Swarm-based planning and control of robotic functions

University of Technology, Sydney. Faculty of Engineering and Information Technology.Basic issues with a robotic task that requires multiple mobile robots moving in formations are to assemble at an initial point in the work space for establishing a desired formation, to maintain the formation while moving, to avoid obstacles by occasionally splitting/deforming and then re-establishing the formation, and to change the shape of the formation upon requests to accommodate new tasks or safety conditions. In the literature, those issues have been often addressed separately. This research proposes a generic framework that allows for tackling these issues in an integrated manner in the optimal formation planning and control context. Within this proposed framework, a leader robot will be assigned and the path for the leader is obtained by utilising a modified A* search together with a vector approach, and then smoothed out to reduce the number of turns and to satisfy the dynamic and kinematic constraints of mobile robots. Next, a reference trajectory is generated for the leader robot. Based on the formation configuration and the workspace environment, desired trajectories for follower robots in the group are obtained. At the lowest level, each robot tracks its own trajectory using a unified tracking controller. The problem of formation initialisation, in which a group of robots, initially scattering in the workspace, is deployed to get into a desired formation shape, is dealt with by using a Discrete Particle Swarm Optimisation (DPSO) technique incorporated with a behaviour-based strategy. The proposed technique aims to optimally assign desired positions for each robot in the formation by minimisation of a cost function associated with the predefined formation shape. Once each robot has been assigned with a desired position, a search scheme is implemented to obtain a collision free trajectory for each robot to establish the formation. Towards optimal maintenance of the motion patterns, the path that has been obtained for robots in the group by using the modified A* search, is further adjusted. For this, the Particle Swarm Optimisation (PSO) technique is proposed to minimise a cost function involving global motion of the formation, with the main objective of preventing unnecessary changes in the follower robot trajectories when avoiding obstacles. A PSO formation motion planning algorithm is proposed to search for motion commands for each robot. This algorithm can be used to initialise the formation or to navigate the formation to its target. The proposed PSO motion planning method is able to maintain the formation subject to the kinematic and velocity constraints. Analytical work of the thesis is validated by extensive simulation of multiple differential drive wheeled mobile robots based on their kinematic models. The techniques proposed in this thesis are also experimentally tested, in part, on two Amigo mobile robots

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

A galaxy of wor(l)ds: the translation of fictive vernacular in the Star Wars transmedia narrative in Brazil

Tese (doutorado) - Universidade Federal de Santa Catarina, Centro de Comunicação e Expressão, Programa de Pós-Graduação em Inglês: Estudos Linguísticos e Literários, Florianópolis, 2020.Com as recentes mudanças de cenário nas publicações de materiais da saga Star Wars no Brasil (que começou com a mudança do titular da propriedade intelectual em 2012), a franquia tornou-se uma narrativa transmídia no país. Diante desse contexto, a presente pesquisa tem como objetivo descrever as práticas tradutórias adotadas para lidar com materiais de Star Wars. Considerando que uma narrativa transmídia é um todo composto formado pela expansão narrativa em múltiplos episódios em diferentes plataformas midiáticas, a presente pesquisa visa, em última instância, investigar as práticas de tradução adotadas e seus impactos para a integridade dessa narrativa transmídia no Brasil. A investigação das práticas de tradução centra-se no dispositivo narrativo baseado na linguagem verbal denominado Vernáculo Fictício, um conceito proposto nesta tese. Os Estudos Descritivos da Tradução ofereceram as bases teóricas para analisar os pares selecionados de textos fontes e suas traduções. Os Estudos de Tradução com base em Corpus fornecem os procedimentos e ferramentas teóricas e metodológicas para conduzir a análise dos dados, para cujo fim foi criado um corpus paralelo computadorizado. O corpus paralelo é composto por pares alinhados de textos fontes e traduções nas mídias livro, quadrinho e filme (apenas os componentes verbais das duas últimas mídias são incluídos no corpus paralelo). Ele é composto por dois pares por mídia, totalizando seis títulos e doze textos. A análise revela duas tendências principais nas práticas adotadas para traduzir o Vernáculo Fictício no corpus. A primeira tendência envolve imprimir a composição de itens fictícios fonte nos textos de chegada. A segunda diz respeito ao aproveitamento dos recursos da língua-alvo para traduzir itens fictícios, mesmo às custas de, ocasionalmente, anular sua função de criação de mundo.Abstract: With the recent change in the publication scenario of materials from the Star Wars saga in Brazil (upon the change of intellectual property holder in 2012), the franchise has become a transmedia narrative in the country. In view of this context, the present research aims to describe the translation practices adopted to deal with Star Wars materials. Considering that a transmedia narrative is a composite whole formed by narrative expansion across multiples instalments in different media platforms, the present research ultimately aims to investigate the adopted translation practices and their impact on the wholeness of the transmedia narrative in Brazil. The investigation of translation practices focuses on the language-based narrative device called Fictive Vernacular, a concept developed in this thesis. Descriptive Translation Studies offered the theoretical foundations to analyse the selected pairs of source and translated texts. Corpus-based Translation Studies provide the theoretical and methodological procedures and tools to conduct the data analysis, for which end a computerised parallel corpus was created. The parallel corpus is composed of aligned pairs of source and target books, comics and films (only the verbal components of the last two are included in the parallel corpus). It comprises of two pairs per media, adding up to six instalments and twelve texts in total. Analysis reveals two main tendencies in the practices of translating the Fictive Vernacular in the corpus. The first tendency involves imprinting the makeup of source fictive items into the target texts. The second concerns drawing on the resources of the target language to render fictive items, even at the expense of occasionally irrupting their world-building function

