Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

TOWARDS INSTITUTIONAL INFRASTRUCTURES FOR E-SCIENCE: The Scope of the Challenge

The three-fold purpose of this Report to the Joint Information Systems Committee (JISC) of the Research Councils (UK) is to: • articulate the nature and significance of the non-technological issues that will bear on the practical effectiveness of the hardware and software infrastructures that are being created to enable collaborations in e- Science; • characterise succinctly the fundamental sources of the organisational and institutional challenges that need to be addressed in regard to defining terms, rights and responsibilities of the collaborating parties, and to illustrate these by reference to the limited experience gained to date in regard to intellectual property, liability, privacy, and security and competition policy issues affecting scientific research organisations; and • propose approaches for arriving at institutional mechanisms whose establishment would generate workable, specific arrangements facilitating collaboration in e-Science; and, that also might serve to meet similar needs in other spheres such as e- Learning, e-Government, e-Commerce, e-Healthcare. In carrying out these tasks, the report examines developments in enhanced computer-mediated telecommunication networks and digital information technologies, and recent advances in technologies of collaboration. It considers the economic and legal aspects of scientific collaboration, with attention to interactions between formal contracting and 'private ordering' arrangements that rest upon research community norms. It offers definitions of e-Science, virtual laboratories, collaboratories, and develops a taxonomy of collaborative e-Science activities which is implemented to classify British e-Science pilot projects and contrast these with US collaboratory projects funded during the 1990s. The approach to facilitating inter-organizational participation in collaborative projects rests upon the development of a modular structure of contractual clauses that permit flexibility and experience-based learning.

A Survey of Multi-Agent Human-Robot Interaction Systems

This article presents a survey of literature in the area of Human-Robot Interaction (HRI), specifically on systems containing more than two agents (i.e., having multiple humans and/or multiple robots). We identify three core aspects of ``Multi-agent" HRI systems that are useful for understanding how these systems differ from dyadic systems and from one another. These are the Team structure, Interaction style among agents, and the system's Computational characteristics. Under these core aspects, we present five attributes of HRI systems, namely Team size, Team composition, Interaction model, Communication modalities, and Robot control. These attributes are used to characterize and distinguish one system from another. We populate resulting categories with examples from recent literature along with a brief discussion of their applications and analyze how these attributes differ from the case of dyadic human-robot systems. We summarize key observations from the current literature, and identify challenges and promising areas for future research in this domain. In order to realize the vision of robots being part of the society and interacting seamlessly with humans, there is a need to expand research on multi-human -- multi-robot systems. Not only do these systems require coordination among several agents, they also involve multi-agent and indirect interactions which are absent from dyadic HRI systems. Adding multiple agents in HRI systems requires advanced interaction schemes, behavior understanding and control methods to allow natural interactions among humans and robots. In addition, research on human behavioral understanding in mixed human-robot teams also requires more attention. This will help formulate and implement effective robot control policies in HRI systems with large numbers of heterogeneous robots and humans; a team composition reflecting many real-world scenarios.Comment: 23 pages, 7 figure

