Engineering Sensorial Delay to Control Phototaxis and Emergent Collective Behaviors

NASA Astrophysics Data System (ADS)

Mijalkov, Mite; McDaniel, Austin; Wehr, Jan; Volpe, Giovanni

2016-01-01

Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviors to take hold, the individuals must be able to emit, sense, and react to signals. When dealing with simple organisms and robots, these signals are necessarily very elementary; e.g., a cell might signal its presence by releasing chemicals and a robot by shining light. An additional challenge arises because the motion of the individuals is often noisy; e.g., the orientation of cells can be altered by Brownian motion and that of robots by an uneven terrain. Therefore, the emphasis is on achieving complex and tunable behaviors from simple autonomous agents communicating with each other in robust ways. Here, we show that the delay between sensing and reacting to a signal can determine the individual and collective long-term behavior of autonomous agents whose motion is intrinsically noisy. We experimentally demonstrate that the collective behavior of a group of phototactic robots capable of emitting a radially decaying light field can be tuned from segregation to aggregation and clustering by controlling the delay with which they change their propulsion speed in response to the light intensity they measure. We track this transition to the underlying dynamics of this system, in particular, to the ratio between the robots' sensorial delay time and the characteristic time of the robots' random reorientation. Supported by numerics, we discuss how the same mechanism can be applied to control active agents, e.g., airborne drones, moving in a three-dimensional space. Given the simplicity of this mechanism, the engineering of sensorial delay provides a potentially powerful tool to engineer and dynamically tune the behavior of large ensembles of autonomous mobile agents; furthermore, this mechanism might already be at work within living organisms such as chemotactic cells.

Methods of determining complete sensor requirements for autonomous mobility

NASA Technical Reports Server (NTRS)

Curtis, Steven A. (Inventor)

2012-01-01

A method of determining complete sensor requirements for autonomous mobility of an autonomous system includes computing a time variation of each behavior of a set of behaviors of the autonomous system, determining mobility sensitivity to each behavior of the autonomous system, and computing a change in mobility based upon the mobility sensitivity to each behavior and the time variation of each behavior. The method further includes determining the complete sensor requirements of the autonomous system through analysis of the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior, wherein the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior are characteristic of the stability of the autonomous system.

SLAM algorithm applied to robotics assistance for navigation in unknown environments.

PubMed

Cheein, Fernando A Auat; Lopez, Natalia; Soria, Carlos M; di Sciascio, Fernando A; Pereira, Fernando Lobo; Carelli, Ricardo

2010-02-17

The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.

An Autonomous Mobile Agent-Based Distributed Learning Architecture-A Proposal and Analytical Analysis

ERIC Educational Resources Information Center

Sadiig, I. Ahmed M. J.

2005-01-01

The traditional learning paradigm involving face-to-face interaction with students is shifting to highly data-intensive electronic learning with the advances in Information and Communication Technology. An important component of the e-learning process is the delivery of the learning contents to their intended audience over a network. A distributed…

SLAM algorithm applied to robotics assistance for navigation in unknown environments

PubMed Central

2010-01-01

Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). Methods In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. Conclusions The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation. PMID:20163735

Mobile Agents for Battlespace Information Exchange

DTIC Science & Technology

2013-05-01

autonomously gather information and coordinate activities (e.g. meetings, e - commerce transactions) on behalf of their owners. Sometime in the...operations where consumer -level infrastructure is not available. The report provides an overview of MA characteristics and follows with a description of...detection for security, telecommunications and the military. With the advent of broadband communication (fixed and wireless) a typical consumer is now

A Face Attention Technique for a Robot Able to Interpret Facial Expressions

NASA Astrophysics Data System (ADS)

Simplício, Carlos; Prado, José; Dias, Jorge

Automatic facial expressions recognition using vision is an important subject towards human-robot interaction. Here is proposed a human face focus of attention technique and a facial expressions classifier (a Dynamic Bayesian Network) to incorporate in an autonomous mobile agent whose hardware is composed by a robotic platform and a robotic head. The focus of attention technique is based on the symmetry presented by human faces. By using the output of this module the autonomous agent keeps always targeting the human face frontally. In order to accomplish this, the robot platform performs an arc centered at the human; thus the robotic head, when necessary, moves synchronized. In the proposed probabilistic classifier the information is propagated, from the previous instant, in a lower level of the network, to the current instant. Moreover, to recognize facial expressions are used not only positive evidences but also negative.

Memoryless cooperative graph search based on the simulated annealing algorithm

NASA Astrophysics Data System (ADS)

Hou, Jian; Yan, Gang-Feng; Fan, Zhen

2011-04-01

We have studied the problem of reaching a globally optimal segment for a graph-like environment with a single or a group of autonomous mobile agents. Firstly, two efficient simulated-annealing-like algorithms are given for a single agent to solve the problem in a partially known environment and an unknown environment, respectively. It shows that under both proposed control strategies, the agent will eventually converge to a globally optimal segment with probability 1. Secondly, we use multi-agent searching to simultaneously reduce the computation complexity and accelerate convergence based on the algorithms we have given for a single agent. By exploiting graph partition, a gossip-consensus method based scheme is presented to update the key parameter—radius of the graph, ensuring that the agents spend much less time finding a globally optimal segment.

Magician Simulator. A Realistic Simulator for Heterogenous Teams of Autonomous Robots

DTIC Science & Technology

2011-01-18

IMU, and LIDAR systems for identifying and tracking mobile OOI at long range (>20m), providing early warnings and allowing neutralization from a... LIDAR and Computer Vision template-based feature tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous...Locali- zation and Mapping ( SLAM ). Our system contains two maps, a physical map and an influence map (location of hostile OOI, explored and unexplored

Evaluating the Dynamics of Agent-Environment Interaction

DTIC Science & Technology

2001-05-01

a color sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangulation system for...Cooperative Mobile Robot Control’, Autonomous Robots 4(4), 387{403. Vaughan, R. T., Sty, K., Sukhatme, G. S. & Mataric, M. J. (2000), Whistling in the Dark...sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangu- lation system for

Cooperative Autonomous Robots for Reconnaissance

DTIC Science & Technology

2009-03-06

REPORT Cooperative Autonomous Robots for Reconnaissance 14. ABSTRACT 16. SECURITY CLASSIFICATION OF: Collaborating mobile robots equipped with WiFi ...Cooperative Autonomous Robots for Reconnaissance Report Title ABSTRACT Collaborating mobile robots equipped with WiFi transceivers are configured as a mobile...equipped with WiFi transceivers are configured as a mobile ad-hoc network. Algorithms are developed to take advantage of the distributed processing

Trust Management in Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.; Haack, Jereme N.; Fink, Glenn A.

2009-07-07

Reputation-based trust management techniques can address issues such as insider threat as well as quality of service issues that may be malicious in nature. However, trust management techniques must be adapted to the unique needs of the architectures and problem domains to which they are applied. Certain characteristics of swarms such as their lightweight ephemeral nature and indirect communication make this adaptation especially challenging. In this paper we look at the trust issues and opportunities in mobile agent swarm-based autonomic systems and find that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust managementmore » problem becomes much more scalable and still serves to protect the swarms. We also analyze the applicability of trust management research as it has been applied to architectures with similar characteristics. Finally, we specify required characteristics for trust management mechanisms to be used to monitor the trustworthiness of the entities in a swarm-based autonomic computing system.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Fujimura, K.; Unseren, M.A.

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of positionmore » and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.« less

Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

NASA Astrophysics Data System (ADS)

Dragone, Mauro; O'Donoghue, Ruadhan; Leonard, John J.; O'Hare, Gregory; Duffy, Brian; Patrikalakis, Andrew; Leederkerken, Jacques

2005-06-01

The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem of "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.

Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators

DTIC Science & Technology

1993-05-01

Overview 22 3.1 Issues of Controller Design ........................ 22 3.2 Robot Behavior Control Philosophy .................. 23 3.3 Overview of the... designed and built by our lab as an 9 Figure 1.1- Hannibal. 10 experimental platform to explore planetary micro-rover control issues (Angle 1991). When... designing the robot, careful consideration was given to mobility, sensing, and robustness issues. Much has been said concerning the advan- tages of

Autonomous Agents: The Origins and Co-Evolution of Reproducing Molecular Systems

NASA Technical Reports Server (NTRS)

Kauffman, Stuart

1999-01-01

The central aim of this award concerned an investigation into, and adequate formulation of, the concept of an "autonomous agent." If we consider a bacterium swimming upstream in a glucose gradient, we are willing to say of the bacterium that it is going to get food. That is, we are willing, and do, describe the bacterium as acting on its own behalf in an environment. All free living cells are, in this sense, autonomous agents. But the bacterium is "just" a set of molecules. We define an autonomous agent as a physical system able to act on its own behalf in an environment, then ask, "What must a physical system be to be an autonomous agent?" The tentative definition for a molecular autonomous agent is that it must be self-reproducing and carry out at least one thermodynamic work cycle. The work carried out in this grant involved, among other features, the development of a detailed model of a molecular autonomous agent, and study of the kinetics of this system. In particular, a molecular autonomous agent must, by the above tentative definition, not only reproduce, but must carry out at least one work cycle. I took, as a simple example of a self-reproducing molecular system, the single-stranded DNA hexamer 3'CCGCGG5' which can line up and ligate its two complementary trimers, 5'CCG3' and 5'CGG3'. But the two ligated trimers constitute the same molecular sequence in the 3' to 5' direction as the initial hexamer, hence this system is autocatalytic. On the other hand the above system is not yet an autonomous agent. At the minimum, autonomous agents, as I have defined them, are a new class of chemical reaction network. At a maximum, they may constitute a proper definition of life itself.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Mobile System for Precise Aero Delivery with Global Reach Network Capability

DTIC Science & Technology

2009-08-30

No intention / need for taking advantage of networking with other agents. The Atair’s Onyx Micro Light ( Onyx ML) delivery system (www.atair.com... onyx ) (Fig.9a) is a precision airdrop system designed to address the requirements of the Joint Precision Airdrop System MLW (JPADS-MLW) system of the...autonomous powered paraglider (LEAPP) developed under contract with DARPA (Fig.9b). a) b) Fig. 9. Onyx ML with mock sensor payload release

Recognition of flow in everyday life using sensor agent robot with laser range finder

NASA Astrophysics Data System (ADS)

Goshima, Misa; Mita, Akira

2011-04-01

In the present paper, we suggest an algorithm for a sensor agent robot with a laser range finder to recognize the flows of residents in the living spaces in order to achieve flow recognition in the living spaces, recognition of the number of people in spaces, and the classification of the flows. House reform is or will be demanded to prolong the lifetime of the home. Adaption for the individuals is needed for our aging society which is growing at a rapid pace. Home autonomous mobile robots will become popular in the future for aged people to assist them in various situations. Therefore we have to collect various type of information of human and living spaces. However, a penetration in personal privacy must be avoided. It is essential to recognize flows in everyday life in order to assist house reforms and aging societies in terms of adaption for the individuals. With background subtraction, extra noise removal, and the clustering based k-means method, we got an average accuracy of more than 90% from the behavior from 1 to 3 persons, and also confirmed the reliability of our system no matter the position of the sensor. Our system can take advantages from autonomous mobile robots and protect the personal privacy. It hints at a generalization of flow recognition methods in the living spaces.

Mamdani Fuzzy System for Indoor Autonomous Mobile Robot

NASA Astrophysics Data System (ADS)

Khan, M. K. A. Ahamed; Rashid, Razif; Elamvazuthi, I.

2011-06-01

Several control algorithms for autonomous mobile robot navigation have been proposed in the literature. Recently, the employment of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot navigation. In this paper, Mamdani fuzzy system for an autonomous mobile robot is developed. The paper begins with the discussion on the conventional controller and then followed by the description of fuzzy logic controller in detail.

Asteroid Exploration with Autonomic Systems

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Rash, James; Rouff, Christopher; Hinchey, Mike

2004-01-01

NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. The prospective ANTS (Autonomous Nano Technology Swarm) mission comprises autonomous agents including worker agents (small spacecra3) designed to cooperate in asteroid exploration under the overall authoriq of at least one ruler agent (a larger spacecraft) whose goal is to cause science data to be returned to Earth. The ANTS team (ruler plus workers and messenger agents), but not necessarily any individual on the team, will exhibit behaviors that qualify it as an autonomic system, where an autonomic system is defined as a system that self-reconfigures, self-optimizes, self-heals, and self-protects. Autonomic system concepts lead naturally to realistic, scalable architectures rich in capabilities and behaviors. In-depth consideration of a major mission like ANTS in terms of autonomic systems brings new insights into alternative definitions of autonomic behavior. This paper gives an overview of the ANTS mission and discusses the autonomic properties of the mission.

JOMAR: Joint Operations with Mobile Autonomous Robots

DTIC Science & Technology

2015-12-21

AFRL-AFOSR-JP-TR-2015-0009 JOMAR: Joint Operations with Mobile Autonomous Robots Edwin Olson UNIVERSITY OF MICHIGAN Final Report 12/21/2015...SUBTITLE JOMAR: Joint Operations with Mobile Autonomous Robots 5a. CONTRACT NUMBER FA23861114024 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...14. ABSTRACT Under this grant, we formulated and implemented a variety of novel algorithms that address core problems in multi- robot systems. These

Long-Term Simultaneous Localization and Mapping in Dynamic Environments

DTIC Science & Technology

2015-01-01

core competencies required for autonomous mobile robotics is the ability to use sensors to perceive the environment. From this noisy sensor data, the...and mapping (SLAM), is a prerequisite for almost all higher-level autonomous behavior in mobile robotics. By associating the robot???s sensory...distributed stochastic neighbor embedding x ABSTRACT One of the core competencies required for autonomous mobile robotics is the ability to use sensors

Guidance and Navigation Software Architecture Design for the Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) Test Bed

DTIC Science & Technology

2006-12-01

NAVIGATION SOFTWARE ARCHITECTURE DESIGN FOR THE AUTONOMOUS MULTI-AGENT PHYSICALLY INTERACTING SPACECRAFT (AMPHIS) TEST BED by Blake D. Eikenberry...Engineer Degree 4. TITLE AND SUBTITLE Guidance and Navigation Software Architecture Design for the Autonomous Multi- Agent Physically Interacting...iii Approved for public release; distribution is unlimited GUIDANCE AND NAVIGATION SOFTWARE ARCHITECTURE DESIGN FOR THE AUTONOMOUS MULTI

Information for Successful Interaction with Autonomous Systems

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Johnson, Kathy A.

2003-01-01

Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2004-01-01

Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides an opportunity to consider other biological systems and principles in seeking new design strategies. This paper reports on one such investigation; utilizing the apoptosis metaphor of biological systems to provide a dynamic health indicator signal between autonomic agents.

An Autonomous Control System for an Intra-Vehicular Spacecraft Mobile Monitor Prototype

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Desiano, Salvatore D.; Gawdiak, Yuri; Nicewarner, Keith

2003-01-01

This paper presents an overview of an ongoing research and development effort at the NASA Ames Research Center to create an autonomous control system for an internal spacecraft autonomous mobile monitor. It primary functions are to provide crew support and perform intra- vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the mission roles and high-level functional requirements for an autonomous mobile monitor. The mobile monitor prototypes, of which two are operational and one is actively being designed, physical test facilities used to perform ground testing, including a 3D micro-gravity test facility, and simulators are briefly described. We provide an overview of the autonomy framework and describe each of its components, including those used for automated planning, goal-oriented task execution, diagnosis, and fault recovery. A sample mission test scenario is also described.

Dynamic Agent Classification and Tracking Using an Ad Hoc Mobile Acoustic Sensor Network

NASA Astrophysics Data System (ADS)

Friedlander, David; Griffin, Christopher; Jacobson, Noah; Phoha, Shashi; Brooks, Richard R.

2003-12-01

Autonomous networks of sensor platforms can be designed to interact in dynamic and noisy environments to determine the occurrence of specified transient events that define the dynamic process of interest. For example, a sensor network may be used for battlefield surveillance with the purpose of detecting, identifying, and tracking enemy activity. When the number of nodes is large, human oversight and control of low-level operations is not feasible. Coordination and self-organization of multiple autonomous nodes is necessary to maintain connectivity and sensor coverage and to combine information for better understanding the dynamics of the environment. Resource conservation requires adaptive clustering in the vicinity of the event. This paper presents methods for dynamic distributed signal processing using an ad hoc mobile network of microsensors to detect, identify, and track targets in noisy environments. They seamlessly integrate data from fixed and mobile platforms and dynamically organize platforms into clusters to process local data along the trajectory of the targets. Local analysis of sensor data is used to determine a set of target attribute values and classify the target. Sensor data from a field test in the Marine base at Twentynine Palms, Calif, was analyzed using the techniques described in this paper. The results were compared to "ground truth" data obtained from GPS receivers on the vehicles.

Pten Cell Autonomously Modulates the Hematopoietic Stem Cell Response to Inflammatory Cytokines.

PubMed

Porter, Shaina N; Cluster, Andrew S; Signer, Robert A J; Voigtmann, Jenna; Monlish, Darlene A; Schuettpelz, Laura G; Magee, Jeffrey A

2016-06-14

Pten negatively regulates the phosphatidylinositol 3-kinase (PI3K) pathway and is required to maintain quiescent adult hematopoietic stem cells (HSCs). Pten has been proposed to regulate HSCs cell autonomously and non-cell autonomously, but the relative importance of each mechanism has not been directly tested. Furthermore, the cytokines that activate the PI3K pathway upstream of Pten are not well defined. We sought to clarify whether Pten cell autonomously or non-cell autonomously regulates HSC mobilization. We also tested whether Pten deficiency affects the HSC response to granulocyte colony-stimulating factor (G-CSF) and interferon-α (IFNα) since these cytokines induce HSC mobilization or proliferation, respectively. We show that Pten regulates HSC mobilization and expansion in the spleen primarily via cell-autonomous mechanisms. Pten-deficient HSCs do not require G-CSF to mobilize, although they are hyper-sensitized to even low doses of exogenous G-CSF. Pten-deficient HSCs are similarly sensitized to IFNα. Pten therefore modulates the HSC response to inflammatory cytokines. Copyright © 2016 The Authors. Published by Elsevier Inc. All rights reserved.

Formal Assurance for Cognitive Architecture Based Autonomous Agent

NASA Technical Reports Server (NTRS)

Bhattacharyya, Siddhartha; Eskridge, Thomas; Neogi, Natasha; Carvalho, Marco

2017-01-01

Autonomous systems are designed and deployed in different modeling paradigms. These environments focus on specific concepts in designing the system. We focus our effort in the use of cognitive architectures to design autonomous agents to collaborate with humans to accomplish tasks in a mission. Our research focuses on introducing formal assurance methods to verify the behavior of agents designed in Soar, by translating the agent to the formal verification environment Uppaal.

Agent Technology, Complex Adaptive Systems, and Autonomic Systems: Their Relationships

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Rash, James; Rouff, Chistopher; Hincheny, Mike

2004-01-01

To reduce the cost of future spaceflight missions and to perform new science, NASA has been investigating autonomous ground and space flight systems. These goals of cost reduction have been further complicated by nanosatellites for future science data-gathering which will have large communications delays and at times be out of contact with ground control for extended periods of time. This paper describes two prototype agent-based systems, the Lights-out Ground Operations System (LOGOS) and the Agent Concept Testbed (ACT), and their autonomic properties that were developed at NASA Goddard Space Flight Center (GSFC) to demonstrate autonomous operations of future space flight missions. The paper discusses the architecture of the two agent-based systems, operational scenarios of both, and the two systems autonomic properties.

