Graphic simualtion test bed for robotics applications in a workstation environment

Graphical simulation is a cost-effective solution for developing and testing robots and their control systems. The availability of various high-performance workstations makes these systems feasible. Simulation offers preliminary testing of systems before their actual realizations, and it provides a framework for developing new control and planning algorithms. On the other hand, these simulation systems have to have the capability of incorporating various knowledge-based system components, e.g., task planners, representation formalisms, etc. They also should have an appropriate user interface, which makes possible the creation and control of simulation models. ROBOSIM was developed jointly by MSFC and Vanderbilt University, first in a VAX environment. Recently, the system has been ported to an HP-9000 workstation equipped with an SRX graphics accelerator. The user interface of the system now contains a menu- and icon-based facility, as well as the original ROBOSIM language. The system is also coupled to a symbolic computing system based on Common Lisp, where knowledge-based functionalities are implemented. The knowledge-based layer uses various representation and reasoning facilities for programming and testing the control systems of robots

Modelling and analyzing adaptive self-assembling strategies with Maude

Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify and analyse a prominent example of adaptive system: robot swarms equipped with obstacle-avoidance self-assembly strategies. The analysis exploits the statistical model checker PVesta

Bursty egocentric network evolution in Skype

In this study we analyze the dynamics of the contact list evolution of millions of users of the Skype communication network. We find that egocentric networks evolve heterogeneously in time as events of edge additions and deletions of individuals are grouped in long bursty clusters, which are separated by long inactive periods. We classify users by their link creation dynamics and show that bursty peaks of contact additions are likely to appear shortly after user account creation. We also study possible relations between bursty contact addition activity and other user-initiated actions like free and paid service adoption events. We show that bursts of contact additions are associated with increases in activity and adoption - an observation that can inform the design of targeted marketing tactics.Comment: 7 pages, 6 figures. Social Network Analysis and Mining (2013

Small But Slow World: How Network Topology and Burstiness Slow Down Spreading

Communication networks show the small-world property of short paths, but the spreading dynamics in them turns out slow. We follow the time evolution of information propagation through communication networks by using the SI model with empirical data on contact sequences. We introduce null models where the sequences are randomly shuffled in different ways, enabling us to distinguish between the contributions of different impeding effects. The slowing down of spreading is found to be caused mostly by weight-topology correlations and the bursty activity patterns of individuals

A microfluidic chip based model for the study of full thickness human intestinal tissue using dual flow

© 2016 Author(s). The study of inflammatory bowel disease, including Ulcerative Colitis and Crohn's Disease, has relied largely upon the use of animal or cell culture models; neither of which can represent all aspects of the human pathophysiology. Presented herein is a dual flow microfluidic device which holds full thickness human intestinal tissue in a known orientation. The luminal and serosal sides are independently perfused ex vivo with nutrients with simultaneous waste removal for up to 72 h. The microfluidic device maintains the viability and integrity of the tissue as demonstrated through Haematoxylin & Eosin staining, immunohistochemistry and release of lactate dehydrogenase. In addition, the inflammatory state remains in the tissue after perfusion on the device as determined by measuring calprotectin levels. It is anticipated that this human model will be extremely useful for studying the biology and tes ting novel interventions in diseased tissue

Multiscale Analysis of Spreading in a Large Communication Network

In temporal networks, both the topology of the underlying network and the timings of interaction events can be crucial in determining how some dynamic process mediated by the network unfolds. We have explored the limiting case of the speed of spreading in the SI model, set up such that an event between an infectious and susceptible individual always transmits the infection. The speed of this process sets an upper bound for the speed of any dynamic process that is mediated through the interaction events of the network. With the help of temporal networks derived from large scale time-stamped data on mobile phone calls, we extend earlier results that point out the slowing-down effects of burstiness and temporal inhomogeneities. In such networks, links are not permanently active, but dynamic processes are mediated by recurrent events taking place on the links at specific points in time. We perform a multi-scale analysis and pinpoint the importance of the timings of event sequences on individual links, their correlations with neighboring sequences, and the temporal pathways taken by the network-scale spreading process. This is achieved by studying empirically and analytically different characteristic relay times of links, relevant to the respective scales, and a set of temporal reference models that allow for removing selected time-domain correlations one by one

Circadian pattern and burstiness in mobile phone communication

The temporal communication patterns of human individuals are known to be inhomogeneous or bursty, which is reflected as the heavy tail behavior in the inter-event time distribution. As the cause of such bursty behavior two main mechanisms have been suggested: a) Inhomogeneities due to the circadian and weekly activity patterns and b) inhomogeneities rooted in human task execution behavior. Here we investigate the roles of these mechanisms by developing and then applying systematic de-seasoning methods to remove the circadian and weekly patterns from the time-series of mobile phone communication events of individuals. We find that the heavy tails in the inter-event time distributions remain robustly with respect to this procedure, which clearly indicates that the human task execution based mechanism is a possible cause for the remaining burstiness in temporal mobile phone communication patterns.Comment: 17 pages, 12 figure

Interface mapping in two-dimensional random lattice models

We consider two disordered lattice models on the square lattice: on the medial lattice the random field Ising model at T=0 and on the direct lattice the random bond Potts model in the large-q limit at its transition point. The interface properties of the two models are known to be related by a mapping which is valid in the continuum approximation. Here we consider finite random samples with the same form of disorder for both models and calculate the respective equilibrium states exactly by combinatorial optimization algorithms. We study the evolution of the interfaces with the strength of disorder and analyse and compare the interfaces of the two models in finite lattices.Comment: 7 pages, 6 figure

Attention on Weak Ties in Social and Communication Networks

Granovetter's weak tie theory of social networks is built around two central hypotheses. The first states that strong social ties carry the large majority of interaction events; the second maintains that weak social ties, although less active, are often relevant for the exchange of especially important information (e.g., about potential new jobs in Granovetter's work). While several empirical studies have provided support for the first hypothesis, the second has been the object of far less scrutiny. A possible reason is that it involves notions relative to the nature and importance of the information that are hard to quantify and measure, especially in large scale studies. Here, we search for empirical validation of both Granovetter's hypotheses. We find clear empirical support for the first. We also provide empirical evidence and a quantitative interpretation for the second. We show that attention, measured as the fraction of interactions devoted to a particular social connection, is high on weak ties --- possibly reflecting the postulated informational purposes of such ties --- but also on very strong ties. Data from online social media and mobile communication reveal network-dependent mixtures of these two effects on the basis of a platform's typical usage. Our results establish a clear relationships between attention, importance, and strength of social links, and could lead to improved algorithms to prioritize social media content