Ship Hull Repair Using A Swarm Of Autonomous Underwater Robots: A Self-Assembly Algorithm

When ships suffer hull damage at sea, quick and effective repairs are vital. In these scenarios where even minutes make a substantial difference, repair crews need every edge they can get. In this paper, we propose a self-assembly algorithm to be used by a homogeneous swarm of autonomous underwater robots to aggregate at the hull breach and use their bodies to form a patch of appropriate size to cover the hole. Our approach is inspired by existing modular robot technologies and techniques, which are used to justify the feasibility of the proposed system presented in this paper. We test the ability of the agents to form a patch for various breach sizes and location and investigate the effect of varying population density. The system is verified within the two-dimensional Netlogo simulation environment and shows how the system performance can be quantified in relation to the sizes of the breach and the swarm. The methodology and simulation results illustrate that the swarm robot approach presented in this paper forms an important contribution in the emergency ship hull repair scenario and compares much advantageously against the traditional shoring methods. We conclude by suggesting how the approach may be extended to a three-dim

Search and restore: a study of cooperative multi-robot systems

Swarm intelligence is the study of natural biological systems with the ability to transform simple local interactions into complex global behaviours. Swarm robotics takes these principles and applies them to multi-robot systems with the aim of achieving the same level of complex behaviour which can result in more robust, scalable and flexible robotic solutions than singular robot systems. This research concerns how cooperative multi-robot systems can be utilised to solve real world challenges and outperform existing techniques. The majority of this research is focused around an emergency ship hull repair scenario where a ship has taken damage and sea water is flowing into the hull, decreasing the stability of the ship. A bespoke team of simulated robots using novel algorithms enable the robots to perform a coordinated ship hull inspection, allowing the robots to locate the damage faster than a similarly sized uncoordinated team of robots. Following this investigation, a method is presented by which the same team of robots can use self-assembly to form a structure, using their own bodies as material, to cover and repair the hole in the ship hull, halting the ingress of sea water. The results from a collaborative nature-inspired scenario are also presented in which a swarm of simple robots are tasked with foraging within an initially unexplored bounded arena. Many of the behaviours implemented in swarm robotics are inspired by biological swarms including their goals such as optimal distribution within environments. In this scenario, there are multiple items of varying quality which can be collected from different sources in the area to be returned to a central depot. The aim of this study is to imbue the robot swarm with a behaviour that will allow them to achieve the most optimal foraging strategy similar to those observed in more complex biological systems such as ants. The author’s main contribution to this study is the implementation of an obstacle avoidance behaviour which allows the swarm of robots to behave more similarly to systems of higher complexity

Ship hull inspection using a swarm of autonomous underwater robots: a Search algorithm

Emergency ship hull repair is a vital damage control procedure that makes the difference between reaching the next port and losing a ship. For repairs to be made, ship hull breaches must be quickly located and patched. In this paper, we propose a searching algorithm to be used by a homogeneous swarm of autonomous underwater robots to inspect a ship hull and identify breaches. Inspired by methods tested in 2D environments, we combine aspects of previous studies and implement them in a 3D environment. We compare two approaches designed to achieve complete area coverage of a large section of ship hull and identify the approach that yields the shortest discovery time and highest accuracy. Our system is verified within the Webots software simulated environment and shows that the system is resilient to sensor noise and failure of a fraction of the robot population

Sophisticated collective foraging with minimalist agents: a swarm robotics test

How groups of cooperative foragers can achieve efficient and robust collective foraging is of interest both to biologists studying social insects and engineers designing swarm robotics systems. Of particular interest are distance-quality trade-offs and swarm-size-dependent foraging strategies. Here we present a collective foraging system based on virtual pheromones, tested in simulation and in swarms of up to 200 physical robots. Our individual agent controllers are highly simplified, as they are based on binary pheromone sensors. Despite being simple, our individual controllers are able to reproduce classical foraging experiments conducted with more capable real ants that sense pheromone concentration and follow its gradient. One key feature of our controllers is a control parameter which balances the trade-off between distance selectivity and quality selectivity of individual foragers. We construct an optimal foraging theory model that accounts for distance and quality of resources, as well as overcrowding, and predicts a swarmsize-dependent strategy. We test swarms implementing our controllers against our optimality model and find that, for moderate swarm sizes, they can be parameterised to approximate the optimal foraging strategy. This study demonstrates the sufficiency of simple individual agent rules to generate sophisticated collective foraging behaviour

Economic and other barriers to adopting recommendations to prevent childhood obesity: results of a focus group study with parents

