When the goal is to generate a series of activities: A self-organized simulated robot arm

Behavior is characterized by sequences of goal-oriented conducts, such as food uptake, socializing and resting. Classically, one would define for each task a corresponding satisfaction level, with the agent engaging, at a given time, in the activity having the lowest satisfaction level. Alternatively, one may consider that the agent follows the overarching objective to generate sequences of distinct activities. To achieve a balanced distribution of activities would then be the primary goal, and not to master a specific task. In this setting, the agent would show two types of behaviors, task-oriented, and task-searching phases, with the latter interseeding the former. We study the emergence of autonomous task switching for the case of a simulated robot arm. Grasping one of several moving objects corresponds in this setting to a specific activity. Overall, the arm should follow a given object temporarily and then move away, in order to search for a new target and reengage. We show that this behavior can be generated robustly when modeling the arm as an adaptive dynamical system. The dissipation function is in this approach time dependent. The arm is in a dissipative state when searching for a nearby object, dissipating energy on approach. Once close, the dissipation function starts to increase, with the eventual sign change implying that the arm will take up energy and wander off. The resulting explorative state ends when the dissipation function becomes again negative and the arm selects a new target. We believe that our approach may be generalized to generate self-organized sequences of activities in general.Comment: 10 pages, 7 figure

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

Agent and cyber-physical system based self-organizing and self-adaptive intelligent shopfloor

The increasing demand of customized production results in huge challenges to the traditional manufacturing systems. In order to allocate resources timely according to the production requirements and to reduce disturbances, a framework for the future intelligent shopfloor is proposed in this paper. The framework consists of three primary models, namely the model of smart machine agent, the self-organizing model, and the self-adaptive model. A cyber-physical system for manufacturing shopfloor based on the multiagent technology is developed to realize the above-mentioned function models. Gray relational analysis and the hierarchy conflict resolution methods were applied to achieve the self-organizing and self-adaptive capabilities, thereby improving the reconfigurability and responsiveness of the shopfloor. A prototype system is developed, which has the adequate flexibility and robustness to configure resources and to deal with disturbances effectively. This research provides a feasible method for designing an autonomous factory with exception-handling capabilities

Multiobjective optimization of electromagnetic structures based on self-organizing migration

Práce se zabývá popisem nového stochastického vícekriteriálního optimalizačního algoritmu MOSOMA (Multiobjective Self-Organizing Migrating Algorithm). Je zde ukázáno, že algoritmus je schopen řešit nejrůznější typy optimalizačních úloh (s jakýmkoli počtem kritérií, s i bez omezujících podmínek, se spojitým i diskrétním stavovým prostorem). Výsledky algoritmu jsou srovnány s dalšími běžně používanými metodami pro vícekriteriální optimalizaci na velké sadě testovacích úloh. Uvedli jsme novou techniku pro výpočet metriky rozprostření (spread) založené na hledání minimální kostry grafu (Minimum Spanning Tree) pro problémy mající více než dvě kritéria. Doporučené hodnoty pro parametry řídící běh algoritmu byly určeny na základě výsledků jejich citlivostní analýzy. Algoritmus MOSOMA je dále úspěšně použit pro řešení různých návrhových úloh z oblasti elektromagnetismu (návrh Yagi-Uda antény a dielektrických filtrů, adaptivní řízení vyzařovaného svazku v časové oblasti…).This thesis describes a novel stochastic multi-objective optimization algorithm called MOSOMA (Multi-Objective Self-Organizing Migrating Algorithm). It is shown that MOSOMA is able to solve various types of multi-objective optimization problems (with any number of objectives, unconstrained or constrained problems, with continuous or discrete decision space). The efficiency of MOSOMA is compared with other commonly used optimization techniques on a large suite of test problems. The new procedure based on finding of minimum spanning tree for computing the spread metric for problems with more than two objectives is proposed. Recommended values of parameters controlling the run of MOSOMA are derived according to their sensitivity analysis. The ability of MOSOMA to solve real-life problems from electromagnetics is shown in a few examples (Yagi-Uda and dielectric filters design, adaptive beam forming in time domain…).

