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

A course on digital electronics based on solving design-oriented exercises by means of a PBL strategy

Recently, new syllabuses are being implemented accordingly to the European Higher Education Area (EHEA) in Spain. This paper describes the methodology and assessment strategy applied in the subject ‘‘Digital Circuits and Systems’’ (CSD) in the third semester course in the Telecommunications Engineering degree at the Castelldefels School of Telecommunications and Aerospace Engineering (EETAC) of the Universitat Polite`cnica de Catalunya (UPC). The course’s main learning objective is that students be able to analyse and design simple combinational and sequential circuits by means of hardware description languages for programmable devices and program applications using microcontrollers and C language. Small groups of two or three students work in cooperation using PBL techniques to solve design-oriented assignments, while instructors act more as mediators than lecturers in order to facilitate project development and knowledge acquisition. The experience we describe corresponds to the spring term of 2011, a period in which this methodology was applied to 46 students. This work compares statistically the influence of the students’ background on their academic performance in our subject. A significant correlation has been detected between test marks and the final grade, based on continuous assessment. Students’ opinions have been obtained by means of a survey at the end of the course. Although the high workload and involvement, because this methodology requires constancy and commitment from the students, most of them have positive opinions on the development of the subject, due to the fact that they realise that they have put into practice several competences or cross-curricular skills, while acquiring the course content, and furthermore, most of them have passed the course, even with higher grades than the ones from other subjects in the same semester.Peer ReviewedPostprint (published version

Design methodology for smart actuator services for machine tool and machining control and monitoring

This paper presents a methodology to design the services of smart actuators for machine tools. The smart actuators aim at replacing the traditional drives (spindles and feed-drives) and enable to add data processing abilities to implement monitoring and control tasks. Their data processing abilities are also exploited in order to create a new decision level at the machine level. The aim of this decision level is to react to disturbances that the monitoring tasks detect. The cooperation between the computational objects (the smart spindle, the smart feed-drives and the CNC unit) enables to carry out functions for accommodating or adapting to the disturbances. This leads to the extension of the notion of smart actuator with the notion of agent. In order to implement the services of the smart drives, a general design is presented describing the services as well as the behavior of the smart drive according to the object oriented approach. Requirements about the CNC unit are detailed. Eventually, an implementation of the smart drive services that involves a virtual lathe and a virtual turning operation is described. This description is part of the design methodology. Experimental results obtained thanks to the virtual machine are then presented

Report from GI-Dagstuhl Seminar 16394: Software Performance Engineering in the DevOps World

This report documents the program and the outcomes of GI-Dagstuhl Seminar 16394 "Software Performance Engineering in the DevOps World". The seminar addressed the problem of performance-aware DevOps. Both, DevOps and performance engineering have been growing trends over the past one to two years, in no small part due to the rise in importance of identifying performance anomalies in the operations (Ops) of cloud and big data systems and feeding these back to the development (Dev). However, so far, the research community has treated software engineering, performance engineering, and cloud computing mostly as individual research areas. We aimed to identify cross-community collaboration, and to set the path for long-lasting collaborations towards performance-aware DevOps. The main goal of the seminar was to bring together young researchers (PhD students in a later stage of their PhD, as well as PostDocs or Junior Professors) in the areas of (i) software engineering, (ii) performance engineering, and (iii) cloud computing and big data to present their current research projects, to exchange experience and expertise, to discuss research challenges, and to develop ideas for future collaborations

Early aspects: aspect-oriented requirements engineering and architecture design

This paper reports on the third Early Aspects: Aspect-Oriented Requirements Engineering and Architecture Design Workshop, which has been held in Lancaster, UK, on March 21, 2004. The workshop included a presentation session and working sessions in which the particular topics on early aspects were discussed. The primary goal of the workshop was to focus on challenges to defining methodical software development processes for aspects from early on in the software life cycle and explore the potential of proposed methods and techniques to scale up to industrial applications

Improving Knowledge Retrieval in Digital Libraries Applying Intelligent Techniques

Nowadays an enormous quantity of heterogeneous and distributed information is stored in the digital University. Exploring online collections to find knowledge relevant to a user’s interests is a challenging work. The artificial intelligence and Semantic Web provide a common framework that allows knowledge to be shared and reused in an efficient way. In this work we propose a comprehensive approach for discovering E-learning objects in large digital collections based on analysis of recorded semantic metadata in those objects and the application of expert system technologies. We have used Case Based-Reasoning methodology to develop a prototype for supporting efficient retrieval knowledge from online repositories. We suggest a conceptual architecture for a semantic search engine. OntoUS is a collaborative effort that proposes a new form of interaction between users and digital libraries, where the latter are adapted to users and their surroundings

Iterative criteria-based approach to engineering the requirements of software development methodologies

Software engineering endeavours are typically based on and governed by the requirements of the target software; requirements identification is therefore an integral part of software development methodologies. Similarly, engineering a software development methodology (SDM) involves the identification of the requirements of the target methodology. Methodology engineering approaches pay special attention to this issue; however, they make little use of existing methodologies as sources of insight into methodology requirements. The authors propose an iterative method for eliciting and specifying the requirements of a SDM using existing methodologies as supplementary resources. The method is performed as the analysis phase of a methodology engineering process aimed at the ultimate design and implementation of a target methodology. An initial set of requirements is first identified through analysing the characteristics of the development situation at hand and/or via delineating the general features desirable in the target methodology. These initial requirements are used as evaluation criteria; refined through iterative application to a select set of relevant methodologies. The finalised criteria highlight the qualities that the target methodology is expected to possess, and are therefore used as a basis for de. ning the final set of requirements. In an example, the authors demonstrate how the proposed elicitation process can be used for identifying the requirements of a general object-oriented SDM. Owing to its basis in knowledge gained from existing methodologies and practices, the proposed method can help methodology engineers produce a set of requirements that is not only more complete in span, but also more concrete and rigorous