Layered controller synthesis for dynamic multi-agent systems

In this paper we present a layered approach for multi-agent control problem, decomposed into three stages, each building upon the results of the previous one. First, a high-level plan for a coarse abstraction of the system is computed, relying on parametric timed automata augmented with stopwatches as they allow to efficiently model simplified dynamics of such systems. In the second stage, the high-level plan, based on SMT-formulation, mainly handles the combinatorial aspects of the problem, provides a more dynamically accurate solution. These stages are collectively referred to as the SWA-SMT solver. They are correct by construction but lack a crucial feature: they cannot be executed in real time. To overcome this, we use SWA-SMT solutions as the initial training dataset for our last stage, which aims at obtaining a neural network control policy. We use reinforcement learning to train the policy, and show that the initial dataset is crucial for the overall success of the method

Automatic selection of ergonomic indicators for the design of collaborative robots: a virtual-human in the loop approach

Conference of 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 ; Conference Date: 18 November 2014 Through 20 November 2014; Conference Code:112990International audienceThe growing number of musculoskeletal disorders in industry could be addressed by the use of collaborative robots, which allow the joint manipulation of objects by both a robot and a person. Designing these robots requires to assess the ergonomic benefit they offer. However there is a lack of adapted assessment methods in the literature. Many biomechanical quantities can represent the physical solicitations to which the worker is exposed, but their relevance strongly depends on the considered task. This paper presents a method to automatically select relevant ergonomic indicators for a given task to be performed with a collaborative robot. A virtual human simulation is used to estimate thirty indicators for varying human and robot features. A variance-based analysis is then conducted to extract the most discriminating indicators. The method is validated on several different tasks. The relevance of the proposed approach is confirmed by the obtained results

Die Strahlentherapie der Periarthropathia Humeroscapularis (PHS), der Epicondylopathia Humeri (EPH) und des schmerzhaften plantaren Fersensporns (FSP) mit 6 MV Photonen

Die Strahlentherapie der PHS, der EPH und des FSP führt zu einer subjektiven Schmerzminderung bei 75 % der Patienten. Gibt es vergleichbare Ergebnisse anhand von objektiven Scores? Es wurden 113 Patienten mit einem FSP, 66 mit PHS und 34 mit EPH behandelt. Die Bestrahlung erfolgte am Linearbeschleuniger mit einer Einzeldosis von 1 Gy bis zu einer Gesamtdosis von 6 Gy 2-3 x pro Woche. Die Dokumentation erfolgte vor, sofort nach und sechs Wochen nach Therapieende sowohl mit einer subjektiven Einschätzung der Schmerzstärke als auch objektiv durch modifiziert orthopädische Scores. Beim FSP zeigte sich nach Therapieende (N) subjektiv (S) in 68 %, objektiv (O) in 68 %, nach sechs Wochen (6) bei 82 % S und bei 87 % O, PHS N: 49 % S/67 % O; 6: 86 % S/88 % O, EPH zeigte N: 68 % S/68 % O; 6: 76 % S/84 % O eine Befundverbesserung

Effects of rain shelter or simulated rain during grain filling and maturation on subsequent wheat grain quality in the UK

The effects of simulated additional rain (ear wetting, 25 mm) or of rain shelter imposed at different periods after anthesis on grain quality at maturity and the dynamics of grain filling and desiccation were investigated in UK field-grown crops of wheat (Triticum aestivum L., cvar Tybalt) in 2011 and in 2012 when June–August rainfall was 255.0 and 214.6 mm, respectively, and above the decadal mean (157.4 mm). Grain filling and desiccation were quantified well by broken-stick regressions and Gompertz curves, respectively. Rain shelter for 56 (2011) or 70 d (2012) after anthesis, and to a lesser extent during late maturation only, resulted in more rapid desiccation and hence progress to harvest maturity whereas ear wetting had negligible effects, even when applied four times. Grain-filling duration was also affected as above in 2011, but with no significant effect in 2012. In both years, there were strong positive associations between final grain dry weight and duration of filling. The treatments affected all grain quality traits in 2011: nitrogen (N) and sulphur (S) concentrations, N:S ratio, sodium dodecyl sulphate (SDS) sedimentation volume, Hagberg Falling Number (HFN), and the incidence of blackpoint. Only N concentration and blackpoint were affected significantly by treatments in 2012. Rain shelter throughout grain filling reduced N concentration, whereas rain shelter reduced the incidence of blackpoint and ear wetting increased it. In 2011, rain shelter throughout reduced S concentration, increased N:S ratio and reduced SDS. Treatment effects on HFN were not consistent within or between years. Nevertheless, a comparison between the extreme treatment means in 2012 indicated damage from late rain combined with ear wetting resulted in a reduction of c. 0.7 s in HFN/mm August rainfall, whilst that between samples taken immediately after ear wetting at harvest maturity or 7 d later suggested recovery from damage to HFN upon re-drying in planta. Hence, the incidence of blackpoint was the only grain quality trait affected consistently by the diverse treatments. The remaining aspects of grain quality were comparatively resilient to rain incident upon developing and maturing ears of cvar Tybalt. No consistent temporal patterns of sensitivity to shelter or ear wetting were detected for any aspect of grain quality

Oklahoma State-Wide Small Grain Variety Test; Progress Report, 1954.

The Oklahoma Agricultural Experiment Station periodically issues revisions to its publications. The most current edition is made available. For access to an earlier edition, if available for this title, please contact the Oklahoma State University Library Archives by email at [email protected] or by phone at 405-744-6311

Oklahoma State-Wide Small Grain Variety Testing Program Progress Report, 1958

The Oklahoma Agricultural Experiment Station periodically issues revisions to its publications. The most current edition is made available. For access to an earlier edition, if available for this title, please contact the Oklahoma State University Library Archives by email at [email protected] or by phone at 405-744-6311

Mechanics of Feeding of the Greenbug ('Toxoptera graminum' Rond.) on 'Hordeum', 'Avena', and 'Triticum'

The Oklahoma Agricultural Experiment Station periodically issues revisions to its publications. The most current edition is made available. For access to an earlier edition, if available for this title, please contact the Oklahoma State University Library Archives by email at [email protected] or by phone at 405-744-6311