Simulating Autonomous Mobile Programs on Networks

Autonomous mobile programs (AMPs) have been proposed for load management in dynamic networks. An AMP is aware of its resource needs and periodically seeks a better location in the network to reduce execution time. AMPs have previously been measured using mobile Java Voyager on local area networks (LANs). We have constructed a simulation model of AMPs and reproduced 4 sets of experiments on homogeneous networks, i.e. networks where all locations have the same processor speed, and 2 sets of experiments on heterogeneous networks with collection of large and small AMPs. The results show that simulated collections of AMPs obtain similar balanced states to those reached in the real experiments, and have only minor differences from real experimental results. The simulation model gives an opportunity to explore the greedy effect that can be observed in the real experiments. This gives us confidence to apply the simulation model for further investigation of AMP behaviour, including behaviours on wide area networks

Simulating Autonomous Mobile Programs on Networks

Autonomous mobile programs (AMPs) have been proposed for load management in dynamic networks. An AMP is aware of its resource needs and periodically seeks a better location in the network to reduce execution time. AMPs have previously been measured using mobile Java Voyager on local area networks (LANs). We have constructed a simulation model of AMPs and reproduced 4 sets of experiments on homogeneous networks, i.e. networks where all locations have the same processor speed, and 2 sets of experiments on heterogeneous networks with collection of large and small AMPs. The results show that simulated collections of AMPs obtain similar balanced states to those reached in the real experiments, and have only minor differences from real experimental results. The simulation model gives an opportunity to explore the greedy effect that can be observed in the real experiments. This gives us confidence to apply the simulation model for further investigation of AMP behaviour, including behaviours on wide area networks

Using Negotiation to Reduce Redundant Autonomous Mobile Program Movements

Distributed load managers exhibit thrashing where tasks are repeatedly moved between locations due to incomplete global load information. This paper shows that systems of Autonomous Mobile Programs (AMPs) exhibit the same behaviour, identifying two types of redundant movement and terming them greedy effects. AMPs are unusual in that, in place of some external load management system, each AMP periodically recalculates network and program parameters and may independently move to a better execution environment. Load management emerges from the behaviour of collections of AMPs. The paper explores the extent of greedy effects by simulation, and then proposes negotiating AMPs (NAMPs) to ameliorate the problem. We present the design of AMPs with a competitive negotiation scheme (cNAMPs), and compare their performance with AMPs by simulation

Mobile Robot Localization Using Bar Codes as Artificial Landmarks

"Where am I' is the central question in mobile robot navigation. Robust and reliable localization are of vital importance for an autonomous mobile robot because the ability to constantly monitor its position in an unpredictable, unstructured, and dynamic environment is the essential prerequisite to build up and/or maintain environmental maps consistently and to perform path planning. Thus, selflocalization as precondition for goal-oriented behavior is a fundamental property an autonomous mobile robot needs to be equipped with. Accurate, flexible and low-cost localization are important issues for achieving autonomous and cooperative motions of mobile robots. Mobile robots usually perform self-localization by combining position estimates obtained from odometry or inertial navigation with external sensor data. The objective of the thesis is to present a pragmatic idea which utilizes a camera-based bar code recognition technique in order to support mobile robot localization In indoor environments. The idea is to further improve already existing localization capabilities, obtained from dead-reckoning, by furnishing relevant environmental spots such as doors, stairs, etc. with semantic information. In order to facilitate the detection of these landmarks the employment of bar codes is proposed. The important contribution of the thesis is the designing of two software programs. The first program is the bar code generation program which is able to generate five types of bar code labels that play a major role in the proposed localization method. The second program is the bar code recognition program that analyzes image files looking for a bar code label. If a label is found the program recognizes it and display both the information it contains and its coding type. Results concerning the generation of five types of bar code labels which are code 2 of 5, code 3 of9 , codabar code, code 128 and code 2 of 5 interleaved and the detection and identification of these labels from image files are obtained. In conclusion the thesis proposes a solution to mobile robot self-localization problem, which is the central significant for implementing an autonomous mobile robot, by utilizing a camera-based bar code recognition technique to support the basic localization capabilities obtained from a dead-reckoning method in an indoor environment

Redundant movements in autonomous mobility: experimental and theoretical analysis

<p>Distributed load balancers exhibit thrashing where tasks are repeatedly moved between locations due to incomplete global load information. This paper shows that systems of autonomous mobile programs (AMPs) exhibit the same behaviour, and identifies two types of redundant movement (greedy effect). AMPs are unusual in that, in place of some external load management system, each AMP periodically recalculates network and program parameters and may independently move to a better execution environment. Load management emerges from the behaviour of collections of AMPs.</p> <p>The paper explores the extent of greedy effects by simulating collections of AMPs and proposes negotiating AMPs (NAMPs) to ameliorate the problem. We present the design of AMPs with a competitive negotiation scheme (cNAMPs), and compare their performance with AMPs by simulation. We establish new properties of balanced networks of AMPs, and use these to provide a theoretical analysis of greedy effects.</p&gt

Self-Positioning Smart Buoys, The \u27Un-Buoy\u27 Solution: Logistic Considerations Using Autonomous Surface Craft Technology and Improved Communications Infrastructure

