Human Swarm Interaction: An Experimental Study of Two Types of Interaction with Foraging Swarms

In this paper we present the first study of human-swarm interaction comparing two fundamental types of interaction, coined intermittent and environmental. These types are exemplified by two control methods, selection and beacon control, made available to a human operator to control a foraging swarm of robots. Selection and beacon control differ with respect to their temporal and spatial influence on the swarm and enable an operator to generate different strategies from the basic behaviors of the swarm. Selection control requires an active selection of groups of robots while beacon control exerts an influence on nearby robots within a set range. Both control methods are implemented in a testbed in which operators solve an information foraging problem by utilizing a set of swarm behaviors. The robotic swarm has only local communication and sensing capabilities. The number of robots in the swarm range from 50 to 200. Operator performance for each control method is compared in a series of missions in different environments with no obstacles up to cluttered and structured obstacles. In addition, performance is compared to simple and advanced autonomous swarms. Thirty-two participants were recruited for participation in the study. Autonomous swarm algorithms were tested in repeated simulations. Our results showed that selection control scales better to larger swarms and generally outperforms beacon control. Operators utilized different swarm behaviors with different frequency across control methods, suggesting an adaptation to different strategies induced by choice of control method. Simple autonomous swarms outperformed human operators in open environments, but operators adapted better to complex environments with obstacles. Human controlled swarms fell short of task-specific benchmarks under all conditions. Our results reinforce the importance of understanding and choosing appropriate types of human-swarm interaction when designing swarm systems, in addition to choosing appropriate swarm behaviors

Modeling of shared space with multi-modal traffic using a multi-layer social force approach

In the field of traffic road design, the shared space approach aims to develop roads from mere traffic infrastructures to public spaces, compelling higher interaction between road users. In this paper we develop the fundamentals for a micro-simulation tool based on the Social Force Model, to represent the motion of road users in such layouts. Working with the observed behavior of users in a pedestrian-friendly intersection in the city of Braunschweig (D), a multi-layer structured model is developed, in which each layer is designated to handle different situations, from free-flow movements to user interactions in crowded situations. Visibility graphs and clothoid estimations are used for designing trajectories of road users for the free flow movement. Furthermore, an enhancement of the classical Social Force Model is provided in order to model long-range collision avoidance behavior. Finally, the enhanced simulation framework is validated by two observed scenarios, which include various conflicts between pedestrians and cars.DFG/BE 2159/13-1DFG/FR 1670/13-

The Novel ''Controlled Intermediate Nuclear Fusion'' and its Possible Industrial Realization as Predicted by Hadronic Mechanics and Chemistry

In this note, we propose, apparently for the first time, a new type of controlled nuclear fusion called "intermediate" because occurring at energies intermediate between those of the ''cold'' and ''hot'' fusions, and propose a specific industrial realization. For this purpose: 1) We show that known limitations of quantum mechanics, quantum chemistry and special relativity cause excessive departures from the conditions occurring for all controlled fusions; 2) We outline the covering hadronic mechanics, hadronic chemistry and isorelativity specifically conceived, constructed and verified during the past two decades for new cleans energies and fuels; 3) We identify seven physical laws predicted by the latter disciplines that have to be verified by all controlled nuclear fusions to occur; 4) We review the industrial research conducted to date in the selection of the most promising engineering realization as well as optimization of said seven laws; and 5) We propose with construction details a specific {\it hadronic reactor} (patented and international patents pending), consisting of actual equipment specifically intended for the possible industrial production of the clean energy released by representative cases of controlled intermediate fusions for independent scrutiny by interested colleagues.Comment: 32 pages, 5 figures. Journal of Applied Sciences, in pres