An Intelligent Control for the Distributed Flexible Network Photovoltaic System using Autonomous Control and Agent

NASA Astrophysics Data System (ADS)

Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

This paper proposes an intelligent control for the distributed flexible network photovoltaic system using autonomous control and agent. The distributed flexible network photovoltaic system is composed of a secondary battery bank and a number of subsystems which have a solar array, a dc/dc converter and a load. The control mode of dc/dc converter can be selected based on local information by autonomous control. However, if only autonomous control using local information is applied, there are some problems associated with several cases such as voltage drop on long power lines. To overcome these problems, the authors propose introducing agents to improve control characteristics. The autonomous control with agents is called as intelligent control in this paper. The intelligent control scheme that employs the communication between agents is applied for the model system and proved with simulation using PSCAD/EMTDC.

Biologically-Inspired Concepts for Autonomic Self-Protection in Multiagent Systems

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2006-01-01

Biologically-inspired autonomous and autonomic systems (AAS) are essentially concerned with creating self-directed and self-managing systems based on metaphors &om nature and the human body, such as the autonomic nervous system. Agent technologies have been identified as a key enabler for engineering autonomy and autonomicity in systems, both in terms of retrofitting into legacy systems and in designing new systems. Handing over responsibility to systems themselves raises concerns for humans with regard to safety and security. This paper reports on the continued investigation into a strand of research on how to engineer self-protection mechanisms into systems to assist in encouraging confidence regarding security when utilizing autonomy and autonomicity. This includes utilizing the apoptosis and quiescence metaphors to potentially provide a self-destruct or self-sleep signal between autonomic agents when needed, and an ALice signal to facilitate self-identification and self-certification between anonymous autonomous agents and systems.

Multi-agent systems design for aerospace applications

NASA Astrophysics Data System (ADS)

Waslander, Steven L.

2007-12-01

Engineering systems with independent decision makers are becoming increasingly prevalent and present many challenges in coordinating actions to achieve systems goals. In particular, this work investigates the applications of air traffic flow control and autonomous vehicles as motivation to define algorithms that allow agents to agree to safe, efficient and equitable solutions in a distributed manner. To ensure system requirements will be satisfied in practice, each method is evaluated for a specific model of agent behavior, be it cooperative or non-cooperative. The air traffic flow control problem is investigated from the point of view of the airlines, whose costs are directly affected by resource allocation decisions made by the Federal Aviation Administration in order to mitigate traffic disruptions caused by weather. Airlines are first modeled as cooperative, and a distributed algorithm is presented with various global cost metrics which balance efficient and equitable use of resources differently. Next, a competitive airline model is assumed and two market mechanisms are developed for allocating contested airspace resources. The resource market mechanism provides a solution for which convergence to an efficient solution can be guaranteed, and each airline will improve on the solution that would occur without its inclusion in the decision process. A lump-sum market is then introduced as an alternative mechanism, for which efficiency loss bounds exist if airlines attempt to manipulate prices. Initial convergence results for lump-sum markets are presented for simplified problems with a single resource. To validate these algorithms, two air traffic flow models are developed which extend previous techniques, the first a convenient convex model made possible by assuming constant velocity flow, and the second a more complex flow model with full inflow, velocity and rerouting control. Autonomous vehicle teams are envisaged for many applications including mobile sensing and search and rescue. To enable these high-level applications, multi-vehicle collision avoidance is solved using a cooperative, decentralized algorithm. For the development of coordination algorithms for autonomous vehicles, the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) is presented. This testbed provides significant advantages over other aerial testbeds due to its small size and low maintenance requirements.

A QoS Management Technique of Urgent Information Provision in ITS Services Using DSRC for Autonomous Base Stations

NASA Astrophysics Data System (ADS)

Shimura, Akitoshi; Aizono, Takeiki; Hiraiwa, Masashi; Sugano, Shigeki

A QoS management technique based on an autonomous decentralized mobility system, which is an autonomous decentralized system enhanced to provide mobile stations with information about urgent roadway situations, is proposed in this paper. This technique enables urgent messages to be flexibly and quickly transmitted to mobile stations by multiple decentralized base stations using dedicated short range communication. It also supports the easy addition of additional base stations. Each station autonomously creates information-delivery communities based on the urgency of the messages it receives through the roadside network and the distances between the senders and receivers. Each station dynamically determines the urgency of messages according to the message content and the speed of the mobile stations. Evaluation of this technique applied to the Smart Gateway system, which provides driving-assistance services to mobile stations through dedicated short-range communication, demonstrated its effectiveness and that it is suitable for actual systems.

A hardware/software environment to support R D in intelligent machines and mobile robotic systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.

1990-01-01

The Center for Engineering Systems Advanced Research (CESAR) serves as a focal point at the Oak Ridge National Laboratory (ORNL) for basic and applied research in intelligent machines. R D at CESAR addresses issues related to autonomous systems, unstructured (i.e. incompletely known) operational environments, and multiple performing agents. Two mobile robot prototypes (HERMIES-IIB and HERMIES-III) are being used to test new developments in several robot component technologies. This paper briefly introduces the computing environment at CESAR which includes three hypercube concurrent computers (two on-board the mobile robots), a graphics workstation, VAX, and multiple VME-based systems (several on-board the mobile robots).more » The current software environment at CESAR is intended to satisfy several goals, e.g.: code portability, re-usability in different experimental scenarios, modularity, concurrent computer hardware transparent to applications programmer, future support for multiple mobile robots, support human-machine interface modules, and support for integration of software from other, geographically disparate laboratories with different hardware set-ups. 6 refs., 1 fig.« less

Target Trailing With Safe Navigation for Maritime Autonomous Surface Vehicles

NASA Technical Reports Server (NTRS)

Wolf, Michael; Kuwata, Yoshiaki; Zarzhitsky, Dimitri V.

2013-01-01

This software implements a motion-planning module for a maritime autonomous surface vehicle (ASV). The module trails a given target while also avoiding static and dynamic surface hazards. When surface hazards are other moving boats, the motion planner must apply International Regulations for Avoiding Collisions at Sea (COLREGS). A key subset of these rules has been implemented in the software. In case contact with the target is lost, the software can receive and follow a "reacquisition route," provided by a complementary system, until the target is reacquired. The programmatic intention is that the trailed target is a submarine, although any mobile naval platform could serve as the target. The algorithmic approach to combining motion with a (possibly moving) goal location, while avoiding local hazards, may be applicable to robotic rovers, automated landing systems, and autonomous airships. The software operates in JPL s CARACaS (Control Architecture for Robotic Agent Command and Sensing) software architecture and relies on other modules for environmental perception data and information on the predicted detectability of the target, as well as the low-level interface to the boat controls.

Effectiveness of bomber deployed autonomous airborne vehicles in finding rail mobile SS-24s

DOE Office of Scientific and Technical Information (OSTI.GOV)

Abey, A.E.; Erickson, S.A.; Norquist, P.D.

1990-08-01

Computer simulation predictions of the effectiveness of autonomous airborne vehicles in finding rail mobile SS-24s are presented. Effectiveness is discussed for several autonomous airborne vehicle endurances and survivabilities for the search area southwest of Moscow. The effect of where the Soviets place the SS-24s on the rail network was also investigated. The simulation predicts significant variations in the ability of a multi-autonomous airborne vehicle system to find SS-24s with these parameters. 12 figs., 1 tab.

Autonomous Soil Assessment System: A Data-Driven Approach to Planetary Mobility Hazard Detection

NASA Astrophysics Data System (ADS)

Raimalwala, K.; Faragalli, M.; Reid, E.

2018-04-01

The Autonomous Soil Assessment System predicts mobility hazards for rovers. Its development and performance are presented, with focus on its data-driven models, machine learning algorithms, and real-time sensor data fusion for predictive analytics.

[Mobile autonomous robots-Possibilities and limits].

PubMed

Maehle, E; Brockmann, W; Walthelm, A

2002-02-01

Besides industrial robots, which today are firmly established in production processes, service robots are becoming more and more important. They shall provide services for humans in different areas of their professional and everyday environment including medicine. Most of these service robots are mobile which requires an intelligent autonomous behaviour. After characterising the different kinds of robots the relevant paradigms of intelligent autonomous behaviour for mobile robots are critically discussed in this paper and illustrated by three concrete examples of robots realized in Lübeck. In addition a short survey of actual kinds of surgical robots as well as an outlook to future developments is given.

Effects of Posteroanterior Thoracic Mobilization on Heart Rate Variability and Pain in Women with Fibromyalgia

PubMed Central

Reis, Michel Silva; Durigan, João Luiz Quagliotti; Arena, Ross; Rossi, Bruno Rafael Orsini; Mendes, Renata Gonçalves; Borghi-Silva, Audrey

2014-01-01

Fibromyalgia (FM) has been associated with cardiac autonomic abnormalities and pain. Heart rate variability (HRV) is reduced in FM with autonomic tone dominated by sympathetic activity. The purpose of this study was to evaluate the effects of one session of a posteroanterior glide technique on both autonomic modulation and pain in woman with FM. This was a controlled trial with immediate followup; twenty premenopausal women were allocated into 2 groups: (i) women diagnosed with FM (n = 10) and (ii) healthy women (n = 10). Both groups received one session of Maitland mobilization grade III posteroanterior central pressure glide, at 2 Hz for 60 s at each vertebral segment. Autonomic modulation was assessed by HRV and pain by a numeric pain scale before and after the intervention. For HRV analyses, heart rate and RR intervals were recorded for 10 minutes. FM subjects demonstrated reduced HRV compared to controls. Although the mobilization technique did not significantly reduce pain, it was able to improve HRV quantified by an increase in rMSSD and SD1 indices, reflecting an improved autonomic profile through increased vagal activity. In conclusion, women with FM presented with impaired cardiac autonomic modulation. One session of Maitland spine mobilization was able to acutely improve HRV. PMID:24991436

Autonomous vehicle motion control, approximate maps, and fuzzy logic

NASA Technical Reports Server (NTRS)

Ruspini, Enrique H.

1993-01-01

Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

Design of a Mobile Agent-Based Adaptive Communication Middleware for Federations of Critical Infrastructure Simulations

NASA Astrophysics Data System (ADS)

Görbil, Gökçe; Gelenbe, Erol

The simulation of critical infrastructures (CI) can involve the use of diverse domain specific simulators that run on geographically distant sites. These diverse simulators must then be coordinated to run concurrently in order to evaluate the performance of critical infrastructures which influence each other, especially in emergency or resource-critical situations. We therefore describe the design of an adaptive communication middleware that provides reliable and real-time one-to-one and group communications for federations of CI simulators over a wide-area network (WAN). The proposed middleware is composed of mobile agent-based peer-to-peer (P2P) overlays, called virtual networks (VNets), to enable resilient, adaptive and real-time communications over unreliable and dynamic physical networks (PNets). The autonomous software agents comprising the communication middleware monitor their performance and the underlying PNet, and dynamically adapt the P2P overlay and migrate over the PNet in order to optimize communications according to the requirements of the federation and the current conditions of the PNet. Reliable communications is provided via redundancy within the communication middleware and intelligent migration of agents over the PNet. The proposed middleware integrates security methods in order to protect the communication infrastructure against attacks and provide privacy and anonymity to the participants of the federation. Experiments with an initial version of the communication middleware over a real-life networking testbed show that promising improvements can be obtained for unicast and group communications via the agent migration capability of our middleware.

Systems, methods and apparatus for modeling, specifying and deploying policies in autonomous and autonomic systems using agent-oriented software engineering

NASA Technical Reports Server (NTRS)

Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor); Penn, Joaquin (Inventor)

2011-01-01

Systems, methods and apparatus are provided through which in some embodiments, an agent-oriented specification modeled with MaCMAS, is analyzed, flaws in the agent-oriented specification modeled with MaCMAS are corrected, and an implementation is derived from the corrected agent-oriented specification. Described herein are systems, method and apparatus that produce fully (mathematically) tractable development of agent-oriented specification(s) modeled with methodology fragment for analyzing complex multiagent systems (MaCMAS) and policies for autonomic systems from requirements through to code generation. The systems, method and apparatus described herein are illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming systems, method and apparatus described herein may provide faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.

From Here to Autonomicity: Self-Managing Agents and the Biological Metaphors that Inspire Them

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

We seek inspiration for self-managing systems from (obviously, pre-existing) biological mechanisms. Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward for integrating and designing reliable systems, while agent technologies have been identified as a key enabler for engineering autonomicity in systems. This paper looks at other biological metaphors such as reflex and healing, heart- beat monitors, pulse monitors and apoptosis for assisting in the realization of autonomicity.

Swarm autonomic agents with self-destruct capability

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2009-01-01

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Swarm autonomic agents with self-destruct capability

NASA Technical Reports Server (NTRS)

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Adaptive Behavior for Mobile Robots

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance

2009-01-01

The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

Cooperative Multi-Agent Mobile Sensor Platforms for Jet Engine Inspection: Concept and Implementation

NASA Technical Reports Server (NTRS)

Litt, Jonathan S.; Wong, Edmond; Krasowski, Michael J.; Greer, Lawrence C.

2003-01-01

Cooperative behavior algorithms utilizing swarm intelligence are being developed for mobile sensor platforms to inspect jet engines on-wing. Experiments are planned in which several relatively simple autonomous platforms will work together in a coordinated fashion to carry out complex maintenance-type tasks within the constrained working environment modeled on the interior of a turbofan engine. The algorithms will emphasize distribution of the tasks among multiple units; they will be scalable and flexible so that units may be added in the future; and will be designed to operate on an individual unit level to produce the desired global effect. This proof of concept demonstration will validate the algorithms and provide justification for further miniaturization and specialization of the hardware toward the true application of on-wing in situ turbine engine maintenance.

Tele-assistance for semi-autonomous robots

NASA Technical Reports Server (NTRS)

Rogers, Erika; Murphy, Robin R.

1994-01-01

This paper describes a new approach in semi-autonomous mobile robots. In this approach the robot has sufficient computerized intelligence to function autonomously under a certain set of conditions, while the local system is a cooperative decision making unit that combines human and machine intelligence. Communication is then allowed to take place in a common mode and in a common language. A number of exception-handling scenarios that were constructed as a result of experiments with actual sensor data collected from two mobile robots were presented.

Intelligent mobility research for robotic locomotion in complex terrain

NASA Astrophysics Data System (ADS)

Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

2006-05-01

The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

An Efficient Model-Based Image Understanding Method for an Autonomous Vehicle.

DTIC Science & Technology

1997-09-01

The problem discussed in this dissertation is the development of an efficient method for visual navigation of autonomous vehicles . The approach is to... autonomous vehicles . Thus the new method is implemented as a component of the image-understanding system in the autonomous mobile robot Yamabico-11 at

Intelligent microchip networks: an agent-on-chip synthesis framework for the design of smart and robust sensor networks

NASA Astrophysics Data System (ADS)

Bosse, Stefan

2013-05-01

Sensorial materials consisting of high-density, miniaturized, and embedded sensor networks require new robust and reliable data processing and communication approaches. Structural health monitoring is one major field of application for sensorial materials. Each sensor node provides some kind of sensor, electronics, data processing, and communication with a strong focus on microchip-level implementation to meet the goals of miniaturization and low-power energy environments, a prerequisite for autonomous behaviour and operation. Reliability requires robustness of the entire system in the presence of node, link, data processing, and communication failures. Interaction between nodes is required to manage and distribute information. One common interaction model is the mobile agent. An agent approach provides stronger autonomy than a traditional object or remote-procedure-call based approach. Agents can decide for themselves, which actions are performed, and they are capable of flexible behaviour, reacting on the environment and other agents, providing some degree of robustness. Traditionally multi-agent systems are abstract programming models which are implemented in software and executed on program controlled computer architectures. This approach does not well scale to micro-chip level and requires full equipped computers and communication structures, and the hardware architecture does not consider and reflect the requirements for agent processing and interaction. We propose and demonstrate a novel design paradigm for reliable distributed data processing systems and a synthesis methodology and framework for multi-agent systems implementable entirely on microchip-level with resource and power constrained digital logic supporting Agent-On-Chip architectures (AoC). The agent behaviour and mobility is fully integrated on the micro-chip using pipelined communicating processes implemented with finite-state machines and register-transfer logic. The agent behaviour, interaction (communication), and mobility features are modelled and specified on a machine-independent abstract programming level using a state-based agent behaviour language (APL). With this APL a high-level agent compiler is able to synthesize a hardware model (RTL, VHDL), a software model (C, ML), or a simulation model (XML) suitable to simulate a multi-agent system using the SeSAm simulator framework. Agent communication is provided by a simple tuple-space database implemented on node level providing fault tolerant access of global data. A novel synthesis development kit (SynDK) based on a graph-structured database approach is introduced to support the rapid development of compilers and synthesis tools, used for example for the design and implementation of the APL compiler.

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

Reactive navigation for autonomous guided vehicle using neuro-fuzzy techniques

NASA Astrophysics Data System (ADS)

Cao, Jin; Liao, Xiaoqun; Hall, Ernest L.

1999-08-01

A Neuro-fuzzy control method for navigation of an Autonomous Guided Vehicle robot is described. Robot navigation is defined as the guiding of a mobile robot to a desired destination or along a desired path in an environment characterized by as terrain and a set of distinct objects, such as obstacles and landmarks. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Neural network and fuzzy logic control techniques can improve real-time control performance for mobile robot due to its high robustness and error-tolerance ability. For a mobile robot to navigate automatically and rapidly, an important factor is to identify and classify mobile robots' currently perceptual environment. In this paper, a new approach of the current perceptual environment feature identification and classification, which are based on the analysis of the classifying neural network and the Neuro- fuzzy algorithm, is presented. The significance of this work lies in the development of a new method for mobile robot navigation.

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Intelligent agents: adaptation of autonomous bimodal microsystems

NASA Astrophysics Data System (ADS)

Smith, Patrice; Terry, Theodore B.

2014-03-01

Autonomous bimodal microsystems exhibiting survivability behaviors and characteristics are able to adapt dynamically in any given environment. Equipped with a background blending exoskeleton it will have the capability to stealthily detect and observe a self-chosen viewing area while exercising some measurable form of selfpreservation by either flying or crawling away from a potential adversary. The robotic agent in this capacity activates a walk-fly algorithm, which uses a built in multi-sensor processing and navigation subsystem or algorithm for visual guidance and best walk-fly path trajectory to evade capture or annihilation. The research detailed in this paper describes the theoretical walk-fly algorithm, which broadens the scope of spatial and temporal learning, locomotion, and navigational performances based on optical flow signals necessary for flight dynamics and walking stabilities. By observing a fly's travel and avoidance behaviors; and, understanding the reverse bioengineering research efforts of others, we were able to conceptualize an algorithm, which works in conjunction with decisionmaking functions, sensory processing, and sensorimotor integration. Our findings suggest that this highly complex decentralized algorithm promotes inflight or terrain travel mobile stability which is highly suitable for nonaggressive micro platforms supporting search and rescue (SAR), and chemical and explosive detection (CED) purposes; a necessity in turbulent, non-violent structured or unstructured environments.

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

NASA Technical Reports Server (NTRS)

Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

2012-01-01

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

Developing operation algorithms for vision subsystems in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Shikhman, M. V.; Shidlovskiy, S. V.

2018-05-01

The paper analyzes algorithms for selecting keypoints on the image for the subsequent automatic detection of people and obstacles. The algorithm is based on the histogram of oriented gradients and the support vector method. The combination of these methods allows successful selection of dynamic and static objects. The algorithm can be applied in various autonomous mobile robots.

Theseus: tethered distributed robotics (TDR)

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Penzes, Steven G.

