Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive frame-work to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.Supplementary MaterialThis paper is accompanied by a experiment video: http://www.jsk.t.u-tokyo.ac.jp/%7eshifan/paper/iros19/video.mp4.

This paper presents a scan-based BIST architecture for FPGAs used as application-specific embedded devices for low-volume products. The proposed architecture efficiently utilizes memory blocks, instead of logic elements, to build up BIST components such as LFSR, MISR and scan chains for test points. It also provides enhanced scan functionality for test points and performs a hybrid test application of LOC and enhanced scan to improve delay test quality. Experimental results show that the proposed BIST architecture achieves high delay test quality with efficient resource utilization.