Programming platform for distributed robotics: primitives and portability

The Stabilizing Robotics Language (StarL) programming framework aims to simplify development of distributed robotic applications by providing programming abstractions and building blocks for communication, motion control and coordination between robots. It has been used to develop applications such as formation control, automatic intersection protocol, and distributed collaborative search. In this thesis, we introduce the programming abstractions as StarL primitives that are platform independent and useful across hardware platforms, resulting in portability. We first introduce the primitives as building blocks to easily develop, simulate and debug distributed robotic applications in StarL. Then, we discuss the design of the StarL framework which enables us to achieve portability of robot programs across hardware platforms. Thus, the same application program, say, for formation control, can now be ported and deployed on multiple, heterogeneous robotic platforms. We evaluate the design of these new features by simulating several applications

A Model-driven Architecture for Multi-protocol OBD Emulator

The Internet of Things (IoT) might be the next revolutionary technology to mark a generation. It could have a particularly strong influence on the automotive industry, changing people’s perception of what a vehicle can do. By connecting several things in a car, IoT empowers it to sense and communicate. Furthermore, this technology clearly opens the way to emerging applications such as automated driving, Vehicle-to-Vehicle and Vehicleto-Infrastructure communication. Vehicle’s information about its environment and surroundings is crucial to the development of existing and emerging applications. It is already possible to communicate directly (on-site) with vehicles through a built-in On Board Diagnostics (OBD), making it possible to obtain crucial information about the state of the vehicle in real environments. However, there is zero tolerance for error when developing new applications for vehicles that are, a priori, extremely costly and that must also safeguard human lives. Therefore, there is an increasing need for OBD emulators which can allow the development of new applications. This Thesis proposes a model-driven architecture for multi-protocol OBD emulator, encouraging the development of new emerging OBD systems in a safety environment, to promote the creation of applications to interact or use vehicles’ data. In this sense, the addressed specifications are: Less expensive comparing with today’s solutions; Compatible with different OBD protocols communication; Open Source Hardware and Software suitable for Do-It-Yourself (DIY) development

Virtual laboratories for education in science, technology, and engineering: A review

Within education, concepts such as distance learning, and open universities, are now becoming more widely used for teaching and learning. However, due to the nature of the subject domain, the teaching of Science, Technology, and Engineering are still relatively behind when using new technological approaches (particularly for online distance learning). The reason for this discrepancy lies in the fact that these fields often require laboratory exercises to provide effective skill acquisition and hands-on experience. Often it is difficult to make these laboratories accessible for online access. Either the real lab needs to be enabled for remote access or it needs to be replicated as a fully software-based virtual lab. We argue for the latter concept since it offers some advantages over remotely controlled real labs, which will be elaborated further in this paper. We are now seeing new emerging technologies that can overcome some of the potential difficulties in this area. These include: computer graphics, augmented reality, computational dynamics, and virtual worlds. This paper summarizes the state of the art in virtual laboratories and virtual worlds in the fields of science, technology, and engineering. The main research activity in these fields is discussed but special emphasis is put on the field of robotics due to the maturity of this area within the virtual-education community. This is not a coincidence; starting from its widely multidisciplinary character, robotics is a perfect example where all the other fields of engineering and physics can contribute. Thus, the use of virtual labs for other scientific and non-robotic engineering uses can be seen to share many of the same learning processes. This can include supporting the introduction of new concepts as part of learning about science and technology, and introducing more general engineering knowledge, through to supporting more constructive (and collaborative) education and training activities in a more complex engineering topic such as robotics. The objective of this paper is to outline this problem space in more detail and to create a valuable source of information that can help to define the starting position for future research

Integrated Design and Implementation of Embedded Control Systems with Scilab

Embedded systems are playing an increasingly important role in control engineering. Despite their popularity, embedded systems are generally subject to resource constraints and it is therefore difficult to build complex control systems on embedded platforms. Traditionally, the design and implementation of control systems are often separated, which causes the development of embedded control systems to be highly time-consuming and costly. To address these problems, this paper presents a low-cost, reusable, reconfigurable platform that enables integrated design and implementation of embedded control systems. To minimize the cost, free and open source software packages such as Linux and Scilab are used. Scilab is ported to the embedded ARM-Linux system. The drivers for interfacing Scilab with several communication protocols including serial, Ethernet, and Modbus are developed. Experiments are conducted to test the developed embedded platform. The use of Scilab enables implementation of complex control algorithms on embedded platforms. With the developed platform, it is possible to perform all phases of the development cycle of embedded control systems in a unified environment, thus facilitating the reduction of development time and cost.Comment: 15 pages, 14 figures; Open Access at http://www.mdpi.org/sensors/papers/s8095501.pd

Entrainment and Control of Bacterial Populations: An in Silico Study over a Spatially Extended Agent Based Model

This is the author accepted manuscript. The final version is available from American Chemical Society via the DOI in this record.We extend a spatially explicit agent based model (ABM) developed previously to investigate entrainment and control of the emergent behavior of a population of synchronized oscillating cells in a microfluidic chamber. Unlike most of the work in models of control of cellular systems which focus on temporal changes, we model individual cells with spatial dependencies which may contribute to certain behavioral responses. We use the model to investigate the response of both open loop and closed loop strategies, such as proportional control (P-control), proportional-integral control (PI-control) and proportional-integral-derivative control (PID-control), to heterogeinities and growth in the cell population, variations of the control parameters and spatial effects such as diffusion in the spatially explicit setting of a microfluidic chamber setup. We show that, as expected from the theory of phase locking in dynamical systems, open loop control can only entrain the cell population in a subset of forcing periods, with a wide variety of dynamical behaviors obtained outside these regions of entrainment. Closed-loop control is shown instead to guarantee entrainment in a much wider region of control parameter space although presenting limitations when the population size increases over a certain threshold. In silico tracking experiments are also performed to validate the ability of classical control approaches to achieve other reference behaviors such as a desired constant output or a linearly varying one. All simulations are carried out in BSim, an advanced agent-based simulator of microbial population which is here extended ad hoc to include the effects of control strategies acting onto the population.The authors declare no competing interests. We thank Dr. Nigel J. Savery at the University of Bristol for useful discussions around the subject of GRNs and for his help in developing the original ABM model. We also wish to thank Dr Gianfranco Fiore at the University of Bristol and the anonymous reviewers for reading the revised manuscript carefully and providing insightful comments that led to a consistent revision of the original manuscript. P.M. was supported by EPSRC Grant EP/E501214/1 and K.T.-A. by EPSRC Grant EP/I018638/1. The funders had no role in study design, data collection, and analysis, decision to publish, or preparation of the manuscript. This work was carried out using the computational facilities of the Advanced Computing Research Centre, University of Bristol, http://www.bris.ac.uk/acrc/

PLC Control and Matlab/Simulink Simulations – A Translation Approach

Postprint (published version