2003-09-01

The Defence Research and Development Canada's (DRDC) Autonomous Intelligent System's program conducts research to increase the independence and effectiveness of military vehicles and systems. DRDC-Suffield's Autonomous Land Systems (ALS) is creating new concept vehicles and autonomous control systems for use in outdoor areas, urban streets, urban interiors and urban subspaces. This paper will first give an overview of the ALS program and then give a specific description of the work being done for mobility in urban subspaces. Discussed will be the Theseus: Thethered Distributed Robotics (TDR) system, which will not only manage an unavoidable tether but exploit it for mobility and navigation. Also discussed will be the prototype robot called the Hedgehog, which uses conformal 3D mobility in ducts, sewer pipes, collapsed rubble voids and chimneys.

Towards Principled Experimental Study of Autonomous Mobile Robots

NASA Technical Reports Server (NTRS)

Gat, Erann

1995-01-01

We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

Autonomous mobile platform for enhanced situational awareness in Mass Casualty Incidents.

PubMed

Yang, Dongyi; Schafer, James; Wang, Sili; Ganz, Aura

2014-01-01

To enhance the efficiency of the search and rescue process of a Mass Casualty Incident, we introduce a low cost autonomous mobile platform. The mobile platform motion is controlled by an Android Smartphone mounted on a robot. The pictures and video captured by the Smartphone camera can significantly enhance the situational awareness of the incident commander leading to a more efficient search and rescue process. Moreover, the active RFID readers mounted on the mobile platform can improve the localization accuracy of victims in the disaster site in areas where the paramedics are not present, reducing the triage and evacuation time.

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

IDEA: Planning at the Core of Autonomous Reactive Agents

NASA Technical Reports Server (NTRS)

Muscettola, Nicola; Dorais, Gregory A.; Fry, Chuck; Levinson, Richard; Plaunt, Christian; Clancy, Daniel (Technical Monitor)

2002-01-01

Several successful autonomous systems are separated into technologically diverse functional layers operating at different levels of abstraction. This diversity makes them difficult to implement and validate. In this paper, we present IDEA (Intelligent Distributed Execution Architecture), a unified planning and execution framework. In IDEA a layered system can be implemented as separate agents, one per layer, each representing its interactions with the world in a model. At all levels, the model representation primitives and their semantics is the same. Moreover, each agent relies on a single model, plan database, plan runner and on a variety of planners, both reactive and deliberative. The framework allows the specification of agents that operate, within a guaranteed reaction time and supports flexible specification of reactive vs. deliberative agent behavior. Within the IDEA framework we are working to fully duplicate the functionalities of the DS1 Remote Agent and extend it to domains of higher complexity than autonomous spacecraft control.

Lessons Learned from Autonomous Sciencecraft Experiment

NASA Technical Reports Server (NTRS)

Chien, Steve A.; Sherwood, Rob; Tran, Daniel; Cichy, Benjamin; Rabideau, Gregg; Castano, Rebecca; Davies, Ashley; Mandl, Dan; Frye, Stuart; Trout, Bruce;

The Use of Software Agents for Autonomous Control of a DC Space Power System

NASA Technical Reports Server (NTRS)

May, Ryan D.; Loparo, Kenneth A.

2014-01-01

In order to enable manned deep-space missions, the spacecraft must be controlled autonomously using on-board algorithms. A control architecture is proposed to enable this autonomous operation for an spacecraft electric power system and then implemented using a highly distributed network of software agents. These agents collaborate and compete with each other in order to implement each of the control functions. A subset of this control architecture is tested against a steadystate power system simulation and found to be able to solve a constrained optimization problem with competing objectives using only local information.

Autonomous Information Fading and Provision to Achieve High Response Time in Distributed Information Systems

NASA Astrophysics Data System (ADS)

Lu, Xiaodong; Arfaoui, Helene; Mori, Kinji

In highly dynamic electronic commerce environment, the need for adaptability and rapid response time to information service systems has become increasingly important. In order to cope with the continuously changing conditions of service provision and utilization, Faded Information Field (FIF) has been proposed. FIF is a distributed information service system architecture, sustained by push/pull mobile agents to bring high-assurance of services through a recursive demand-oriented provision of the most popular information closer to the users to make a tradeoff between the cost of information service allocation and access. In this paper, based on the analysis of the relationship that exists among the users distribution, information provision and access time, we propose the technology for FIF design to resolve the competing requirements of users and providers to improve users' access time. In addition, to achieve dynamic load balancing with changing users preference, the autonomous information reallocation technology is proposed. We proved the effectiveness of the proposed technology through the simulation and comparison with the conventional system.

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

NASA Technical Reports Server (NTRS)

Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

2007-01-01

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

Autonomy in robots and other agents.

PubMed

Smithers, T

1997-06-01

The word "autonomous" has become widely used in artificial intelligence, robotics, and, more recently, artificial life and is typically used to qualify types of systems, agents, or robots: we see terms like "autonomous systems," "autonomous agents," and "autonomous robots." Its use in these fields is, however, both weak, with no distinctions being made that are not better and more precisely made with other existing terms, and varied, with no single underlying concept being involved. This ill-disciplined usage contrasts strongly with the use of the same term in other fields such as biology, philosophy, ethics, law, and human rights, for example. In all these quite different areas the concept of autonomy is essentially the same, though the language used and the aspects and issues of concern, of course, differ. In all these cases the underlying notion is one of self-law making and the closely related concept of self-identity. In this paper I argue that the loose and varied use of the term autonomous in artificial intelligence, robotics, and artificial life has effectively robbed these fields of an important concept. A concept essentially the same as we find it in biology, philosophy, ethics, and law, and one that is needed to distinguish a particular kind of agent or robot from those developed and built so far. I suggest that robots and other agents will have to be autonomous, i.e., self-law making, not just self-regulating, if they are to be able effectively to deal with the kinds of environments in which we live and work: environments which have significant large scale spatial and temporal invariant structure, but which also have large amounts of local spatial and temporal dynamic variation and unpredictability, and which lead to the frequent occurrence of previously unexperienced situations for the agents that interact with them.

Development of an evolutionary simulator and an overall control system for intelligent wheelchair

NASA Astrophysics Data System (ADS)

Imai, Makoto; Kawato, Koji; Hamagami, Tomoki; Hirata, Hironori

The goal of this research is to develop an intelligent wheelchair (IWC) system which aids an indoor safe mobility for elderly and disabled people with a new conceptual architecture which realizes autonomy, cooperativeness, and a collaboration behavior. In order to develop the IWC system in real environment, we need design-tools and flexible architecture. In particular, as more significant ones, this paper describes two key techniques which are an evolutionary simulation and an overall control mechanism. The evolutionary simulation technique corrects the error between the virtual environment in a simulator and real one in during the learning of an IWC agent, and coevolves with the agent. The overall control mechanism is implemented with subsumption architecture which is employed in an autonomous robot controller. By using these techniques in both simulations and experiments, we confirm that our IWC system acquires autonomy, cooperativeness, and a collaboration behavior efficiently.

Modeling the Internet of Things, Self-Organizing and Other Complex Adaptive Communication Networks: A Cognitive Agent-Based Computing Approach.

PubMed

Laghari, Samreen; Niazi, Muaz A

2016-01-01

Computer Networks have a tendency to grow at an unprecedented scale. Modern networks involve not only computers but also a wide variety of other interconnected devices ranging from mobile phones to other household items fitted with sensors. This vision of the "Internet of Things" (IoT) implies an inherent difficulty in modeling problems. It is practically impossible to implement and test all scenarios for large-scale and complex adaptive communication networks as part of Complex Adaptive Communication Networks and Environments (CACOONS). The goal of this study is to explore the use of Agent-based Modeling as part of the Cognitive Agent-based Computing (CABC) framework to model a Complex communication network problem. We use Exploratory Agent-based Modeling (EABM), as part of the CABC framework, to develop an autonomous multi-agent architecture for managing carbon footprint in a corporate network. To evaluate the application of complexity in practical scenarios, we have also introduced a company-defined computer usage policy. The conducted experiments demonstrated two important results: Primarily CABC-based modeling approach such as using Agent-based Modeling can be an effective approach to modeling complex problems in the domain of IoT. Secondly, the specific problem of managing the Carbon footprint can be solved using a multiagent system approach.

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

Do mobile phones pose a potential risk to autonomic modulation of the heart?

PubMed

Barutcu, Irfan; Esen, Ali Metin; Kaya, Dayimi; Turkmen, Muhsin; Karakaya, Osman; Saglam, Mustafa; Melek, Mehmet; Çelik, Ataç; Kilit, Celal; Onrat, Ersel; Kirma, Cevat

2011-11-01

It has long been speculated that mobile phones may interact with the cardiac devices and thereby cardiovascular system may be a potential target for the electromagnetic fields emitted by the mobile phones. Therefore, the present study was designed to test possible effects of radiofrequency waves emitted by digital mobile phones on cardiac autonomic modulation by short-time heart rate variability (HRV) analysis. A total of 20 healthy young subjects were included to the study. All participants were rested in supine position at least for 15 minutes on a comfortable bed, and then time and frequency domain HRV parameters were recorded at baseline in supine position for 5 minutes. After completion of baseline records, by using a mobile GSM (Global System for Mobile Communication) phone, HRV parameters were recorded at turned off mode, at turned on mode, and at calling mode over 5 minutes periods for each stage. Neither time nor frequency domain HRV parameters altered significantly during off mode compare to their baseline values. Also, neither time nor frequency domain HRV parameters altered significantly during turned on and calling mode compared to their baseline values. Short-time exposure to electromagnetic fields emitted by mobile phone does not affect cardiac autonomic modulation in healthy subjects.

Current Fear of Crime, Sense of Community, and Loneliness in Italian Adolescents: The Role of Autonomous Mobility and Play during Childhood

ERIC Educational Resources Information Center

Prezza, Miretta; Pacilli, Maria Giuseppina

2007-01-01

A structural equation model was used to examine the role of autonomous mobility and play in public and semipublic places in childhood to predict adolescents' sense of community, fear of crime, and, through the mediation of these two last psychosocial factors, feelings of loneliness. Participants included 789 Italian students (469 females and 320…

Learning Sequences of Actions in Collectives of Autonomous Agents

NASA Technical Reports Server (NTRS)

Turner, Kagan; Agogino, Adrian K.; Wolpert, David H.; Clancy, Daniel (Technical Monitor)

2001-01-01

In this paper we focus on the problem of designing a collective of autonomous agents that individually learn sequences of actions such that the resultant sequence of joint actions achieves a predetermined global objective. We are particularly interested in instances of this problem where centralized control is either impossible or impractical. For single agent systems in similar domains, machine learning methods (e.g., reinforcement learners) have been successfully used. However, applying such solutions directly to multi-agent systems often proves problematic, as agents may work at cross-purposes, or have difficulty in evaluating their contribution to achievement of the global objective, or both. Accordingly, the crucial design step in multiagent systems centers on determining the private objectives of each agent so that as the agents strive for those objectives, the system reaches a good global solution. In this work we consider a version of this problem involving multiple autonomous agents in a grid world. We use concepts from collective intelligence to design goals for the agents that are 'aligned' with the global goal, and are 'learnable' in that agents can readily see how their behavior affects their utility. We show that reinforcement learning agents using those goals outperform both 'natural' extensions of single agent algorithms and global reinforcement, learning solutions based on 'team games'.

Dual stage potential field method for robotic path planning

NASA Astrophysics Data System (ADS)

Singh, Pradyumna Kumar; Parida, Pramod Kumar

2018-04-01

Path planning for autonomous mobile robots are the root for all autonomous mobile systems. Various methods are used for optimization of path to be followed by the autonomous mobile robots. Artificial potential field based path planning method is one of the most used methods for the researchers. Various algorithms have been proposed using the potential field approach. But in most of the common problems are encounters while heading towards the goal or target. i.e. local minima problem, zero potential regions problem, complex shaped obstacles problem, target near obstacle problem. In this paper we provide a new algorithm in which two types of potential functions are used one after another. The former one is to use to get the probable points and later one for getting the optimum path. In this algorithm we consider only the static obstacle and goal.

Millimeter-scale MEMS enabled autonomous systems: system feasibility and mobility

NASA Astrophysics Data System (ADS)

Pulskamp, Jeffrey S.

2012-06-01

Millimeter-scale robotic systems based on highly integrated microelectronics and micro-electromechanical systems (MEMS) could offer unique benefits and attributes for small-scale autonomous systems. This extreme scale for robotics will naturally constrain the realizable system capabilities significantly. This paper assesses the feasibility of developing such systems by defining the fundamental design trade spaces between component design variables and system level performance parameters. This permits the development of mobility enabling component technologies within a system relevant context. Feasible ranges of system mass, required aerodynamic power, available battery power, load supported power, flight endurance, and required leg load bearing capability are presented for millimeter-scale platforms. The analysis illustrates the feasibility of developing both flight capable and ground mobile millimeter-scale autonomous systems while highlighting the significant challenges that must be overcome to realize their potential.

Interoceptive threat leads to defensive mobilization in highly anxiety sensitive persons.

PubMed

Melzig, Christiane A; Holtz, Katharina; Michalowski, Jaroslaw M; Hamm, Alfons O

2011-06-01

To study defensive mobilization elicited by the exposure to interoceptive arousal sensations, we exposed highly anxiety sensitive students to a symptom provocation task. Symptom reports, autonomic arousal, and the startle eyeblink response were monitored during guided hyperventilation and a recovery period in 26 highly anxiety sensitive persons and 22 controls. Normoventilation was used as a non-provocative comparison condition. Hyperventilation led to autonomic arousal and a marked increase in somatic symptoms. While high and low anxiety sensitive persons did not differ in their defensive activation during hyperventilation, group differences were detected during early recovery. Highly anxiety sensitive students exhibited a potentiation of startle response magnitudes and increased autonomic arousal after hyper- as compared to after normoventilation, indicating defensive mobilization evoked by the prolonged presence of feared somatic sensations. Copyright © 2010 Society for Psychophysiological Research.

Autonomous Agents and Intelligent Assistants for Exploration Operations

NASA Technical Reports Server (NTRS)

Malin, Jane T.

2000-01-01

Human exploration of space will involve remote autonomous crew and systems in long missions. Data to earth will be delayed and limited. Earth control centers will not receive continuous real-time telemetry data, and there will be communication round trips of up to one hour. There will be reduced human monitoring on the planet and earth. When crews are present on the planet, they will be occupied with other activities, and system management will be a low priority task. Earth control centers will use multi-tasking "night shift" and on-call specialists. A new project at Johnson Space Center is developing software to support teamwork between distributed human and software agents in future interplanetary work environments. The Engineering and Mission Operations Directorates at Johnson Space Center (JSC) are combining laboratories and expertise to carry out this project, by establishing a testbed for hWl1an centered design, development and evaluation of intelligent autonomous and assistant systems. Intelligent autonomous systems for managing systems on planetary bases will commuicate their knowledge to support distributed multi-agent mixed-initiative operations. Intelligent assistant agents will respond to events by developing briefings and responses according to instructions from human agents on earth and in space.

An Application of Artificial Intelligence to the Implementation of Electronic Commerce

NASA Astrophysics Data System (ADS)

Srivastava, Anoop Kumar

In this paper, we present an application of Artificial Intelligence (AI) to the implementation of Electronic Commerce. We provide a multi autonomous agent based framework. Our agent based architecture leads to flexible design of a spectrum of multiagent system (MAS) by distributing computation and by providing a unified interface to data and programs. Autonomous agents are intelligent enough and provide autonomy, simplicity of communication, computation, and a well developed semantics. The steps of design and implementation are discussed in depth, structure of Electronic Marketplace, an ontology, the agent model, and interaction pattern between agents is given. We have developed mechanisms for coordination between agents using a language, which is called Virtual Enterprise Modeling Language (VEML). VEML is a integration of Java and Knowledge Query and Manipulation Language (KQML). VEML provides application programmers with potential to globally develop different kinds of MAS based on their requirements and applications. We have implemented a multi autonomous agent based system called VE System. We demonstrate efficacy of our system by discussing experimental results and its salient features.

From Autonomous Robots to Artificial Ecosystems

NASA Astrophysics Data System (ADS)

Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

During the past few years, starting from the two mainstream fields of Ambient Intelligence [2] and Robotics [17], several authors recognized the benefits of the socalled Ubiquitous Robotics paradigm. According to this perspective, mobile robots are no longer autonomous, physically situated and embodied entities adapting themselves to a world taliored for humans: on the contrary, they are able to interact with devices distributed throughout the environment and get across heterogeneous information by means of communication technologies. Information exchange, coupled with simple actuation capabilities, is meant to replace physical interaction between robots and their environment. Two benefits are evident: (i) smart environments overcome inherent limitations of mobile platforms, whereas (ii) mobile robots offer a mobility dimension unknown to smart environments.

The Personal Satellite Assistant: An Internal Spacecraft Autonomous Mobile Monitor

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

This paper presents an overview of the research and development effort at the NASA Ames Research Center to create an internal spacecraft autonomous mobile monitor capable of performing intra-vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the capabilities, mission roles, rationale, high-level functional requirements, and design challenges for an autonomous mobile monitor. The rapid prototyping design methodology used, in which five prototypes of increasing fidelity are designed, is described as well as the status of these prototypes, of which two are operational and being tested, and one is actively being designed. The physical test facilities used to perform ground testing are briefly described, including a micro-gravity test facility that permits a prototype to propel itself in 3 dimensions with 6 degrees-of-freedom as if it were in an micro-gravity environment. We also describe an overview of the autonomy framework and its components including the software simulators used in the development process. Sample mission test scenarios are also described. The paper concludes with a discussion of future and related work followed by the summary.

Semi-autonomous exploration of multi-floor buildings with a legged robot

NASA Astrophysics Data System (ADS)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

Security patterns and a weighting scheme for mobile agents

NASA Astrophysics Data System (ADS)

Walker, Jessie J.

The notion of mobility has always been a prime factor in human endeavor and achievement. This need to migrate by humans has been distilled into software entities, which are their representatives on distant environments. Software agents are developed to act on behalf of a user. Mobile agents were born from the understanding that many times it was much more useful to move the code (program) to where the resources are located, instead of connecting remotely. Within the mobile agent research community, security has traditionally been the most defining issue facing the community and preventing the paradigm from gaining wide acceptance. There are still numerous difficult problems being addressed with very few practical solutions, such as the malicious host and agent problems. These problems are some of the most active areas of research within the mobile agent community. The major principles, facets, fundamental concepts, techniques and architectures of the field are well understood within the community. This is evident by the many mobile agent systems developed in the last decade that share common core components such as agent management, communication facilities, and mobility services. In other words new mobile agent systems and frameworks do not provide any new insights into agent system architecture or mobility services, agent coordination, communication that could be useful to the agent research community, although these new mobile agent systems do in many instances validate, refine, demonstrate the reuse of many previously proposed and discussed mobile agent research elements. Since mobile agent research for the last decade has been defined by security and related issues, our research into security patterns are within this narrow arena of mobile agent research. The research presented in this thesis examines the issue of mobile agent security from the standpoint of security pattern documented from the universe of mobile agent systems. In addition, we explore how these documented security patterns can be quantitatively compared based on a unique weighting scheme. The scheme is formalized into a theory that can be used improve the development of secure mobile agents and agent-based systems.

An Analysis of Navigation Algorithms for Smartphones Using J2ME

NASA Astrophysics Data System (ADS)

Santos, André C.; Tarrataca, Luís; Cardoso, João M. P.

Embedded systems are considered one of the most potential areas for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and smartphones are growing in number and functionalities, becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms. As a test case, we use a smartphone to control an autonomous mobile robot. We tested three navigation problems: Mapping, Localization and Path Planning. For each of these problems, an algorithm has been chosen, developed in J2ME, and tested on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.

