Wi-Fi and Satellite-Based Location Techniques for Intelligent Agricultural Machinery Controlled by a Human Operator

In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems’ (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach

Dialoguing DeLP-based agents

A multi-agent system is made up of multiple interacting autonomous agents. It can be viewed as a society in which each agent performs its activity cooperating to achieve common goals, or competing for them. They establish dialogues via some kind of agent-communication language, under some communication protocol. We think argumentation is suitable to model several kind of dialogues in multi-agents systems. In this paper we define dialogues and persuasion dialogues between two agents using Defeasible Logic Programs as a knowledge base, together with an algorithm defining how this dialogue may be engaged. We also show an indication of how an agent could use opponent’s information for its own benefit.Eje: AgentesRed de Universidades con Carreras en Informática (RedUNCI

Increasing Endurance of an Autonomous Robot using an Immune-Inspired Framework

This paper describes the implementation of an online immune-inspired framework to help increase endurance of an autonomous robot. Endurance is defined as the ability of the robot to exert itself for a long period of time. The immune-inspired framework provides such capability by monitoring the behavior of the robot to ensure continuous and safe behavior. The immune-inspired framework combines innate and adaptive immune inspired algorithms. Innate uses a dendritic cell based innate immune algorithm, and adaptive uses an instance based B-cell approach. Results presented in this paper shows that when the robot is implemented with the immune-inspired framework, health and survivability of a robot is improved, therefore increasing its endurance

Implications of Autosegmental Analysis in the Exploration of Prosodic Phonology in Mandarin Chinese

Autosegmental Phonology (Goldsmith, 1979) is a theoretical framework for understanding the phonological effects of suprasegmentals such as tone, stress, etc. Using data taken from an experiment in which Mandarin Chinese tone sandhi (the acknowledged rules governing specific tone shifts across segments) is explored, a number of phonologists, specifically Kenstowicz (2003), have shown that the relationship between the segment and the tone is autonomous. In the experiment, non-sense words with a potential tone sandhi rule are presented to the Mandarin speakers. The speakers automatically apply the tone sandhi rule which is then analyzed using an autosegmental framework. The speakers consciously separate the tones from the non-sense words and apply tone sandhi rules; the application of the tone sandhi rule is independent of semantic meaning. This research is expanded to include the exploration of loanword phonology (the phonological changes that occur when a tonal language borrows non-tonal language words) to further understand the autonomous relationship between tones and segments. As can be seen in the following example, the English word Disney: di2-si1-ni2 (numbers account for the differing tones), certain tones are distributed to loanwords

Miniature mobile sensor platforms for condition monitoring of structures

In this paper, a wireless, multisensor inspection system for nondestructive evaluation (NDE) of materials is described. The sensor configuration enables two inspection modes-magnetic (flux leakage and eddy current) and noncontact ultrasound. Each is designed to function in a complementary manner, maximizing the potential for detection of both surface and internal defects. Particular emphasis is placed on the generic architecture of a novel, intelligent sensor platform, and its positioning on the structure under test. The sensor units are capable of wireless communication with a remote host computer, which controls manipulation and data interpretation. Results are presented in the form of automatic scans with different NDE sensors in a series of experiments on thin plate structures. To highlight the advantage of utilizing multiple inspection modalities, data fusion approaches are employed to combine data collected by complementary sensor systems. Fusion of data is shown to demonstrate the potential for improved inspection reliability