Statistical interaction modeling of bovine herd behaviors

While there has been interest in modeling the group behavior of herds or flocks, much of this work has focused on simulating their collective spatial motion patterns which have not accounted for individuality in the herd and instead assume a homogenized role for all members or sub-groups of the herd. Animal behavior experts have noted that domestic animals exhibit behaviors that are indicative of social hierarchy: leader/follower type behaviors are present as well as dominance and subordination, aggression and rank order, and specific social affiliations may also exist. Both wild and domestic cattle are social species, and group behaviors are likely to be influenced by the expression of specific social interactions. In this paper, Global Positioning System coordinate fixes gathered from a herd of beef cows tracked in open fields over several days at a time are utilized to learn a model that focuses on the interactions within the herd as well as its overall movement. Using these data in this way explores the validity of existing group behavior models against actual herding behaviors. Domain knowledge, location geography and human observations, are utilized to explain the causes of these deviations from this idealized behavior

A flock-based model for ad hoc communication networks

We introduce a model for simulating the movement of semi-autonomous mobile units that exhibit swarm-based behaviour and collectively form a mobile ad-hoc communication network. The mobility model is used to study how the topological properties of the resulting communication network change over time. The connectivity graphs are determined by allowing each unit to communicate with others inside a given radius. By varying the free parameters of the mobility model, qualitatively different regimes of movement can be emulated. A number of properties of the graphs (e.g., the size of largest connected component, overall network efficiency and the number of isolated units) are calculated and compared for the different regimes. Finally, we present several directions for future work, both in terms of further applications and extensions of the present model. 1

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.publishe

A decentralised neural model explaining optimal integration of navigational strategies in insects

Insect navigation arises from the coordinated action of concurrent guidance systems but the neural mechanisms through which each functions, and are then coordinated, remains unknown. We propose that insects require distinct strategies to retrace familiar routes (route-following) and directly return from novel to familiar terrain (homing) using different aspects of frequency encoded views that are processed in different neural pathways. We also demonstrate how the Central Complex and Mushroom Bodies regions of the insect brain may work in tandem to coordinate the directional output of different guidance cues through a contextually switched ring-attractor inspired by neural recordings. The resultant unified model of insect navigation reproduces behavioural data from a series of cue conflict experiments in realistic animal environments and offers testable hypotheses of where and how insects process visual cues, utilise the different information that they provide and coordinate their outputs to achieve the adaptive behaviours observed in the wild

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

Boundary tracking and source seeking of oceanic features using autonomous vehicles

The thesis concerns the study and the development of boundary tracking and source seeking approaches for autonomous vehicles, specifically for marine autonomous systems. The underlying idea is that the characterization of most environmental features can be posed from either a boundary tracking or a source seeking perspective. The suboptimal sliding mode boundary tracking approach is considered and, as a first contribution, it is extended to the study of three dimensional features. The approach is aimed at controlling the movement of an underwater glider tracking a three-dimensional underwater feature and it is validated in a simulated environment. Subsequently, a source seeking approach based on sliding mode extremum seeking ideas is proposed. This approach is developed for the application to a single surface autonomous vehicle, seeking the source of a static or dynamic two dimensional spatial field. A sufficient condition which guarantees the finite time convergence to a neighbourhood of the source is introduced. Furthermore, a probabilistic learning boundary tracking approach is proposed, aimed at exploiting the available preliminary information relating to the spatial phenomenon of interest in the control strategy. As an additional contribution, the sliding mode boundary tracking approach is experimentally validated in a set of sea-trials with the deployment of a surface autonomous vehicle. Finally, an embedded system implementing the proposed boundary tracking strategy is developed for future installation on board of the autonomous vehicle. This work demonstrates the possibility to perform boundary tracking with a fully autonomous vehicle and to operate marine autonomous systems without remote control or pre-planning. Conclusions are drawn from the results of the research presented in this thesis and directions for future work are identified

Study of emotion in videogames : understanding presence and behaviour

Only when videogames are released are we able to look at them and analyse them. Nowadays, platforms to share our thoughts and opinions about a videogame, or part of it, are everywhere, with both positive and negative commentaries being shared daily. However, what makes a game be seen as a positive experience and what components satisfy and engage players in it? In this Dissertation, we aim to comprehend how players perceive videogames and what motivates and triggers emotions one has during play. We will take a look at several different concepts that all work together when playing a videogame. We will start by understanding what Interaction is and how humans behave. Afterwards, we will better investigate the widely used topic of Immersion, and its unknown and unrecognized brother Presence. From there, we will divide involvement in game play in two parts, the technological side, which relates to natural interfaces and mastery of controls, and the side of design and implementation of content, more specifically the concept of Agency and how it plays a huge part in making players feel part of the game.Só quando um videojogo é lançado é que o podemos analisar e rever. Atualmente, encontramos plataformas para partilhar a nossa opinião acerca de um videojogo, ou parte dele, em qualquer lado, com comentários positivos e negativos a serem partilhados diariamente. No entanto, o que é que faz um jogo ser visto como uma experiência positiva e quais são os componentes que satisfazem e envolvem jogadores? Nesta Dissertação, pretendemos compreender como é que jogadores percecionam um videojogo e que emoções são despoletadas que os motiva a jogar. Iremos analisar diferentes conceitos que contribuem para o jogar de um videojogo. Começaremos por ver o que é a Interação e como é que o ser humano se comporta e age. Prosseguindo, iremos analisar o já bastante usado conceito de Imersão, e o seu desconhecido e menos reconhecido irmão, Presença. Daí iremos dividir o envolvimento com um videojogo em duas partes, no lado tecnológico, relacionado com interfaces naturais e mestria de controlos, e no lado de design e implementação de conteúdo, mais especificamente no conceito de Agência e a maneira como esta integra os jogadores no jogo