Situation Awareness of Onboard System Autonomy

NASA Technical Reports Server (NTRS)

Schreckenghost, Debra; Thronesbery, Carroll; Hudson, Mary Beth

2005-01-01

We have developed intelligent agent software for onboard system autonomy. Our approach is to provide control agents that automate crew and vehicle systems, and operations assistants that aid humans in working with these autonomous systems. We use the 3 Tier control architecture to develop the control agent software that automates system reconfiguration and routine fault management. We use the Distributed Collaboration and Interaction (DCI) System to develop the operations assistants that provide human services, including situation summarization, event notification, activity management, and support for manual commanding of autonomous system. In this paper we describe how the operations assistants aid situation awareness of the autonomous control agents. We also describe our evaluation of the DCI System to support control engineers during a ground test at Johnson Space Center (JSC) of the Post Processing System (PPS) for regenerative water recovery.

Security Measures to Protect Mobile Agents

NASA Astrophysics Data System (ADS)

Dadhich, Piyanka; Govil, M. C.; Dutta, Kamlesh

2010-11-01

The security issues of mobile agent systems have embarrassed its widespread implementation. Mobile agents that move around the network are not safe because the remote hosts that accommodate the agents initiates all kinds of attacks. These hosts try to analyze the agent's decision logic and their accumulated data. So, mobile agent security is the most challenging unsolved problems. The paper analyzes various security measures deeply. Security especially the attacks performed by hosts to the visiting mobile agent (the malicious hosts problem) is a major obstacle that prevents mobile agent technology from being widely adopted. Being the running environment for mobile agent, the host has full control over them and could easily perform many kinds of attacks against them.

Directional Communication in Evolved Multiagent Teams

DTIC Science & Technology

2013-06-10

decentralized localization proposed by Franchi et al. [9]. Overall, the significant advantage of directional communication over non- directional...reception benefits the evolution of communicating autonomous agents because it simplifies the language required to express positional information, which...systems. This paper hypothesizes that such directional reception benefits the evolution of communicating autonomous agents because it simplifies the

Autonomous mobile robot teams

NASA Technical Reports Server (NTRS)

Agah, Arvin; Bekey, George A.

1994-01-01

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

Adjustable Autonomy Testbed

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Schrenkenghost, Debra K.

2001-01-01

The Adjustable Autonomy Testbed (AAT) is a simulation-based testbed located in the Intelligent Systems Laboratory in the Automation, Robotics and Simulation Division at NASA Johnson Space Center. The purpose of the testbed is to support evaluation and validation of prototypes of adjustable autonomous agent software for control and fault management for complex systems. The AA T project has developed prototype adjustable autonomous agent software and human interfaces for cooperative fault management. This software builds on current autonomous agent technology by altering the architecture, components and interfaces for effective teamwork between autonomous systems and human experts. Autonomous agents include a planner, flexible executive, low level control and deductive model-based fault isolation. Adjustable autonomy is intended to increase the flexibility and effectiveness of fault management with an autonomous system. The test domain for this work is control of advanced life support systems for habitats for planetary exploration. The CONFIG hybrid discrete event simulation environment provides flexible and dynamically reconfigurable models of the behavior of components and fluids in the life support systems. Both discrete event and continuous (discrete time) simulation are supported, and flows and pressures are computed globally. This provides fast dynamic simulations of interacting hardware systems in closed loops that can be reconfigured during operations scenarios, producing complex cascading effects of operations and failures. Current object-oriented model libraries support modeling of fluid systems, and models have been developed of physico-chemical and biological subsystems for processing advanced life support gases. In FY01, water recovery system models will be developed.

Fusing terrain and goals: agent control in urban environments

NASA Astrophysics Data System (ADS)

Kaptan, Varol; Gelenbe, Erol

2006-04-01

The changing face of contemporary military conflicts has forced a major shift of focus in tactical planning and evaluation from the classical Cold War battlefield to an asymmetric guerrilla-type warfare in densely populated urban areas. The new arena of conflict presents unique operational difficulties due to factors like complex mobility restrictions and the necessity to preserve civilian lives and infrastructure. In this paper we present a novel method for autonomous agent control in an urban environment. Our approach is based on fusing terrain information and agent goals for the purpose of transforming the problem of navigation in a complex environment with many obstacles into the easier problem of navigation in a virtual obstacle-free space. The main advantage of our approach is its ability to act as an adapter layer for a number of efficient agent control techniques which normally show poor performance when applied to an environment with many complex obstacles. Because of the very low computational and space complexity at runtime, our method is also particularly well suited for simulation or control of a huge number of agents (military as well as civilian) in a complex urban environment where traditional path-planning may be too expensive or where a just-in-time decision with hard real-time constraints is required.

A fuzzy logic control in adjustable autonomy of a multi-agent system for an automated elderly movement monitoring application.

PubMed

Mostafa, Salama A; Mustapha, Aida; Mohammed, Mazin Abed; Ahmad, Mohd Sharifuddin; Mahmoud, Moamin A

2018-04-01

Autonomous agents are being widely used in many systems, such as ambient assisted-living systems, to perform tasks on behalf of humans. However, these systems usually operate in complex environments that entail uncertain, highly dynamic, or irregular workload. In such environments, autonomous agents tend to make decisions that lead to undesirable outcomes. In this paper, we propose a fuzzy-logic-based adjustable autonomy (FLAA) model to manage the autonomy of multi-agent systems that are operating in complex environments. This model aims to facilitate the autonomy management of agents and help them make competent autonomous decisions. The FLAA model employs fuzzy logic to quantitatively measure and distribute autonomy among several agents based on their performance. We implement and test this model in the Automated Elderly Movements Monitoring (AEMM-Care) system, which uses agents to monitor the daily movement activities of elderly users and perform fall detection and prevention tasks in a complex environment. The test results show that the FLAA model improves the accuracy and performance of these agents in detecting and preventing falls. Copyright © 2018 Elsevier B.V. All rights reserved.

Mobile Autonomous Humanoid Assistant

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

2004-01-01

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Remote Agent Demonstration

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Kurien, James; Rajan, Kanna

1999-01-01

We describe the computer demonstration of the Remote Agent Experiment (RAX). The Remote Agent is a high-level, model-based, autonomous control agent being validated on the NASA Deep Space 1 spacecraft.

Opportunistic Behavior in Motivated Learning Agents.

PubMed

Graham, James; Starzyk, Janusz A; Jachyra, Daniel

2015-08-01

This paper focuses on the novel motivated learning (ML) scheme and opportunistic behavior of an intelligent agent. It extends previously developed ML to opportunistic behavior in a multitask situation. Our paper describes the virtual world implementation of autonomous opportunistic agents learning in a dynamically changing environment, creating abstract goals, and taking advantage of arising opportunities to improve their performance. An opportunistic agent achieves better results than an agent based on ML only. It does so by minimizing the average value of all need signals rather than a dominating need. This paper applies to the design of autonomous embodied systems (robots) learning in real-time how to operate in a complex environment.

Density Control of Multi-Agent Systems with Safety Constraints: A Markov Chain Approach

NASA Astrophysics Data System (ADS)

Demirer, Nazli

The control of systems with autonomous mobile agents has been a point of interest recently, with many applications like surveillance, coverage, searching over an area with probabilistic target locations or exploring an area. In all of these applications, the main goal of the swarm is to distribute itself over an operational space to achieve mission objectives specified by the density of swarm. This research focuses on the problem of controlling the distribution of multi-agent systems considering a hierarchical control structure where the whole swarm coordination is achieved at the high-level and individual vehicle/agent control is managed at the low-level. High-level coordination algorithms uses macroscopic models that describes the collective behavior of the whole swarm and specify the agent motion commands, whose execution will lead to the desired swarm behavior. The low-level control laws execute the motion to follow these commands at the agent level. The main objective of this research is to develop high-level decision control policies and algorithms to achieve physically realizable commanding of the agents by imposing mission constraints on the distribution. We also make some connections with decentralized low-level motion control. This dissertation proposes a Markov chain based method to control the density distribution of the whole system where the implementation can be achieved in a decentralized manner with no communication between agents since establishing communication with large number of agents is highly challenging. The ultimate goal is to guide the overall density distribution of the system to a prescribed steady-state desired distribution while satisfying desired transition and safety constraints. Here, the desired distribution is determined based on the mission requirements, for example in the application of area search, the desired distribution should match closely with the probabilistic target locations. The proposed method is applicable for both systems with a single agent and systems with large number of agents due to the probabilistic nature, where the probability distribution of each agent's state evolves according to a finite-state and discrete-time Markov chain (MC). Hence, designing proper decision control policies requires numerically tractable solution methods for the synthesis of Markov chains. The synthesis problem has the form of a Linear Matrix Inequality Problem (LMI), with LMI formulation of the constraints. To this end, we propose convex necessary and sufficient conditions for safety constraints in Markov chains, which is a novel result in the Markov chain literature. In addition to LMI-based, offline, Markov matrix synthesis method, we also propose a QP-based, online, method to compute a time-varying Markov matrix based on the real-time density feedback. Both problems are convex optimization problems that can be solved in a reliable and tractable way, utilizing existing tools in the literature. A Low Earth Orbit (LEO) swarm simulations are presented to validate the effectiveness of the proposed algorithms. Another problem tackled as a part of this research is the generalization of the density control problem to autonomous mobile agents with two control modes: ON and OFF. Here, each mode consists of a (possibly overlapping) finite set of actions, that is, there exist a set of actions for the ON mode and another set for the OFF mode. We give formulation for a new Markov chain synthesis problem, with additional measurements for the state transitions, where a policy is designed to ensure desired safety and convergence properties for the underlying Markov chain.

Self-organizing network services with evolutionary adaptation.

PubMed

Nakano, Tadashi; Suda, Tatsuya

2005-09-01

This paper proposes a novel framework for developing adaptive and scalable network services. In the proposed framework, a network service is implemented as a group of autonomous agents that interact in the network environment. Agents in the proposed framework are autonomous and capable of simple behaviors (e.g., replication, migration, and death). In this paper, an evolutionary adaptation mechanism is designed using genetic algorithms (GAs) for agents to evolve their behaviors and improve their fitness values (e.g., response time to a service request) to the environment. The proposed framework is evaluated through simulations, and the simulation results demonstrate the ability of autonomous agents to adapt to the network environment. The proposed framework may be suitable for disseminating network services in dynamic and large-scale networks where a large number of data and services need to be replicated, moved, and deleted in a decentralized manner.

Autonomous System Technologies for Resilient Airspace Operations

NASA Technical Reports Server (NTRS)

Houston, Vincent E.; Le Vie, Lisa R.

2017-01-01

Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

Modeling the Internet of Things, Self-Organizing and Other Complex Adaptive Communication Networks: A Cognitive Agent-Based Computing Approach

PubMed Central

2016-01-01

Background Computer Networks have a tendency to grow at an unprecedented scale. Modern networks involve not only computers but also a wide variety of other interconnected devices ranging from mobile phones to other household items fitted with sensors. This vision of the "Internet of Things" (IoT) implies an inherent difficulty in modeling problems. Purpose It is practically impossible to implement and test all scenarios for large-scale and complex adaptive communication networks as part of Complex Adaptive Communication Networks and Environments (CACOONS). The goal of this study is to explore the use of Agent-based Modeling as part of the Cognitive Agent-based Computing (CABC) framework to model a Complex communication network problem. Method We use Exploratory Agent-based Modeling (EABM), as part of the CABC framework, to develop an autonomous multi-agent architecture for managing carbon footprint in a corporate network. To evaluate the application of complexity in practical scenarios, we have also introduced a company-defined computer usage policy. Results The conducted experiments demonstrated two important results: Primarily CABC-based modeling approach such as using Agent-based Modeling can be an effective approach to modeling complex problems in the domain of IoT. Secondly, the specific problem of managing the Carbon footprint can be solved using a multiagent system approach. PMID:26812235

The influence of active vision on the exoskeleton of intelligent agents

NASA Astrophysics Data System (ADS)

Smith, Patrice; Terry, Theodore B.

2016-04-01

Chameleonization occurs when a self-learning autonomous mobile system's (SLAMR) active vision scans the surface of which it is perched causing the exoskeleton to changes colors exhibiting a chameleon effect. Intelligent agents having the ability to adapt to their environment and exhibit key survivability characteristics of its environments would largely be due in part to the use of active vision. Active vision would allow the intelligent agent to scan its environment and adapt as needed in order to avoid detection. The SLAMR system would have an exoskeleton, which would change, based on the surface it was perched on; this is known as the "chameleon effect." Not in the common sense of the term, but from the techno-bio inspired meaning as addressed in our previous paper. Active vision, utilizing stereoscopic color sensing functionality would enable the intelligent agent to scan an object within its close proximity, determine the color scheme, and match it; allowing the agent to blend with its environment. Through the use of its' optical capabilities, the SLAMR system would be able to further determine its position, taking into account spatial and temporal correlation and spatial frequency content of neighboring structures further ensuring successful background blending. The complex visual tasks of identifying objects, using edge detection, image filtering, and feature extraction are essential for an intelligent agent to gain additional knowledge about its environmental surroundings.

Escape and evade control policies for ensuring the physical security of nonholonomic, ground-based, unattended mobile sensor nodes

NASA Astrophysics Data System (ADS)

Mascarenas, David; Stull, Christopher; Farrar, Charles

2011-06-01

In order to realize the wide-scale deployment of high-endurance, unattended mobile sensing technologies, it is vital to ensure the self-preservation of the sensing assets. Deployed mobile sensor nodes face a variety of physical security threats including theft, vandalism and physical damage. Unattended mobile sensor nodes must be able to respond to these threats with control policies that facilitate escape and evasion to a low-risk state. In this work the Precision Immobilization Technique (PIT) problem has been considered. The PIT maneuver is a technique that a pursuing, car-like vehicle can use to force a fleeing vehicle to abruptly turn ninety degrees to the direction of travel. The abrupt change in direction generally causes the fleeing driver to lose control and stop. The PIT maneuver was originally developed by law enforcement to end vehicular pursuits in a manner that minimizes damage to the persons and property involved. It is easy to imagine that unattended autonomous convoys could be targets of this type of action by adversarial agents. This effort focused on developing control policies unattended mobile sensor nodes could employ to escape, evade and recover from PIT-maneuver-like attacks. The development of these control policies involved both simulation as well as small-scale experimental testing. The goal of this work is to be a step toward ensuring the physical security of unattended sensor node assets.

Agent Based Fault Tolerance for the Mobile Environment

NASA Astrophysics Data System (ADS)

Park, Taesoon

This paper presents a fault-tolerance scheme based on mobile agents for the reliable mobile computing systems. Mobility of the agent is suitable to trace the mobile hosts and the intelligence of the agent makes it efficient to support the fault tolerance services. This paper presents two approaches to implement the mobile agent based fault tolerant service and their performances are evaluated and compared with other fault-tolerant schemes.

Mobile robot navigation modulated by artificial emotions.

PubMed

Lee-Johnson, C P; Carnegie, D A

2010-04-01

For artificial intelligence research to progress beyond the highly specialized task-dependent implementations achievable today, researchers may need to incorporate aspects of biological behavior that have not traditionally been associated with intelligence. Affective processes such as emotions may be crucial to the generalized intelligence possessed by humans and animals. A number of robots and autonomous agents have been created that can emulate human emotions, but the majority of this research focuses on the social domain. In contrast, we have developed a hybrid reactive/deliberative architecture that incorporates artificial emotions to improve the general adaptive performance of a mobile robot for a navigation task. Emotions are active on multiple architectural levels, modulating the robot's decisions and actions to suit the context of its situation. Reactive emotions interact with the robot's control system, altering its parameters in response to appraisals from short-term sensor data. Deliberative emotions are learned associations that bias path planning in response to eliciting objects or events. Quantitative results are presented that demonstrate situations in which each artificial emotion can be beneficial to performance.

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide

Toward Intelligent Autonomous Agents for Cyber Defense: Report of the 2017 Workshop by the North Atlantic Treaty Organization (NATO) Research Group IST-152 RTG

DTIC Science & Technology

2018-04-18

Significant research is currently conducted on dynamic learning and threat detection. However, this work is held back by gaps in validation methods ...and network path rotation (e.g., Stream Splitting MTD). Agents can also employ various cyber-deception methods , including direct observation hiding...ARL-SR-0395 ● APR 2018 US Army Research Laboratory Toward Intelligent Autonomous Agents for Cyber Defense: Report of the 2017

Toward Intelligent Autonomous Agents for Cyber Defense: Report of the 2017 Workshop by the North Atlantic Treaty Organization (NATO) Research Group IST-152-RTG

DTIC Science & Technology

2018-04-01

Significant research is currently conducted on dynamic learning and threat detection. However, this work is held back by gaps in validation methods ...and network path rotation (e.g., Stream Splitting MTD). Agents can also employ various cyber-deception methods , including direct observation hiding...ARL-SR-0395 ● APR 2018 US Army Research Laboratory Toward Intelligent Autonomous Agents for Cyber Defense: Report of the 2017

Impact of Contextuality on Mobile Learning Acceptance: An Empirical Study Based on a Language Learning App

ERIC Educational Resources Information Center

Böhm, Stephan; Constantine, Georges Philip

2015-01-01

The mobility of both the device and the learner will determine how mobile learning takes place. Mobile learning offers new educational opportunities that allow for autonomous, personalized and context aware learning. This paper focuses on contextualized features for mobile language learning apps. Context-awareness is seen as a particularly…

[Factors related to lack of autonomous mobility during out-of-hospital emergency care].

PubMed

Montero García, Antonio; Morales Asencio, José Miguel; Trujillo Illescas, Juan Alfonso; Martí, Celia

2016-10-01

To explore the frequency of lack of autonomous mobility and factors related to it in patients requiring prehospital emergency services. Cross-sectional, observational, retrospective analysis. We identified a stratified random sample of patients attended by the public health emergency service of Andalusia in 2011. The sample included 280 patients with a mean age of 56 years; 63.9% were men. The majority were attended in homes and streets or other public spaces. Most were transported to a hospital in a mobile intensive care unit. The reasons for calling the service were most often related to chest pain or injuries. Loss of autonomous mobility was seen more often in men, when care was required in a public area, when there were injuries or altered vital signs, and when the patient required transport in a mobile intensive care unit. Dependence on others was significantly associated with the presence of a prior condition before the patient required transport (odds ratio [OR], 3.27; 95% CI, 1.60-6.33), the use of immobilization strategies (OR, 7.71; 95% CI, 1.7-34.96], and the use of ambulance transport (OR, 4.35; 95% CI, 1.63-11.60]. The following 2 variables were at the limit of significance: pain during the care process (OR, 1.13; 95% CI, 0.99-1.29) and age (OR, 0.46; 95% CI, 0.97-1.01). The profile we identified for patients and situations in which patients cannot move autonomously during prehospital emergency care can be used to plan preventive strategies to ensure patient safety.

Technologies for Human Exploration

NASA Technical Reports Server (NTRS)

Drake, Bret G.

2014-01-01

Access to Space, Chemical Propulsion, Advanced Propulsion, In-Situ Resource Utilization, Entry, Descent, Landing and Ascent, Humans and Robots Working Together, Autonomous Operations, In-Flight Maintenance, Exploration Mobility, Power Generation, Life Support, Space Suits, Microgravity Countermeasures, Autonomous Medicine, Environmental Control.

On-Demand Mobility (ODM) Technical Pathway: Enabling Ease of Use and Safety

NASA Technical Reports Server (NTRS)

Goodrich, Ken; Moore, Mark

2015-01-01

On-demand mobility (ODM) through aviation refers to the ability to quickly and easily move people or equivalent cargo without delays introduced by lack of, or infrequently, scheduled service. A necessary attribute of ODM is that it be easy to use, requiring a minimum of special training, skills, or workload. Fully-autonomous vehicles would provide the ultimate in ease-of-use (EU) but are currently unproven for safety-critical applications outside of a few, situationally constrained applications (e.g. automated trains operating in segregated systems). Applied to aviation, the current and near-future state of the art of full-autonomy, may entail undesirable trade-offs such as very conservative operational margins resulting in reduced trip reliability and transportation utility. Furthermore, acceptance by potential users and regulatory authorities will be challenging without confidence in autonomous systems in developed in less critical, but still challenging applications. A question for the aviation community is how we can best develop practical ease-of-use for aircraft that are sized to carry a small number of passengers (e.g. 1-9) or equivalent cargo. Such development is unlikely to be a single event, but rather a managed, evolutionary process where responsibility and authority transitions from human to automation agents as operational experience is gained with increasingly intelligent systems. This talk presents a technology road map being developed at NASA Langley, as part of an overall strategy to foster ODM, for the development of ease-of-use for ODM aviation.

