Complex dynamics emerging in Rule 30 with majority memory

In cellular automata with memory, the unchanged maps of the conventional cellular automata are applied to cells endowed with memory of their past states in some specified interval. We implement Rule 30 automata with a majority memory and show that using the memory function we can transform quasi-chaotic dynamics of classical Rule 30 into domains of travelling structures with predictable behaviour. We analyse morphological complexity of the automata and classify dynamics of gliders (particles, self-localizations) in memory-enriched Rule 30. We provide formal ways of encoding and classifying glider dynamics using de Bruijn diagrams, soliton reactions and quasi-chemical representations

Globally Guided Trajectory Planning in Dynamic Environments

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to two distinct passing behaviors per obstacle (passing left or right). For local planners, such as receding-horizon trajectory optimization, each behavior presents a local optimum in which the planner can get stuck. This may result in slow or unsafe motion even when a better plan exists. In this work, we identify trajectories for multiple locally optimal driving behaviors, by considering their topology. This identification is made consistent over successive iterations by propagating the topology information. The most suitable high-level trajectory guides a local optimization-based planner, resulting in fast and safe motion plans. We validate the proposed planner on a mobile robot in simulation and real-world experiments.Comment: 7 pages, 6 figures, accepted to IEEE International Conference on Robotics and Automation (ICRA) 202

Effect of rolling on dissipation in fault gouges

Sliding and rolling are two outstanding deformation modes in granular media. The first one induces frictional dissipation whereas the latter one involves deformation with negligible resistance. Using numerical simulations on two-dimensional shear cells, we investigate the effect of the grain rotation on the energy dissipation and the strength of granular materials under quasistatic shear deformation. Rolling and sliding are quantified in terms of the so-called Cosserat rotations. The observed spontaneous formation of vorticity cells and clusters of rotating bearings may provide an explanation for the long standing heat flow paradox of earthquake dynamics

Self-organization of ultrasound in viscous fluids

We report the theoretical and experimental demonstration of pattern formation in acoustics. The system is an acoustic resonator containing a viscous fluid. When the system is driven by an external periodic force, the ultrasonic field inside the cavity experiences different pattern-forming instabilities leading to the emergence of periodic structures. The system is also shown to possess bistable regimes, in which localized states of the ultrasonic field develop. The thermal nonlinearity in the viscous fluid, together with the far-from-equilibrium conditions, are is the responsible of the observed effects

Jaw biodynamic data for 24 patients with chronic unilateral temporomandibular disorder

This study assessed 24 adult patients, suffering from severe chronic unilateral pain diagnosed as temporomandibular joint (TMJ) disorder (TMD). The full dentate patients had normal occlusion and had never received an occlusal therapy, i.e., were with natural dental evolution/maturation. The following functional and dynamic factors were assessed: (1) chewing function; (2) TMJ remodeling or the condylar path (CP); and (3) lateral jaw motion or lateral guidance (LG). CPs were assessed using conventional axiography, and LG was assessed by K7 jaw tracking. Seventeen (71%) of the 24 (100%) patients consistently showed a habitual chewing side. The mean (standard deviation [SD]) of the CP angles was 47.90 (9.24) degrees. The mean (SD) of the LG angles was 42.95 (11.78) degrees. Data collection emerged from the conception of a new TMD paradigm where the affected side could be the habitual chewing side, the side with flatter lateral jaw motion or the side with an increased CP angle. These data may lead to improved diagnosis, therapy plans and evolution in TMD patients

Online Informative Path Planning for Active Information Gathering of a 3D Surface

This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed hence ignoring potential spatial correlations of the information field. In this paper, we utilize manifold Gaussian processes (mGPs) with geodesic kernel functions for mapping surface information fields and plan informative paths online in a receding horizon manner. Our approach actively plans information-gathering paths based on recent observations that respect dynamic constraints of the vehicle and a total flight time budget. We provide planning results for simulated temperature modeling for simple and complex 3D surface geometries (a cylinder and an aircraft model). We demonstrate that our informative planning method outperforms traditional approaches such as 3D coverage planning and random exploration, both in reconstruction error and information-theoretic metrics. We also show that by taking spatial correlations of the information field into planning using mGPs, the information gathering efficiency is significantly improved.Comment: 7 pages, 7 figures, to be published in 2021 IEEE International Conference on Robotics and Automation (ICRA

