Towards adaptive multi-robot systems: self-organization and self-adaptation

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

Human Factors in Agile Software Development

Through our four years experiments on students' Scrum based agile software development (ASD) process, we have gained deep understanding into the human factors of agile methodology. We designed an agile project management tool - the HASE collaboration development platform to support more than 400 students self-organized into 80 teams to practice ASD. In this thesis, Based on our experiments, simulations and analysis, we contributed a series of solutions and insights in this researches, including 1) a Goal Net based method to enhance goal and requirement management for ASD process, 2) a novel Simple Multi-Agent Real-Time (SMART) approach to enhance intelligent task allocation for ASD process, 3) a Fuzzy Cognitive Maps (FCMs) based method to enhance emotion and morale management for ASD process, 4) the first large scale in-depth empirical insights on human factors in ASD process which have not yet been well studied by existing research, and 5) the first to identify ASD process as a human-computation system that exploit human efforts to perform tasks that computers are not good at solving. On the other hand, computers can assist human decision making in the ASD process.Comment: Book Draf

Methodological approaches and techniques for designing ontologies in information systems requirements engineering

Programa doutoral em Information Systems and TechnologyThe way we interact with the world around us is changing as new challenges arise, embracing innovative business models, rethinking the organization and processes to maximize results, and evolving change management. Currently, and considering the projects executed, the methodologies used do not fully respond to the companies' needs. On the one hand, organizations are not familiar with the languages used in Information Systems, and on the other hand, they are often unable to validate requirements or business models. These are some of the difficulties encountered that lead us to think about formulating a new approach. Thus, the state of the art presented in this paper includes a study of the models involved in the software development process, where traditional methods and the rivalry of agile methods are present. In addition, a survey is made about Ontologies and what methods exist to conceive, transform, and represent them. Thus, after analyzing some of the various possibilities currently available, we began the process of evolving a method and developing an approach that would allow us to design ontologies. The method we evolved and adapted will allow us to derive terminologies from a specific domain, aggregating them in order to facilitate the construction of a catalog of terminologies. Next, the definition of an approach to designing ontologies will allow the construction of a domain-specific ontology. This approach allows in the first instance to integrate and store the data from different information systems of a given organization. In a second instance, the rules for mapping and building the ontology database are defined. Finally, a technological architecture is also proposed that will allow the mapping of an ontology through the construction of complex networks, allowing mapping and relating terminologies. This doctoral work encompasses numerous Research & Development (R&D) projects belonging to different domains such as Software Industry, Textile Industry, Robotic Industry and Smart Cities. Finally, a critical and descriptive analysis of the work done is performed, and we also point out perspectives for possible future work.A forma como interagimos com o mundo à nossa volta está a mudar à medida que novos desafios surgem, abraçando modelos empresariais inovadores, repensando a organização e os processos para maximizar os resultados, e evoluindo a gestão da mudança. Atualmente, e considerando os projetos executados, as metodologias utilizadas não respondem na totalidade às necessidades das empresas. Por um lado, as organizações não estão familiarizadas com as linguagens utilizadas nos Sistemas de Informação, por outro lado, são muitas vezes incapazes de validar requisitos ou modelos de negócio. Estas são algumas das dificuldades encontradas que nos levam a pensar na formulação de uma nova abordagem. Assim, o estado da arte apresentado neste documento inclui um estudo dos modelos envolvidos no processo de desenvolvimento de software, onde os métodos tradicionais e a rivalidade de métodos ágeis estão presentes. Além disso, é efetuado um levantamento sobre Ontologias e quais os métodos existentes para as conceber, transformar e representar. Assim, e após analisarmos algumas das várias possibilidades atualmente disponíveis, iniciou-se o processo de evolução de um método e desenvolvimento de uma abordagem que nos permitisse conceber ontologias. O método que evoluímos e adaptamos permitirá derivar terminologias de um domínio específico, agregando-as de forma a facilitar a construção de um catálogo de terminologias. Em seguida, a definição de uma abordagem para conceber ontologias permitirá a construção de uma ontologia de um domínio específico. Esta abordagem permite em primeira instância, integrar e armazenar os dados de diferentes sistemas de informação de uma determinada organização. Num segundo momento, são definidas as regras para o mapeamento e construção da base de dados ontológica. Finalmente, é também proposta uma arquitetura tecnológica que permitirá efetuar o mapeamento de uma ontologia através da construção de redes complexas, permitindo mapear e relacionar terminologias. Este trabalho de doutoramento engloba inúmeros projetos de Investigação & Desenvolvimento (I&D) pertencentes a diferentes domínios como por exemplo Indústria de Software, Indústria Têxtil, Indústria Robótica e Smart Cities. Finalmente, é realizada uma análise critica e descritiva do trabalho realizado, sendo que apontamos ainda perspetivas de possíveis trabalhos futuros