The Use of an Autonomous Pedagogical Agent and Automatic Speech Recognition for Teaching Sight Words to Students with Autism Spectrum Disorder

ERIC Educational Resources Information Center

Saadatzi, Mohammad Nasser; Pennington, Robert C.; Welch, Karla C.; Graham, James H.; Scott, Renee E.

2017-01-01

In the current study, we examined the effects of an instructional package comprised of an autonomous pedagogical agent, automatic speech recognition, and constant time delay during the instruction of reading sight words aloud to young adults with autism spectrum disorder. We used a concurrent multiple baseline across participants design to…

Computing architecture for autonomous microgrids

DOEpatents

Goldsmith, Steven Y.

2015-09-29

A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the .

Towards social autonomous vehicles: Efficient collision avoidance scheme using Richardson's arms race model.

PubMed

Riaz, Faisal; Niazi, Muaz A

2017-01-01

This paper presents the concept of a social autonomous agent to conceptualize such Autonomous Vehicles (AVs), which interacts with other AVs using social manners similar to human behavior. The presented AVs also have the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. Exploratory Agent Based Modeling (EABM) level of the Cognitive Agent Based Computing (CABC) framework has been utilized to design the proposed social agent. Furthermore, to emulate the functionality of mentalizing and mirroring modules of proposed social agent, a tailored mathematical model of the Richardson's arms race model has also been presented. The performance of the proposed social agent has been validated at two levels-firstly it has been simulated using NetLogo, a standard agent-based modeling tool and also, at a practical level using a prototype AV. The simulation results have confirmed that the proposed social agent-based collision avoidance strategy is 78.52% more efficient than Random walk based collision avoidance strategy in congested flock-like topologies. Whereas practical results have confirmed that the proposed scheme can avoid rear end and lateral collisions with the efficiency of 99.876% as compared with the IEEE 802.11n-based existing state of the art mirroring neuron-based collision avoidance scheme.

A Unified Approach to Model-Based Planning and Execution

NASA Technical Reports Server (NTRS)

Muscettola, Nicola; Dorais, Gregory A.; Fry, Chuck; Levinson, Richard; Plaunt, Christian; Norvig, Peter (Technical Monitor)

2000-01-01

Writing autonomous software is complex, requiring the coordination of functionally and technologically diverse software modules. System and mission engineers must rely on specialists familiar with the different software modules to translate requirements into application software. Also, each module often encodes the same requirement in different forms. The results are high costs and reduced reliability due to the difficulty of tracking discrepancies in these encodings. In this paper we describe a unified approach to planning and execution that we believe provides a unified representational and computational framework for an autonomous agent. We identify the four main components whose interplay provides the basis for the agent's autonomous behavior: the domain model, the plan database, the plan running module, and the planner modules. This representational and problem solving approach can be applied at all levels of the architecture of a complex agent, such as Remote Agent. In the rest of the paper we briefly describe the Remote Agent architecture. The new agent architecture proposed here aims at achieving the full Remote Agent functionality. We then give the fundamental ideas behind the new agent architecture and point out some implication of the structure of the architecture, mainly in the area of reactivity and interaction between reactive and deliberative decision making. We conclude with related work and current status.

Towards social autonomous vehicles: Efficient collision avoidance scheme using Richardson’s arms race model

PubMed Central

Niazi, Muaz A.

2017-01-01

This paper presents the concept of a social autonomous agent to conceptualize such Autonomous Vehicles (AVs), which interacts with other AVs using social manners similar to human behavior. The presented AVs also have the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. Exploratory Agent Based Modeling (EABM) level of the Cognitive Agent Based Computing (CABC) framework has been utilized to design the proposed social agent. Furthermore, to emulate the functionality of mentalizing and mirroring modules of proposed social agent, a tailored mathematical model of the Richardson’s arms race model has also been presented. The performance of the proposed social agent has been validated at two levels–firstly it has been simulated using NetLogo, a standard agent-based modeling tool and also, at a practical level using a prototype AV. The simulation results have confirmed that the proposed social agent-based collision avoidance strategy is 78.52% more efficient than Random walk based collision avoidance strategy in congested flock-like topologies. Whereas practical results have confirmed that the proposed scheme can avoid rear end and lateral collisions with the efficiency of 99.876% as compared with the IEEE 802.11n-based existing state of the art mirroring neuron-based collision avoidance scheme. PMID:29040294

Needs, Pains, and Motivations in Autonomous Agents.

PubMed

Starzyk, Janusz A; Graham, James; Puzio, Leszek

This paper presents the development of a motivated learning (ML) agent with symbolic I/O. Our earlier work on the ML agent was enhanced, giving it autonomy for interaction with other agents. Specifically, we equipped the agent with drives and pains that establish its motivations to learn how to respond to desired and undesired events and create related abstract goals. The purpose of this paper is to explore the autonomous development of motivations and memory in agents within a simulated environment. The ML agent has been implemented in a virtual environment created within the NeoAxis game engine. Additionally, to illustrate the benefits of an ML-based agent, we compared the performance of our algorithm against various reinforcement learning (RL) algorithms in a dynamic test scenario, and demonstrated that our ML agent learns better than any of the tested RL agents.This paper presents the development of a motivated learning (ML) agent with symbolic I/O. Our earlier work on the ML agent was enhanced, giving it autonomy for interaction with other agents. Specifically, we equipped the agent with drives and pains that establish its motivations to learn how to respond to desired and undesired events and create related abstract goals. The purpose of this paper is to explore the autonomous development of motivations and memory in agents within a simulated environment. The ML agent has been implemented in a virtual environment created within the NeoAxis game engine. Additionally, to illustrate the benefits of an ML-based agent, we compared the performance of our algorithm against various reinforcement learning (RL) algorithms in a dynamic test scenario, and demonstrated that our ML agent learns better than any of the tested RL agents.

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

NASA Technical Reports Server (NTRS)

Muscettola, Nicola

2004-01-01

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

Integration for navigation on the UMASS mobile perception lab

NASA Technical Reports Server (NTRS)

Draper, Bruce; Fennema, Claude; Rochwerger, Benny; Riseman, Edward; Hanson, Allen

1994-01-01

Integration of real-time visual procedures for use on the Mobile Perception Lab (MPL) was presented. The MPL is an autonomous vehicle designed for testing visually guided behavior. Two critical areas of focus in the system design were data storage/exchange and process control. The Intermediate Symbolic Representation (ISR3) supported data storage and exchange, and the MPL script monitor provided process control. Resource allocation, inter-process communication, and real-time control are difficult problems which must be solved in order to construct strong autonomous systems.

Integrated Microsensors for Autonomous Microrobots

DOE Office of Scientific and Technical Information (OSTI.GOV)

ADKINS, DOUGLAS R.; BYRNE, RAYMOND H.; HELLER, EDWIN J.

2003-02-01

This report describes the development of a miniature mobile microrobot device and several microsystems needed to create a miniature microsensor delivery platform. This work was funded under LDRD No.10785, entitled, ''Integrated Microsensors for Autonomous Microrobots''. The approach adopted in this project was to develop a mobile platform, to which would be attached wireless RF remote control and data acquisition in addition to various microsensors. A modular approach was used to produce a versatile microrobot platform and reduce power consumption and physical size.

Engineering Ultimate Self-Protection in Autonomic Agents for Space Exploration Missions

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

NASA's Exploration Initiative (EI) will push space exploration missions to the limit. Future missions will be required to be self-managing as well as self-directed, in order to meet the challenges of human and robotic space exploration. We discuss security and self protection in autonomic agent based-systems, and propose the ultimate self-protection mechanism for such systems-self-destruction. Like other metaphors in Autonomic Computing, this is inspired by biological systems, and is the analog of biological apoptosis. Finally, we discus the role it might play in future NASA space exploration missions.

Towards fenceless boundaries for solar powered insect biobots.

PubMed

Latif, Tahmid; Whitmire, Eric; Novak, Tristan; Bozkurt, Alper

2014-01-01

Demonstration of remote navigation with instrumented insects, such as the Madagascar Hissing Cockroach, Gromphadorhina portentosa, has enabled the concept of biobotic agents for search and rescue missions and environmental monitoring applications. The biobots can form the nodes of a mobile sensor network to be established, for example, in unknown and dynamic environments after natural disasters to pinpoint surviving victims. We demonstrate here, for the first time, the concept of an invisible fence for insect biobots with an ultimate goal of keeping insect biobots within a certain distance of each other or a base station to ensure a reliable wireless network. For extended mission durations, this fenceless boundary would also be used to guide insects towards light sources for autonomous solar charging of their on-board batteries.

Evaluation of a Mobile Platform for Proof-of-Concept Autonomous Site Selection and Preparation

NASA Astrophysics Data System (ADS)

Gammell, Jonathan

A mobile robotic platform for Autonomous Site Selection and Preparation (ASSP) was developed for an analogue deployment to Mauna Kea, Hawai`i. A team of rovers performed an autonomous Ground Penetrating Radar (GPR) survey and constructed a level landing pad. They used interchangeable payloads that allowed the GPR and blade to be easily exchanged. Autonomy was accomplished by integrating the individual hardware devices with software based on the ArgoSoft framework previously developed at UTIAS. The rovers were controlled by an on-board netbook. The successes and failures of the devices and software modules are evaluated within. Recommendations are presented to address problems discovered during the deployment and to guide future research on the platform.

Organization-based Model-driven Development of High-assurance Multiagent Systems

DTIC Science & Technology

2009-02-27

based Model -driven Development of High-assurance Multiagent Systems " performed by Dr. Scott A . DeLoach and Dr Robby at Kansas State University... A Capabilities Based Model for Artificial Organizations. Journal of Autonomous Agents and Multiagent Systems . Volume 16, no. 1, February 2008, pp...Matson, E . T. (2007). A capabilities based theory of artificial organizations. Journal of Autonomous Agents and Multiagent Systems

An Approach to Model Based Testing of Multiagent Systems

PubMed Central

Nadeem, Aamer

2015-01-01

Autonomous agents perform on behalf of the user to achieve defined goals or objectives. They are situated in dynamic environment and are able to operate autonomously to achieve their goals. In a multiagent system, agents cooperate with each other to achieve a common goal. Testing of multiagent systems is a challenging task due to the autonomous and proactive behavior of agents. However, testing is required to build confidence into the working of a multiagent system. Prometheus methodology is a commonly used approach to design multiagents systems. Systematic and thorough testing of each interaction is necessary. This paper proposes a novel approach to testing of multiagent systems based on Prometheus design artifacts. In the proposed approach, different interactions between the agent and actors are considered to test the multiagent system. These interactions include percepts and actions along with messages between the agents which can be modeled in a protocol diagram. The protocol diagram is converted into a protocol graph, on which different coverage criteria are applied to generate test paths that cover interactions between the agents. A prototype tool has been developed to generate test paths from protocol graph according to the specified coverage criterion. PMID:25874263

Rice-obot 1: An intelligent autonomous mobile robot

NASA Technical Reports Server (NTRS)

Defigueiredo, R.; Ciscon, L.; Berberian, D.

1989-01-01

The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

Dynamic multisensor fusion for mobile robot navigation in an indoor environment

NASA Astrophysics Data System (ADS)

Jin, Taeseok; Lee, Jang-Myung; Luk, Bing L.; Tso, Shiu K.

2001-10-01

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

Autonomy: Life and Being

NASA Astrophysics Data System (ADS)

Williams, Mary-Anne

This paper uses robot experience to explore key concepts of autonomy, life and being. Unfortunately, there are no widely accepted definitions of autonomy, life or being. Using a new cognitive agent architecture we argue that autonomy is a key ingredient for both life and being, and set about exploring autonomy as a concept and a capability. Some schools of thought regard autonomy as the key characteristic that distinguishes a system from an agent; agents are systems with autonomy, but rarely is a definition of autonomy provided. Living entities are autonomous systems, and autonomy is vital to life. Intelligence presupposes autonomy too; what would it mean for a system to be intelligent but not exhibit any form of genuine autonomy. Our philosophical, scientific and legal understanding of autonomy and its implications is immature and as a result progress towards designing, building, managing, exploiting and regulating autonomous systems is retarded. In response we put forward a framework for exploring autonomy as a concept and capability based on a new cognitive architecture. Using this architecture tools and benchmarks can be developed to analyze and study autonomy in its own right as a means to further our understanding of autonomous systems, life and being. This endeavor would lead to important practical benefits for autonomous systems design and help determine the legal status of autonomous systems. It is only with a new enabling understanding of autonomy that the dream of Artificial Intelligence and Artificial Life can be realized. We argue that designing systems with genuine autonomy capabilities can be achieved by focusing on agent experiences of being rather than attempting to encode human experiences as symbolic knowledge and know-how in the artificial agents we build.

Multi-agent autonomous system

NASA Technical Reports Server (NTRS)

Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

2010-01-01

A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Self-emergence of Lexicon Consensus in a Population of Autonomous Agents by Means of Evolutionary Strategies

NASA Astrophysics Data System (ADS)

Maravall, Darío; de Lope, Javier; Domínguez, Raúl

In Multi-agent systems, the study of language and communication is an active field of research. In this paper we present the application of evolutionary strategies to the self-emergence of a common lexicon in a population of agents. By modeling the vocabulary or lexicon of each agent as an association matrix or look-up table that maps the meanings (i.e. the objects encountered by the agents or the states of the environment itself) into symbols or signals we check whether it is possible for the population to converge in an autonomous, decentralized way to a common lexicon, so that the communication efficiency of the entire population is optimal. We have conducted several experiments, from the simplest case of a 2×2 association matrix (i.e. two meanings and two symbols) to a 3×3 lexicon case and in both cases we have attained convergence to the optimal communication system by means of evolutionary strategies. To analyze the convergence of the population of agents we have defined the population's consensus when all the agents (i.e. the 100% of the population) share the same association matrix or lexicon. As a general conclusion we have shown that evolutionary strategies are powerful enough optimizers to guarantee the convergence to lexicon consensus in a population of autonomous agents.

The Unified Behavior Framework for the Simulation of Autonomous Agents

DTIC Science & Technology

2015-03-01

1980s, researchers have designed a variety of robot control architectures intending to imbue robots with some degree of autonomy. A recently developed ...Identification Friend or Foe viii THE UNIFIED BEHAVIOR FRAMEWORK FOR THE SIMULATION OF AUTONOMOUS AGENTS I. Introduction The development of autonomy has...room for research by utilizing methods like simulation and modeling that consume less time and fewer monetary resources. A recently developed reactive

Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

ERIC Educational Resources Information Center

Riek, L. D.

2013-01-01

This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

Safe motion planning for mobile agents: A model of reactive planning for multiple mobile agents

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fujimura, Kikuo.

1990-01-01

The problem of motion planning for multiple mobile agents is studied. Each planning agent independently plans its own action based on its map which contains a limited information about the environment. In an environment where more than one mobile agent interacts, the motions of the robots are uncertain and dynamic. A model for reactive agents is described and simulation results are presented to show their behavior patterns. 18 refs., 2 figs.

Methyl methacrylate as a healing agent for self-healing cementitious materials

NASA Astrophysics Data System (ADS)

Van Tittelboom, K.; Adesanya, K.; Dubruel, P.; Van Puyvelde, P.; De Belie, N.

2011-12-01

Different types of healing agents have already been tested on their efficiency for use in self-healing cementitious materials. Generally, commercial healing agents are used while their properties are adjusted for manual crack repair and not for autonomous crack healing. Consequently, the amount of regain in properties due to self-healing of cracks is limited. In this research, a methyl methacrylate (MMA)-based healing agent was developed specifically for use in self-healing cementitious materials. Various parameters were optimized including the viscosity, curing time, strength, etc. After the desired properties were obtained, the healing agent was encapsulated and screened for its self-healing efficiency. The decrease in water permeability due to autonomous crack healing using MMA as a healing agent was similar to the results obtained for manually healed cracks. First results seem promising: however, further research needs to be undertaken in order to obtain an optimal healing agent ready for use in practice.

Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

EISLER, G. RICHARD

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstratemore » the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.« less

Mobile code security

NASA Astrophysics Data System (ADS)

Ramalingam, Srikumar

2001-11-01

A highly secure mobile agent system is very important for a mobile computing environment. The security issues in mobile agent system comprise protecting mobile hosts from malicious agents, protecting agents from other malicious agents, protecting hosts from other malicious hosts and protecting agents from malicious hosts. Using traditional security mechanisms the first three security problems can be solved. Apart from using trusted hardware, very few approaches exist to protect mobile code from malicious hosts. Some of the approaches to solve this problem are the use of trusted computing, computing with encrypted function, steganography, cryptographic traces, Seal Calculas, etc. This paper focuses on the simulation of some of these existing techniques in the designed mobile language. Some new approaches to solve malicious network problem and agent tampering problem are developed using public key encryption system and steganographic concepts. The approaches are based on encrypting and hiding the partial solutions of the mobile agents. The partial results are stored and the address of the storage is destroyed as the agent moves from one host to another host. This allows only the originator to make use of the partial results. Through these approaches some of the existing problems are solved.

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation thru the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The application of many different types of AI techniques for flight will be explored during this research effort. The research concentration will be directed to the application of different AI methods within the UAV arena. By evaluating AI approaches, which will include Expert Systems, Neural Networks, Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI techniques applied to achieving true autonomous operation of these systems thus providing new intellectual merit to this research field. The major area of discussion will be limited to the UAV. The systems of interest include small aircraft, insects, and miniature aircraft. Although flight systems will be explored, the benefits should apply to many Unmanned Vehicles such as: Rovers, Ocean Explorers, Robots, and autonomous operation systems. The flight system will be broken down into control agents that will represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework of applying a Security Overseer will be added in an attempt to address errors, emergencies, failures, damage, or over dynamic environment. The chosen control problem was the landing phase of UAV operation. The initial results from simulation in FlightGear are presented.

Automated monitoring of medical protocols: a secure and distributed architecture.

PubMed

Alsinet, T; Ansótegui, C; Béjar, R; Fernández, C; Manyà, F

2003-03-01

The control of the right application of medical protocols is a key issue in hospital environments. For the automated monitoring of medical protocols, we need a domain-independent language for their representation and a fully, or semi, autonomous system that understands the protocols and supervises their application. In this paper we describe a specification language and a multi-agent system architecture for monitoring medical protocols. We model medical services in hospital environments as specialized domain agents and interpret a medical protocol as a negotiation process between agents. A medical service can be involved in multiple medical protocols, and so specialized domain agents are independent of negotiation processes and autonomous system agents perform monitoring tasks. We present the detailed architecture of the system agents and of an important domain agent, the database broker agent, that is responsible of obtaining relevant information about the clinical history of patients. We also describe how we tackle the problems of privacy, integrity and authentication during the process of exchanging information between agents.

A Diversified Investment Strategy Using Autonomous Agents

NASA Astrophysics Data System (ADS)

Barbosa, Rui Pedro; Belo, Orlando

In a previously published article, we presented an architecture for implementing agents with the ability to trade autonomously in the Forex market. At the core of this architecture is an ensemble of classification and regression models that is used to predict the direction of the price of a currency pair. In this paper, we will describe a diversified investment strategy consisting of five agents which were implemented using that architecture. By simulating trades with 18 months of out-of-sample data, we will demonstrate that data mining models can produce profitable predictions, and that the trading risk can be diminished through investment diversification.

