11 research outputs found
Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules
In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules using computationally expensive fluid dynamic modeling tools. This poses restrictions on the usability of the resulting models. Here, we present a new approach towards modeling such systems. First, we show how the hardware and firmware of the robotic modules can be faithfully modeled in a high-fidelity robotic simulator. Second, we develop a physics plugin to recreate the hydrodynamic forces acting on the modules and propose a trajectory-based method for calibrating the plugin model parameters. Our calibration method employs a Particle Swarm Optimization (PSO) algorithm, and consists of minimizing the difference between Mean Squared Displacement (MSD) data extracted from real and simulated trajectories of multiple robotic modules
Human Computation and Convergence
Humans are the most effective integrators and producers of information,
directly and through the use of information-processing inventions. As these
inventions become increasingly sophisticated, the substantive role of humans in
processing information will tend toward capabilities that derive from our most
complex cognitive processes, e.g., abstraction, creativity, and applied world
knowledge. Through the advancement of human computation - methods that leverage
the respective strengths of humans and machines in distributed
information-processing systems - formerly discrete processes will combine
synergistically into increasingly integrated and complex information processing
systems. These new, collective systems will exhibit an unprecedented degree of
predictive accuracy in modeling physical and techno-social processes, and may
ultimately coalesce into a single unified predictive organism, with the
capacity to address societies most wicked problems and achieve planetary
homeostasis.Comment: Pre-publication draft of chapter. 24 pages, 3 figures; added
references to page 1 and 3, and corrected typ
Habitat features and performance interact to determine the outcomes of terrestrial predator-prey pursuits
Animals are responsive to predation risk, often seeking safer habitats at the cost of foraging rewards. Although previous research has examined how habitat features affect detection by predators, little is known about how the interaction of habitat features, sensory cues and physical performance capabilities affect prey escape performance once detected.li>To investigate how specific habitat features affect predation risk, we developed an individual-based model of terrestrial predator–prey pursuits in habitats with programmable features. We ran simulations varying the relative performance capabilities of predator and prey as well as the availability and abundance of refuges and obstacles in the habitat.Prey were more likely to avoid detection in complex habitats containing a higher abundance of obstacles; however, if detected, prey escape probability was dependent on both the abundance of refuges and obstacles and the predator's relative performance capabilities. Our model accurately predicted the relative escape success for impala escaping from cheetah in open savanna versus acacia thicket habitat, though escape success was consistently underestimated.Our model provides a mechanistic explanation for the differential effects of habitat on survival for different predator–prey pairs. Its flexible nature means that our model can be refined to simulate specific systems and could have applications towards management programmes for species threatened by habitat loss and predation