37,199 research outputs found

    Towards adaptive multi-robot systems: self-organization and self-adaptation

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    Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

    DIVERSE: a Software Toolkit to Integrate Distributed Simulations with Heterogeneous Virtual Environments

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    We present DIVERSE (Device Independent Virtual Environments- Reconfigurable, Scalable, Extensible), which is a modular collection of complimentary software packages that we have developed to facilitate the creation of distributed operator-in-the-loop simulations. In DIVERSE we introduce a novel implementation of remote shared memory (distributed shared memory) that uses Internet Protocol (IP) networks. We also introduce a new method that automatically extends hardware drivers (not in the operating system kernel driver sense) into inter-process and Internet hardware services. Using DIVERSE, a program can display in a CAVE™, ImmersaDesk™, head mounted display (HMD), desktop or laptop without modification. We have developed a method of configuring user programs at run-time by loading dynamic shared objects (DSOs), in contrast to the more common practice of creating interpreted configuration languages. We find that by loading DSOs the development time, complexity and size of DIVERSE and DIVERSE user applications is significantly reduced. Configurations to support different I/O devices, device emulators, visual displays, and any component of a user application including interaction techniques, can be changed at run-time by loading different sets of DIVERSE DSOs. In addition, interpreted run-time configuration parsers have been implemented using DIVERSE DSOs; new ones can be created as needed. DIVERSE is free software, licensed under the terms of the GNU General Public License (GPL) and the GNU Lesser General Public License (LGPL) licenses. We describe the DIVERSE architecture and demonstrate how DIVERSE was used in the development of a specific application, an operator-in-the-loop Navy ship-board crane simulator, which runs unmodified on a desktop computer and/or in a CAVE with motion base motion queuing

    Development of modularity in the neural activity of children's brains

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    We study how modularity of the human brain changes as children develop into adults. Theory suggests that modularity can enhance the response function of a networked system subject to changing external stimuli. Thus, greater cognitive performance might be achieved for more modular neural activity, and modularity might likely increase as children develop. The value of modularity calculated from fMRI data is observed to increase during childhood development and peak in young adulthood. Head motion is deconvolved from the fMRI data, and it is shown that the dependence of modularity on age is independent of the magnitude of head motion. A model is presented to illustrate how modularity can provide greater cognitive performance at short times, i.e.\ task switching. A fitness function is extracted from the model. Quasispecies theory is used to predict how the average modularity evolves with age, illustrating the increase of modularity during development from children to adults that arises from selection for rapid cognitive function in young adults. Experiments exploring the effect of modularity on cognitive performance are suggested. Modularity may be a potential biomarker for injury, rehabilitation, or disease.Comment: 29 pages, 11 figure

    Realising the open virtual commissioning of modular automation systems

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    To address the challenges in the automotive industry posed by the need to rapidly manufacture more product variants, and the resultant need for more adaptable production systems, radical changes are now required in the way in which such systems are developed and implemented. In this context, two enabling approaches for achieving more agile manufacturing, namely modular automation systems and virtual commissioning, are briefly reviewed in this contribution. Ongoing research conducted at Loughborough University which aims to provide a modular approach to automation systems design coupled with a virtual engineering toolset for the (re)configuration of such manufacturing automation systems is reported. The problems faced in the virtual commissioning of modular automation systems are outlined. AutomationML - an emerging neutral data format which has potential to address integration problems is discussed. The paper proposes and illustrates a collaborative framework in which AutomationML is adopted for the data exchange and data representation of related models to enable efficient open virtual prototype construction and virtual commissioning of modular automation systems. A case study is provided to show how to create the data model based on AutomationML for describing a modular automation system

    Élőlények kollektív viselkedésének statisztikus fizikája = Statistical physics of the collective behaviour of organisms

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    Experiments: We have carried out quantitative experiments on the collective motion of cells as a function of their density. A sharp transition could be observed from the random motility in sparse cultures to the flocking of dense islands of cells. Using ultra light GPS devices developed by us, we have determined the existing hierarchical relations within a flock of 10 homing pigeons. Modelling: From the simulations of our new model of flocking we concluded that the information exchange between particles was maximal at the critical point, in which the interplay of such factors as the level of noise, the tendency to follow the direction and the acceleration of others results in large fluctuations. Analysis: We have proposed a novel link-density based approach to finding overlapping communities in large networks. The algorithm used for the implementation of this technique is very efficient for most real networks, and provides full statistics quickly. Correspondingly, we have developed a by now popular, user-friendly, freely downloadable software for finding overlapping communities. Extending our method to the time-dependent regime, we found that large groups in evolving networks persist for longer if they are capable of dynamically altering their membership, thus, an ability to change the group composition results in better adaptability. We also showed that knowledge of the time commitment of members to a given community can be used for estimating the community's lifetime. Experiments: We have carried out quantitative experiments on the collective motion of cells as a function of their density. A sharp transition could be observed from the random motility in sparse cultures to the flocking of dense islands of cells. Using ultra light GPS devices developed by us, we have determined the existing hierarchical relations within a flock of 10 homing pigeons. Modelling: From the simulations of our new model of flocking we concluded that the information exchange between particles was maximal at the critical point, in which the interplay of such factors as the level of noise, the tendency to follow the direction and the acceleration of others results in large fluctuations. Analysis: We have proposed a novel link-density based approach to finding overlapping communities in large networks. The algorithm used for the implementation of this technique is very efficient for most real networks, and provides full statistics quickly. Correspondingly, we have developed a by now popular, user-friendly, freely downloadable software for finding overlapping communities. Extending our method to the time-dependent regime, we found that large groups in evolving networks persist for longer if they are capable of dynamically altering their membership, thus, an ability to change the group composition results in better adaptability. We also showed that knowledge of the time commitment of members to a given community can be used for estimating the community's lifetime

    The SLH framework for modeling quantum input-output networks

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    Many emerging quantum technologies demand precise engineering and control over networks consisting of quantum mechanical degrees of freedom connected by propagating electromagnetic fields, or quantum input-output networks. Here we review recent progress in theory and experiment related to such quantum input-output networks, with a focus on the SLH framework, a powerful modeling framework for networked quantum systems that is naturally endowed with properties such as modularity and hierarchy. We begin by explaining the physical approximations required to represent any individual node of a network, eg. atoms in cavity or a mechanical oscillator, and its coupling to quantum fields by an operator triple (S,L,H)(S,L,H). Then we explain how these nodes can be composed into a network with arbitrary connectivity, including coherent feedback channels, using algebraic rules, and how to derive the dynamics of network components and output fields. The second part of the review discusses several extensions to the basic SLH framework that expand its modeling capabilities, and the prospects for modeling integrated implementations of quantum input-output networks. In addition to summarizing major results and recent literature, we discuss the potential applications and limitations of the SLH framework and quantum input-output networks, with the intention of providing context to a reader unfamiliar with the field.Comment: 60 pages, 14 figures. We are still interested in receiving correction
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