Symbolic planning for heterogeneous robots through composition of their motion description languages

This dissertation introduces a new formalism to define compositions of interacting heterogeneous systems, described by extended motion description languages (MDLes). The properties of the composition system are analyzed and an automatic process to generate sequential atom plan is introduced. The novelty of the formalism is in producing a composed system with a behavior that could be a superset of the union of the behaviors of its generators. As robotic systems perform increasingly complex tasks, people resort increasingly to switching or hybrid control algorithms. A need arises for a formalism to compose different robotic behaviors and meet a final target. The significant work produced to date on various aspects of robotics arguably has not yet effectively captured the interaction between systems. Another problem in motion control is automating the process of planning and it has been recognized that there is a gap between high level planning algorithms and low level motion control implementation. This dissertation is an attempt to address these problems. A new composition system is given and the properties are checked. We allow systems to have additional cooperative transitions and become active only when the systems are composed with other systems appropriately. We distinguish between events associated with transitions a push-down automaton representing an MDLe can take autonomously, and events that cannot initiate transitions. Among the latter, there can be events that when synchronized with some of another push-down automaton, become active and do initiate transitions. We identify MDLes as recursive systems in some basic process algebra (BPA) written in Greibach Normal Form. By identifying MDLes as a subclass of BPAs, we are able to borrow the syntax and semantics of the BPAs merge operator (instead of defining a new MDLe operator), and thus establish closeness and decidability properties for MDLe compositions. We introduce an instance of the sliding block puzzle as a multi-robot hybrid system. We automate the process of planning and dictate how the behaviors are sequentially synthesized into plans that drive the system into a desired state. The decidability result gives us hope to abstract the system to the point that some of the available model checkers can be used to construct motion plans. The new notion of system composition allows us to capture the interaction between systems and we realize that the whole system can do more than the sum of its parts. The framework can be used on groups of heterogeneous robotic systems to communicate and allocate tasks among themselves, and sort through possible solutions to find a plan of action without human intervention or guidance

Creating New Rural Communitas: The Case of China Taiwan’s Rural Regeneration

Traditional sociological theory explains that a rural community is an enclosed unit. China’s fast modernization and urbanization, however, display a rather different phenomenon, where rural communities are changing into open communities, which face the dual task of rebuilding internal relations and expanding external resources. Based on this background and practical cognition, the theoretical framework of the ‘new rural communitas’ is proposed, which expands the common enclosed relationships in traditional rural communities into new, open co-construction relationships with endogenous power as core, government power as support, and social power as coordination, emphasizing the full cooperation of these three types of power. On the basis of the theory, this article employs the practice of the rural regeneration policy in Taiwan as an empirical case, and analyzes how these three types of power affect and cooperate with each other. Furthermore, interviews have been conducted with local community members, government officers, and social participants in three communities in Taiwan to give examples of three different types of new rural communitas. Finally, several suggestions toward constructing new rural communitas are discussed.   Abstrak. Teori tradisional dalam sosiologi menjelaskan bahwa komunitas perdesaan adalah unit yang tertutup. Modernisasi dan urbanisasi cepat yang terjadi di China menampilkan fenomena yang sedikit berbeda, dimana komunitas perdesaan berubah menjadi komunitas yang terbuka yang menghadapi tugas ganda membangun kembali hubungan internal dan memperluas sumber daya eksternal. Berdasarkan latar belakang dan kognisi praktis ini, kerangka teoritis ‘komunitas perdesaan baru’ diusulkan, sehingga dapat memperluas hubungan tertutup bersama dalam komunitas perdesaan tradisional menjadi hubungan ko-kontruksi baru yang terbuka dengan kekuatan endogen sebagai inti, kekuatan pemerintah sebagai pendukung, dan kekuasaan social sebagai koordinasi serta menekankan kerjasama penuh dari ketiga jenis kekuasaan tersebut. Berdasarkan teori tersebut, artikel ini menggunakan praktik kebijakan regenerasi perdesaan di Taiwan sebagai kasus empiris, dan menganalisis bagaimana ketiga jenis kekuasaan ini saling mempengaruhi dan bekerja sama. Selanjutnya, wawancara telah dilakukan dengan anggota masyarakat setempat, pejabat pemerintah, dan peserta sosial di tiga komunitas di Taiwan untuk memberikan contoh tiga jenis komunitas perdesaan baru yang berbeda. Akhirnya, beberapa  saran untuk membangun komunitas perdesaan baru juga dibahas.   Kata kunci. Komunitas perdesaan, komunitas, regenerasi perdesaan, Cina, Taiwan