Abstract Background Parents are integral to the implementation of obesity prevention and management recommendations for children. Exploration of barriers to and facilitators of parental decisions to adopt obesity prevention recommendations will inform future efforts to reduce childhood obesity. Methods We conducted 4 focus groups (2 English, 2 Spanish) among a total of 19 parents of overweight (BMI ≥ 85th percentile) children aged 5-17 years. The main discussion focused on 7 common obesity prevention recommendations: reducing television (TV) watching, removing TV from child's bedroom, increasing physically active games, participating in community or school-based athletics, walking to school, walking more in general, and eating less fast food. Parents were asked to discuss what factors would make each recommendation more difficult (barriers) or easier (facilitators) to follow. Participants were also asked about the relative importance of economic (time and dollar costs/savings) barriers and facilitators if these were not brought into the discussion unprompted. Results Parents identified many barriers but few facilitators to adopting obesity prevention recommendations for their children. Members of all groups identified economic barriers (time and dollar costs) among a variety of pertinent barriers, although the discussion of dollar costs often required prompting. Parents cited other barriers including child preference, difficulty with changing habits, lack of information, lack of transportation, difficulty with monitoring child behavior, need for assistance from family members, parity with other family members, and neighborhood walking safety. Facilitators identified included access to physical activity programs, availability of alternatives to fast food and TV which are acceptable to the child, enlisting outside support, dietary information, involving the child, setting limits, making behavior changes gradually, and parental change in shopping behaviors and own eating behaviors. Conclusions Parents identify numerous barriers to adopting obesity prevention recommendations, most notably child and family preferences and resistance to change, but also economic barriers. Intervention programs should consider the context of family priorities and how to overcome barriers and make use of relevant facilitators during program development.http://deepblue.lib.umich.edu/bitstream/2027.42/78270/1/1471-2431-9-81.xmlhttp://deepblue.lib.umich.edu/bitstream/2027.42/78270/2/1471-2431-9-81.pdfPeer Reviewe

Synthesis and structural characterization of a mimetic membrane-anchored prion protein

During pathogenesis of transmissible spongiform encephalopathies (TSEs) an abnormal form (PrPSc) of the host encoded prion protein (PrPC) accumulates in insoluble fibrils and plaques. The two forms of PrP appear to have identical covalent structures, but differ in secondary and tertiary structure. Both PrPC and PrPSc have glycosylphospatidylinositol (GPI) anchors through which the protein is tethered to cell membranes. Membrane attachment has been suggested to play a role in the conversion of PrPC to PrPSc, but the majority of in vitro studies of the function, structure, folding and stability of PrP use recombinant protein lacking the GPI anchor. In order to study the effects of membranes on the structure of PrP, we synthesized a GPI anchor mimetic (GPIm), which we have covalently coupled to a genetically engineered cysteine residue at the C-terminus of recombinant PrP. The lipid anchor places the protein at the same distance from the membrane as does the naturally occurring GPI anchor. We demonstrate that PrP coupled to GPIm (PrP-GPIm) inserts into model lipid membranes and that structural information can be obtained from this membrane-anchored PrP. We show that the structure of PrP-GPIm reconstituted in phosphatidylcholine and raft membranes resembles that of PrP, without a GPI anchor, in solution. The results provide experimental evidence in support of previous suggestions that NMR structures of soluble, anchor-free forms of PrP represent the structure of cellular, membrane-anchored PrP. The availability of a lipid-anchored construct of PrP provides a unique model to investigate the effects of different lipid environments on the structure and conversion mechanisms of PrP

Effect of working consecutive night shifts on sleep time, prior wakefulness, perceived levels of fatigue and performance on a psychometric test in emergency registrars

Objective: To evaluate the effect of working consecutive night shifts on sleep time, prior wakefulness, perceived levels of fatigue and psychomotor performance in a group of Australian emergency registrars. Methods: A prospective observational study with a repeated within-subjects component was conducted. Sleep time was determined using sleep diaries and activity monitors. Subjective fatigue levels and reciprocal reaction times were evaluated before and after day and nightshifts. Results: A total of 11 registrars participated in the study with 120 shifts analysed. Sleep time was found to be similar during consecutive night and day shifts. The mean number of hours spent awake before the end of a night shift was 14.33. Subjective fatigue scores were worst at the end of a night shift. There was no difference in reciprocal reaction time between the end of night shift and the start of day shift. Conclusions: Registrars sleep a similar amount of time surrounding night and day shifts. Despite reporting the highest levels of fatigue at the end of a night shift, there is no significant difference in reaction times at the end of night shift compared with the beginning of day shift. This correlates with the finding that at the end of night shift the registrars have been awake for less than 16 h, which is the point at which psychomotor performance is expected to decline

Effect of working consecutive night shifts on sleep time, prior wakefulness, perceived levels of fatigue and performance on a psychometric test in emergency registrars

Objective: To evaluate the effect of working consecutive night shifts on sleep time, prior wakefulness, perceived levels of fatigue and psychomotor performance in a group of Australian emergency registrars. Methods: A prospective observational study with a repeated within-subjects component was conducted. Sleep time was determined using sleep diaries and activity monitors. Subjective fatigue levels and reciprocal reaction times were evaluated before and after day and nightshifts. Results: A total of 11 registrars participated in the study with 120 shifts analysed. Sleep time was found to be similar during consecutive night and day shifts. The mean number of hours spent awake before the end of a night shift was 14.33. Subjective fatigue scores were worst at the end of a night shift. There was no difference in reciprocal reaction time between the end of night shift and the start of day shift. Conclusions: Registrars sleep a similar amount of time surrounding night and day shifts. Despite reporting the highest levels of fatigue at the end of a night shift, there is no significant difference in reaction times at the end of night shift compared with the beginning of day shift. This correlates with the finding that at the end of night shift the registrars have been awake for less than 16 h, which is the point at which psychomotor performance is expected to decline

The Effect of Disseminating Evidence-Based Interventions That Promote Physical Activity to Health Departments

Objectives. We explored the effect of disseminating evidence-based guidelines that promote physical activity on US health department organizational practices in the United States