On fault tolerance and scalability of swarm robotic systems

This paper challenges the common assumption that swarm robotic systems are robust and scalable by default. We present an analysis based on both reliability modelling and experimental trials of a case study swarm performing team work, in which failures are deliberately induced. Our case study has been carefully chosen to represent a swarm task in which the overall desired system behaviour is an emergent property of the interactions between robots, in order that we can assess the fault tolerance of a self-organising system. Our findings show that in the presence of worst-case partially failed robots the overall system reliability quickly falls with increasing swarm size. We conclude that future large scale swarm systems will need a new approach to achieving high levels of fault tolerance. © 2013 Springer-Verlag

Towards Verifiably Ethical Robot Behaviour

Ensuring that autonomous systems work ethically is both complex and difficult. However, the idea of having an additional `governor' that assesses options the system has, and prunes them to select the most ethical choices is well understood. Recent work has produced such a governor consisting of a `consequence engine' that assesses the likely future outcomes of actions then applies a Safety/Ethical logic to select actions. Although this is appealing, it is impossible to be certain that the most ethical options are actually taken. In this paper we extend and apply a well-known agent verification approach to our consequence engine, allowing us to verify the correctness of its ethical decision-making.Comment: Presented at the 1st International Workshop on AI and Ethics, Sunday 25th January 2015, Hill Country A, Hyatt Regency Austin. Will appear in the workshop proceedings published by AAA

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Observation of the Faraday effect via beam deflection in a longitudinal magnetic field

We report the observation of the magnetic field induced circular differential deflection of light at the interface of a Faraday medium. The difference in the angles of refraction or reflection between the two circular polarization components is a function of the magnetic field strength and the Verdet constant. The reported phenomena permit the observation of the Faraday effect not via polarization rotation in transmission, but via changes in the propagation direction in refraction or in reflection. An unpolarized light beam is predicted to split into its two circular polarization components. The light deflection arises within a few wavelengths at the interface and is therefore independent of pathlength

Soft-decision minimum-distance sequential decoding algorithm for convolutional codes

The maximum-likelihood decoding of convolutional codes has generally been considered impractical for other than relatively short constraint length codes, because of the exponential growth in complexity with increasing constraint length. The soft-decision minimum-distance decoding algorithm proposed in the paper approaches the performance of a maximum-likelihood decoder, and uses a sequential decoding approach to avoid an exponential growth in complexity. The algorithm also utilises the distance and structural properties of convolutional codes to considerably reduce the amount of searching needed to find the minimum soft-decision distance paths when a back-up search is required. This is done in two main ways. First, a small set of paths called permissible paths are utilised to search the whole of the subtree for the better path, instead of using all the paths within a given subtree. Secondly, the decoder identifies which subset of permissible paths should be utilised in a given search and which may be ignored. In this way many unnecessary path searches are completely eliminated. Because the decoding effort required by the algorithm is low, and the decoding processes are simple, the algorithm opens the possibility of building high-speed long constraint length convolutional decoders whose performance approaches that of the optimum maximum-likelihood decoder. The paper describes the algorithm and its theoretical basis, and gives examples of its operation. Also, results obtained from practical implementations of the algorithm using a high-speed microcomputer are presented

Complete microbial fuel cell fabrication using additive layer manufacturing

Improving the efficiency of microbial fuel cell (MFC) technology by enhancing the system performance and reducing the production cost is essential for commercialisation. In this study, building an additive manufacturing (AM)-built MFC comprising all 3D printed components such as anode, cathode and chassis was attempted for the first time. 3D printed base structures were made of low-cost, biodegradable polylactic acid (PLA) filaments. For both anode and cathode, two surface modification methods using either graphite or nickel powder were tested. The best performing anode material, carbon-coated non-conductive PLA filament, was comparable to the control modified carbon veil with a peak power of 376.7 µW (7.5 W m−3) in week 3. However, PLA-based AM cathodes underperformed regardless of the coating method, which limited the overall performance. The membrane-less design produced more stable and higher power output levels (520−570 µW, 7.4−8.1 W m−3) compared to the ceramic membrane control MFCs. As the final design, four AM-made membrane-less MFCs connected in series successfully powered a digital weather station, which shows the current status of low-cost 3D printed MFC development

Rational imitation for robots: the cost difference model

© 2017, © The Author(s) 2017. Infants imitate behaviour flexibly. Depending on the circumstances, they copy both actions and their effects or only reproduce the demonstrator’s intended goals. In view of this selective imitation, infants have been called rational imitators. The ability to selectively and adaptively imitate behaviour would be a beneficial capacity for robots. Indeed, selecting what to imitate is an outstanding unsolved problem in the field of robotic imitation. In this paper, we first present a formalized model of rational imitation suited for robotic applications. Next, we test and demonstrate it using two humanoid robots

Zinculose: A New Fibrous Material with Embedded Zinc Particles

In this paper, we report a simple and inexpensive procedure to make a composite material of cellulose fibers with embedded zinc micoparticles. This fibrous material is produced by sedimentation and is referred to as “Zinculose”. Zinculose increases the surface contact area between a sample fluid and zinc microparticles. The effect of different parameters including fiber content, zinc content, water volume, applied weight and its duration on the thickness of produced Zinculose were investigated. Results show that thickness depends on the amount of initial fiber and zinc while other parameters investigated had little to no effect. Measured porosity values for Zinculose ranged between 0.699 and 0.843. Characterization of flow in Zinculose exhibits a linear relationship between distance and the square root of time which is a distinctive feature of capillary driven flow in porous media. This is an important quality that allows Zinculose to be easily incorporated into any paper-based microfluidic device that requires a sample to flow and interact with zinc microparticles without disrupting the flow path between different sections of the device. An application is presented in which a strip of Zinculose is used to convert nitrate to nitrite. With the use of Zinculose in a paper-based microfluidic device, a conversion efficiency of 27% nitrate to nitrite was achieved. This represents a 36% enhancement over what has been previously published when zinc microparticles were not embedded within the fibers of the paper channel