Dynamic Task Allocation in Partially Defined Environments Using A* with Bounded Costs

The sector of maritime robotics has seen a boom in operations in areas such as surveying and mapping, clean-up, inspections, search and rescue, law enforcement, and national defense. As this sector has continued to grow, there has been an increased need for single unmanned systems to be able to undertake more complex and greater numbers of tasks. As the maritime domain can be particularly difficult for autonomous vehicles to operate in due to the partially defined nature of the environment, it is crucial that a method exists which is capable of dynamically accomplishing tasks within this operational domain. By considering the task allocation problem as a graph search problem, Minion Task, is not only capable of finding and executing tasks, but is also capable of optimizing costs across a range of parameters and of considering constraints on the order that tasks may be completed in. Minion task consists of four key phases that allow it to accomplish dynamic tasking in partially defined environments. These phases are a search space updater that is capable of evaluating the regions the vehicle has effectively perceived, a task evaluator that is capable of ascertaining which tasks in the mission set need to be searched for and which can be executed, a task allocation process that utilizes a modified version of the A* with Bounded Costs (ABC) algorithm to select the best ordering of task for execution based on an optimization routing, and, finally, a task executor that handles transiting to and executing tasks orders received from the task allocator. To evaluate Minion Task’s performance, the modified ABC algorithm used by the task allocator was compared to a greedy and a random allocation scheme. Additionally, to show the full capabilities of the system, a partial simulation of the 2018 Maritime RobotX competition was utilized to evaluate the performance of the Minion Task algorithm. Comparing the modified ABC algorithm to the greedy and random allocation algorithms, the ABC method was found to always achieve a score that was as good, if not better than the scores of the greedy and random allocation schemes. At best, ABC could achieve an up to 2 times improvement in the score achieved compared to the other two methods when the ranges for the score and execution times for each tasks in the task set as well as the space where these tasks could exists was sufficiently large. Finally, using two scenarios, it was shown that Minion Task was capable of completing missions in a dynamic environment. The first scenario showed that Minion Task was capable of handling dynamic switching between searching for and executing tasks. The second scenario showed the algorithm was capable of handling constraints on the ordering of the tasks despite the environment and arrangement of tasks not changing otherwise. This paper succeeded in proving a method, Minion Task, that is capable of performing missions in dynamic maritime environments

THE ETHICS OF CONSTRAINED CHOICE: HOW THE INDUSTRIALIZATION OF AGRICULTURE IMPACTS FARMING AND FARMER BEHAVIOR

The industrialization of agriculture not only alters the ways in which agricultural production occurs, but also impacts the decisions farmers make in important ways. First, constraints created by the economic environment of farming limit what options a farmer has available to him. Second, because of the industrialization of agriculture and the resulting economic pressures it creates for farmers, the fact that decision are constrained creates new ethical challenges for farmers. Having fewer options when faced with severe economic pressures is a very different situation for farmers than having many options available. We discuss the implications of constrained choice and show that it increases the likelihood that farmers will consider unethical behavior.Farm Management, Institutional and Behavioral Economics,

Are Farmers of the Middle Distinctively “Good Stewards?” Evidence from the Missouri Farm Poll, 2006

In this paper we consider the question of whether middle-scale farmers, which we define as producers generating between $100,000 and$250,000 in sales annually, are better agricultural stewards than small and large-scale producers. Our study is motivated by the argument of some commentators that farmers of this class ought to be protected in part because of the unique attitudes and values they possess regarding what constitutes a “good farmer”. We present results of a survey of Missouri farmers designed to assess farmer attitudes and values regarding a variety of indicators of farmer stewardship, such as the most important issues in agriculture, environment and treatment of farm animals, perspectives on the past and future of agriculture, and ethical behavior. We find no evidence that farmers-of-the-middle are particularly noteworthy in these regards. We do find evidence, however, that middle-scale farmers are more pessimistic and anxious about their role in the future of agriculture.Farmers of the middle, good farmer, agrarianism, farmer attitudes and values, Environmental Economics and Policy,

Does the World Need U.S. Farmers Even if Americans Don’t?