AMoDSim: An Efficient and Modular Simulation Framework for Autonomous Mobility on Demand

Urban transportation of next decade is expected to be disrupted by Autonomous Mobility on Demand (AMoD): AMoD providers will collect ride requests from users and will dispatch a fleet of autonomous vehicles to satisfy requests in the most efficient way. Differently from current ride sharing systems, in which driver behavior has a clear impact on the system, AMoD systems will be exclusively determined by the dispatching logic. As a consequence, a recent interest in the Operations Research and Computer Science communities has focused on this control logic. The new propositions and methodologies are generally evaluated via simulation. Unfortunately, there is no simulation platform that has emerged as reference, with the consequence that each author uses her own custom-made simulator, applicable only in her specific study, with no aim of generalization and without public release. This slows down the progress in the area as researchers cannot build on each other's work and cannot share, reproduce and verify the results. The goal of this paper is to present AMoDSim, an open-source simulation platform aimed to fill this gap and accelerate research in future ride sharing systems

Smart and sustainable urban logistic applications aided by intelligent techniques

[EN] CO2-free urban logistics is one of the 10 objectives to reach by 2030 as part of transport policy. What technologies can help to accomplish it? In this paper, we discuss the very complex situation that today¿s big and modern cities are facing with a tremendous environment of many urban logistics companies running in the same city. In the majority of cases, there is less or none coordination among them worsening traffic congestions. We believe that intelligent techniques are one of the key approaches that can aid to support smart and sustainable urban logistic applications. There are large open problems in the field of cooperative urban logistics that can greatly improve with the help of artificial intelligence. Some solutions are cited in this paper, but the overall conclusion is that there is still much work to be done.Giret Boggino, AS. (2019). Smart and sustainable urban logistic applications aided by intelligent techniques. Service Oriented Computing and Applications (Online). 13(3):185-186. https://doi.org/10.1007/s11761-019-00271-zS185186133Market reports (2019) Global last mile delivery market size, status and forecast 2019–2025. The Market reports. Report code : 1362721, pp 1–114Xiao Z, Wang JJ, Lenzer J, Sun Y (2017) Understanding the diversity of final delivery solutions for online retailing: a case of Shenzhen, China. In: World conference on transport research—WCTR 2016 Shanghai. Transportation Research Procedia, vol 25, pp 985–998, 2017. 10–15 July 2016Gonzalez-Feliu J, Semet F, Routhier JL (2014) Sustainable urban logistics: concepts, methods and information systems. Springer, BerlinMacharis C, Melo S (2011) City distribution and urban freight transport: multiple perspectives. Edward Elgar Publishing, CheltenhamPagell M, Wu Z (2009) Building a more complete theory of sustainable supply chain management using case studies of 10 exemplars. J Supply Chain Manag 45:37–56Morana J, Gonzalez-Feliu J (2015) A sustainable urban logistics dashboard from the perspective of a group of operational managers. Manag Res Rev 38(10):1068–1085Gunasekaran A, Kobu B (2007) Performance measures and metrics in logistics and supply chain management: a review of recent literature (1995–2004) for research and applications. Int J Prod Res 45:2819–2840Griffis SE, Goldsby TJ, Cooper M, Closs DJ (2007) Aligning logistics performance measures to the information needs of the firm. J Bus Logist 48:35–56Alonso-Mora J, Samaranayake S, Wallar A, Frazzoli E, Rus D (2017) On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment. Proc Natl Acad Sci 114(3):462–467Gentile G, Noekel K (2016) Modeling public transport passenger flows in the era of intelligent transport systems. Springer, BerlinNeirotti P, De Marco A, Cagliano AC, Mangano G, Scorrano F (2014) Current trends in smart city initiatives: some stylised facts. Cities 38:25–36Chatterjee R (2016) Optimizing last mile delivery using public transport with multiagent based control. Master thesis, pp 1–59Skiver RL, Godfrey M (2017) Crowdserving: a last mile delivery method for brickand—mortar retailers. Glob J Bus Res 11(2):67–77Brüning M, Schönewolf W (2011) Freight transport system for urban shipment and delivery. In: IEEE forum on integrated and sustainable transportation systems, Vienna, pp 136–14