Part 1: a process view of nature. Multifunctional integration and the role of the construction agent

This is the first of two linked articles which draw s on emerging understanding in the field of biology and seeks to communicate it to those of construction, engineering and design. Its insight is that nature 'works' at the process level, where neither function nor form are distinctions, and materialisation is both the act of negotiating limited resource and encoding matter as 'memory', to sustain and integrate processes through time. It explores how biological agents derive work by creating 'interfaces' between adjacent locations as membranes, through feedback. Through the tension between simultaneous aggregation and disaggregation of matter by agents with opposing objectives, many functions are integrated into an interface as it unfolds. Significantly, biological agents induce flow and counterflow conditions within biological interfaces, by inducing phase transition responses in the matte r or energy passing through them, driving steep gradients from weak potentials (i.e. shorter distances and larger surfaces). As with biological agents, computing, programming and, increasingly digital sensor and effector technologies share the same 'agency' and are thus convergent

Consciosusness in Cognitive Architectures. A Principled Analysis of RCS, Soar and ACT-R

This report analyses the aplicability of the principles of consciousness developed in the ASys project to three of the most relevant cognitive architectures. This is done in relation to their aplicability to build integrated control systems and studying their support for general mechanisms of real-time consciousness.\ud To analyse these architectures the ASys Framework is employed. This is a conceptual framework based on an extension for cognitive autonomous systems of the General Systems Theory (GST).\ud A general qualitative evaluation criteria for cognitive architectures is established based upon: a) requirements for a cognitive architecture, b) the theoretical framework based on the GST and c) core design principles for integrated cognitive conscious control systems

MULTI-AGENT INFRASTRUCTURES FOR OBJECTIVE AND SUBJECTIVE COORDINATION

Coordination in MAS can be conceived as either an agent activity (the subjective viewpoint) or an activity over agents (the objective viewpoint). The two viewpoints have generated two diverging and often contrasting lines of research, as well as different and non-compatible technologies: however, their integration is mandatory for modelling and engineering complex MAS. In this paper, we explore the issue of integration at both the model and the technology levels. First, by taking FIPA agents and coordination artifacts as reference notions for subjective and objective approaches, respectively, we sketch a framework where agent interactions with coordination artifacts are modelled as physical acts, deliberated and executed by agents analogously to communicative actions. Then, we show how the JADE infrastructure for FIPA-compliant agents, and the TuCSoN infrastructure providing agents with coordination artifacts can be integrated at the technology level, allowing JADE agents to access TuCSoN tuple centres through JADE services

Advances in Methodology and Applications of Decision Support Systems

These Proceedings are composed of a selection of papers of the Workshop on Advances in Methodology and Applications of Decision Support Systems, organized by the System and Decision Sciences (SDS) Program of IIASA and the Japan Institute of Systems Research (JISR). The workshop was held at IIASA on August 20-22, 1990. The Methodology of Decision Analysis (MDA) Project of the SDS Program focuses on a system-analytical approach to decision support and is devoted to developing methodology, software and applications of decision support systems concentrated primarily around interactive systems for data analysis, interpretation and multiobjective decisionmaking, including uncertainty analysis and group decision making situations in both their cooperative and noncooperative aspects. The objectives of the research on decision support systems (DSS) performed in cooperation with the MDA Project are to: compare various approaches to decision support systems; advance theory and methodology of decision support; convert existing theories and methodologies into usable (simple to use, user-friendly and robust) tools that could easily be used in solving real-life problems. A principal characteristic of decision support systems is that they must be tuned to specific decision situations, to complex real-life characteristics of every application. Even if the theory and methodology of decision support is quite advanced, every application might provide impulses for further theoretical and methodological advances. Therefore the principle underlying this project is that theoretical and methodological research should be strongly connected to the implementation and applications of its results to sufficiently complicated, real-life examples. This approach results in obtaining really applicable working tools for decision support. The papers for this Proceedings have been selected according to the above summarized framework of the research activities. Therefore, the papers deal both with theoretical and methodological problems and with real-life applications

A platform-independent model for agents

Various agent-oriented methodologies and metamodels exist to describe multiagent systems ([VIAS) in an abstract manner. Frequently, these frameworks specialize on particular parts of the MAS and only few works have been invested to derive a common standardization. This limits t he impact of agent-related systems in commercial applications. In this paper, we present a metamodel for agent systems that abstract from existing agent-oriented methodologies and platforms and could thus be called platform-independent. This metamodel provides the core language that is used in our agentoriented software development process that conforms to the principles of Model-Driven Developrnent (MDD). Beside the domain-specific modelling language, we further provide two model transformations that allow to transform the generated models into textual code that call be executed with JACK and JADE

Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled humanoid where model inaccuracies, sensor noise and real-time computation requirements can be problematic. Using a reformulation of existing algorithms, we propose a simplification of the problem that allows to achieve real-time control. Momentum-based control is integrated in the task hierarchy and a LQR design approach is used to compute the desired associated closed-loop behavior and improve performance. Extensive experiments on various balancing and tracking tasks show very robust performance in the face of unknown disturbances, even when the humanoid is standing on one foot. Our results demonstrate that hierarchical inverse dynamics together with momentum control can be efficiently used for feedback control under real robot conditions.Comment: 21 pages, 11 figures, 4 tables in Autonomous Robots (2015