Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

Navigation of mobil robot using fuzzy logic controller

This chapter gives an overview of the research work reported in the thesis. First, the background of the research and the chosen problem domain are outlined. Then, the objectives of this research work are described. Finally, an outline of the thesis content is provided

A COLLISION AVOIDANCE SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES

The work in this thesis is concerned with the development of a novel and practical collision avoidance system for autonomous underwater vehicles (AUVs). Synergistically, advanced stochastic motion planning methods, dynamics quantisation approaches, multivariable tracking controller designs, sonar data processing and workspace representation, are combined to enhance significantly the survivability of modern AUVs. The recent proliferation of autonomous AUV deployments for various missions such as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial increase in vehicle autonomy. One matching requirement of such missions is to allow all the AUV to navigate safely in a dynamic and unstructured environment. Therefore, it is vital that a robust and effective collision avoidance system should be forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously increasing its autonomy. This thesis not only provides a holistic framework but also an arsenal of computational techniques in the design of a collision avoidance system for AUVs. The design of an obstacle avoidance system is first addressed. The core paradigm is the application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly developed version for use as a motion planning tool. Later, this technique is merged with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages of the RRT. A novel multi-node version which can also address time varying final state is suggested. Clearly, the reference trajectory generated by the aforementioned embedded planner must be tracked. Hence, the feasibility of employing the linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent Ricatti equation (SDRE) controller as trajectory trackers are explored. The obstacle detection module, which comprises of sonar processing and workspace representation submodules, is developed and tested on actual sonar data acquired in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing techniques applied are fundamentally derived from the image processing perspective. Likewise, a novel occupancy grid using nonlinear function is proposed for the workspace representation of the AUV. Results are presented that demonstrate the ability of an AUV to navigate a complex environment. To the author's knowledge, it is the first time the above newly developed methodologies have been applied to an A UV collision avoidance system, and, therefore, it is considered that the work constitutes a contribution of knowledge in this area of work.J&S MARINE LT

Proceedings of the Workshop on Space Telerobotics, volume 1

These proceedings report the results of a workshop on space telerobotics, which was held at the Jet Propulsion Laboratory, January 20-22, 1987. Sponsored by the NASA Office of Aeronautics and Space Technology (OAST), the Workshop reflected NASA's interest in developing new telerobotics technology for automating the space systems planned for the 1990s and beyond. The workshop provided a window into NASA telerobotics research, allowing leading researchers in telerobotics to exchange ideas on manipulation, control, system architectures, artificial intelligence, and machine sensing. One of the objectives was to identify important unsolved problems of current interest. The workshop consisted of surveys, tutorials, and contributed papers of both theoretical and practical interest. Several sessions were held on the themes of sensing and perception, control execution, operator interface, planning and reasoning, and system architecture

Extended Skin: Designing Interactive Content for Ubiquitous Computing Materials

Current research is inspired by the impact of digital media on disciplinary division. Sim- ultaneously, recognizes the difficulty of engineering (applied science) to consider the humani- ties as fundamental contributors in the process of making. Steaming from a design perspective, the intersection between art (design) and science, questions if these relations can open per- spectives on the matter of designing within a U.C. context, and fundamentally, introduces the question on how this can be done Furthermore, the motivation for this research arises from considering that innovation in technology is happening in the fields typically identified as engineering. And, despite this, the in-corporation of these inventions in life, considering some discussed exceptions, has not typ- ically been present in the concerns of design action and methods. Therefore, the challenge of current research is to contribute to the realm of ubiquitous computing, routed by design, to some degree aiming to contribute to the field. A deeper analysis into the subject of U.C., there is the realization that there is minority presence of the humanities in the discussion of U.C. (Dourish and Bell, 2011). Technological disruption offers continuous inspiration for design innovation within U.C. Furthermore, the inquiry labeled as “material turn” contextualizes a dialogue between nano- technology and traditional materials. Nanotechnology is applied to project development, while considering a human centred design approach. This focus is present throughout this disserta- tion. The research proposal describes SuberSkin, as a responsive surface that works as a screen. The exploration of aesthetical effects is focused on visual properties – using high con- trast between natural cork colors, dark and light brown. The proposal is highly experimental, and ultimately, aims to explore potential routes on cork research, linked to that of U.C. Thus, recreating and transforming this material into an intelligent surface. In sum, this thesis discusses displacement of disciplines suggested as having a positive impact in interdisciplinary thought and for future design. Therefore a methodology, "research through techne" is presented that illustrates this intention.A presente pesquisa é inspirada pelo impacto exercido pelos media digitais na divisão disciplinar. Simultaneamente, reconhece a dificuldade da engenharia (ciência aplicada) em considerar as humanidades como contribuintes fundamentais no processo de fazer. Partindo de uma perspectiva de design e da interseção entre arte (design) e ciência, questiona-se se essas relações poderão abrir perspectivas na criação no âmbito da Computação Ubíqua. Fun- damentalmente, introduz a questão de como poderá ser feito. A motivação para esta pesquisa decorre de considerar que a inovação tecnológica acontece nas áreas normalmente identificadas como engenharia. E, apesar disso, a incor- poração dessas invenções na vida, considerando as exceções discutidas, normalmente não está presente nas preocupações, ação e métodos de design. Portanto, o desafio da pesquisa é con- tribuir para o domínio da Computação Ubíqua, orientada pelo design. Uma análise mais pro- funda sobre o tema da Computação Ubiqua, constata que há na sua discussão uma presença minoritária das humanidades (Dourish e Bell, 2011). A disrupção tecnológica oferece inspiração contínua para inovação de design, e o mesmo se aplica no âmbito da Computação Ubíqua. Além disso, a pesquisa intitulada como “material turn” contextualiza um diálogo entre a nanotecnologia e os materiais tradicionais. A nanotecnologia é aplicada ao desenvolvimento de projetos, considerando uma abordagem de design centrada no ser humano. Este foco está presente ao longo desta dissertação. O projecto de pesquisa descreve SuberSkin, uma superfície responsiva. A exploração centra-se nos efeitos estéticos da cortiça, recorrendo a um contraste entre as suas cores natu- rais: castanho escuro e claro. A proposta é experimental e, em última análise, visa explorar potenciais linhas de investigação ligando a cortiça à Computação Ubíqua. E assim, recriar e transformar este material numa superfície inteligente. Em suma, esta tese discute o deslocamento disciplinar como tendo um impacto posi- tivo no pensamento interdisciplinar e no futuro da prática do design. Consequentemente, apresenta uma metodologia, "investigação através da techne" que a exemplifica