Environmental perceptions of the blind & their haptic representation,

Massachusetts Institute of Technology. Dept. of Architecture. Thesis. 1972. M.Arch.MICROFICHE COPY ALSO AVAILABLE IN ROTCH LIBRARY.Leaf number 272 used twice. Lacking leaf 271. Accompanied by a companion volume containing illustrations in transparent guard sheets.Bibliography: leaves 290-292.by Ann Middleton Kidwell and Peter Swartz Greer.M.Arch

Of Cigarettes, High Heels, and Other Interesting Things 3/E

Among species, human beings seem to be a peculiar lot. Why is it, for example, that certain members of the species routinely put their survival at risk by puffing on a small stick of nicotine? Why is it that some females of the species make locomotion difficult for themselves by donning high-heel footwear? Are there hidden or unconscious reasons behind such strange behaviors that seem to be so utterly counter-instinctual, so to speak? For no manifest biological reason, humanity has always searched, and continues to search, for a purpose to its life. Is it this search that has led it to engage in such bizarre behaviors as smoking and wearing high heels? And is it the reason behind humanity’s invention of myths, art, rituals, languages, mathematics, science, and all the other truly remarkable things that set it apart from all other species? Clearly, Homo sapiens appears to be unique in the fact that many of its behaviors are shaped by forces other than the instincts. The discipline that endeavors to understand these forces is known as semiotics. Relatively unknown in comparison to, say, philosophy or psychology, semiotics probes the human condition in its own peculiar way, by unraveling the meanings of the signs that undergird not only the wearing of high-heel shoes, but also the construction of words, paintings, sculptures, and the like

Designing Embodied Interactive Software Agents for E-Learning: Principles, Components, and Roles

Embodied interactive software agents are complex autonomous, adaptive, and social software systems with a digital embodiment that enables them to act on and react to other entities (users, objects, and other agents) in their environment through bodily actions, which include the use of verbal and non-verbal communicative behaviors in face-to-face interactions with the user. These agents have been developed for various roles in different application domains, in which they perform tasks that have been assigned to them by their developers or delegated to them by their users or by other agents. In computer-assisted learning, embodied interactive pedagogical software agents have the general task to promote human learning by working with students (and other agents) in computer-based learning environments, among them e-learning platforms based on Internet technologies, such as the Virtual Linguistics Campus (www.linguistics-online.com). In these environments, pedagogical agents provide contextualized, qualified, personalized, and timely assistance, cooperation, instruction, motivation, and services for both individual learners and groups of learners. This thesis develops a comprehensive, multidisciplinary, and user-oriented view of the design of embodied interactive pedagogical software agents, which integrates theoretical and practical insights from various academic and other fields. The research intends to contribute to the scientific understanding of issues, methods, theories, and technologies that are involved in the design, implementation, and evaluation of embodied interactive software agents for different roles in e-learning and other areas. For developers, the thesis provides sixteen basic principles (Added Value, Perceptible Qualities, Balanced Design, Coherence, Consistency, Completeness, Comprehensibility, Individuality, Variability, Communicative Ability, Modularity, Teamwork, Participatory Design, Role Awareness, Cultural Awareness, and Relationship Building) plus a large number of specific guidelines for the design of embodied interactive software agents and their components. Furthermore, it offers critical reviews of theories, concepts, approaches, and technologies from different areas and disciplines that are relevant to agent design. Finally, it discusses three pedagogical agent roles (virtual native speaker, coach, and peer) in the scenario of the linguistic fieldwork classes on the Virtual Linguistics Campus and presents detailed considerations for the design of an agent for one of these roles (the virtual native speaker)