Collaboration in the Semantic Grid: a Basis for e-Learning

The CoAKTinG project aims to advance the state of the art in collaborative mediated spaces for the Semantic Grid. This paper presents an overview of the hypertext and knowledge based tools which have been deployed to augment existing collaborative environments, and the ontology which is used to exchange structure, promote enhanced process tracking, and aid navigation of resources before, after, and while a collaboration occurs. While the primary focus of the project has been supporting e-Science, this paper also explores the similarities and application of CoAKTinG technologies as part of a human-centred design approach to e-Learning

Collision-aware Task Assignment for Multi-Robot Systems

We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and introduce a binary decision variable into the local reward function for task bidding. We further improve CATA by implementing a receding collision horizon to address the stopping robot scenario, i.e. when robots are confined to their task location and become static obstacles to other moving robots. The auction-based algorithm encourages the robots to bid for tasks with collision mitigation considerations. We validate the improved task assignment solution with both simulation and experimental results, which show significant reduction of overlapping paths as well as deadlocks

Directed Exploration using a Modified Distance Transform

Mobile robots operating in unknown environments need to build maps. To do so they must have an exploration algorithm to plan a path. This algorithm should guarantee that the whole of the environment, or at least some designated area, will be mapped. The path should also be optimal in some sense and not simply a "random walk" which is clearly inefficient. When multiple robots are involved, the algorithm also needs to take advantage of the fact that the robots can share the task. In this paper we discuss a modification to the well-known distance transform that satisfies these requirements

Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform

In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance capability, the target destination for each robot is provided by a global planner. The global planner and the ground vehicles (robots) constitute a multi agent system (MAS) which communicate with each other over a wireless network. Three different approaches are explored for implementation. The first two approaches make use of the distributed computing based Networked Robotics architecture and communication framework of Robot Operating System (ROS) itself while the third approach uses Rapyuta Cloud Robotics framework for this implementation. The comparative performance of these approaches are analyzed through simulation as well as real world experiment with actual robots. These analyses provide an in-depth understanding of the inner working of the Cloud Robotics Platform in contrast to the usual ROS framework. The insight gained through this exercise will be valuable for students as well as practicing engineers interested in implementing similar systems else where. In the process, we also identify few critical limitations of the current Rapyuta platform and provide suggestions to overcome them.Comment: 14 pages, 15 figures, journal pape

GlobalSoilMap.net - From planning, development and proof of concept to full-scale production mapping

The GlobalSoilMap.net project aims to produce predictions of nine key soil properties at continuous depth intervals at a spatial resolution of 90 m for the entire world. These maps of soil properties will be produced by a participants working under the coordination of regional node leaders with responsibility for organizing and delivering results for eight defined geographic regions of the world. This paper identifies and discusses the technical impediments to moving towards commencement of operational production mapping. These are: i) agreement on specifications for all products, ii) location, digital capture and harmonization of legacy soil data, iii) assembly of covariate databases, iv) documentation of prediction methods, v) specification of data model(s) to use to capture, store and disseminate maps and data, vi) selection of cyber-infrastructure to support map production and dissemination vii) end user surveys assessment and verification, and vii) identification of methods for assessing the uncertainty and accuracy of predictions. Actions undertaken to date to address these challenges are presented and progress is evaluated. There are no significant technical reasons for not moving towards planning and implementing operational production mapping

Public entities driven robotic innovation in urban areas

Cities present new challenges and needs to satisfy and improve lifestyle for their citizens under the concept “Smart City”. In order to achieve this goal in a global manner, new technologies are required as the robotic one. But Public entities unknown the possibilities offered by this technology to get solutions to their needs. In this paper the development of the Innovative Public Procurement instruments is explained, specifically the process PDTI (Public end Users Driven Technological Innovation) as a driving force of robotic research and development and offering a list of robotic urban challenges proposed by European cities that have participated in such a process. In the next phases of the procedure, this fact will provide novel robotic solutions addressed to public demand that are an example to be followed by other Smart Cities.Peer ReviewedPostprint (author's final draft

Designing a novel virtual collaborative environment to support collaboration in design review meetings

Project review meetings are part of the project management process and are organised to assess progress and resolve any design conflicts to avoid delays in construction. One of the key challenges during a project review meeting is to bring the stakeholders together and use this time effectively to address design issues as quickly as possible. At present, current technology solutions based on BIM or CAD are information-centric and do not allow project teams to collectively explore the design from a range of perspectives and brainstorm ideas when design conflicts are encountered. This paper presents a system architecture that can be used to support multi-functional team collaboration more effectively during such design review meetings. The proposed architecture illustrates how information-centric BIM or CAD systems can be made human- and team-centric to enhance team communication and problem solving. An implementation of the proposed system architecture has been tested for its utility, likability and usefulness during design review meetings. The evaluation results suggest that the collaboration platform has the potential to enhance collaboration among multi-functional teams

Plot-based urbanism : towards time-consciousness in place-making

Some of us have recently argued that what we still miss is the serious consideration of the factor of time in urbanism, or, in other words, a deeper "time conscious" approach (Thwaites, Porta, Romice, & Greaves, 2008). Inevitably, that means focusing on change as the essential dynamic of evolution in the built environment, which in turn leads to re-addressing concepts like control, self-organization and community participation. After time and change have been finally firmly placed at the centre stage, the whole discipline of urban planning and design, its conceptual equipment as well as its operational toolbox, reveals its weaknesses under a new light and calls for the construction of a different scenario. This paper poses the problem of this scenario in disciplinary terms, it argues about its premises and outlines its essential features. The scope of this paper is not to deliver a comprehensive model for a new approach to urban planning and design, but to set the right framework and rise the right questions so that we can start thinking of issues such as urban regeneration, informal settlements and massive urbanization, community participation and representation, beauty and humanity in space, in a different way