Towards a cyberinfrastructure for enhanced scientific

A new generation of information and communication infrastructures, including advanced Internet computing and Grid technologies, promises to enable more direct and shared access to more widely distributed computing resources than was previously possible. Scientific and technological collaboration, consequently, is more and more coming to be seen as critically dependent upon effective access to, and sharing of digital research data, and of the information tools that facilitate data being structured for efficient storage, search, retrieval, display and higher level analysis. A recent (February 2003) report to the U.S. NSF Directorate of Computer and Information System Engineering urged that funding be provided for a major enhancement of computer and network technologies, thereby creating a cyberinfrastructure whose facilities would support and transform the conduct of scientific and engineering research. The articulation of this programmatic vision reflects a widely shared expectation that solving the technical engineering problems associated with the advanced hardware and software systems of the cyberinfrastructure will yield revolutionary payoffs by empowering individual researchers and increasing the scale, scope and flexibility of collective research enterprises. The argument of this paper, however, is that engineering breakthroughs alone will not be enough to achieve such an outcome; success in realizing the cyberinfrastructure’s potential, if it is achieved, will more likely to be the resultant of a nexus of interrelated social, legal and technical transformations. The socio-institutional elements of a new infrastructure supporting collaboration – that is to say, its supposedly “softer” parts -- are every bit as complicated as the hardware and computer software, and, indeed, may prove much harder to devise and implement. The roots of this latter class of challenges facing “e-Science” will be seen to lie in the micro- and meso-level incentive structures created by the existing legal and administrative regimes. Although a number of these same conditions and circumstances appear to be equally significant obstacles to commercial provision of Grid services in interorganizational contexts, the domain of publicly supported scientific collaboration is held to be the more hospitable environment in which to experiment with a variety of new approaches to solving these problems. The paper concludes by proposing several “solution modalities,” including some that also could be made applicable for fields of information-intensive collaboration in business and finance that must regularly transcends organizational boundaries.

Towards a cyberinfrastructure for enhanced scientific

Scientific and technological collaboration is more and more coming to be seen as critically dependent upon effective access to, and sharing of digital research data, and of the information tools that facilitate data being structured for efficient storage, search, retrieval, display and higher level analysis. A February 2003 report to the U.S. NSF Directorate of Computer and Information System Engineering urged that funding be provided for a major enhancement of computer and network technologies, thereby creating a cyberinfrastructure whose facilities would support and transform the conduct of scientific and engineering research. The argument of this paper is that engineering breakthroughs alone will not be enough to achieve such an outcome; success in realizing the cyberinfrastructure’s potential, if it is achieved, will more likely to be the resultant of a nexus of interrelated social, legal and technical transformations. The socio-institutional elements of a new infrastructure supporting collaboration that is to say, its supposedly “softer” parts -- are every bit as complicated as the hardware and computer software, and, indeed, may prove much harder to devise and implement. The roots of this latter class of challenges facing “e- Science” will be seen to lie in the micro- and meso-level incentive structures created by the existing legal and administrative regimes. Although a number of these same conditions and circumstances appear to be equally significant obstacles to commercial provision of Grid services in interorganizational contexts, the domain of publicly supported scientific collaboration is held to be the more hospitable environment in which to experiment with a variety of new approaches to solving these problems. The paper concludes by proposing several “solution modalities,” including some that also could be made applicable for fields of information-intensive collaboration in business and finance that must regularly transcends organizational boundaries.

Dynamic mission planning for communication control in multiple unmanned aircraft teams

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 147-160).As autonomous technologies continue to progress, teams of multiple unmanned aerial vehicles will play an increasingly important role in civilian and military applications. A multi-UAV system relies on communications to operate. Failure to communicate remotely sensed mission data to the base may render the system ineffective, and the inability to exchange command and control messages can lead to system failures. This thesis presents a unique method to control communications through distributed mission planning to engage under-utilized UAVs to serve as communication relays and to ensure that the network supports mission tasks. The distributed algorithm uses task assignment information, including task location and proposed execution time, to predict the network topology and plan support using relays. By explicitly coupling task assignment and relay creation processes the team is able to optimize the use of agents to address the needs of dynamic complex missions. The framework is designed to consider realistic network communication dynamics including path loss, stochastic fading, and information routing. The planning strategy is shown to ensure agents support both data-rate and interconnectivity bit-error- rate requirements during task execution. In addition, a method is provided for UAVs to estimate the network performance during times of uncertainty, adjust their plans to acceptable levels of risk, and adapt the planning behavior to changes in the communication environment. The system performance is verified through multiple experiments conducted in simulation. Finally, the work developed is implemented in outdoor flight testing with a team of up to four UAVs to demonstrate real-time capability and robustness to imperfections in the environment. The results validate the proposed framework, but highlight some of the challenges these systems face when operating in outdoor uncontrolled environments.by Andrew N. Kopeikin.S.M