Evolving Test Environments to Identify Faults in Swarm Robotics Algorithms

Swarm robotic systems are often considered to be dependable. However, there is little empirical evidence or theoretical analysis showing that dependability is an inherent property of all swarm robotic system. Recent literature has identified potential issues with respect to dependability within certain types of swarm robotic algorithms. There appears to be a dearth of literature relating to the testing of swarm robotic systems; this provides motivation for the development of the novel testing methods for swarm robotic systems presented in this paper. We present a search based approach, using genetic algorithms, for the automated identification of unintended behaviors during the execution of a flocking type algorithm, implemented on a simulated robotic swarm. Results show that this proposed approach is able to reveal faults in such flocking algorithms and has the potential to be used in further swarm robotic applications

Using Emulation to Engineer and Understand Simulations of Biological Systems

Modeling and simulation techniques have demonstrated success in studying biological systems. As the drive to better capture biological complexity leads to more sophisticated simulators, it becomes challenging to perform statistical analyses that help translate predictions into increased understanding. These analyses may require repeated executions and extensive sampling of high-dimensional parameter spaces: analyses that may become intractable due to time and resource limitations. Significant reduction in these requirements can be obtained using surrogate models, or emulators, that can rapidly and accurately predict the output of an existing simulator. We apply emulation to evaluate and enrich understanding of a previously published agent-based simulator of lymphoid tissue organogenesis, showing an ensemble of machine learning techniques can reproduce results obtained using a suite of statistical analyses within seconds. This performance improvement permits incorporation of previously intractable analyses, including multi-objective optimization to obtain parameter sets that yield a desired response, and Approximate Bayesian Computation to assess parametric uncertainty. To facilitate exploitation of emulation in simulation-focused studies, we extend our open source statistical package, spartan, to provide a suite of tools for emulator development, validation, and application. Overcoming resource limitations permits enriched evaluation and refinement, easing translation of simulator insights into increased biological understanding

Adaptive Online Fault Diagnosis in Autonomous Robot Swarms

Previous work has shown that robot swarms are not always tolerant to the failure of individual robots, particularly those that have only partially failed and continue to contribute to collective behaviors. A case has been made for an active approach to fault tolerance in swarm robotic systems, whereby the swarm can identify and resolve faults that occur during operation. Existing approaches to active fault tolerance in swarms have so far omitted fault diagnosis, however we propose that diagnosis is a feature of active fault tolerance that is necessary if swarms are to obtain long-term autonomy. This paper presents a novel method for fault diagnosis that attempts to imitate some of the observed functions of natural immune system. The results of our simulated experiments show that our system is flexible, scalable, and improves swarm tolerance to various electro-mechanical faults in the cases examine

Livestock disease management for trading across different regulatory regimes

The maintenance of livestock health depends on the combined actions of many different actors, both within and across different regulatory frameworks. Prior work recognised that private risk management choices have the ability to reduce the spread of infection to trading partners. We evaluate the efficiency of farmers' alternative biosecurity choices in terms of their own-benefits from unilateral strategies and quantify the impact they may have in filtering the disease externality of trade. We use bovine viral diarrhoea (BVD) in England and Scotland as a case study, since this provides an example of a situation where contrasting strategies for BVD management occur between selling and purchasing farms. We use an agent-based bioeconomic model to assess the payoff dependence of farmers connected by trade but using different BVD management strategies. We compare three disease management actions: test-cull, test-cull with vaccination and vaccination alone. For a two-farm trading situation, all actions carried out by the selling farm provide substantial benefits to the purchasing farm in terms of disease avoided, with the greatest benefit resulting from test-culling with vaccination on the selling farm. Likewise, unilateral disease strategies by purchasers can be effective in reducing disease risks created through trade. We conclude that regulation needs to balance the trade-off between private gains from those bearing the disease management costs and the positive spillover effects on others

Modelling the Impact and Control of an Infectious Disease in a Plant Nursery with Infected Plant Material Inputs

The ornamental plant trade has been identified as a key introduction pathway for plant pathogens. Establishing effective biosecurity measures to reduce the risk of plant pathogen outbreaks in the live plant trade is therefore important. Management of invasive pathogens has been identified as a weakest link public good, and thus is reliant on the actions of individual private agents. This paper therefore provides an analysis of the impact of the private agents’ biosecurity decisions on pathogen prevention and control within the plant trade. We model the impact that an infectious disease has on a plant nursery under a constant pressure of potentially infected input plant materials, like seeds and saplings, where the spread of the disease reduces the value of mature plants. We explore six scenarios to understand the influence of three key bioeconomic parameters; the disease’s basic reproductive number, the loss in value of a mature plant from acquiring an infection and the cost-effectiveness of restriction. The results characterise the disease dynamics within the nursery and explore the trade-offs and synergies between the optimal level of efforts on restriction strategies (actions to prevent buying infected inputs), and on removal of infected plants in the nursery. For diseases that can be easily controlled, restriction and removal are substitutable strategies. In contrast, for highly infectious diseases, restriction and removal are often found to be complementary, provided that restriction is cost-effective and the optimal level of removal is non-zero

Homeostatic Fault Tolerance in Spiking Neural Networks : A Dynamic Hardware Perspective

Fault tolerance is a remarkable feature of biological systems and their self-repair capability influence modern electronic systems. In this paper, we propose a novel plastic neural network model, which establishes homeostasis in a spiking neural network. Combined with this plasticity and the inspiration from inhibitory interneurons, we develop a fault-resilient robotic controller implemented on an FPGA establishing obstacle avoidance task. We demonstrate the proposed methodology on a spiking neural network implemented on Xilinx Artix-7 FPGA. The system is able to maintain stable firing (tolerance ±10%) with a loss of up to 75% of the original synaptic inputs to a neuron. Our repair mechanism has minimal hardware overhead with a tuning circuit (repair unit) which consumes only three slices/neuron for implementing a threshold voltage-based homeostatic fault-tolerant unit. The overall architecture has a minimal impact on power consumption and, therefore, supports scalable implementations. This paper opens a novel way of implementing the behavior of natural fault tolerant system in hardware establishing homeostatic self-repair behavior

RoboChart: modelling and verification of the functional behaviour of robotic applications

Robots are becoming ubiquitous: from vacuum cleaners to driverless cars, there is a wide variety of applications, many with potential safety hazards. The work presented in this paper proposes a set of constructs suitable for both modelling robotic applications and supporting verification via model checking and theorem proving. Our goal is to support roboticists in writing models and applying modern verification techniques using a language familiar to them. To that end, we present RoboChart, a domain-specific modelling language based on UML, but with a restricted set of constructs to enable a simplified semantics and automated reasoning. We present the RoboChart metamodel, its well-formedness rules, and its process-algebraic semantics. We discuss verification based on these foundations using an implementation of RoboChart and its semantics as a set of Eclipse plug-ins called RoboTool