Advances in Grid Computing

This book approaches the grid computing with a perspective on the latest achievements in the field, providing an insight into the current research trends and advances, and presenting a large range of innovative research papers. The topics covered in this book include resource and data management, grid architectures and development, and grid-enabled applications. New ideas employing heuristic methods from swarm intelligence or genetic algorithm and quantum encryption are considered in order to explain two main aspects of grid computing: resource management and data management. The book addresses also some aspects of grid computing that regard architecture and development, and includes a diverse range of applications for grid computing, including possible human grid computing system, simulation of the fusion reaction, ubiquitous healthcare service provisioning and complex water systems

MetaOmniCity: Towards urban metaverse cyberspaces using immersive smart city digital twins

The movie - The Matrix (1999) - boosted our imagination about how further we can be immersed within the cyber world, i.e., how further the cyber world can be indistinguishable from the real world with the metaverse space travel. Nobody had expected involving the creators that the aspirational fictional virtual worlds such as "ActiveWorlds (1995)", and ``Second Life (2003)'' with many urban experiences embedded into a rich featured 3D environment would impact the way of experiencing our real urban environments. Are we going to feel/become ourselves - our cyber-physical presence (e.g., our augmented avatars) - in other mirror worlds doing many other things? Are the created imaginary worlds becoming a part of the real worlds or vice versa? The recent once-in-a-lifetime pandemic has confirmed the importance of location and time-independent Digital Twins (DTs) (i.e., virtual scale models) of cities and their automated services that can provide everybody with equity and accessibility by democratising all types of services leading to increased Quality of Life (QoL). This study analyses how the metaverse (3D elevation of linear Internet), that aims to build high-fidelity virtual worlds with which to interact with the real world, can be engaged within the Smart City (SC) ecosystem with high immersive Quality of Experiences (QoE) and an urban metaverse ecosystem framework — MetaOmniCity — that is designed to demonstrate a variety of insights and orchestrational directions for policymakers, city planners and all other stakeholders about how to transform data-driven SCs with DTs into virtually inhabitable cities with a network of shared urban experiences from a metaverse point of view. MetaOmniCity, allowing the metaversification of cities with granular virtual societies, i.e., MetaSocieties, and eliminating the boundaries (e.g., time, space and language) between the real world and their virtual counterparts, can be shaped to the particular requirements and features of cities. This can pave the way for immersive globalisation with the bigger and richer metaverse of Country (MoC) and metaverse of World (MoW) being an immersive DT of the broader universe with digitally connected cities by removing physical borders. MetaOmniCity is expected to accelerate the building, deployment, and adoption of immersive urban metaverse worlds/networks for citizens to interface with as an extension of real urban social and individual experiences

XR, music and neurodiversity: design and application of new mixed reality technologies that facilitate musical intervention for children with autism spectrum conditions

This thesis, accompanied by the practice outputs,investigates sensory integration, social interaction and creativity through a newly developed VR-musical interface designed exclusively for children with a high-functioning autism spectrum condition (ASC).The results aim to contribute to the limited expanse of literature and research surrounding Virtual Reality (VR) musical interventions and Immersive Virtual Environments (IVEs) designed to support individuals with neurodevelopmental conditions. The author has developed bespoke hardware, software and a new methodology to conduct field investigations. These outputs include a Virtual Immersive Musical Reality Intervention (ViMRI) protocol, a Supplemental Personalised, immersive Musical Experience(SPiME) programme, the Assisted Real-time Three-dimensional Immersive Musical Intervention System’ (ARTIMIS) and a bespoke (and fully configurable) ‘Creative immersive interactive Musical Software’ application (CiiMS). The outputs are each implemented within a series of institutional investigations of 18 autistic child participants. Four groups are evaluated using newly developed virtual assessment and scoring mechanisms devised exclusively from long-established rating scales. Key quantitative indicators from the datasets demonstrate consistent findings and significant improvements for individual preferences (likes), fear reduction efficacy, and social interaction. Six individual case studies present positive qualitative results demonstrating improved decision-making and sensorimotor processing. The preliminary research trials further indicate that using this virtual-reality music technology system and newly developed protocols produces notable improvements for participants with an ASC. More significantly, there is evidence that the supplemental technology facilitates a reduction in psychological anxiety and improvements in dexterity. The virtual music composition and improvisation system presented here require further extensive testing in different spheres for proof of concept

Roadmap on structured light

Structured light refers to the generation and application of custom light fields. As the tools and technology to create and detect structured light have evolved, steadily the applications have begun to emerge. This roadmap touches on the key fields within structured light from the perspective of experts in those areas, providing insight into the current state and the challenges their respective fields face. Collectively the roadmap outlines the venerable nature of structured light research and the exciting prospects for the future that are yet to be realized.Peer ReviewedPostprint (published version

