with the task. As a result, when resources are constrained, it is prudent to configure the robot for the task at hand; both hardware and software. We are developing a reconfigurable computing subsystem for resource-constrained robots that allows rapid deployment of statically configured hardware and software for a specific task. The use of a Field Programmable Gate Array (FPGA) provides flexibility in hardware for both sensor interfacing and hardware-accelerated computation. In this paper, we describe a static reconfiguration architecture we call the Morphing Bus that allows the rapid assembly of sensors and dedicated computation through reusable hardware and software modules. It is a novel sensor bus in the fact that no bus interface circuitry is required on the sensor side -the bus "morphs" to accommodate the signals of the sensor.

Much work has been undertaken recently toward the development of low-power, high-performance sensor networks. There are many static remote sensing applications for which this is appropriate. The focus of this development effort is applications that require higher performance computation, but still involve severe constraints on power and other resources. Toward that end, we are developing a reconfigurable computing platform for miniature robotic and humandeployed sensor systems composed of several mobile nodes. The system provides static and dynamic reconfigurability for both software and hardware by the combination of CPU (central processing unit) and FPGA (field-programmable gate array) allowing on-the-fly reprogrammability. Static reconfigurability of the hardware manifests itself in the form of a "morphing bus" architecture that permits the modular connection of various sensors with no bus interface logic. Dynamic hardware reconfigurability provides for the reallocation of hardware resources at run-time as the mobile, resource-constrained nodes encounter unknown environmental conditions that render various sensors ineffective.This computing platform will be described in the context of work on chemical/biological/radiological plume tracking using a distributed team of mobile sensors. The objective for a dispersed team of ground and/or aerial autonomous vehicles (or hand-carried sensors) is to acquire measurements of the concentration of the chemical agent from optimal locations and estimate its source and spread. This requires appropriate distribution, coordination and communication within the team members across a potentially unknown environment. The key problem is to determine the parameters of the distribution of the harmful agent so as to use these values for determining its source and predicting its spread. The accuracy and convergence rate of this estimation process depend not only on the number and accuracy of the sensor measurements but also on their spatial distribution over time (the sampling strategy). For the safety of a humandeployed distribution of sensors, optimized trajectories to minimize human exposure are also of importance.The systems described in this paper are currently being developed. Parts of the system are already in existence and some results from these are described.

Abstract-Today's life is full of frustrations, deadlines, and demands. For many people, stress is so common that it has become an integral part of life. Stress is body's way of responding to any kind of demand or threat. When you feel threatened, your nervous system responds by re-leasing a flood of stress hormones, including adrenaline due to which body's conductance changes, heart pounds faster, muscles tighten, blood pressure rises and breath quickens. And they directly correlate the level of stress to one's emotion or mood. Hence Heartbeat, Body temperature and GSR (Galvanic skin resistance) are the three informative signals that can be used to determine the stress. This work proposes a system which can detect the stress of a person using Temperature, GSR and Pulse sensors to measure body temperature, Skin conductance and Heartbeat respectively and provides a suitable medication. The system can also be used as personal stress assistance system which creates a calm environment to meditate with a time interval of 2minutes, 5minutes and 10minutes.The Raspberry Pi, Arduino and sensors form the hardware part and a GUI provides a user friendly interface .The human body resistance varies from 2 Mega ohm to 10 Kilo ohm based on the emotion, While the normal Heart beat and Body temperature is 60-90 BPM, 28C respectively. The proposed system is successful in measuring these values thus act as a stress management system which helps to cope with the stress and get relieved.