Distributed Control for Robotic Swarms Using Centroidal Voronoi Tessellations

This thesis introduces a design combining an emerging area in robotics with a well established mathematical research topic: swarm intelligence and Voronoi tessellations, respectively. The main objective for this research is to design an economical and robust swarm system to achieve distributed control. This research combines swarm intelligence with Voronoi tessellations to localize a source and create formations. Extensive software coding must be implemented for this design, such as the development of a discrete centroidal Voronoi tessellation (CVT) algorithm. The ultimate purpose of this research is to advance the existing Mobile Actuator and Sensor Network (MASnet) platform to eventually develop a cooperative robot team that can sense, predict, and nally neutralize a diusion process. Previous work on the MASnet platform has served as a foundation for this research. While growing closer to the MASnet goal, results also provide stimulating discoveries for mathematical and swarm research areas

Study design and rationale for investigating phosphodiesterase type 5 inhibition for the treatment of pulmonary hypertension due to chronic obstructive lung disease: the TADA-PHiLD (TADAlafil for Pulmonary Hypertension associated with chronic obstructive Lung Disease) trial

Abstract In patients with chronic obstructive pulmonary disease (COPD), moderate or severe pulmonary hypertension (COPD-PH) is associated with increased rates of morbidity and mortality. Despite this, approaches to treatment and the efficacy of phosphodiesterase type 5 inhibition (PDE-5i) in COPD-PH are unresolved. We present the clinical rationale and study design to assess the effect of oral tadalafil on exercise capacity, cardiopulmonary hemodynamics, and clinical outcome measures in COPD-PH patients. Male and female patients 40–85 years old with GOLD stage 2 COPD or higher and pulmonary hypertension diagnosed on the basis of invasive cardiac hemodynamic assessment (mean pulmonary artery pressure [mPAP] >30 mmHg, pulmonary vascular resistance [PVR] >2.5 Wood units, and pulmonary capillary wedge pressure ≤18 mmHg at rest) will be randomized at a 1∶1 ratio to receive placebo or oral PDE-5i with tadalafil (40 mg daily for 12 months). The primary end point is change from baseline in 6-minute walk distance at 12 months. The secondary end points are change from baseline in PVR and mPAP at 6 months and change from baseline in peak volume of oxygen consumption () during exercise at 12 months. Changes in systemic blood pressure and/or oxyhemoglobin saturation (Sao2) at rest and during exercise will function as safety outcome measures. TADA-PHiLD (TADAlafil for Pulmonary Hypertension assocIated with chronic obstructive Lung Disease) is the first sufficiently powered randomized clinical trial testing the effect of PDE-5i on key clinical and drug safety outcome measures in patients with at least moderate PH due to COPD

A SWARM ENGINEERING APPROACH TO MOBILE SENSOR NETWORK DESIGN TOWARDS COLLABORATIVE PHOTOTAXIS WITH A SLOWLY MOVING LIGHT SOURCE

ABSTRACT Swarm robotics is an innovative approach to the control and coordination of multi-agent systems that use naturally inspired swarm intelligent methods to perform tasks. A swarm based approach can decrease the complexity and the cost of designing a cooperative multi-robot system. This paper proposes a general engineering approach to develop a robotic swarm that focuses on how to synthesize an emergent behavior and the associated inputs to this end. We validate our methodology by engineering a swarm to simultaneously rendezvous on a stationary light source. Furthermore, we also considered the case when the light source is slowly moving. The design is simulated in NetLogo, an agentbased modeling software, and implemented on the MASnet robot platform. This work demonstrates the basic knowledge and tools required to engineer a robotic swarm