Influence of self-disassembly of bridges on collective flow characteristics of swarm robots in a single-lane and periodic system with a gap

Inspired by the living bridges formed by ants, swarm robots have been developed to self-assemble bridges to span gaps and self-disassemble them. Self-disassembly of bridges may increase the transport efficiency of swarm robots by increasing the number of moving robots, and also may decrease the efficiency by causing gaps to reappear. Our aim is to elucidate the influence of self-disassembly of bridges on the collective flow characteristics of swarm robots in a single-lane and periodic system with a gap. In the system, robots span and cross the gap by self-assembling a single-layer bridge. We consider two scenarios in which self-disassembling bridges is prevented (prevent-scenario) or allowed (allow-scenario). We represent the horizontal movement of robots with a typical car-following model, and simply model the actions of robots for self-assembling and self-disassembling bridges. Numerical simulations have revealed the following results. Flow-density diagrams in both the scenarios shift to the higher-density region as the gap length increases. When density is low, allow-scenario exhibits the steady state of repeated self-assembly and self-disassembly of bridges. If density is extremely low, flow in this state is greater than flow in prevent-scenario owing to the increase in the number of robots moving horizontally. Otherwise, flow in this state is smaller than flow in prevent-scenario. Besides, flow in this state increases monotonically with respect to the velocity of robots in joining and leaving bridges. Thus, self-disassembling bridges is recommended for only extremely low-density conditions in periodic systems. This study contributes to the development of the collective dynamics of self-driven particles that self-assemble structures, and stirs the dynamics with other self-assembled structures, such as ramps, chains, and towers.Comment: 13 pages, 9 figure

Dynamics of social balance under temporal interaction

Real social contacts are often intermittent such that a link between a pair of nodes in a social network is only temporarily used. Effects of such temporal networks on social dynamics have been investigated for several phenomenological models such as epidemic spreading, linear diffusion processes, and nonlinear oscillations. Here, we numerically investigate nonlinear social balance dynamics in such a situation. Social balance is a classical psychological theory, which dictates that a triad is balanced if the three agents are mutual friends or if the two of them are the friends of each other and hostile to the other agent. We show that the social balance dynamics is slowed down on the temporal complete graph as compared to the corresponding static complete graph.Comment: 6 pages, 3 figures, 1 tabl

Group Chase and Escape with Conversion from Targets to Chasers

We are studying the effect of converting caught targets into new chasers in the context of the recently proposed `group chase and escape' problem. Numerical simulations have shown that this conversion can substantially reduce the lifetimes of the targets when a large number of them are initially present. At the same time, it also leads to a non-monotonic dependence on the initial number of targets, resulting in the existence of a maximum lifetime. As a counter effect for this conversion, we further introduce self-multiplying abilities to the targets. We found that the longest lifetime exists when suitable combination of these two effects is created.Comment: submitted for publicatio

Introduction of Frictional and Turning Function for Pedestrian Outflow with an Obstacle

In this paper, two important factors which affect the pedestrian outflow at a bottleneck significantly are studied in detail to analyze the effect of an obstacle set up in front of an exit. One is a conflict at an exit when pedestrians evacuate from a room. We use floor field model for simulating such behavior, which is a well-studied pedestrian model using cellular automata. The conflicts have been taken into account by the friction parameter. However, the friction parameter so far is a constant and does not depend on the number of the pedestrians conflicting at the same time. Thus, we have improved the friction parameter by the frictional function, which is a function of the number of the pedestrians involved in the conflict. Second, we have newly introduced the cost of turning of pedestrians at the exit. Since pedestrians have inertia, their walking speeds decrease when they turn, and the pedestrian outflow decreases. The validity of the extended model, which includes the frictional function and the turning function, is verified by both a mean field theory and experiments. In our experiments, the pedestrian flow increases when we put an obstacle in front of an exit. The analytical results clearly explains the mechanism of the effect of the obstacle, i.e., the obstacle blocks pedestrians moving to the exit and decreases the average number of pedestrians involved in the conflict. We have also found that an obstacle works more effectively when we shift it from the center since pedestrians go through the exit with less turning

Effects of periodic robot rehabilitation using the Hybrid Assistive Limb for a year on gait function in chronic stroke patients

Using a robot for gait training in stroke patients has attracted attention for the last several decades. Previous studies reported positive effects of robot rehabilitation on gait function in the short term. However, the long-term effects of robot rehabilitation for stroke patients are still unclear. The purpose of the present study was to investigate the long-term effects of periodic gait training using the Hybrid Assistive Limb (HAL) on gait function in chronic stroke patients. Seven chronic stroke patients performed 8 gait training sessions using the HAL 3 times every few months. The maximal 10-m walk test and the 2-minute walking distance (2MWD) were measured before the first intervention and after the first, second, and third interventions. Gait speed, stride length, and cadence were calculated from the 10-m walk test. Repeated one-way analysis of variance showed a significant main effect on evaluation time of gait speed (F = 7.69, p < 0.01), 2MWD (F = 7.52, p < 0.01), stride length (F = 5.24, p < 0.01), and cadence (F = 8.43, p < 0.01). The effect sizes after the first, second, and third interventions compared to pre-intervention in gait speed (d = 0.39, 0.52, and 0.59) and 2MWD (d = 0.35, 0.46, and 0.57) showed a gradual improvement of gait function at every intervention. The results of the present study showed that gait function of chronic stroke patients improved over a year with periodic gait training using the HAL every few months

織込部交通流の渋滞改善

九州大学応用力学研究所研究集会報告 No.20ME-S7 「非線形波動の数理と物理」RIAM Symposium No.20ME-S7 Mathematics and Physics in Nonlinear waves織込部交通流の渋滞の改善策として、二車線上で車を交互配置化する方法を提案する。セルオートマトンを用いて交互配置化の指標を定義し、その空間変化をシミュレーションと理論解析とを用いて評価する