We consider the implications of trends in the number of U.S. farmers and food imports on the question of what role U.S. farmers have in an increasingly global agrifood system. Our discussion stems from the argument some scholars have made that American consumers can import their food more cheaply from other countries than it can produce it. We consider the distinction between U.S. farmers and agriculture and the effect of the U.S. food footprint on developing nations to argue there might be an important role for U.S. farmers, even if it appears Americans don’t need them. For instance, we may need to protect U.S. farmland and, by implication, U.S. farmers, for future food security needs both domestic and international. We also explore the role of U.S. farmers by considering the question of whether food is a privilege or a right. Although Americans seem to accept that food is a privilege, many scholars and commentators argue that, at least on a global scale, food is a right, particularly for the world’s poor and hungry. If this is the case, then U.S. farmers might have a role in meeting the associated obligation to ensure that the poor of the world have enough food to eat. We look at the consequences of determining that food is a right versus a privilege and the implications of that decision for agricultural subsidies as well as U.S. agriculture and nutrition policies.Food Security and Poverty,

Mr. and Mrs. Paul Hendrickson to Sir (2 October 1962)

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The Ethics of Constrained Choice: How the Industrialization of Agriculture Impacts Farming and Farmer Behavior

An earlier version of this paper was presented at the 2004 meetings of the Agriculture, Food and Human Values Society (AFHVS). This revision is dated June 14, 2004.The industrialization of agriculture not only alters the ways in which agricultural production occurs, but also impacts the decisions farmers make in important ways. First, constraints created by the economic environment of farming limit what options a farmer has available to him. Second, because of the industrialization of agriculture and the resulting economic pressures it creates for farmers, the fact that decisions are constrained creates new ethical challenges for farmers. Having fewer options when faced with severe economic pressures is a very different situation for farmers than having many options available. We discuss the implications of constrained choice and show that it increases the likelihood that farmers will consider unethical behavior

Are Farmers of the Middle Distinctively “Good Stewards?” Evidence from the Missouri Farm Poll, 2006

This paper considers the question of whether middle-scale farmers, which are defined as producers generating between $100,000 and$250,000 in sales annually, are better agricultural stewards than small and large-scale producers. The study is motivated by the argument of some commentators that farmers of this class ought to be protected in part because of the unique attitudes and values they possess regarding what constitutes a “good farmer”. The paper presents results of a survey of Missouri farmers designed to assess farmer attitudes and values regarding a variety of indicators of farmer stewardship, such as the most important issues in agriculture, environment and treatment of farm animals, perspectives on the past and future of agriculture, and ethical behavior. No evidence is found that farmers-of-the-middle are particularly noteworthy in these regards. Evidence is found, however, that middle-scale farmers are more pessimistic and anxious about their role in the future of agriculture

Does the World Need U.S. Farmers Even if Americans Don't?

We consider the implications of trends in the number of U.S. farmers and food imports on the question of what role U.S. farmers have in an increasingly global agrifood system. Our discussion stems from the argument some scholars have made that American consumers can import their food more cheaply from other countries than it can produce it. We consider the distinction between U.S. farmers and agriculture and the effect of the U.S. food footprint on developing nations to argue there might be an important role for U.S. farmers, even if it appears Americans don't need them. For instance, we may need to protect U.S. farmland and, by implication, U.S. farmers, for future food security needs both domestic and international. We also explore the role of U.S. farmers by considering the question of whether food is a privilege or a right. Although Americans seem to accept that food is a privilege, many scholars and commentators argue that, at least on a global scale, food is a right, particularly for the world's poor and hungry. If this is the case, then U.S. farmers might have a role in meeting the associated obligation to ensure that the poor of the world have enough food to eat. We look at the consequences of determining that food is a right versus a privilege and the implications of that decision for agricultural subsidies as well as U.S. agriculture and nutrition policies

Providing Situational Awareness to Unmanned System Operators and Pilots: A Research Study in Human-Machine Interfacing

There are over 500 RC systems on the market and each controller is set up differently. The goal of this project is to improve human machine interfaces used by unmanned system operators ranging from hobbyist to military, to ensure pertinent information is communicated safely to the pilot by creating a single, easily customizable controller. Currently, RC controllers can be difficult to learn because there are no standards for control locations. Controllers are not waterproof and do not have the ability to give the pilot access to on board information like a camera view or instrumentation values. To address these concerns, this project aims to research, design, and prototype an RC control comprised of commercially available parts to help improve the overall safety of RC controller systems. This project is still in developmental phase but this research will help increase safety and usability for the unmanned systems field