Spatio-Temporal Patterns act as Computational Mechanisms governing Emergent behavior in Robotic Swarms

open access articleOur goal is to control a robotic swarm without removing its swarm-like nature. In other words, we aim to intrinsically control a robotic swarm emergent behavior. Past attempts at governing robotic swarms or their selfcoordinating emergent behavior, has proven ineffective, largely due to the swarm’s inherent randomness (making it difficult to predict) and utter simplicity (they lack a leader, any kind of centralized control, long-range communication, global knowledge, complex internal models and only operate on a couple of basic, reactive rules). The main problem is that emergent phenomena itself is not fully understood, despite being at the forefront of current research. Research into 1D and 2D Cellular Automata has uncovered a hidden computational layer which bridges the micromacro gap (i.e., how individual behaviors at the micro-level influence the global behaviors on the macro-level). We hypothesize that there also lie embedded computational mechanisms at the heart of a robotic swarm’s emergent behavior. To test this theory, we proceeded to simulate robotic swarms (represented as both particles and dynamic networks) and then designed local rules to induce various types of intelligent, emergent behaviors (as well as designing genetic algorithms to evolve robotic swarms with emergent behaviors). Finally, we analysed these robotic swarms and successfully confirmed our hypothesis; analyzing their developments and interactions over time revealed various forms of embedded spatiotemporal patterns which store, propagate and parallel process information across the swarm according to some internal, collision-based logic (solving the mystery of how simple robots are able to self-coordinate and allow global behaviors to emerge across the swarm)

Artificial neural network analysis of teachers��� performance against thermal comfort

This is an accepted manuscript of an article published by Emerald in International Journal of Building Pathology and Adaptation on 17/04/2020, available online at: https://doi.org/10.1108/IJBPA-11-2019-0098 The accepted manuscript may differ from the final published version.Purpose: The impact of thermal comfort in educational buildings continues to be of major importance in both the design and construction phases. Given this, it is also equally important to understand and appreciate the impact of design decisions on post-occupancy performance, particularly on staff and students. This study aims to present the effect of IEQ on teachers��� performance. This study would provide thermal environment requirements to BIM-led school refurbishment projects. Design: This paper presents a detailed investigation into the direct impact of thermal parameters (temperature, relative humidity and ventilation rates) on teacher performance. In doing so, the research methodological approach combines explicit mixed-methods using questionnaire surveys and physical measurements of thermal parameters to identify correlation and inference. It was conducted through a single case study using a technical college based in Saudi Arabia. Findings: Findings from this work were used to develop a model using an Artificial Neural Network to establish causal relationships. Research findings indicate an optimal temperature range between 23��C and 25��C, with a 65% relative humidity and 0.4m/s ventilation rate. This ratio delivered optimum results for both comfort and performance

A Profile of Research in Expert Systems

If the field of Expert Systems (ES) is viewed in terms of a life cycle, the past decade represents the growth phase of its development. Sophistication of ES has increased rapidly, and the use of ES to solve more complex problems has maintained a similar pace. Numerous forces have driven this development including the rapid changes in computer technology. As the field has matured, the body of published research in ES has grown substantially. Through the use of published ES research, this article provides useful answers to these questions. The scope of our study is limited to the description and analysis of ES research in journals published in the United States from 1980 to 1988

Barriers and Challenges for Offsite Construction in UK Housing Sector

Offsite construction (OSC) has been presented by researchers and practitioners all over the world as an efficient and effective way of delivering buildings. The benefits regarding time, cost and quality are well-documented. However, it has not been successfully implemented in housing, especially in the affordable housing sector. This paper uses the case study method from the affordable housing sector to document these challenges and proposes a way forward for the sector. Also, findings indicate that the high cost of production was identified as a major barrier to the proliferation of off-site housing in the UK. However, the research found that the effective implementation of processes and practices such as Design for Manufacture and Assembly (DFMA) could reduce the likelihood of cost escalation

Construction of a two-parameter empirical model of left ventricle wall motion using cardiac tagged magnetic resonance imaging data

Abstract Background A one-parameter model was previously proposed to characterize the short axis motion of the LV wall at the mid-ventricle level. The single parameter of this model was associated with the radial contraction of myocardium, but more comprehensive model was needed to account for the rotation at the apex and base levels. The current study developed such model and demonstrated its merits and limitations with examples. Materials and methods The hearts of five healthy individuals were visualized using cardiac tagged magnetic resonance imaging (tMRI) covering the contraction and relaxation phases. Based on the characteristics of the overall dynamics of the LV wall, its motion was represented by a combination of two components - radial and rotational. Each component was represented by a transformation matrix with a time-dependent variable α or β. Image preprocessing step and model fitting algorithm were described and applied to estimate the temporal profiles of α and β within a cardiac cycle at the apex, mid-ventricle and base levels. During this process, the tagged lines of the acquired images served as landmark reference for comparing against the model prediction of the motion. Qualitative and quantitative analyses were performed for testing the performance of the model and thus its validation. Results The α and β estimates exhibited similarities in values and temporal trends once they were scaled by the radius of the epicardium (r epi )and plotted against the time scaled by the period of the cardiac cycle (T cardiac ) of each heart measured during the data acquisition. α/r epi peaked at about Δt/T cardiac =0.4 and with values 0.34, 0.4 and 0.3 for the apex, mid-ventricle and base level, respectively. β/r epi similarly maximized in amplitude at about Δt/T cardiac =0.4, but read 0.2 for the apex and - 0.08 for the base level. The difference indicated that the apex twisted more than the base. Conclusion It is feasible to empirically model the spatial and temporal evolution of the LV wall motion using a two-parameter formulation in conjunction with tMRI-based visualization of the LV wall in the transverse planes of the apex, mid-ventricle and base. In healthy hearts, the analytical model will potentially allow deriving biomechanical entities, such as strain, strain rate or torsion, which are typically used as diagnostic, prognostic or predictive markers of cardiovascular diseases including diabetes.Peer Reviewe