Intelligent monitoring of business processes using case-based reasoning

The work in this thesis presents an approach towards the effective monitoring of business processes using Case-Based Reasoning (CBR). The rationale behind this research was that business processes constitute a fundamental concept of the modern world and there is a constantly emerging need for their efficient control. They can be efficiently represented but not necessarily monitored and diagnosed effectively via an appropriate platform. Motivated by the above observation this research pursued to which extent there can be efficient monitoring, diagnosis and explanation of the workflows. Workflows and their effective representation in terms of CBR were investigated as well as how similarity measures among them could be established appropriately. The monitoring results and their following explanation to users were questioned as well as which should be an appropriate software architecture to allow monitoring of workflow executions. Throughout the progress of this research, several sets of experiments have been conducted using existing enterprise systems which are coordinated via a predefined workflow business process. Past data produced over several years have been used for the needs of the conducted experiments. Based on those the necessary knowledge repositories were built and used afterwards in order to evaluate the suggesting approach towards the effective monitoring and diagnosis of business processes. The produced results show to which extent a business process can be monitored and diagnosed effectively. The results also provide hints on possible changes that would maximize the accuracy of the actual monitoring, diagnosis and explanation. Moreover the presented approach can be generalised and expanded further to enterprise systems that have as common characteristics a possible workflow representation and the presence of uncertainty. Further work motivated by this thesis could investigate how the knowledge acquisition can be transferred over workflow systems and be of benefit to large-scale multidimensional enterprises. Additionally the temporal uncertainty could be investigated further, in an attempt to address it while reasoning. Finally the provenance of cases and their solutions could be explored further, identifying correlations with the process of reasoning

The Prominence of Artificial Intelligence in COVID-19

In December 2019, a novel virus called COVID-19 had caused an enormous number of causalities to date. The battle with the novel Coronavirus is baffling and horrifying after the Spanish Flu 2019. While the front-line doctors and medical researchers have made significant progress in controlling the spread of the highly contiguous virus, technology has also proved its significance in the battle. Moreover, Artificial Intelligence has been adopted in many medical applications to diagnose many diseases, even baffling experienced doctors. Therefore, this survey paper explores the methodologies proposed that can aid doctors and researchers in early and inexpensive methods of diagnosis of the disease. Most developing countries have difficulties carrying out tests using the conventional manner, but a significant way can be adopted with Machine and Deep Learning. On the other hand, the access to different types of medical images has motivated the researchers. As a result, a mammoth number of techniques are proposed. This paper first details the background knowledge of the conventional methods in the Artificial Intelligence domain. Following that, we gather the commonly used datasets and their use cases to date. In addition, we also show the percentage of researchers adopting Machine Learning over Deep Learning. Thus we provide a thorough analysis of this scenario. Lastly, in the research challenges, we elaborate on the problems faced in COVID-19 research, and we address the issues with our understanding to build a bright and healthy environment.Comment: 63 pages, 3 tables, 17 figure

Philosophy of cognitive technology

The educational and methodical manual on the philosophy and methodology of science supplements the lecture material with topical issues of the philosophy of digital technologies. The section "Philosophy of Natural Science and Technology" outlines the features of the classical philosophy of technology. In the section "Philosophy, science, man at the beginning of the III millennium" the prospects for the impact of the fourth industrial revolution on the applied use of digital technologies and technological features of the functioning of digital ecosystems are analyzed development of digital technologies and the role of philosophy in the analysis of the ethical aspects of the technological modernization of modern society