Moored buoys have long served national interests, but incur high development, construction, installation, and maintenance costs. Buoys which drift off-location can pose hazards to mariners, and in coastal waters may cause environmental damage. Moreover, retrieval, repair and replacement of drifting buoys may be delayed when data would be most useful. Such gaps in coastal buoy data can pose a threat to national security by reducing maritime domain awareness. The concept of self-positioning buoys has been advanced to reduce installation cost by eliminating mooring hardware. We here describe technology for operation of reduced cost self-positioning buoys which can be used in coastal or oceanic waters. The ASC SCOUT model is based on a self-propelled, GPS-positioned, autonomous surface craft that can be pre-programmed, autonomous, or directed in real time. Each vessel can communicate wirelessly with deployment vessels and other similar buoys directly or via satellite. Engineering options for short or longer term power requirements are considered, in addition to future options for improved energy delivery systems. Methods of reducing buoy drift and position-maintaining energy requirements for self-locating buoys are also discussed, based on the potential of incorporating traditional maritime solutions to these problems. We here include discussion of the advanced Delay Tolerant Networking (DTN) communications draft protocol which offers improved wireless communication capabilities underwater, to adjacent vessels, and to satellites. DTN is particularly adapted for noisy or loss-prone environments, thus it improves reliability. In addition to existing buoy communication via commercial satellites, a growing network of small satellites known as PICOSATs can be readily adapted to provide low-cost communications nodes for buoys. Coordination with planned vessel Automated Identification Systems (AIS) and International Maritime Organization standards for buoy and vessel notificat- - ion systems are reviewed and the legal framework for deployment of autonomous surface vessels is considered

FPGA-based module for SURF extraction

We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm. Aside from image analysis, the module embeds a Linux distribution that allows to run programs specifically tailored for particular applications. The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor. We describe the module hardware as well as the custom FPGA image processing cores that implement the algorithm's most computationally expensive process, the interest point detection. The module's overall performance is evaluated and compared to CPU and GPU based solutions. Results show that the embedded module achieves comparable disctinctiveness to the SURF software implementation running in a standard CPU while being faster and consuming significantly less power and space. Thus, it allows to use the SURF algorithm in applications with power and spatial constraints, such as autonomous navigation of small mobile robots

Integrating Vehicle-to-Grid Technologies in Autonomous Electric Vehicle Systems

Electrochemical Vehicle-to-Grid (V2G) technologies in autonomous electric vehicles (EVs) offer immense potential to revolutionize energy management and optimize the utilization of EVs. By enabling bidirectional energy flow between EVs and the electric grid, V2G allows EVs not only to consume electricity but also to contribute power back to the grid when necessary. When combined with autonomous capabilities, V2G can provide even greater benefits and flexibility. This research abstract highlights key points concerning V2G technologies in autonomous EVs. Firstly, autonomous EVs equipped with V2G technology can function as mobile energy storage units, aiding in grid stabilization and balancing high electricity demand. Secondly, V2G-enabled autonomous EVs can participate in demand response programs, optimizing charging schedules to off-peak hours and reducing strain on the grid during peak demand. Moreover, V2G facilitates the integration of renewable energy sources by allowing autonomous EVs to store and inject excess renewable energy into the grid when needed. Furthermore, V2G-enabled autonomous EVs act as backup power sources during emergencies or power outages, ensuring uninterrupted electricity supply to critical infrastructure. By participating in V2G programs, autonomous EV owners can generate revenue by selling stored energy to the grid and providing grid services, offsetting EV ownership costs. Additionally, autonomous EVs with V2G technology can intelligently manage their charging and discharging based on factors like electricity prices, grid demand, and user preferences, thereby optimizing energy usage and reducing charging costs. While the widespread adoption of V2G technologies in autonomous EVs hinges on infrastructure development, standardization, regulatory frameworks, and user acceptance, their integration is poised to play a significant role in future sustainable energy and transportation systems. As autonomous and electric vehicle technologies continue to evolve, V2G capabilities hold tremendous promise in transforming energy management, promoting grid reliability, and maximizing the benefits of EVs for both consumers and the grid

Sensor-assisted Video Mapping of the Seafloor

In recent years video surveys have become an increasingly important ground-truthing of acousticseafloor characterization and benthic habitat mapping studies. However, the ground-truthing and detailed characterization provided by video are still typically done using sparse sample imagery supplemented by physical samples. Combining single video frames in a seamless mosaic can provide a tool by which imagery has significant areal coverage, while at the same time showing small fauna and biological features at mm resolution. The generation of such a mosaic is a challenging task due to height variations of the imaged terrain and decimeter scale knowledge of camera position. This paper discusses the current role of underwater video survey, and the potential for generating consistent, quantitative image maps using video data, accompanied by data that can be measured by auxiliary sensors with sufficient accuracy, such as camera tilt and heading, and their use in automated mosaicking techniques. The camera attitude data also provide the necessary information to support the development of a video collage. The collage provides a quick look at the large spatial scale features in a scene and can be used to pinpoint regions that are likely to yield useful information when rendered into high-resolution mosaics. It is proposed that high quality mosaics can be produced using consumer-grade cameras and low-cost sensors, thereby allowing for the economical scientific video surveys. A case study is presented with the results from benthic habitat mapping and the ground-truthing ofseafloor acoustic data using both real underwater imagery and simulations. A computer modeling of the process of video data acquisition (in particular on a non-flat terrain) allows for a better understanding of the main sources of error in mosaic generation and for the choice of near-optimal processing strategies. Various spatial patterns of video survey coverage are compared and it is shown that some patterns have certain advantages in the sense of accumulated error and overall mosaic accuracy