Autonomous sensor manager agents (ASMA)

NASA Astrophysics Data System (ADS)

Osadciw, Lisa A.

2004-04-01

Autonomous sensor manager agents are presented as an algorithm to perform sensor management within a multisensor fusion network. The design of the hybrid ant system/particle swarm agents is described in detail with some insight into their performance. Although the algorithm is designed for the general sensor management problem, a simulation example involving 2 radar systems is presented. Algorithmic parameters are determined by the size of the region covered by the sensor network, the number of sensors, and the number of parameters to be selected. With straight forward modifications, this algorithm can be adapted for most sensor management problems.

A neural network-based exploratory learning and motor planning system for co-robots

PubMed Central

Galbraith, Byron V.; Guenther, Frank H.; Versace, Massimiliano

2015-01-01

Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or “learning by doing,” an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object. PMID:26257640

A neural network-based exploratory learning and motor planning system for co-robots.

PubMed

Galbraith, Byron V; Guenther, Frank H; Versace, Massimiliano

2015-01-01

Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or "learning by doing," an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Even parasites have parasites: oscillatory population dynamics of mobile genetic elements in your genome

NASA Astrophysics Data System (ADS)

Xue, Chi; Goldenfeld, Nigel

Transposable elements (TEs), or transposons, are a class of mobile genetic elements that can either move or duplicate themselves in the genome, sometimes interfering with gene expression as a result. Some TEs can code all necessary enzymes for their transposition and are thus autonomous, while non-autonomous TEs are parasitic and must depend on the machinery of autonomous ones. I present and solve a stochastic model to describe the dynamics of non-autonomous/autonomous pairs of retrotransposons in the human genome that proliferate by a copy-and-paste mechanism. We predict noise-induced persistent oscillations in their copy numbers, analogous to predator-prey dynamics in an ecosystem. We discuss if it is experimentally feasible to measure these phenomena in the laboratory and to observe them over evolutionary time through bioinformatics. This work shows that it is fruitful to regard the genome as an ecosystem that is host to diverse interacting populations. This work was partially supported by the National Science Foundation through Grant No. PHY-1430124, and by the National Aeronautics and Space Administration Astrobiology Institute (NAI) under Cooperative Agreement No. NNA13AA91A.

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

PubMed

Deng, Fucheng; Zhu, Xiaorui; He, Chao

2017-09-13

Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.

Contrasting actions of pressor agents in severe autonomic failure

NASA Technical Reports Server (NTRS)

Jordan, J.; Shannon, J. R.; Biaggioni, I.; Norman, R.; Black, B. K.; Robertson, D.

1998-01-01

BACKGROUND: Orthostatic hypotension is the most disabling symptom of autonomic failure. The choice of a pressor agent is largely empiric, and it would be of great value to define predictors of a response. PATIENTS AND METHODS: In 35 patients with severe orthostatic hypotension due to multiple system atrophy or pure autonomic failure, we determined the effect on seated systolic blood pressure (SBP) of placebo, phenylpropanolamine (12.5 mg and 25 mg), yohimbine (5.4 mg), indomethacin (50 mg), ibuprofen (600 mg), caffeine (250 mg), and methylphenidate (5 mg). In a subgroup of patients, we compared the pressor effect of midodrine (5 mg) with the effect of phenylpropanolamine (12.5 mg). RESULTS: There were no significant differences in the pressor responses between patients with multiple system atrophy or pure autonomic failure. When compared with placebo, the pressor response was significant for phenylpropanolamine, yohimbine, and indomethacin. In a subgroup of patients, we confirmed that this pressor effect of phenylpropanolamine, yohimbine, and indomethacin corresponded to a significant increase in standing SBP. The pressor responses to ibuprofen, caffeine, and methylphenidate were not significantly different from placebo. Phenylpropanolamine and midodrine elicited similar pressor responses. There were no significant associations between drug response and autonomic function testing, postprandial hypotension, or plasma catecholamine levels. CONCLUSIONS: We conclude that significant increases in systolic blood pressure can be obtained in patients with orthostatic hypotension due to primary autonomic failure with phenylpropanolamine in low doses or yohimbine or indomethacin in moderate doses. The response to a pressor agent cannot be predicted by autonomic function testing or plasma catecholamines. Therefore, empiric testing with a sequence of medications, based on the risk of side effects in the individual patient and the probability of a response, is a useful approach.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Obstacle avoidance system with sonar sensing and fuzzy logic

NASA Astrophysics Data System (ADS)

Chiang, Wen-chuan; Kelkar, Nikhal; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of an obstacle avoidance system using sonar sensors for a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a distance measurement back to the computer via the serial line. This design yields a portable independent system. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous obstacle avoidance controller applicable for any mobile vehicle with only minor adaptations.

Autonomous mobile robot research using the HERMIES-III robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; Beckerman, M.; Spelt, P.F.

1989-01-01

This paper reports on the status and future directions in the research, development and experimental validation of intelligent control techniques for autonomous mobile robots using the HERMIES-III robot at the Center for Engineering Systems Advanced research (CESAR) at Oak Ridge National Laboratory (ORNL). HERMIES-III is the fourth robot in a series of increasingly more sophisticated and capable experimental test beds developed at CESAR. HERMIES-III is comprised of a battery powered, onmi-directional wheeled platform with a seven degree-of-freedom manipulator arm, video cameras, sonar range sensors, laser imaging scanner and a dual computer system containing up to 128 NCUBE nodes in hypercubemore » configuration. All electronics, sensors, computers, and communication equipment required for autonomous operation of HERMIES-III are located on board along with sufficient battery power for three to four hours of operation. The paper first provides a more detailed description of the HERMIES-III characteristics, focussing on the new areas of research and demonstration now possible at CESAR with this new test-bed. The initial experimental program is then described with emphasis placed on autonomous performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES- III). The paper concludes with a discussion of the integration problems and safety considerations necessarily arising from the set-up of an experimental program involving human-scale, multi-autonomous mobile robots performance. 10 refs., 3 figs.« less

Proposed Methodology for Application of Human-like gradual Multi-Agent Q-Learning (HuMAQ) for Multi-robot Exploration

NASA Astrophysics Data System (ADS)

Narayan Ray, Dip; Majumder, Somajyoti

2014-07-01

Several attempts have been made by the researchers around the world to develop a number of autonomous exploration techniques for robots. But it has been always an important issue for developing the algorithm for unstructured and unknown environments. Human-like gradual Multi-agent Q-leaming (HuMAQ) is a technique developed for autonomous robotic exploration in unknown (and even unimaginable) environments. It has been successfully implemented in multi-agent single robotic system. HuMAQ uses the concept of Subsumption architecture, a well-known Behaviour-based architecture for prioritizing the agents of the multi-agent system and executes only the most common action out of all the different actions recommended by different agents. Instead of using new state-action table (Q-table) each time, HuMAQ uses the immediate past table for efficient and faster exploration. The proof of learning has also been established both theoretically and practically. HuMAQ has the potential to be used in different and difficult situations as well as applications. The same architecture has been modified to use for multi-robot exploration in an environment. Apart from all other existing agents used in the single robotic system, agents for inter-robot communication and coordination/ co-operation with the other similar robots have been introduced in the present research. Current work uses a series of indigenously developed identical autonomous robotic systems, communicating with each other through ZigBee protocol.

Autonomous Trans-Antartic expeditions: an initiative for advancing planetary mobility system technology while addressing Earth science objectives in Antartica

NASA Technical Reports Server (NTRS)

Carsey, F.; Schenker, P.; Blamont, J.

2001-01-01

A workshop on Antartic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society in February to discuss scientific objectives and benefits of the use of rovers such as are being developed for use in planetary exploration.

A Markov Chain Approach to Probabilistic Swarm Guidance

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Bayard, David S.

2012-01-01

This paper introduces a probabilistic guidance approach for the coordination of swarms of autonomous agents. The main idea is to drive the swarm to a prescribed density distribution in a prescribed region of the configuration space. In its simplest form, the probabilistic approach is completely decentralized and does not require communication or collabo- ration between agents. Agents make statistically independent probabilistic decisions based solely on their own state, that ultimately guides the swarm to the desired density distribution in the configuration space. In addition to being completely decentralized, the probabilistic guidance approach has a novel autonomous self-repair property: Once the desired swarm density distribution is attained, the agents automatically repair any damage to the distribution without collaborating and without any knowledge about the damage.

Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

NASA Astrophysics Data System (ADS)

Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

2016-05-01

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

Extending the Trans-Contextual Model in Physical Education and Leisure-Time Contexts: Examining the Role of Basic Psychological Need Satisfaction

ERIC Educational Resources Information Center

Barkoukis, Vassilis; Hagger, Martin S.; Lambropoulos, George; Tsorbatzoudis, Haralambos

2010-01-01

Background: The trans-contextual model (TCM) is an integrated model of motivation that aims to explain the processes by which agentic support for autonomous motivation in physical education promotes autonomous motivation and physical activity in a leisure-time context. It is proposed that perceived support for autonomous motivation in physical…

Improving Human/Autonomous System Teaming Through Linguistic Analysis

NASA Technical Reports Server (NTRS)

Meszaros, Erica L.

2016-01-01

An area of increasing interest for the next generation of aircraft is autonomy and the integration of increasingly autonomous systems into the national airspace. Such integration requires humans to work closely with autonomous systems, forming human and autonomous agent teams. The intention behind such teaming is that a team composed of both humans and autonomous agents will operate better than homogenous teams. Procedures exist for licensing pilots to operate in the national airspace system and current work is being done to define methods for validating the function of autonomous systems, however there is no method in place for assessing the interaction of these two disparate systems. Moreover, currently these systems are operated primarily by subject matter experts, limiting their use and the benefits of such teams. Providing additional information about the ongoing mission to the operator can lead to increased usability and allow for operation by non-experts. Linguistic analysis of the context of verbal communication provides insight into the intended meaning of commonly heard phrases such as "What's it doing now?" Analyzing the semantic sphere surrounding these common phrases enables the prediction of the operator's intent and allows the interface to supply the operator's desired information.

Online Deception Detection Using BDI Agents

ERIC Educational Resources Information Center

Merritts, Richard A.

2013-01-01

This research has two facets within separate research areas. The research area of Belief, Desire and Intention (BDI) agent capability development was extended. Deception detection research has been advanced with the development of automation using BDI agents. BDI agents performed tasks automatically and autonomously. This study used these…

Autonomous stimulus triggered self-healing in smart structural composites

NASA Astrophysics Data System (ADS)

Norris, C. J.; White, J. A. P.; McCombe, G.; Chatterjee, P.; Bond, I. P.; Trask, R. S.

2012-09-01

Inspired by the ability of biological systems to sense and autonomously heal damage, this research has successfully demonstrated the first autonomous, stimulus triggered, self-healing system in a structural composite material. Both the sensing and healing mechanisms are reliant on microvascular channels incorporated within a laminated composite material. For the triggering mechanism, a single air filled vessel was pressurized, sealed and monitored. Upon drop weight impact (10 J), delamination and microcrack connectivity between the pressurized vessel and those open to ambient led to a pressure loss which, with the use of a suitable sensor, triggered a pump to deliver a healing agent to the damage zone. Using this autonomous healing approach, near full recovery of post-impact compression strength was achieved (94% on average). A simplified alternative system with healing agent continuously flowing through the vessels, akin to blood flow, was found to offer 100% recovery of the material’s virgin strength. Optical microscopy and ultrasonic C-scanning provided further evidence of large-scale infusion of matrix damage with the healing agent. The successful implementation of this bioinspired technology could substantially enhance the integrity and reliability of aerospace structures, whilst offering benefits through improved performance/weight ratios and extended lifetimes.

Adaptive Remote-Sensing Techniques Implementing Swarms of Mobile Agents

DOE Office of Scientific and Technical Information (OSTI.GOV)

Asher, R.B.; Cameron, S.M.; Loubriel, G.M.

1998-11-25

In many situations, stand-off remote-sensing and hazard-interdiction techniques over realistic operational areas are often impractical "and difficult to characterize. An alternative approach is to implement an adap- tively deployable array of sensitive agent-specific devices. Our group has been studying the collective be- havior of an autonomous, multi-agent system applied to chedbio detection and related emerging threat applications, The current physics-based models we are using coordinate a sensor array for mukivanate sig- nal optimization and coverage as re,alized by a swarm of robots or mobile vehicles. These intelligent control systems integrate'glob"ally operating decision-making systems and locally cooperative learning neural net- worksmore » to enhance re+-timp operational responses to dynarnical environments examples of which include obstacle avoidance, res~onding to prevailing wind patterns, and overcoming other natural obscurants or in- terferences. Collectively',tkensor nefirons with simple properties, interacting according to basic community rules, can accomplish complex interconnecting functions such as generalization, error correction, pattern recognition, sensor fusion, and localization. Neural nets provide a greater degree of robusmess and fault tolerance than conventional systems in that minor variations or imperfections do not impair performance. The robotic platforms would be equipped with sensor devices that perform opticaI detection of biologicais in combination with multivariate chemical analysis tools based on genetic and neural network algorithms, laser-diode LIDAR analysis, ultra-wideband short-pulsed transmitting and receiving antennas, thermal im- a:ing sensors, and optical Communication technology providing robust data throughput pathways. Mission scenarios under consideration include ground penetrating radar (GPR) for detection of underground struc- tures, airborne systems, and plume migration and mitigation. We will describe our research in these areas anti give a status report on our progress.« less

Emergent Aerospace Designs Using Negotiating Autonomous Agents

NASA Technical Reports Server (NTRS)

Deshmukh, Abhijit; Middelkoop, Timothy; Krothapalli, Anjaneyulu; Smith, Charles

2000-01-01

This paper presents a distributed design methodology where designs emerge as a result of the negotiations between different stake holders in the process, such as cost, performance, reliability, etc. The proposed methodology uses autonomous agents to represent design decision makers. Each agent influences specific design parameters in order to maximize their utility. Since the design parameters depend on the aggregate demand of all the agents in the system, design agents need to negotiate with others in the market economy in order to reach an acceptable utility value. This paper addresses several interesting research issues related to distributed design architectures. First, we present a flexible framework which facilitates decomposition of the design problem. Second, we present overview of a market mechanism for generating acceptable design configurations. Finally, we integrate learning mechanisms in the design process to reduce the computational overhead.

Real-Time Modeling of Cross-Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle (AUV)

DTIC Science & Technology

1998-03-01

34Numerical Recipes in C," second edition, Cambridge University Press, Cambridge England, 1992. Marco, David , "Autonomous Control of Underwater...in the viewer. -202- LIST OF REFERENCES Ames, Andrea L., Nadeau, David R., Moreland, John L., VRML 2.0 Sourcebook, Second edition, John Wiley...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," AI-Based Mobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy, MJT/AAAI

Tank-automotive robotics

NASA Astrophysics Data System (ADS)

Lane, Gerald R.

1999-07-01

To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks

PubMed Central

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-01

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage. PMID:28075364

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks.

PubMed

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-09

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage.

Research and Simulation on Application of the Mobile IP Network

NASA Astrophysics Data System (ADS)

Yibing, Deng; Wei, Hu; Minghui, Li; Feng, Gao; Junyi, Shen

The paper analysed the mobile node, home agent, and foreign agent of mobile IP network firstly, some key technique, such as mobile IP network basical principle, protocol work principle, agent discovery, registration, and IP packet transmission, were discussed. Then a network simulation model was designed, validating the characteristic of mobile IP network, and some advantages, which were brought by mobile network, were testified. Finally, the conclusion is gained: mobile IP network could realize the expectation of consumer that they can communicate with others anywhere.

The NASA/Army Autonomous Rotorcraft Project

NASA Technical Reports Server (NTRS)

Whalley, M.; Freed, M.; Takahashi, M.; Christian, D.; Patterson-Hine, A.; Schulein, G.; Harris, R.

2002-01-01

An overview of the NASA Ames Research Center Autonomous Rotorcraft Project (ARP) is presented. The project brings together several technologies to address NASA and US Army autonomous vehicle needs, including a reactive planner for mission planning and execution, control system design incorporating a detailed understanding of the platform dynamics, and health monitoring and diagnostics. A candidate reconnaissance and surveillance mission is described. The autonomous agent architecture and its application to the candidate mission are presented. Details of the vehicle hardware and software development are provided.

SyRoTek--Distance Teaching of Mobile Robotics

ERIC Educational Resources Information Center

Kulich, M.; Chudoba, J.; Kosnar, K.; Krajnik, T.; Faigl, J.; Preucil, L.

2013-01-01

E-learning is a modern and effective approach for training in various areas and at different levels of education. This paper gives an overview of SyRoTek, an e-learning platform for mobile robotics, artificial intelligence, control engineering, and related domains. SyRoTek provides remote access to a set of fully autonomous mobile robots placed in…

Research state-of-the-art of mobile robots in China

NASA Astrophysics Data System (ADS)

Wu, Lin; Zhao, Jinglun; Zhang, Peng; Li, Shiqing

1991-03-01

Several newly developed mobile robots in china are described in the paper. It includes masterslave telerobot sixleged robot biped walking robot remote inspection robot crawler moving robot and autonomous mobi le vehicle . Some relevant technology are also described.

Learning Hierarchical Skills for Game Agents from Video of Human Behavior

DTIC Science & Technology

2009-01-01

intelligent agents for computer games is an im- portant aspect of game development . However, traditional methods are expensive, and the resulting agents...Constructing autonomous agents is an essential task in game development . In this paper, we outlined a system that an- alyzes preprocessed video footage of

The development of an assessment tool for the mobility of lightweight autonomous vehicles on coastal terrain

NASA Astrophysics Data System (ADS)

Worley, Marilyn E.; Ren, Ping; Sandu, Corina; Hong, Dennis

2007-04-01

This study focuses on developing an assessment tool for the performance prediction of lightweight autonomous vehicles with varying locomotion platforms on coastal terrain involves three segments. A table based on the House of Quality shows the relationships - high, low, or adverse - between mission profile requirements and general performance measures and geometries of vehicles under consideration for use. This table, when combined with known values for vehicle metrics, provides information for an index formula used to quantitatively compare the mobility of a user-chosen set of vehicles, regardless of their methods of locomotion. To study novel forms of locomotion, and to compare their mobility and performance with more traditional wheeled and tracked vehicles, several new autonomous vehicles - bipedal, self-excited dynamic tripedal, active spoke-wheel - are currently under development. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and models have been developed for heavy vehicles, the feasibility of extrapolating them to the analysis of light vehicles is still under analysis. wheeled all-terrain vehicle and a lightweight autonomous tracked vehicle have been tested for effects of sand gradation, vehicle speed, and vehicle payload on measures of pressure and sinkage in the contact patch, and preliminary analysis is presented on the sinkage of the wheeled all-terrain vehicle. These three segments - development of the comparison matrix and indexing function, modeling and development of novel forms of locomotion, and physical experimentation of lightweight tracked and wheeled vehicles on varying terrain types for terramechanic model validation - combine to give an overall picture of mobility that spans across different forms of locomotion.

Video Guidance Sensor for Surface Mobility Operations

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Fischer, Richard; Bryan, Thomas; Howell, Joe; Howard, Ricky; Peters, Bruce

2008-01-01

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame.

Proceedings of the 1989 CESAR/CEA (Center for Engineering Systems Advanced Research/Commissariat a l'Energie Atomique) workshop on autonomous mobile robots (May 30--June 1, 1989)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harber, K.S.; Pin, F.G.