Modeling self-organization in pedestrians and animal groups from macroscopic and microscopic viewpoints

This paper is concerned with mathematical modeling of intelligent systems, such as human crowds and animal groups. In particular, the focus is on the emergence of different self-organized patterns from non-locality and anisotropy of the interactions among individuals. A mathematical technique by time-evolving measures is introduced to deal with both macroscopic and microscopic scales within a unified modeling framework. Then self-organization issues are investigated and numerically reproduced at the proper scale, according to the kind of agents under consideration.Comment: 24 pages, 13 figure

Investigating biocomplexity through the agent-based paradigm.

Capturing the dynamism that pervades biological systems requires a computational approach that can accommodate both the continuous features of the system environment as well as the flexible and heterogeneous nature of component interactions. This presents a serious challenge for the more traditional mathematical approaches that assume component homogeneity to relate system observables using mathematical equations. While the homogeneity condition does not lead to loss of accuracy while simulating various continua, it fails to offer detailed solutions when applied to systems with dynamically interacting heterogeneous components. As the functionality and architecture of most biological systems is a product of multi-faceted individual interactions at the sub-system level, continuum models rarely offer much beyond qualitative similarity. Agent-based modelling is a class of algorithmic computational approaches that rely on interactions between Turing-complete finite-state machines--or agents--to simulate, from the bottom-up, macroscopic properties of a system. In recognizing the heterogeneity condition, they offer suitable ontologies to the system components being modelled, thereby succeeding where their continuum counterparts tend to struggle. Furthermore, being inherently hierarchical, they are quite amenable to coupling with other computational paradigms. The integration of any agent-based framework with continuum models is arguably the most elegant and precise way of representing biological systems. Although in its nascence, agent-based modelling has been utilized to model biological complexity across a broad range of biological scales (from cells to societies). In this article, we explore the reasons that make agent-based modelling the most precise approach to model biological systems that tend to be non-linear and complex

Towards homeostatic architecture: simulation of the generative process of a termite mound construction

This report sets out to the theme of the generation of a ‘living’, homeostatic and self-organizing architectural structure. The main research question this project addresses is what innovative techniques of design, construction and materials could prospectively be developed and eventually applied to create and sustain human-made buildings which are mostly adaptive, self-controlled and self-functioning, without option to a vast supply of materials and peripheral services. The hypothesis is that through the implementation of the biological building behaviour of termites, in terms of collective construction mechanisms that are based on environmental stimuli, we could achieve a simulation of the generative process of their adaptive structures, capable to inform in many ways human construction. The essay explicates the development of the 3-dimensional, agent-based simulation of the termite collective construction and analyzes the results, which involve besides physical modelling of the evolved structures. It finally elucidates the potential of this emerging and adaptive architectural performance to be translated to human practice and thus enlighten new ecological engineering and design methodologies

Examples of Artificial Perceptions in Optical Character Recognition and Iris Recognition

This paper assumes the hypothesis that human learning is perception based, and consequently, the learning process and perceptions should not be represented and investigated independently or modeled in different simulation spaces. In order to keep the analogy between the artificial and human learning, the former is assumed here as being based on the artificial perception. Hence, instead of choosing to apply or develop a Computational Theory of (human) Perceptions, we choose to mirror the human perceptions in a numeric (computational) space as artificial perceptions and to analyze the interdependence between artificial learning and artificial perception in the same numeric space, using one of the simplest tools of Artificial Intelligence and Soft Computing, namely the perceptrons. As practical applications, we choose to work around two examples: Optical Character Recognition and Iris Recognition. In both cases a simple Turing test shows that artificial perceptions of the difference between two characters and between two irides are fuzzy, whereas the corresponding human perceptions are, in fact, crisp.Comment: 5th Int. Conf. on Soft Computing and Applications (Szeged, HU), 22-24 Aug 201