Kent Richards interview

Kent Richards taught in the history department at Central Washington University, 1966-1997.https://digitalcommons.cwu.edu/cwura_interviews/1132/thumbnail.jp

Homogeneous Agent Behaviours for the Multi-Agent Simultaneous Searching and Routing Problem

Through the use of autonomy Unmanned Aerial Vehicles (UAVs) can be used to solve a range of of multi-agent problems that exist in the real world, for example search and rescue or surveillance. Within these scenarios the global objective might often be better achieved if aspects of the problem can be optimally shared amongst its agents. However, in uncertain, dynamic and often partially observable environments centralised global-optimisation techniques are not achievable. Instead, agents may have to act on their own belief of the world, making the best decisions independently and potentially myopically. With multiple agents acting in a decentralised manner how can we discourage competitive behaviour and instead facilitate cooperation. This paper focuses on the specific problem of multiple UAVs simultaneously searching for tasks in an environment whilst efficiently routing between them and ultimately visiting them. This paper is motivated by this idea that collaboration can be simple and achieved without the need for a dialogue but instead through the design of the individual agent’s behaviour. By focusing on what is communicated we expand the use of a single agent behaviour. Which through minor modifications can produce distinct agents demonstrating independent, collaborative and competitive behaviour. In particular by investigating the role of sensor and communication ranges this paper will show that increased sensor ranges can be detrimental to system performance, and instead the simple modelling of nearby agents’ intent is a far better approach

Decentralised Multi-Demic Evolutionary Approach to the Dynamic Multi-Agent Travelling Salesman Problem

The Travelling Salesman and its variations are some of the most well known NP hard optimisation problems. This paper looks to use both centralised and decentralised implementations of Evolutionary Algorithms (EA) to solve a dynamic variant of the Multi-Agent Travelling Salesman Problem (MATSP). The problem is dynamic, requiring an on-line solution, whereby tasks are completed during simulation with new tasks added and completed ones removed. The problem is allocating an active set of tasks to a set of agents whilst simultaneously planning the route for each agent. The allocation and routing are closely coupled parts of the same problem making it difficult to decompose, instead this paper uses multiple populations with well defined interactions to exploit the problem structure. This work attempts to align the real world implementation demands of a decentralised solution, where agents are far apart and have communication limits, to that of the structure of the multi-demic EA solution process, ultimately allowing decentralised parts of the problem to be solved `on board' agents and allow for robust communication and exchange of tasks

A connected autonomous vehicle testbed: Capabilities, experimental processes and lessons learned

VENTURER was one of the first three UK government funded research and innovation projects on Connected Autonomous Vehicles (CAVs) and was conducted predominantly in the South West region of the country. A series of increasingly complex scenarios conducted in an urban setting were used to: (i) evaluate the technology created as a part of the project; (ii) systematically assess participant responses to CAVs and; (iii) inform the development of potential insurance models and legal frameworks. Developing this understanding contributed key steps towards facilitating the deployment of CAVs on UK roads. This paper aims to describe the VENTURER Project trials, their objectives and detail some of the key technologies used. Importantly we aim to introduce some informative challenges that were overcame and the subsequent project and technological lessons learned in a hope to help others plan and execute future CAV research. The project successfully integrated several technologies crucial to CAV development. These included, a Decision Making System using behaviour trees to make high level decisions; A pilot-control system to smoothly and comfortably turn plans into throttle and steering actuation; Sensing and perception systems to make sense of raw sensor data; Inter-CAV Wireless communication capable of demonstrating vehicle-to-vehicle communication of potential hazards. The closely coupled technology integration, testing and participant-focused trial schedule led to a greatly improved understanding of the engineering and societal barriers that CAV development faces. From a behavioural standpoint the importance of reliability and repeatability far outweighs a need for novel trajectories, while the sensor-to-perception capabilities are critical, the process of verification and validation is extremely time consuming. Additionally, the added capabilities that can be leveraged from inter-CAV communications shows the potential for improved road safety that could result. Importantly, to effectively conduct human factors experiments in the CAV sector under consistent and repeatable conditions, one needs to define a scripted and stable set of scenarios that uses reliable equipment and a controllable environmental setting. This requirement can often be at odds with making significant technology developments, and if both are part of a project’s goals then they may need to be separated from each other

