7,354 research outputs found

    Service-oriented agent architecture for autonomous maritime vehicles

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    Advanced ocean systems are increasing their capabilities and the degree of autonomy more and more in order to perform more sophisticated maritime missions. Remotely operated vehicles are no longer cost-effective since they are limited by economic support costs, and the presence and skills of the human operator. Alternatively, autonomous surface and underwater vehicles have the potential to operate with greatly reduced overhead costs and level of operator intervention. This Thesis proposes an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. They are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The architectural foundation to achieve the ICA lays on the flexibility of service-oriented computing and agent technology. An ontological database captures the operator skills, platform capabilities and, changes in the environment. The information captured, stored as knowledge, enables reasoning agents to plan missions based on the current situation. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This Thesis also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions

    DREAM Architecture: a Developmental Approach to Open-Ended Learning in Robotics

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    Robots are still limited to controlled conditions, that the robot designer knows with enough details to endow the robot with the appropriate models or behaviors. Learning algorithms add some flexibility with the ability to discover the appropriate behavior given either some demonstrations or a reward to guide its exploration with a reinforcement learning algorithm. Reinforcement learning algorithms rely on the definition of state and action spaces that define reachable behaviors. Their adaptation capability critically depends on the representations of these spaces: small and discrete spaces result in fast learning while large and continuous spaces are challenging and either require a long training period or prevent the robot from converging to an appropriate behavior. Beside the operational cycle of policy execution and the learning cycle, which works at a slower time scale to acquire new policies, we introduce the redescription cycle, a third cycle working at an even slower time scale to generate or adapt the required representations to the robot, its environment and the task. We introduce the challenges raised by this cycle and we present DREAM (Deferred Restructuring of Experience in Autonomous Machines), a developmental cognitive architecture to bootstrap this redescription process stage by stage, build new state representations with appropriate motivations, and transfer the acquired knowledge across domains or tasks or even across robots. We describe results obtained so far with this approach and end up with a discussion of the questions it raises in Neuroscience

    Computational and Robotic Models of Early Language Development: A Review

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    We review computational and robotics models of early language learning and development. We first explain why and how these models are used to understand better how children learn language. We argue that they provide concrete theories of language learning as a complex dynamic system, complementing traditional methods in psychology and linguistics. We review different modeling formalisms, grounded in techniques from machine learning and artificial intelligence such as Bayesian and neural network approaches. We then discuss their role in understanding several key mechanisms of language development: cross-situational statistical learning, embodiment, situated social interaction, intrinsically motivated learning, and cultural evolution. We conclude by discussing future challenges for research, including modeling of large-scale empirical data about language acquisition in real-world environments. Keywords: Early language learning, Computational and robotic models, machine learning, development, embodiment, social interaction, intrinsic motivation, self-organization, dynamical systems, complexity.Comment: to appear in International Handbook on Language Development, ed. J. Horst and J. von Koss Torkildsen, Routledg

    Architecture and Information Requirements to Assess and Predict Flight Safety Risks During Highly Autonomous Urban Flight Operations

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    As aviation adopts new and increasingly complex operational paradigms, vehicle types, and technologies to broaden airspace capability and efficiency, maintaining a safe system will require recognition and timely mitigation of new safety issues as they emerge and before significant consequences occur. A shift toward a more predictive risk mitigation capability becomes critical to meet this challenge. In-time safety assurance comprises monitoring, assessment, and mitigation functions that proactively reduce risk in complex operational environments where the interplay of hazards may not be known (and therefore not accounted for) during design. These functions can also help to understand and predict emergent effects caused by the increased use of automation or autonomous functions that may exhibit unexpected non-deterministic behaviors. The envisioned monitoring and assessment functions can look for precursors, anomalies, and trends (PATs) by applying model-based and data-driven methods. Outputs would then drive downstream mitigation(s) if needed to reduce risk. These mitigations may be accomplished using traditional design revision processes or via operational (and sometimes automated) mechanisms. The latter refers to the in-time aspect of the system concept. This report comprises architecture and information requirements and considerations toward enabling such a capability within the domain of low altitude highly autonomous urban flight operations. This domain may span, for example, public-use surveillance missions flown by small unmanned aircraft (e.g., infrastructure inspection, facility management, emergency response, law enforcement, and/or security) to transportation missions flown by larger aircraft that may carry passengers or deliver products. Caveat: Any stated requirements in this report should be considered initial requirements that are intended to drive research and development (R&D). These initial requirements are likely to evolve based on R&D findings, refinement of operational concepts, industry advances, and new industry or regulatory policies or standards related to safety assurance

    The 1990 progress report and future plans

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    This document describes the progress and plans of the Artificial Intelligence Research Branch (RIA) at ARC in 1990. Activities span a range from basic scientific research to engineering development and to fielded NASA applications, particularly those applications that are enabled by basic research carried out at RIA. Work is conducted in-house and through collaborative partners in academia and industry. Our major focus is on a limited number of research themes with a dual commitment to technical excellence and proven applicability to NASA short, medium, and long-term problems. RIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at JPL and AI applications groups at all NASA centers

    SPEIR: Scottish Portals for Education, Information and Research. Final Project Report: Elements and Future Development Requirements of a Common Information Environment for Scotland

