3,914 research outputs found

    SwarMAV: A Swarm of Miniature Aerial Vehicles

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    As the MAV (Micro or Miniature Aerial Vehicles) field matures, we expect to see that the platform's degree of autonomy, the information exchange, and the coordination with other manned and unmanned actors, will become at least as crucial as its aerodynamic design. The project described in this paper explores some aspects of a particularly exciting possible avenue of development: an autonomous swarm of MAVs which exploits its inherent reliability (through redundancy), and its ability to exchange information among the members, in order to cope with a dynamically changing environment and achieve its mission. We describe the successful realization of a prototype experimental platform weighing only 75g, and outline a strategy for the automatic design of a suitable controller

    Swarm Robotics

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    Collectively working robot teams can solve a problem more efficiently than a single robot, while also providing robustness and flexibility to the group. Swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. The robots in the swarm should have some basic functions, such as sensing, communicating, and monitoring, and satisfy the following properties

    Optimization of Bi-Directional V2G Behavior With Active Battery Anti-Aging Scheduling

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    Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

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    The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

    Sexual Conflict and Chemical Communication in Hybridizing Harvester Ants

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    Sexual conflict occurs when the fitness interests of males and females do not align with one another. The resolution of sexual conflict often depends on the level of control each sex has on the behavior in conflict. In Pogonomyrmex harvester ants with a genetically determined caste system, two separate lineages interbreed with one another during summer mating swarms. Diploid offspring sired by a single lineage develop into reproductive queens, while offspring sired by opposite-lineage parents develop into sterile workers. This results in sexual conflict, as males which mate with opposite lineage queens will produce only workers, resulting in no fitness benefit, while queens must mate with opposite-lineage males in order to obtain workers and survive. Despite these fitness differences, males do not discriminate between lineages prior to mating. One possible reason for the lack of male discrimination is that queens mask their identity cues, making discrimination difficult for males. In eusocial insects, identity cues are encoded by cuticular hydrocarbons (CHC’s) found on the exoskeleton of the insects. These cues contain information on the insect\u27s reproductive status, sex, species, state, and nest membership. In addition to their communication functions, CHC’s also serve as desiccation-resistance molecules, preventing water from freely passing out of the cuticle. However, molecules that are best-suited for communication functions are poor desiccation resistance molecules, and molecules that are best-suited for waterproofing lack the diversity needed for communication; therefore, a tradeoff between these two functions is expected. In this dissertation, I explore sexual conflict in these ants and the chemical recognition cues that likely play a role in this conflict. To test for cryptic strategies in harvester ant mating swarms, I experimentally paired males and females from two interbreeding lineages of harvester ant with different fitness outcomes based on pairing, and measured the propensity to initiate copulation, pre-copulatory time, time in copula, and rate and amount of sperm transferred in each mating. Although females controlled copulation duration, males altered sperm transfer rates, resulting in no quantitative difference in total sperm transfer between lineages. To test for thermal constraints on the diversity and composition of cuticular hydrocarbon profiles, and changes in CHC profiles that occur in workers isolated from the queen, I surveyed the cuticular hydrocarbon profiles of a species complex of harvester ants. The CHC profiles of ants from more xeric environments showed evidence of constraints, while isolated workers differentiated from their queen-raised sisters, although not in queen-specific molecules. To test for queen identity masking and lack of discrimination ability in mating swarms, I tested for convergence in the CHC profiles of reproductives in two hybridizing lineages in response to the sexual conflict playing out in this species. Differences in CHC profiles were lost during the mating swarm, likely limiting male ability to discriminate between mates, limiting discrimination ability in mating swarms. To study the genetic regions that control CHC production, I created a physical linkage map of two of the interbreeding populations, and used that map to perform quantitative trait loci analysis on the cuticular hydrocarbon profile of recombinant males. One significant region associated with 13-methylnonacosane contained numerous odorant receptor genes, suggesting a link between that CHC production and the receptors that detect it, while a second region associated with n-pentacosane contained numerous genes that control expression levels. Overall, the genetic caste determination system in these ants leads to antagonistic coevolution between species. This coevolution is likely reinforced by the thermal constraints and exchange of recognition cues between species, lowering the ability of useful discrimination between lineages during mating swarms
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