Fast multipole networks

Two prerequisites for robotic multiagent systems are mobility and communication. Fast multipole networks (FMNs) enable both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer competitive communication performance (including higher network efficiency per edge at marginal energy cost) in addition to advantages for mobility

A fuzzy multi-criteria decision making approach for managing performance and risk in integrated procurement-production planning

Nowadays in Supply Chain (SC) networks, a high level of risk comes from SC partners. An effective risk management process becomes as a consequence mandatory, especially at the tactical planning level. The aim of this article is to present a risk-oriented integrated procurement–production approach for tactical planning in a multi-echelon SC network involving multiple suppliers, multiple parallel manufacturing plants, multiple subcontractors and several customers. An originality of the work is to combine an analytical model allowing to build feasible scenarios and a multi-criteria approach for assessing these scenarios. The literature has mainly addressed the problem through cost or profit-based optimisation and seldom considers more qualitative yet important criteria linked to risk, like trust in the supplier, flexibility or resilience. Unlike the traditional approaches, we present a method evaluating each possible supply scenario through performance-based and risk-based decision criteria, involving both qualitative and quantitative factors, in order to clearly separate the performance of a scenario and the risk taken if it is adopted. Since the decision-maker often cannot provide crisp values for some critical data, fuzzy sets theory is suggested in order to model vague information based on subjective expertise. Fuzzy Technique for Order of Preference by Similarity to Ideal Solution is used to determine both the performance and risk measures correlated to each possible tactical plan. The applicability and tractability of the proposed approach is shown on an illustrative example and a sensitivity analysis is performed to investigate the influence of criteria weights on the selection of the procurement–production plan

Reinforcement learning for temporal logic control synthesis with probabilistic satisfaction guarantees

We present a model-free reinforcement learning algorithm to synthesize control policies that maximize the probability of satisfying high-level control objectives given as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace properties, the structure of the workspace, and the agent actions, giving rise to a Probabilistically-Labeled Markov Decision Process (PL-MDP) with unknown graph structure and stochastic behaviour, which is even more general than a fully unknown MDP. We first translate the LTL specification into a Limit Deterministic Büchi Automaton (LDBA), which is then used in an on-the-fly product with the PL-MDP. Thereafter, we define a synchronous reward function based on the acceptance condition of the LDBA. Finally, we show that the RL algorithm delivers a policy that maximizes the satisfaction probability asymptotically. We provide experimental results that showcase the efficiency of the proposed method

Reinforcement learning for temporal logic control synthesis with probabilistic satisfaction guarantees

We present a model-free reinforcement learning algorithm to synthesize control policies that maximize the probability of satisfying high-level control objectives given as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace properties, the structure of the workspace, and the agent actions, giving rise to a Probabilistically-Labeled Markov Decision Process (PL-MDP) with unknown graph structure and stochastic behaviour, which is even more general than a fully unknown MDP. We first translate the LTL specification into a Limit Deterministic Büchi Automaton (LDBA), which is then used in an on-the-fly product with the PL-MDP. Thereafter, we define a synchronous reward function based on the acceptance condition of the LDBA. Finally, we show that the RL algorithm delivers a policy that maximizes the satisfaction probability asymptotically. We provide experimental results that showcase the efficiency of the proposed method

Strategies for Embedding Optical Fiber Sensors in Additive Manufacturing Structures

The use of optical fiber sensors (OFS) has spread in the Structural Health Monitoring (SHM) community for their ability to detect many different physical quantities, robustness against electromagnetic disturbances, light weight and embedding possibilities. The last point has been widely investigated for different types of materials, but only recently researchers considered the possibility to embed optical fibers in 3D printed structures. Additive Manufacturing (AM) offers new opportunities in terms of design, for the manufacturing of structures with complex geometries in a relatively low amount of time. However, new challenges must be considered, including innovative embedding solutions for different types of sensors. As a first step, this work discusses current embedding strategies for optical fiber sensors in structures produced with the Fused Deposition Modeling (FDM) technique. A novel methodology to embed OFS is introduced and then tested through the production of specimens at three different filling densities and six different loads. The experimental results, where both distributed OFS and strain gauges were used, were also compared with the data obtained from a numerical model developed in Abaqus/CAE in which the filling pattern of the specimens was accurately reproduced. Finally, the results were critically discussed, highlighting both agreements and discrepancies with respect to the expected data