Vision 21: Interdisciplinary Science and Engineering in the Era of Cyberspace

The symposium Vision-21: Interdisciplinary Science and Engineering in the Era of Cyberspace was held at the NASA Lewis Research Center on March 30-31, 1993. The purpose of the symposium was to simulate interdisciplinary thinking in the sciences and technologies which will be required for exploration and development of space over the next thousand years. The keynote speakers were Hans Moravec, Vernor Vinge, Carol Stoker, and Myron Krueger. The proceedings consist of transcripts of the invited talks and the panel discussion by the invited speakers, summaries of workshop sessions, and contributed papers by the attendees

Study of evacuation drills through data collection, dimensional analysis, statistical regression, and IoT technologies

Let's imagine the evacuation sirens go off, how soon would we all be out of the building? It will depend how many we are, 1000 people or maybe just 200? It will also depend on the dimensions and design of the building, and above all on how we behave. I mean, the time to assimilate that we have to leave, decide to leave, perhaps delayed by picking something up, waiting for or convincing someone, and other issues that make the exit longer. In other words, it is a system with many components that interact with each other. The foundations of evacuation modeling were established in the 1970s and 80s, these being an analytical breakdown of the total time when carrying out an evacuation taking into account the different issues that could influence each of the defined components. All these aspects were of increasing complexity and began to be studied with the help of computer simulations. Computer simulations are very helpful, but require a large amount of resources to carry them out. They do not avoid the need to carry out evacuation drills and do not allow comparisons between evacuations of different buildings. This Ph.D. thesis proposes a different approach, from a holistic view, of a system as a whole, where each building is a black box characterized by a dimensionless parameter that allows different buildings to be differentiated. The building is the independent variable of the system, while the ratio of evacuation time to people evacuated will be the dependent variable. In this way, the evacuations of different buildings can be compared. One great difficulty concerning the study and research of evacuations is to collect enough data, both quantitative and qualitative. In this Ph.D. thesis, data have been collected from evacuation drills at the University of Valladolid for 10 years. In addition, a new indoor positioning system is proposed to facilitate the collection of future data that could be used to feed both the model proposed by this thesis, and to validate other study models. This Ph.D. thesis offers an unprecedented approach to be able to compare the evacuations of different buildings, taking into account their most relevant characteristics for the evacuation, which until now had not been possible. The theoretical approach is supported by the historical data collected, and by data published by other authors. Furthermore, it also offers a viable solution for collecting more evacuation data using indoor positioning technologies.Imaginemos que suenan las sirenas de evacuación, ¿en cuánto tiempo estaríamos todos fuera del edificio? Dependerá cuantos seamos (¿1.000 personas o quizás sólo 200?), de las dimensiones y diseño del edificio, y sobre todo de cómo nos comportemos, es decir, el tiempo que tardemos en asimilar que tenemos que salir, en decidirnos a salir, quizás en entretenernos en coger algo, o esperar o convencer a alguien, y otras cuestiones que nos pueden entretener. Es decir, se trata de un sistema con multitud de elementos que interaccionan entre sí. Las bases de la modelización de la evacuación se establecieron en las décadas de los años 70 y 80 del siglo XX, siendo un desglose analítico del tiempo total a considerar cuando se efectúa una evacuación teniendo en cuenta las diferentes variables que podían influir en cada uno de los elementos definidos. La modelización de todos estos aspectos de complejidad creciente, pasó a ser estudiado con la ayuda de simulaciones por ordenador. Las simulaciones de ordenador son de gran ayuda pero implican un gran esfuerzo en recursos para poder llevarlas a cabo, no evitan la realización de ejercicios de simulacros y no permiten comparar edificios diferentes. Esta tesis doctoral propone un enfoque diferente, desde una visión holística, como un sistema en su conjunto donde cada edificio sea una caja negra caracterizada con un parámetro adimensional que permita diferenciar edificios distintos, siendo el edificio la variable independiente del sistema mientras que la relación ``tiempo de evacuación entre personas evacuadas'' es la variable dependiente. De esta manera se pueden comparar las evacuaciones de diferentes edificios. Una gran dificultad que tiene el estudio e investigación sobre las evacuaciones es recopilar datos suficientes, tanto cuantitativos como cualitativos, de las mismas. En esta tesis se han recogido los datos de simulacros de evacuación de la Universidad de Valladolid durante 10 años. Además se propone un sistema, basado en localización indoor, para facilitar la recogida de datos futuros, válidos para alimentar tanto al modelo propuesto por esta tesis, como para validar otros modelos de estudio. Esta tesis ofrece un planteamiento novedoso para poder comparar las evacuaciones de edificios diferentes, teniendo en cuenta sus características más relevantes en la evacuación, lo cual, hasta ahora, no había sido posible. El planteamiento teórico se ve respaldado por los datos históricos recogidos y por los datos publicados por otros autores. Además, propone una solución viable para la recopilación de más datos de evacuaciones valiéndose de tecnologías de posicionamiento en interiores.Escuela de DoctoradoDoctorado en Ingeniería Industria