Blockchain Solutions for Multi-Agent Robotic Systems: Related Work and Open Questions

The possibilities of decentralization and immutability make blockchain probably one of the most breakthrough and promising technological innovations in recent years. This paper presents an overview, analysis, and classification of possible blockchain solutions for practical tasks facing multi-agent robotic systems. The paper discusses blockchain-based applications that demonstrate how distributed ledger can be used to extend the existing number of research platforms and libraries for multi-agent robotic systems.Comment: 5 pages, FRUCT-2019 conference pape

Control of Extended Beam Dynamic Behavior by Means of Supports at Temperature Changes

Динамическое поведение балочных конструкций при переменных нагрузках во многом определяется спектром их собственных частот изгибных колебаний, в котором обычно наиболее опасной является первая собственная частота. Изменение температуры закрепленной балки приводит к появлению продольной силы, которая смещает спектр собственных частот изгибных колебаний в опасную резонансную область и может даже привести к потере устойчивости при достижении ею критического значения. Эффективным способом управления динамическим поведением балки является обоснованный выбор системы опор, однако в известной литературе практически не рассматривается такой проектный подход. В данной работе предлагается методика обоснованного выбора схемы закрепления для прямолинейных многоопорных балок с целью обеспечения заданных значений первой частоты собственных изгибных колебаний и первой критической нагрузки от действия осевой силы, вызванной изменением температуры балки. Методика основана на известных положениях теории колебаний балок, теории устойчивости по Эйлеру и использует в качестве критерия выбора схемы закрепления коэффициенты опор, которые предварительно нормируются для достижения сопоставимых значений. Выбранная схема обеспечивает заданное значение первой собственной частоты колебаний, величину первой критической температуры или одновременно оба условия работоспособности. Согласно разработанной методике выполнены сравнительные расчеты прямого трубопровода методом конечных элементов для балочной и оболочечной моделей, которые показали хорошую сходимость результатов по всем контролируемым параметрам. Предложенный подход может быть использован при проектировании конструкций протяженных балочных конструкций для управления любой их собственной частоты спектра колебаний и критической силы (или температуры) посредством обоснованного выбора соответствующей системы опорThe dynamic behavior of beam structures at transient loads is largely determined by the spectrum of their natural frequencies of bending vibrations, in which the first natural frequency is usually the most dangerous. Changing the beam temperature results in a longitudinal force that shifts the spectrum of natural frequencies of bending vibrations into a dangerous resonant area and can even lead to a loss of beam stability when it reaches a critical value. An effective way to control the dynamic behavior of the beam is the reasonable choice of the support system, however, such a design approach is practically not considered in the known literature. This paper proposes a method of reasonable selection of a support scheme for rectilinear multi-span beams in order to provide the given values of the first eigen frequency of bending vibrations and the first critical load due to the action of axial force caused by changing the temperature of the beam. The technique is based on the known positions of beam vibration theory, Euler stability theory and uses support coefficients, which are pre-normalized to achieve comparable values, as a criterion for selecting the support scheme. The selected support scheme provides the specified value of the first eigen frequency, the value of the first critical temperature, or both at the same time. According to the developed methodology, comparative calculations of the pipeline by the finite element method for beam and shell models were carried out, which showed good convergence of results for all controlled parameters. The proposed approach can be used in designing structures of extended beams for control of their own frequency of the spectrum of vibrations and critical force (or temperature) by means of a reasonable selection of appropriate support system

Blockchain Solutions for Multi-Agent Robotic Systems: Related Work and Open Questions

The possibilities of decentralization and immutability make blockchain probably one of the most breakthrough and promising technological innovations in recent years. This paper presents an overview, analysis, and classification of possible blockchain solutions for practical tasks facing multi-agent robotic systems. The paper discusses blockchain-based applications that demonstrate how distributed ledger can be used to extend the existing number of research platforms and libraries for multi-agent robotic systems

Towards Blockchain-based Multi-Agent Robotic Systems : Analysis, Classification and Applications

Decentralization, immutability and transparency make of Blockchain one of the most innovative technology of recent years. This paper presents an overview of solutions based on Blockchain technology for multi-agent robotic systems, and provide an analysis and classification of this emerging field. The reasons for implementing Blockchain in a multi-robot network may be to increase the interaction efficiency between agents by providing more trusted information exchange, reaching a consensus in trustless conditions, assessing robot productivity or detecting performance problems, identifying intruders, allocating plans and tasks, deploying distributed solutions and joint missions. Blockchain-based applications are discussed to demonstrate how distributed ledger can be used to extend the number of research platforms and libraries for multi-agent robotic systems.arXiv:1907.07433</p