1990-03-01

The US DOE Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) and the Commissariat a l'Energie Atomique's (CEA) Office de Robotique et Productique within the Directorat a la Valorization are working toward a long-term cooperative agreement and relationship in the area of Intelligent Systems Research (ISR). This report presents the proceedings of the first CESAR/CEA Workshop on Autonomous Mobile Robots which took place at ORNL on May 30, 31 and June 1, 1989. The purpose of the workshop was to present and discuss methodologies and algorithms under development at the two facilities in themore » area of perception and navigation for autonomous mobile robots in unstructured environments. Experimental demonstration of the algorithms and comparison of some of their features were proposed to take place within the framework of a previously mutually agreed-upon demonstration scenario or base-case.'' The base-case scenario described in detail in Appendix A, involved autonomous navigation by the robot in an a priori unknown environment with dynamic obstacles, in order to reach a predetermined goal. From the intermediate goal location, the robot had to search for and locate a control panel, move toward it, and dock in front of the panel face. The CESAR demonstration was successfully accomplished using the HERMIES-IIB robot while subsets of the CEA demonstration performed using the ARES robot simulation and animation system were presented. The first session of the workshop focused on these experimental demonstrations and on the needs and considerations for establishing benchmarks'' for testing autonomous robot control algorithms.« less

A mobile agent-based moving objects indexing algorithm in location based service

NASA Astrophysics Data System (ADS)

Fang, Zhixiang; Li, Qingquan; Xu, Hong

2006-10-01

This paper will extends the advantages of location based service, specifically using their ability to management and indexing the positions of moving object, Moreover with this objective in mind, a mobile agent-based moving objects indexing algorithm is proposed in this paper to efficiently process indexing request and acclimatize itself to limitation of location based service environment. The prominent feature of this structure is viewing moving object's behavior as the mobile agent's span, the unique mapping between the geographical position of moving objects and span point of mobile agent is built to maintain the close relationship of them, and is significant clue for mobile agent-based moving objects indexing to tracking moving objects.

A Real-Time Rover Executive based On Model-Based Reactive Planning

NASA Technical Reports Server (NTRS)

Bias, M. Bernardine; Lemai, Solange; Muscettola, Nicola; Korsmeyer, David (Technical Monitor)

2003-01-01

This paper reports on the experimental verification of the ability of IDEA (Intelligent Distributed Execution Architecture) effectively operate at multiple levels of abstraction in an autonomous control system. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting control agents, each organized around the same fundamental structure. Two IDEA agents, a system-level agent and a mission-level agent, are designed and implemented to autonomously control the K9 rover in real-time. The system is evaluated in the scenario where the rover must acquire images from a specified set of locations. The IDEA agents are responsible for enabling the rover to achieve its goals while monitoring the execution and safety of the rover and recovering from dangerous states when necessary. Experiments carried out both in simulation and on the physical rover, produced highly promising results.

Residual Network Data Structures in Android Devices

DTIC Science & Technology

2011-09-01

Apple’s iOS, Google’s Android, RIM’s Blackberry and Nokia’s Symbian. Each Smartphone presents unique characteristics for forensic examiners. In...another. • Home Agent: A router on mobile node’s home network that tunnels traffic to mobile node when not on home network. Also maintains mobile nodes...Address notification to the Home Agent. When traffic arrives at the Home Agent for the mobile node, the Home Agent tunnels the traffic to the Care-of

Method for tracking the location of mobile agents using stand-off detection technique

DOEpatents

Schmitt, Randal L [Tijeras, NM; Bender, Susan Fae Ann [Tijeras, NM; Rodacy, Philip J [Albuquerque, NM; Hargis, Jr., Philip J.; Johnson, Mark S [Albuquerque, NM

2006-12-26

A method for tracking the movement and position of mobile agents using light detection and ranging (LIDAR) as a stand-off optical detection technique. The positions of the agents are tracked by analyzing the time-history of a series of optical measurements made over the field of view of the optical system. This provides a (time+3-D) or (time+2-D) mapping of the location of the mobile agents. Repeated pulses of a laser beam impinge on a mobile agent, such as a bee, and are backscattered from the agent into a LIDAR detection system. Alternatively, the incident laser pulses excite fluorescence or phosphorescence from the agent, which is detected using a LIDAR system. Analysis of the spatial location of signals from the agents produced by repeated pulses generates a multidimensional map of agent location.

Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

NASA Technical Reports Server (NTRS)

Quraishi, Naveed (Inventor)

1996-01-01

An autonomous navigation system for a mobile vehicle arranged to move within an environment includes a plurality of sensors arranged on the vehicle and at least one neural network including an input layer coupled to the sensors, a hidden layer coupled to the input layer, and an output layer coupled to the hidden layer. The neural network produces output signals representing respective positions of the vehicle, such as the X coordinate, the Y coordinate, and the angular orientation of the vehicle. A plurality of patch locations within the environment are used to train the neural networks to produce the correct outputs in response to the distances sensed.

Context recognition and situation assessment in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Yavnai, Arie

1993-05-01

The capability to recognize the operating context and to assess the situation in real-time is needed, if a high functionality autonomous mobile robot has to react properly and effectively to continuously changing situations and events, either external or internal, while the robot is performing its assigned tasks. A new approach and architecture for context recognition and situation assessment module (CORSA) is presented in this paper. CORSA is a multi-level information processing module which consists of adaptive decision and classification algorithms. It performs dynamic mapping from the data space to the context space, and dynamically decides on the context class. Learning mechanism is employed to update the decision variables so as to minimize the probability of misclassification. CORSA is embedded within the Mission Manager module of the intelligent autonomous hyper-controller (IAHC) of the mobile robot. The information regarding operating context, events and situation is then communicated to other modules of the IAHC where it is used to: (a) select the appropriate action strategy; (b) support the processes to arbitration and conflict resolution between reflexive behaviors and reasoning-driven behaviors; (c) predict future events and situations; and (d) determine criteria and priorities for planning, replanning, and decision making.

Non-destructive inspection in industrial equipment using robotic mobile manipulation

NASA Astrophysics Data System (ADS)

Maurtua, Iñaki; Susperregi, Loreto; Ansuategui, Ander; Fernández, Ane; Ibarguren, Aitor; Molina, Jorge; Tubio, Carlos; Villasante, Cristobal; Felsch, Torsten; Pérez, Carmen; Rodriguez, Jorge R.; Ghrissi, Meftah

2016-05-01

MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

Evaluating driver reactions to new vehicle technologies intended to increase safety and mobility across the lifespan.

DOT National Transportation Integrated Search

2013-05-01

Personal vehicle manufactures are introducing a wide range of new technologies that are : intended to increase the safety, comfort, and mobility of drivers of all ages. Examples range from : semi-autonomous technologies such as adaptive cruise contro...

Peer-to-peer model for the area coverage and cooperative control of mobile sensor networks

NASA Astrophysics Data System (ADS)

Tan, Jindong; Xi, Ning

2004-09-01

This paper presents a novel model and distributed algorithms for the cooperation and redeployment of mobile sensor networks. A mobile sensor network composes of a collection of wireless connected mobile robots equipped with a variety of sensors. In such a sensor network, each mobile node has sensing, computation, communication, and locomotion capabilities. The locomotion ability enhances the autonomous deployment of the system. The system can be rapidly deployed to hostile environment, inaccessible terrains or disaster relief operations. The mobile sensor network is essentially a cooperative multiple robot system. This paper first presents a peer-to-peer model to define the relationship between neighboring communicating robots. Delaunay Triangulation and Voronoi diagrams are used to define the geometrical relationship between sensor nodes. This distributed model allows formal analysis for the fusion of spatio-temporal sensory information of the network. Based on the distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots. The algorithm considers the environment constraints, the presence of obstacles and the nonholonomic constraints of the robots. The distributed algorithm enables the system to reconfigure itself such that the area covered by the system can be enlarged. Simulation results have shown the effectiveness of the distributed model and deployment algorithms.

Hybrid evolutionary computing model for mobile agents of wireless Internet multimedia

NASA Astrophysics Data System (ADS)

Hortos, William S.

2001-03-01

The ecosystem is used as an evolutionary paradigm of natural laws for the distributed information retrieval via mobile agents to allow the computational load to be added to server nodes of wireless networks, while reducing the traffic on communication links. Based on the Food Web model, a set of computational rules of natural balance form the outer stage to control the evolution of mobile agents providing multimedia services with a wireless Internet protocol WIP. The evolutionary model shows how mobile agents should behave with the WIP, in particular, how mobile agents can cooperate, compete and learn from each other, based on an underlying competition for radio network resources to establish the wireless connections to support the quality of service QoS of user requests. Mobile agents are also allowed to clone themselves, propagate and communicate with other agents. A two-layer model is proposed for agent evolution: the outer layer is based on the law of natural balancing, the inner layer is based on a discrete version of a Kohonen self-organizing feature map SOFM to distribute network resources to meet QoS requirements. The former is embedded in the higher OSI layers of the WIP, while the latter is used in the resource management procedures of Layer 2 and 3 of the protocol. Algorithms for the distributed computation of mobile agent evolutionary behavior are developed by adding a learning state to the agent evolution state diagram. When an agent is in an indeterminate state, it can communicate to other agents. Computing models can be replicated from other agents. Then the agents transitions to the mutating state to wait for a new information-retrieval goal. When a wireless terminal or station lacks a network resource, an agent in the suspending state can change its policy to submit to the environment before it transitions to the searching state. The agents learn the facts of agent state information entered into an external database. In the cloning process, two agents on a host station sharing a common goal can be merged or married to compose a new agent. Application of the two-layer set of algorithms for mobile agent evolution, performed in a distributed processing environment, is made to the QoS management functions of the IP multimedia IM sub-network of the third generation 3G Wideband Code-division Multiple Access W-CDMA wireless network.

Mobile Router Developed and Tested

NASA Technical Reports Server (NTRS)

Ivancic, William D.

2002-01-01

The NASA Glenn Research Center, under a NASA Space Act Agreement with Cisco Systems, has been performing joint networking research to apply Internet-based technologies and protocols to space-based communications. As a result of this research, NASA performed stringent performance testing of the mobile router, including the interaction of routing and the transport-level protocol. In addition, Cisco Systems developed the mobile router for both commercial and Government markets. The code has become part of the Cisco Systems Internetworking Operating System (IOS) as of release 12.2 (4) T--which will make this capability available to the community at large. The mobile router is software code that resides in a network router and enables entire networks to roam while maintaining connectivity to the Internet. This router code is pertinent to a myriad of applications for both Government and commercial sectors, including the "wireless battlefield." NASA and the Department of Defense will utilize this technology for near-planetary observation and sensing spacecraft. It is also a key enabling technology for aviation-based information applications. Mobile routing will make it possible for information such as weather, air traffic control, voice, and video to be transmitted to aircraft using Internet-based protocols. This technology shows great promise in reducing congested airways and mitigating aviation disasters due to bad weather. The mobile router can also be incorporated into emergency vehicles (such as ambulances and life-flight aircraft) to provide real-time connectivity back to the hospital and health-care experts, enabling the timely application of emergency care. Commercial applications include entertainment services, Internet protocol (IP) telephone, and Internet connectivity for cruise ships, commercial shipping, tour buses, aircraft, and eventually cars. A mobile router, which is based on mobile IP, allows hosts (mobile nodes) to seamlessly "roam" among various IP subnetworks. This is essential in many wireless networks. A mobile router, unlike a mobile IP node, allows entire networks to roam. Hence, a device connected to the mobile router does not need to be a mobile node because the mobile router provides the roaming capabilities. There are three basic elements in the mobile IP: the home agent, the foreign agent, and the mobile node. The home agent is a router on a mobile node's home network that tunnels datagrams for delivery to the mobile node when it is away from home. The foreign agent is a router on a remote network that provides routing services to a registered mobile node. The mobile node is a host or router that changes its point of attachment from one network or subnetwork to another. In mobile routing, virtual communications are maintained by the home agent, which forwards all packets for the mobile networks to the foreign agent. The foreign agent passes the packets to the mobile router, which then forwards the packets to the devices on its networks. As the mobile router moves, it will register with its home agent on its whereabouts via the foreign agent to assure continuous connectivity.

Recent Developments on Microencapsulation for Autonomous Corrosion Protection

NASA Technical Reports Server (NTRS)

Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Fitzpatrick, Lilliana; Jolley, Scott T.; Surma, Jan M.; Pearman, Benjamin P.; Zhang, Xuejun

2014-01-01

This work concerns recent progress in the development of a multifunctional smart coating based on microencapsulation for the autonomous control of corrosion. Microencapsulation allows the incorporation of desired corrosion control functionalities, such as early corrosion detection and inhibition through corrosion controlled release of corrosion indicators and inhibitors, as well as self-healing agent release when mechanical damage occurs.While proof-of-concept results have been reported previously, more recent efforts have been concentrated in technical developments to improve coating compatibility, synthesis procedure scalability, as well as fine tuning the release property of encapsulated active agents.

Security of Mobile Agents on the Internet.

ERIC Educational Resources Information Center

Corradi, Antonio; Montanari, Rebecca; Stefanelli, Cesare

2001-01-01

Discussion of the Internet focuses on new programming paradigms based on mobile agents. Considers the security issues associated with mobile agents and proposes a security architecture composed of a wide set of services and components capable of adapting to a variety of applications, particularly electronic commerce. (Author/LRW)

Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Woodward, Gail

2011-01-01

As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.

A Virtual Laboratory for Digital Signal Processing

ERIC Educational Resources Information Center

Dow, Chyi-Ren; Li, Yi-Hsung; Bai, Jin-Yu

2006-01-01

This work designs and implements a virtual digital signal processing laboratory, VDSPL. VDSPL consists of four parts: mobile agent execution environments, mobile agents, DSP development software, and DSP experimental platforms. The network capability of VDSPL is created by using mobile agent and wrapper techniques without modifying the source code…

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: i) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; To study the fine structure of insect flight trajectories with in order to better understand the characteristics of flight control, orientation and navigation.

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: (1) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; (2) To study the fine structure of insect flight trajectories in order to better understand the characteristics of flight control, orientation and navigation.

Automatic detection and classification of obstacles with applications in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Ponomaryov, Volodymyr I.; Rosas-Miranda, Dario I.

2016-04-01

Hardware implementation of an automatic detection and classification of objects that can represent an obstacle for an autonomous mobile robot using stereo vision algorithms is presented. We propose and evaluate a new method to detect and classify objects for a mobile robot in outdoor conditions. This method is divided in two parts, the first one is the object detection step based on the distance from the objects to the camera and a BLOB analysis. The second part is the classification step that is based on visuals primitives and a SVM classifier. The proposed method is performed in GPU in order to reduce the processing time values. This is performed with help of hardware based on multi-core processors and GPU platform, using a NVIDIA R GeForce R GT640 graphic card and Matlab over a PC with Windows 10.

Data-Gathering Scheme Using AUVs in Large-Scale Underwater Sensor Networks: A Multihop Approach

PubMed Central

Khan, Jawaad Ullah; Cho, Ho-Shin

2016-01-01

In this paper, we propose a data-gathering scheme for hierarchical underwater sensor networks, where multiple Autonomous Underwater Vehicles (AUVs) are deployed over large-scale coverage areas. The deployed AUVs constitute an intermittently connected multihop network through inter-AUV synchronization (in this paper, synchronization means an interconnection between nodes for communication) for forwarding data to the designated sink. In such a scenario, the performance of the multihop communication depends upon the synchronization among the vehicles. The mobility parameters of the vehicles vary continuously because of the constantly changing underwater currents. The variations in the AUV mobility parameters reduce the inter-AUV synchronization frequency contributing to delays in the multihop communication. The proposed scheme improves the AUV synchronization frequency by permitting neighboring AUVs to share their status information via a pre-selected node called an agent-node at the static layer of the network. We evaluate the proposed scheme in terms of the AUV synchronization frequency, vertical delay (node→AUV), horizontal delay (AUV→AUV), end-to-end delay, and the packet loss ratio. Simulation results show that the proposed scheme significantly reduces the aforementioned delays without the synchronization time-out process employed in conventional works. PMID:27706042

Data-Gathering Scheme Using AUVs in Large-Scale Underwater Sensor Networks: A Multihop Approach.

PubMed

Khan, Jawaad Ullah; Cho, Ho-Shin

2016-09-30

In this paper, we propose a data-gathering scheme for hierarchical underwater sensor networks, where multiple Autonomous Underwater Vehicles (AUVs) are deployed over large-scale coverage areas. The deployed AUVs constitute an intermittently connected multihop network through inter-AUV synchronization (in this paper, synchronization means an interconnection between nodes for communication) for forwarding data to the designated sink. In such a scenario, the performance of the multihop communication depends upon the synchronization among the vehicles. The mobility parameters of the vehicles vary continuously because of the constantly changing underwater currents. The variations in the AUV mobility parameters reduce the inter-AUV synchronization frequency contributing to delays in the multihop communication. The proposed scheme improves the AUV synchronization frequency by permitting neighboring AUVs to share their status information via a pre-selected node called an agent-node at the static layer of the network. We evaluate the proposed scheme in terms of the AUV synchronization frequency, vertical delay (node→AUV), horizontal delay (AUV→AUV), end-to-end delay, and the packet loss ratio. Simulation results show that the proposed scheme significantly reduces the aforementioned delays without the synchronization time-out process employed in conventional works.

Autonomous Learning from a Social Cognitive Perspective

ERIC Educational Resources Information Center

Ponton, Michael K.; Rhea, Nancy E.

2006-01-01

The current perspective of autonomous learning defines it as the agentive exhibition of resourcefulness, initiative, and persistence in self-directed learning. As a form of human agency, it has been argued in the literature that this perspective should be consistent with Bandura's (1986) Social Cognitive Theory (SCT). The purpose of this article…

Collaborating with Autonomous Agents

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Cross, Charles D.; Fan, Henry; Hempley, Lucas E.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc D.; Allen, B. Danette

2015-01-01

With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.

Autonomous Navigation Error Propagation Assessment for Lunar Surface Mobility Applications

NASA Technical Reports Server (NTRS)

Welch, Bryan W.; Connolly, Joseph W.

2006-01-01

The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. While navigation systems have already been proven in the Apollo missions to the moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In this document, the results of an autonomous navigation error propagation assessment are provided. The analysis is intended to be the baseline error propagation analysis for which Earth-based and Lunar-based radiometric data are added to compare these different architecture schemes, and quantify the benefits of an integrated approach, in how they can handle lunar surface mobility applications when near the Lunar South pole or on the Lunar Farside.

Development of a mobile robot for the 1995 AUVS competition

NASA Astrophysics Data System (ADS)

Matthews, Bradley O.; Ruthemeyer, Michael A.; Perdue, David; Hall, Ernest L.

1995-12-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors systems. The speed and steering control are supervised by a 486 computer through a 3-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. The is micro-controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system, where even computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating with the computer the X,Y coordinates of the lane marker. Testing of these systems yielded positive results by showing that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous controller applicable for any mobile vehicle with only minor adaptations.

Naming games in two-dimensional and small-world-connected random geometric networks.

PubMed

Lu, Qiming; Korniss, G; Szymanski, B K

2008-01-01

We investigate a prototypical agent-based model, the naming game, on two-dimensional random geometric networks. The naming game [Baronchelli, J. Stat. Mech.: Theory Exp. (2006) P06014] is a minimal model, employing local communications that captures the emergence of shared communication schemes (languages) in a population of autonomous semiotic agents. Implementing the naming games with local broadcasts on random geometric graphs, serves as a model for agreement dynamics in large-scale, autonomously operating wireless sensor networks. Further, it captures essential features of the scaling properties of the agreement process for spatially embedded autonomous agents. Among the relevant observables capturing the temporal properties of the agreement process, we investigate the cluster-size distribution and the distribution of the agreement times, both exhibiting dynamic scaling. We also present results for the case when a small density of long-range communication links are added on top of the random geometric graph, resulting in a "small-world"-like network and yielding a significantly reduced time to reach global agreement. We construct a finite-size scaling analysis for the agreement times in this case.

