Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

Combining relevance information in a synchronous collaborative information retrieval environment

Traditionally information retrieval (IR) research has focussed on a single user interaction modality, where a user searches to satisfy an information need. Recent advances in both web technologies, such as the sociable web of Web 2.0, and computer hardware, such as tabletop interface devices, have enabled multiple users to collaborate on many computer-related tasks. Due to these advances there is an increasing need to support two or more users searching together at the same time, in order to satisfy a shared information need, which we refer to as Synchronous Collaborative Information Retrieval. Synchronous Collaborative Information Retrieval (SCIR) represents a significant paradigmatic shift from traditional IR systems. In order to support an effective SCIR search, new techniques are required to coordinate users' activities. In this chapter we explore the effectiveness of a sharing of knowledge policy on a collaborating group. Sharing of knowledge refers to the process of passing relevance information across users, if one user finds items of relevance to the search task then the group should benefit in the form of improved ranked lists returned to each searcher. In order to evaluate the proposed techniques we simulate two users searching together through an incremental feedback system. The simulation assumes that users decide on an initial query with which to begin the collaborative search and proceed through the search by providing relevance judgments to the system and receiving a new ranked list. In order to populate these simulations we extract data from the interaction logs of various experimental IR systems from previous Text REtrieval Conference (TREC) workshops

an extensible tuplespace as XML-middleware

XMLSpaces.NET implements the Linda concept as a middleware for XML documents. It introduces an extended matching flexibility on nested tuples and richer data types for fields, including objects and XML documents. It is completely XML-based since data, tuples and tuplespaces are seen as trees represented as XML documents. XMLSpaces.NET is extensible in that it supports a hierarchy of matching relations on tuples and an open set of matching amongst data, documents and objects. It is currently being implemented on the .NET platform

Everything You Wanted to Know About MPEG-7: Part 1

Part I of this article provides an overview of the development, functionality, and applicability of MPEG-7. We ll first present the role of MPEG-7 within the context of past MPEG standards. We then outline ideas of what should be possible using MPEG-7 technology. In Part II, we ll discuss the description of MPEG-7 s concepts, terminology, and requirements. We ll then compare MPEG-7 to other approaches on multimedia content description

A Grid-Enabled Infrastructure for Resource Sharing, E-Learning, Searching and Distributed Repository Among Universities

In the recent years, service-based approaches for sharing of data among repositories and online learning are rising to prominence because of their potential to meet the requirements in the area of high performance computing. Developing education based grid services and assuring high availability reliability and scalability are demanding in web service architectures. On the other hand, grid computing provides flexibility towards aggregating distributed CPU, memory, storage, data and supports large number of distributed resource sharing to provide the full potential for education like applications to share the knowledge that can be attainable on any single system. However, the literature shows that the potential of grid resources for educational purposes is not being utilized yet. In this paper, an education based grid framework architecture that provides promising platform to support sharing of geographically dispersed learning content among universities is developed. It allows students, faculty and researchers to share and gain knowledge in their area of interest by using e-learning, searching and distributed repository services among universities from anywhere, anytime. Globus toolkit 5.2.5 (GTK) software is used as grid middleware that provides resource access, discovery and management, data movement, security, and so forth. Furthermore, this work uses the OGSA-DAI that provides database access and operations. The resulting infrastructure enables users to discover education services and interact with them using the grid portal

Agent-based Computing in Java

Agents are powerful, autonomous entities capable of performing simple, or vastly complex, operations individually or in groups of agent systems. Their capabilities extend significantly as mobile agents distributed across a network. Agent-based computing is a widely used technology with a broad range of applications, particularly in distributed computing and agent-based modeling. Many types of systems can be designed using the different architectures that define how they act, communicate, migrate, and more. This paper surveys agent-based computing, their architectures, and efforts at the standardization of certain aspects of the technology. It explores an existing framework called Jade through the lens of a demonstration based on the Sugarscape model, implemented using Jade’s library. Finally, it presents a new framework, called NOMAD, a simple barebones framework which comprises the most essential components needed for a mobile agent framework. With it, a user can quickly and more deeply understand the vital challenges agent systems must address, such as communication and code mobility, and the solutions needed to be implemented. They’ll be able to use the framework to extend its capabilities, create new components, and build powerful agent systems of their own

NASA space station automation: AI-based technology review. Executive summary

Research and Development projects in automation technology for the Space Station are described. Artificial Intelligence (AI) based technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics