Synchronizing a modular robot colony for cooperative tasks based on intrainter robot communications

The implementation of robotic cooperative tasks such as pushing an object toward a desired destination or manipulating an object using mobile robots or robotic arms requires motion coordination between the robot colony. When a robot is built by the union of several robots, such as modular robot systems, it is critical to have the complete coordination of each robot configuration within the colony and also overall robot coordination of the colony. The paper presents a demonstration of parallel motion for modular robot configurations through the combination of two types of communications, i.e., Inter-robot and Intra-robot communications. The two types of communications are described and implemented in a real modular robot system. Experiments are executed to show the performance of the robot colony synchronizatio

Embedding agents in business applications using enterprise integration patterns

This paper addresses the issue of integrating agents with a variety of external resources and services, as found in enterprise computing environments. We propose an approach for interfacing agents and existing message routing and mediation engines based on the endpoint concept from the enterprise integration patterns of Hohpe and Woolf. A design for agent endpoints is presented, and an architecture for connecting the Jason agent platform to the Apache Camel enterprise integration framework using this type of endpoint is described. The approach is illustrated by means of a business process use case, and a number of Camel routes are presented. These demonstrate the benefits of interfacing agents to external services via a specialised message routing tool that supports enterprise integration patterns

United We Ride National Dialogue

The Coordinating Council on Access and Mobility (CCAM) asked the National Academy of Public Administration and Easter Seals Project ACTION to develop and host the first United We Ride (UWR) National Dialogue. The goal of the Dialogue was to help shape future policy direction and provide input to the next CCAM strategic plan. The National Academy also assembled a small work group with representatives of the Federal Interagency Coordinating Council on Access and Mobility, Easter Seals Project ACTION, and the National Resource Center on Human Service Transportation to help guide the process of design and implementation.The CCAM includes 11 federal departments, nine of which are responsible for providing transportation for people with disabilities, older adults, and people with limited incomes. CCAM officially launched United We Ride in 2004 to (1) provide more rides for target populations while using the same or fewer assets, (2) simplify access, and (3) increase customer satisfaction.Key FindingsThe process used to create coordinated transportation plans needs improvement. Significant federal policy barriers still exist to strategies that would facilitate access to transportation services. Mobility management strategies are underutilized in communities across the country, and missed opportunities to bridge gaps between transportation and other community services still need to be addressed

Improving Pathways to Transit for Persons with Disabilities

Persons with disabilities can achieve a greater degree of freedom when they have full access to a variety of transit modes, but this can only be achieved when the pathways to transit – the infrastructure and conditions in the built environment – allow full access to transit stops, stations, and vehicles. Since passage of the Americans with Disabilities Act (ADA) in 1990, many transit agencies and governmental jurisdictions have made significant progress in this area. Policy initiatives, incremental enhancements, modifications, and other measures undertaken by transit agencies and their partners have significantly improved access to transit for persons with disabilities, others who rely on public transportation, and individuals who chose to utilize these services. This research study explores, through case study work, efforts that have been effective in improving pathways to transit. Interviews and site visits were conducted with five transit agencies, along with their partners, that are actively engaged in improving pathways to connect transit consumers – particularly people with disabilities – with transit stations and stops. These agencies are: Broward County Transit (Broward County, FL), Memphis Area Transit Authority (Memphis, TN), NJ TRANSIT (Newark and New Brunswick, NJ), Tri-County Metropolitan Transportation District of Oregon (Portland, OR), and Link Transit (Wenatchee, WA). Promising practices and/or lessons were identified through the case study analysis; these should be considered by any transit agency seeking to create improved access to its services for persons with disabilities

Distributed Contingency Analysis over Wide Area Network among Dispatch Centers

Traditionally, a regional dispatch center uses the equivalent method to deal with external grids, which fails to reflect the interactions among regions. This paper proposes a distributed N-1 contingency analysis (DCA) solution, where dispatch centers join a coordinated computation using their private data and computing resources. A distributed screening method is presented to determine the Critical Contingency Set (DCCS) in DCA. Then, the distributed power flow is formulated as a set of boundary equations, which is solved by a Jacobi-Free Newton-GMRES (JFNG) method. During solving the distributed power flow, only boundary conditions are exchanged. Acceleration techniques are also introduced, including reusing preconditioners and optimal resource scheduling during parallel processing of multiple contingencies. The proposed method is implemented on a real EMS platform, where tests using the Southwest Regional Grid of China are carried out to validate its feasibility.Comment: 5 pages, 6 figures, 2017 IEEE PES General Meetin