Decreasing Electrical Energy Consumption through SiC Additions

This paper summarizes results of industrial experiments investigating the introduction of supplemental chemical energy in Electric Arc Furnaces (EAF). Specifically, this research evaluates the effects of adding 0.4-0.6% of the scrap charge weight as SiC (10 lbs per scrap ton charged) in the EAF. SiC additions increase the available exothermic reactions during oxygen boiling in an attempt to reduce the electrical energy requirements. Results from 180 trial heats at two different steel foundries are highlighted and statistically evaluated. In both cases, the SiC additions had a measurable effect on decreasing the electrical energy consumption

Duplex-derived Evidence of Reflux After Varicose Vein Surgery: Neoreflux or Neovascularisation?

AbstractBackgroundrecurrent varicose veins remain a problem in surgical practice despite improvements to the preoperative investigation of, and surgery for varicose veins. Neovascularisation accounts for some cases of recurrence within a few years of surgery, but other factors relating to disease progression must also play a part. We investigated whether new venous reflux (neoreflux) could occur in the early postoperative period (within 6 weeks) following successful varicose vein surgery.Methodseighteen-month prospective observational study in the dedicated vascular surgery unit of a university teaching hospital. Forty-six patients, with primary saphenofemoral junction reflux, awaiting varicose vein surgery were chosen consecutively from the waiting list. All saphenofemoral surgery was performed in a standardised fashion. Assessments were performed prior to, at 6 weeks and at 1 year after surgery. Duplex ultrasound was used to identify and locate sites of reflux.Resultsneoreflux was present at the 6-week postoperative scan in nine limbs after varicose vein surgery (19.6%), and resolved in 55.6% of patients within 1 year. Neovascularisation was noted in two limbs at the 1-year scan.Conclusionnew sites of reflux, which may resolve spontaneously, occur in the early postoperative period despite adequate varicose vein surgery. It is our hypothesis that this is a manifestation of the effect of altered venous haemodynamics in a system of susceptible veins

Geological Sequestration of CO2 by Hydrous Carbonate Formation with Reclaimed Slag

The concept of this project is to develop a process that improves the kinetics of the hydrous carbonate formation reaction enabling steelmakers to directly remove CO2 from their furnace exhaust gas. It is proposed to bring the furnace exhaust stream containing CO2 in contact with reclaimed steelmaking slag in a reactor that has an environment near the unit activity of water resulting in the production of carbonates. The CO2 emissions from the plant would be reduced by the amount sequestered in the formation of carbonates. The main raw materials for the process are furnace exhaust gases and specially prepared slag

Improving Melting Efficiency through the Application of New Refractory Materials

Ladle design and ladle practices have a significant effect on a foundry operation and product quality. Large steel temperature losses or instabilities in the pouring temperature are frequently compensated by tapping at higher temperatures dramatically increasing furnace and ladle lining wear, oxidation of the steel, alloying element losses, and energy consumption in steel melting. Ladle lining materials need to satisfy a complex array of often conflicting requirements. For example, ceramic materials for linings must possess a high strength at liquid steel temperatures to prevent erosion and crack formation. However, linings need to also have a low thermal conductivity which typically increases as the strength improves. Temperature problems became more severe with decreasing ladle size. This paper summarizes test work of new lining materials in a 100 lb liquid metal capacity ladle in the UMR foundry designed with a temperature measurement system installed in the lining. Several different working linings materials were tested under similar conditions. Results from these foundry experiments were compared with thermal conductivity measurements in the laboratory and computation fluid dynamic modeling results. From this work, UMR\u27s newly developed porous alumina linings were shown to have properties that could result in significantly lowering energy requirements in steel foundries