Construction of a two-parameter empirical model of left ventricle wall motion using cardiac tagged magnetic resonance imaging data

Background A one-parameter model was previously proposed to characterize the short axis motion of the LV wall at the mid-ventricle level. The single parameter of this model was associated with the radial contraction of myocardium, but more comprehensive model was needed to account for the rotation at the apex and base levels. The current study developed such model and demonstrated its merits and limitations with examples. Materials and methods The hearts of five healthy individuals were visualized using cardiac tagged magnetic resonance imaging (tMRI) covering the contraction and relaxation phases. Based on the characteristics of the overall dynamics of the LV wall, its motion was represented by a combination of two components - radial and rotational. Each component was represented by a transformation matrix with a time-dependent variable α or β. Image preprocessing step and model fitting algorithm were described and applied to estimate the temporal profiles of α and β within a cardiac cycle at the apex, mid-ventricle and base levels. During this process, the tagged lines of the acquired images served as landmark reference for comparing against the model prediction of the motion. Qualitative and quantitative analyses were performed for testing the performance of the model and thus its validation. Results The α and β estimates exhibited similarities in values and temporal trends once they were scaled by the radius of the epicardium (repi)and plotted against the time scaled by the period of the cardiac cycle (Tcardiac) of each heart measured during the data acquisition. α/repi peaked at about Δt/Tcardiac=0.4 and with values 0.34, 0.4 and 0.3 for the apex, mid-ventricle and base level, respectively. β/repi similarly maximized in amplitude at about Δt/Tcardiac=0.4, but read 0.2 for the apex and - 0.08 for the base level. The difference indicated that the apex twisted more than the base. Conclusion It is feasible to empirically model the spatial and temporal evolution of the LV wall motion using a two-parameter formulation in conjunction with tMRI-based visualization of the LV wall in the transverse planes of the apex, mid-ventricle and base. In healthy hearts, the analytical model will potentially allow deriving biomechanical entities, such as strain, strain rate or torsion, which are typically used as diagnostic, prognostic or predictive markers of cardiovascular diseases including diabetes

Treeborg

Treball desenvolupat dins el marc del programa 'European Project Semester' i l'"International Design Project Semester".The aim of this report is to present the work of the Treeborg team over the time of the European Project Semester (EPS), on the project of analysing the possibility of implementing the electrical device in the tree that would be powered by the energy coming from the nature. Firstly, the report begins with an introduction where the aim and purpose of the report are stated. The main companies involved in the project are introduced and their main goals. Secondly, it describes the method of harvesting the energy from the process of photosynthesis. BIOO’s technology is explained and their solution for a natural source of energy is investigated. Next, the advantages and disadvantages of implementing the device inside and outside the tree are pointed out and the comparison between them is conducted. The final conclusion is that in the further part of the report only the internal implementation is considered. The electronical part of the project is presented as following. Each part of the electronic module is developed and explained. All components of the device are described and depicted. Also, the final code of the device is shown. In the further part of the report, the implementation into the tree is described and the methodology. The least harmful way had to be chosen to guarantee that the tree will survive the operation. The possible impact on the tree is also considered. As the main part of the report, the design of the device is elaborated. Starting with the initial concepts that were created at the beginning of the semester, to the final selection that is thoroughly described and depicted. Both internal and external parts are presented. At the end, possible improvements and the material to be used are described. The problems faced with time limitation and technical aspects are mentioned. Also, the possibilities for the future are described. The possibility of using the device in a smart city is justified and the other uses of the idea are presented. Moreover, the improved electronic system is described. As one of the last points, the marketing strategy is considered. The basic profile of the customer is created and the market analysis is conducted. The basic cost calculation is made and displayed in a form of a table. The afterlife of the device and possible business partners are also considered. Lastly, the discussion on the project itself is made and finishes with final conclusions

Fourier transform bounded Kolmogorov complexity

The Discrete Fourier Transform (DFT) has been extended to lossless compression for binary images. Binarisation is key for DFT to compress losslessly because there exist lossy reconstructions (within a specific range of loss values) which are error-corrected during the binarisation step, effectively making the image lossless. In an ironic twist, the quantisation effect which usually introduces errors, has been utilised to remove noise from lossy reconstructions

Classifying 1D elementary cellular automata with the 0-1 test for chaos

We utilise the 0-1 test to automatically classify elementary cellular automata. The quantitative results of the 0-1 test reveal a number of advantages over Wolfram’s qualitative classification. For instance, while almost all rules classified as chaotic by Wolfram were confirmed as such by the 0-1 test, there were two rules which were revealed to be non-chaotic. However, their periodic nature is hidden by the high complexity of their spacetime patterns and not easy to see without looking very carefully. Comparing each rule’s chaoticity (as quantified by the 0-1 test) against its intrinsic complexity (as quantified by its Chua complexity index) also reveals a number of counter-intuitive discoveries; i.e. non-chaotic dynamics are not only found in simpler rules, but also in rules as complex as chaos