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    The SPEIR (Scottish Portals for Education, Information and Research) project was funded by the Scottish Library and Information Council (SLIC). It ran from February 2003 to September 2004, slightly longer than the 18 months originally scheduled and was managed by the Centre for Digital Library Research (CDLR). With SLIC's agreement, community stakeholders were represented in the project by the Confederation of Scottish Mini-Cooperatives (CoSMiC), an organisation whose members include SLIC, the National Library of Scotland (NLS), the Scottish Further Education Unit (SFEU), the Scottish Confederation of University and Research Libraries (SCURL), regional cooperatives such as the Ayrshire Libraries Forum (ALF)1, and representatives from the Museums and Archives communities in Scotland. Aims; A Common Information Environment For Scotland The aims of the project were to: o Conduct basic research into the distributed information infrastructure requirements of the Scottish Cultural Portal pilot and the public library CAIRNS integration proposal; o Develop associated pilot facilities by enhancing existing facilities or developing new ones; o Ensure that both infrastructure proposals and pilot facilities were sufficiently generic to be utilised in support of other portals developed by the Scottish information community; o Ensure the interoperability of infrastructural elements beyond Scotland through adherence to established or developing national and international standards. Since the Scottish information landscape is taken by CoSMiC members to encompass relevant activities in Archives, Libraries, Museums, and related domains, the project was, in essence, concerned with identifying, researching, and developing the elements of an internationally interoperable common information environment for Scotland, and of determining the best path for future progress

    A generic architecture for interactive intelligent tutoring systems

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    This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University, 07/06/2001.This research is focused on developing a generic intelligent architecture for an interactive tutoring system. A review of the literature in the areas of instructional theories, cognitive and social views of learning, intelligent tutoring systems development methodologies, and knowledge representation methods was conducted. As a result, a generic ITS development architecture (GeNisa) has been proposed, which combines the features of knowledge base systems (KBS) with object-oriented methodology. The GeNisa architecture consists of the following components: a tutorial events communication module, which encapsulates the interactive processes and other independent computations between different components; a software design toolkit; and an autonomous knowledge acquisition from a probabilistic knowledge base. A graphical application development environment includes tools to support application development, and learning environments and which use a case scenario as a basis for instruction. The generic architecture is designed to support client-side execution in a Web browser environment, and further testing will show that it can disseminate applications over the World Wide Web. Such an architecture can be adapted to different teaching styles and domains, and reusing instructional materials automatically can reduce the effort of the courseware developer (hence cost and time) in authoring new materials. GeNisa was implemented using Java scripts, and subsequently evaluated at various commercial and academic organisations. Parameters chosen for the evaluation include quality of courseware, relevancy of case scenarios, portability to other platforms, ease of use, content, user-friendliness, screen display, clarity, topic interest, and overall satisfaction with GeNisa. In general, the evaluation focused on the novel characteristics and performances of the GeNisa architecture in comparison with other ITS and the results obtained are discussed and analysed. On the basis of the experience gained during the literature research and GeNisa development and evaluation. a generic methodology for ITS development is proposed as well as the requirements for the further development of ITS tools. Finally, conclusions are drawn and areas for further research are identified

    Creating A New University Through Object Oriented Enterprise Modeling: A Study of Communications Knowledge Management & Distributed Cognition

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    Enterprise based object oriented (OO) and Unified Modeling Language (UML) modeling makes it possible to build the needed visual environments to organize people, technologies and activities (Arias, 1999d). In our modeling approach, the focus is on things and relationships between things described in commonly used terms. The modeling software bridges the so-called semantic gap between the people and the computer language (Booch, Rumbaugh & Jacobson, 1999). An object can be a product, a process, a person, a team, a company, an application or the inter-relationship between other objects. Objects can be pictured on the screen as maps formed by personalized “icons” with their relationships. Once a “map” of objects has been produced, users can navigate and visualize very complex relationships. Objects can hold data, such as cost, schedule data, weight and other relevant information (Zack & Serino, 1996). Another important property of an Object is its ability to perform work scripted in “methods.” Thus an Object can be given the capability to perform functions, such as performing computations, gathering data from other computers, showing video of servicing a part or accessing a 3D-CAD drawing for viewing. This “active model” is much more than a map for navigation in an abstract process model (Arias, 1999a). It becomes the actual work environment for individuals and teams. It creates an occasioned environment for learning, assessing issues and impacts, communication, configuration management and control and more. In short, it is the user interface or “ control center” from where to manage the organization (whether it be an institution of higher education or a corporation). UML technology allows us to model a complex enterprise, while OO technology builds on the former and generates complex applications. The point at which these two technologies meet becomes the intersection that enables planners and stakeholders to develop a new paradigm for looking not only at their organization, but also at precisely what their contributions are to the overall enterprise (Arias, 1998). In this paper we will present the use and design of object oriented enterprise computer models (OO) for the purposes of creating and/or transforming organizations. We will also provide proof of concept on how OO contributes to the reshaping of relationships among people and their organizations and, also, how OO can transform the processes of discovery, learning, research and communication through emerging forms of distributed cognition (Arias & Bellman, 1995)

    Exploring the motivation behind cybersecurity insider threat and proposed research agenda

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    Cyber exploitation and malicious activities have become more sophisticated. Insider threat is one of the most significant cyber security threat vector, while posing a great concern to corporations and governments. An overview of the fundamental motivating forces and motivation theory are discussed. Such overview is provided to identify motivations that lead trusted employees to become insider threats in the context of cyber security. A research agenda with two sequential experimental research studies are outlined to address the challenge of insider threat mitigation by a prototype development. The first proposed study will classify data intake feeds, as recognized and weighted by cyber security experts, in an effort to establish predictive analytics of novel correlations of activities that may lead to cyber security incidents. It will also develop approach to identify how user activities can be compared against an established baseline, the user’s network cyber security pulse, with visualization of simulated users’ activities. Additionally, the second study will explain the process of assessing the usability of a developed visualization prototype that intends to present correlated suspicious activities requiring immediate action. Successfully developing the proposed prototype via feeds aggregation and an advanced visualization from the proposed research could assist in the mitigation of malicious insider threat
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