Autonomous mission management for UAVs using soar intelligent agents

NASA Astrophysics Data System (ADS)

Gunetti, Paolo; Thompson, Haydn; Dodd, Tony

2013-05-01

State-of-the-art unmanned aerial vehicles (UAVs) are typically able to autonomously execute a pre-planned mission. However, UAVs usually fly in a very dynamic environment which requires dynamic changes to the flight plan; this mission management activity is usually tasked to human supervision. Within this article, a software system that autonomously accomplishes the mission management task for a UAV will be proposed. The system is based on a set of theoretical concepts which allow the description of a flight plan and implemented using a combination of Soar intelligent agents and traditional control techniques. The system is capable of automatically generating and then executing an entire flight plan after being assigned a set of objectives. This article thoroughly describes all system components and then presents the results of tests that were executed using a realistic simulation environment.

System control of an autonomous planetary mobile spacecraft

NASA Technical Reports Server (NTRS)

Dias, William C.; Zimmerman, Barbara A.

1990-01-01

The goal is to suggest the scheduling and control functions necessary for accomplishing mission objectives of a fairly autonomous interplanetary mobile spacecraft, while maximizing reliability. Goals are to provide an extensible, reliable system conservative in its use of on-board resources, while getting full value from subsystem autonomy, and avoiding the lure of ground micromanagement. A functional layout consisting of four basic elements is proposed: GROUND and SYSTEM EXECUTIVE system functions and RESOURCE CONTROL and ACTIVITY MANAGER subsystem functions. The system executive includes six subfunctions: SYSTEM MANAGER, SYSTEM FAULT PROTECTION, PLANNER, SCHEDULE ADAPTER, EVENT MONITOR and RESOURCE MONITOR. The full configuration is needed for autonomous operation on Moon or Mars, whereas a reduced version without the planning, schedule adaption and event monitoring functions could be appropriate for lower-autonomy use on the Moon. An implementation concept is suggested which is conservative in use of system resources and consists of modules combined with a network communications fabric. A language concept termed a scheduling calculus for rapidly performing essential on-board schedule adaption functions is introduced.

Adjustably Autonomous Multi-agent Plan Execution with an Internal Spacecraft Free-Flying Robot Prototype

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Nicewarner, Keith

2006-01-01

We present an multi-agent model-based autonomy architecture with monitoring, planning, diagnosis, and execution elements. We discuss an internal spacecraft free-flying robot prototype controlled by an implementation of this architecture and a ground test facility used for development. In addition, we discuss a simplified environment control life support system for the spacecraft domain also controlled by an implementation of this architecture. We discuss adjustable autonomy and how it applies to this architecture. We describe an interface that provides the user situation awareness of both autonomous systems and enables the user to dynamically edit the plans prior to and during execution as well as control these agents at various levels of autonomy. This interface also permits the agents to query the user or request the user to perform tasks to help achieve the commanded goals. We conclude by describing a scenario where these two agents and a human interact to cooperatively detect, diagnose and recover from a simulated spacecraft fault.

Agent-based human-robot interaction of a combat bulldozer

NASA Astrophysics Data System (ADS)

Granot, Reuven; Feldman, Maxim

2004-09-01

A small-scale supervised autonomous bulldozer in a remote site was developed to experience agent based human intervention. The model is based on Lego Mindstorms kit and represents combat equipment, whose job performance does not require high accuracy. The model enables evaluation of system response for different operator interventions, as well as for a small colony of semiautonomous dozers. The supervising human may better react than a fully autonomous system to unexpected contingent events, which are a major barrier to implement full autonomy. The automation is introduced as improved Man Machine Interface (MMI) by developing control agents as intelligent tools to negotiate between human requests and task level controllers as well as negotiate with other elements of the software environment. Current UGVs demand significant communication resources and constant human operation. Therefore they will be replaced by semi-autonomous human supervisory controlled systems (telerobotic). For human intervention at the low layers of the control hierarchy we suggest a task oriented control agent to take care of the fluent transition between the state in which the robot operates and the one imposed by the human. This transition should take care about the imperfections, which are responsible for the improper operation of the robot, by disconnecting or adapting them to the new situation. Preliminary conclusions from the small-scale experiments are presented.

Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Martin, Jason; Flann, Nicholas S.; Moore, Kevin L.

2002-07-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) have been funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). One among the several out growths of this work has been the development of a grammar-based approach to intelligent behavior generation for commanding autonomous robotic vehicles. In this paper we describe the use of this grammar for enabling autonomous behaviors. A supervisory task controller (STC) sequences high-level action commands (taken from the grammar) to be executed by the robot. It takes as input a set of goals and a partial (static) map of the environment and produces, from the grammar, a flexible script (or sequence) of the high-level commands that are to be executed by the robot. The sequence is derived by a planning function that uses a graph-based heuristic search (A* -algorithm). Each action command has specific exit conditions that are evaluated by the STC following each task completion or interruption (in the case of disturbances or new operator requests). Depending on the system's state at task completion or interruption (including updated environmental and robot sensor information), the STC invokes a reactive response. This can include sequencing the pending tasks or initiating a re-planning event, if necessary. Though applicable to a wide variety of autonomous robots, an application of this approach is demonstrated via simulations of ODIS, an omni-directional inspection system developed for security applications.

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

PubMed Central

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Duca, Angelica Lo; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles—AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011. PMID:22438748

Secure cooperation of autonomous mobile sensors using an underwater acoustic network.

PubMed

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Lo Duca, Angelica; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles-AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011.

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA Technical Reports Server (NTRS)

Allen, B. Danette; Cross, Charles D.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc; Trujillo, Anna C.; Crisp, Vicki K.

2015-01-01

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

Navigation, behaviors, and control modes in an autonomous vehicle

NASA Astrophysics Data System (ADS)

Byler, Eric A.

1995-01-01

An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy sites. A 2D space of control modes was used that provides a combined view of reactive and planning approaches wherein a 2D situation space is defined by dimensions representing the predictability of the agent's task environment and the constraint imposed by its goals. In this sense selection of appropriate systems for planning, navigation, and control depends on the problem at hand. The IMSS vehicle navigation system is based on a combination of feature based motion, landmark sightings, and an a priori logical map of the mockup storage facility. Motion for the inspection activities are composed of different interactions of several available control modes, several obstacle avoidance modes, and several feature identification modes. Features used to drive these behaviors are both visual and acoustic.

Collaborative autonomous sensing with Bayesians in the loop

NASA Astrophysics Data System (ADS)

Ahmed, Nisar

2016-10-01

There is a strong push to develop intelligent unmanned autonomy that complements human reasoning for applications as diverse as wilderness search and rescue, military surveillance, and robotic space exploration. More than just replacing humans for `dull, dirty and dangerous' work, autonomous agents are expected to cope with a whole host of uncertainties while working closely together with humans in new situations. The robotics revolution firmly established the primacy of Bayesian algorithms for tackling challenging perception, learning and decision-making problems. Since the next frontier of autonomy demands the ability to gather information across stretches of time and space that are beyond the reach of a single autonomous agent, the next generation of Bayesian algorithms must capitalize on opportunities to draw upon the sensing and perception abilities of humans-in/on-the-loop. This work summarizes our recent research toward harnessing `human sensors' for information gathering tasks. The basic idea behind is to allow human end users (i.e. non-experts in robotics, statistics, machine learning, etc.) to directly `talk to' the information fusion engine and perceptual processes aboard any autonomous agent. Our approach is grounded in rigorous Bayesian modeling and fusion of flexible semantic information derived from user-friendly interfaces, such as natural language chat and locative hand-drawn sketches. This naturally enables `plug and play' human sensing with existing probabilistic algorithms for planning and perception, and has been successfully demonstrated with human-robot teams in target localization applications.

An architecture for an autonomous learning robot

NASA Technical Reports Server (NTRS)

Tillotson, Brian

1988-01-01

An autonomous learning device must solve the example bounding problem, i.e., it must divide the continuous universe into discrete examples from which to learn. We describe an architecture which incorporates an example bounder for learning. The architecture is implemented in the GPAL program. An example run with a real mobile robot shows that the program learns and uses new causal, qualitative, and quantitative relationships.

Stability of distributed MPC in an intersection scenario

NASA Astrophysics Data System (ADS)

Sprodowski, T.; Pannek, J.

2015-11-01

The research topic of autonomous cars and the communication among them has attained much attention in the last years and is developing quickly. Among others, this research area spans fields such as image recognition, mathematical control theory, communication networks, and sensor fusion. We consider an intersection scenario where we divide the shared road space in different cells. These cells form a grid. The cars are modelled as an autonomous multi-agent system based on the Distributed Model Predictive Control algorithm (DMPC). We prove that the overall system reaches stability using Optimal Control for each multi-agent and demonstrate that by numerical results.

Mobility and generation of mosaic non-autonomous transposons by Tn3-derived inverted-repeat miniature elements (TIMEs).

PubMed

Szuplewska, Magdalena; Ludwiczak, Marta; Lyzwa, Katarzyna; Czarnecki, Jakub; Bartosik, Dariusz

2014-01-01

Functional transposable elements (TEs) of several Pseudomonas spp. strains isolated from black shale ore of Lubin mine and from post-flotation tailings of Zelazny Most in Poland, were identified using a positive selection trap plasmid strategy. This approach led to the capture and characterization of (i) 13 insertion sequences from 5 IS families (IS3, IS5, ISL3, IS30 and IS1380), (ii) isoforms of two Tn3-family transposons--Tn5563a and Tn4662a (the latter contains a toxin-antitoxin system), as well as (iii) non-autonomous TEs of diverse structure, ranging in size from 262 to 3892 bp. The non-autonomous elements transposed into AT-rich DNA regions and generated 5- or 6-bp sequence duplications at the target site of transposition. Although these TEs lack a transposase gene, they contain homologous 38-bp-long terminal inverted repeat sequences (IRs), highly conserved in Tn5563a and many other Tn3-family transposons. The simplest elements of this type, designated TIMEs (Tn3 family-derived Inverted-repeat Miniature Elements) (262 bp), were identified within two natural plasmids (pZM1P1 and pLM8P2) of Pseudomonas spp. It was demonstrated that TIMEs are able to mobilize segments of plasmid DNA for transposition, which results in the generation of more complex non-autonomous elements, resembling IS-driven composite transposons in structure. Such transposon-like elements may contain different functional genetic modules in their core regions, including plasmid replication systems. Another non-autonomous element "captured" with a trap plasmid was a TIME derivative containing a predicted resolvase gene and a res site typical for many Tn3-family transposons. The identification of a portable site-specific recombination system is another intriguing example confirming the important role of non-autonomous TEs of the TIME family in shuffling genetic information in bacterial genomes. Transposition of such mosaic elements may have a significant impact on diversity and evolution, not only of transposons and plasmids, but also of other types of mobile genetic elements.

Kinetic theory of situated agents applied to pedestrian flow in a corridor

NASA Astrophysics Data System (ADS)

Rangel-Huerta, A.; Muñoz-Meléndez, A.

2010-03-01

A situated agent-based model for simulation of pedestrian flow in a corridor is presented. In this model, pedestrians choose their paths freely and make decisions based on local criteria for solving collision conflicts. The crowd consists of multiple walking agents equipped with a function of perception as well as a competitive rule-based strategy that enables pedestrians to reach free access areas. Pedestrians in our model are autonomous entities capable of perceiving and making decisions. They apply socially accepted conventions, such as avoidance rules, as well as individual preferences such as the use of specific exit points, or the execution of eventual comfort turns resulting in spontaneous changes of walking speed. Periodic boundary conditions were considered in order to determine the density-average walking speed, and the density-average activity with respect to specific parameters: comfort angle turn and frequency of angle turn of walking agents. The main contribution of this work is an agent-based model where each pedestrian is represented as an autonomous agent. At the same time the pedestrian crowd dynamics is framed by the kinetic theory of biological systems.

Autonomous navigation and mobility for a planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Mishkin, Andrew H.; Lambert, Kenneth E.; Bickler, Donald; Bernard, Douglas E.

1989-01-01

This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.

An autonomous, automated and mobile device to concurrently assess several cognitive functions in group-living non-human primates.

PubMed

Fizet, Jonas; Rimele, Adam; Pebayle, Thierry; Cassel, Jean-Christophe; Kelche, Christian; Meunier, Hélène

2017-11-01

Research methods in cognitive neuroscience using non-human primates have undergone notable changes over the last decades. Recently, several research groups have described freely accessible devices equipped with a touchscreen interface. Two characteristics of such systems are of particular interest: some apparatuses include automated identification of subjects, while others are mobile. Here, we designed, tested and validated an experimental system that, for the first time, combine automatization and mobility. Moreover, our system allows autonomous learning and testing of cognitive performance in group-living subjects, including follow-up assessments. The mobile apparatus is designed to be available 24h a day, 7days a week, in a typical confined primate breeding and housing facility. Here we present as proof of concept, the results of two pilot studies. We report that rhesus macaques (Macaca mulatta) learned the tasks rapidly and achieved high-level of stable performance. Approaches of this kind should be developed for future pharmacological and biomedical studies in non-human primates. Copyright © 2017 Elsevier Inc. All rights reserved.

Co-ordination of Mobile Information Agents in TuCSoN.

ERIC Educational Resources Information Center

Omicini, Andrea; Zambonelli, Franco

1998-01-01

Examines mobile agent coordination and presents TuCSoN, a coordination model for Internet applications based on mobile information agents that uses a tuple centre, a tuple space enhanced with the capability of programming its behavior in response to communication events. Discusses the effectiveness of the TuCSoN model in the contexts of Internet…

Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

NASA Astrophysics Data System (ADS)

Armah, Stephen Kofi

Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized second-order altitude models for the quadrotor, AR.Drone 2.0. Proportional (P), pole placement or proportional plus velocity (PV), linear quadratic regulator (LQR), and model reference adaptive control (MRAC) controllers are designed and validated through simulations using MATLAB/Simulink. Control input saturation and time delay in the controlled systems are also studied. MATLAB graphical user interface (GUI) and Simulink programs are developed to implement the controllers on the drone. Thirdly, the time delay in the drone's control system is estimated using analytical and experimental methods. In the experimental approach, the transient properties of the experimental altitude responses are compared to those of simulated responses. The analytical approach makes use of the Lambert W function to obtain analytical solutions of scalar first-order delay differential equations (DDEs). A time-delayed P-feedback control system (retarded type) is used in estimating the time delay. Then an improved system performance is obtained by incorporating the estimated time delay in the design of the PV control system (neutral type) and PV-MRAC control system. Furthermore, the stability of a parametric perturbed linear time-invariant (LTI) retarded-type system is studied. This is done by analytically calculating the stability radius of the system. Simulation of the control system is conducted to confirm the stability. This robust control design and uncertainty analysis are conducted for first-order and second-order quadrotor models. Lastly, the robustly designed PV and PV-MRAC control systems are used to autonomously track multiple waypoints. Also, the robustness of the PV-MRAC controller is tested against a baseline PV controller using the payload capability of the drone. It is shown that the PV-MRAC offers several benefits over the fixed-gain approach of the PV controller. The adaptive control is found to offer enhanced robustness to the payload fluctuations.

Collective Bargaining and the Concept of Autonomy in the National Autonomous University of Mexico.

ERIC Educational Resources Information Center

Hartnett, Richard A.

Major issues concerning the negotiation of a collective bargaining contract on February 1, 1981, at the National Autonomous Associations of Academic Personnel of the University (AAPAUNAM), the first legally authorized bargaining agent of the faculty. The contract was negotiated under terms of the recently enacted amendments to the federal…

Mobile Agents Applications.

ERIC Educational Resources Information Center

Martins, Rosane Maria; Chaves, Magali Ribeiro; Pirmez, Luci; Rust da Costa Carmo, Luiz Fernando

2001-01-01

Discussion of the need to filter and retrieval relevant information from the Internet focuses on the use of mobile agents, specific software components which are based on distributed artificial intelligence and integrated systems. Surveys agent technology and discusses the agent building package used to develop two applications using IBM's Aglet…

Protection of Mobile Agents Execution Using a Modified Self-Validating Branch-Based Software Watermarking with External Sentinel

NASA Astrophysics Data System (ADS)

Tomàs-Buliart, Joan; Fernández, Marcel; Soriano, Miguel

Critical infrastructures are usually controlled by software entities. To monitor the well-function of these entities, a solution based in the use of mobile agents is proposed. Some proposals to detect modifications of mobile agents, as digital signature of code, exist but they are oriented to protect software against modification or to verify that an agent have been executed correctly. The aim of our proposal is to guarantee that the software is being executed correctly by a non trusted host. The way proposed to achieve this objective is by the improvement of the Self-Validating Branch-Based Software Watermarking by Myles et al.. The proposed modification is the incorporation of an external element called sentinel which controls branch targets. This technique applied in mobile agents can guarantee the correct operation of an agent or, at least, can detect suspicious behaviours of a malicious host during the execution of the agent instead of detecting when the execution of the agent have finished.

An Approach for Autonomy: A Collaborative Communication Framework for Multi-Agent Systems

NASA Technical Reports Server (NTRS)

Dufrene, Warren Russell, Jr.

2005-01-01

Research done during the last three years has studied the emersion properties of Complex Adaptive Systems (CAS). The deployment of Artificial Intelligence (AI) techniques applied to remote Unmanned Aerial Vehicles has led the author to investigate applications of CAS within the field of Autonomous Multi-Agent Systems. The core objective of current research efforts is focused on the simplicity of Intelligent Agents (IA) and the modeling of these agents within complex systems. This research effort looks at the communication, interaction, and adaptability of multi-agents as applied to complex systems control. The embodiment concept applied to robotics has application possibilities within multi-agent frameworks. A new framework for agent awareness within a virtual 3D world concept is possible where the vehicle is composed of collaborative agents. This approach has many possibilities for applications to complex systems. This paper describes the development of an approach to apply this virtual framework to the NASA Goddard Space Flight Center (GSFC) tetrahedron structure developed under the Autonomous Nano Technology Swarm (ANTS) program and the Super Miniaturized Addressable Reconfigurable Technology (SMART) architecture program. These projects represent an innovative set of novel concepts deploying adaptable, self-organizing structures composed of many tetrahedrons. This technology is pushing current applied Agents Concepts to new levels of requirements and adaptability.

Concurrent Learning of Control in Multi agent Sequential Decision Tasks

DTIC Science & Technology

2018-04-17

Concurrent Learning of Control in Multi-agent Sequential Decision Tasks The overall objective of this project was to develop multi-agent reinforcement...learning (MARL) approaches for intelligent agents to autonomously learn distributed control policies in decentral- ized partially observable...shall be subject to any oenalty for failing to comply with a collection of information if it does not display a currently valid OMB control number

Agent-Based Scientific Workflow Composition

NASA Astrophysics Data System (ADS)

Barker, A.; Mann, B.

2006-07-01

Agents are active autonomous entities that interact with one another to achieve their objectives. This paper addresses how these active agents are a natural fit to consume the passive Service Oriented Architecture which is found in Internet and Grid Systems, in order to compose, coordinate and execute e-Science experiments. A framework is introduced which allows an e-Science experiment to be described as a MultiAgent System.

Using Mobile TLA as a Logic for Dynamic I/O Automata

NASA Astrophysics Data System (ADS)

Kapus, Tatjana

Input/Output (I/O) automata and the Temporal Logic of Actions (TLA) are two well-known techniques for the specification and verification of concurrent systems. Over the past few years, they have been extended to the so-called dynamic I/O automata and, respectively, Mobile TLA (MTLA) in order to be more appropriate for mobile agent systems. Dynamic I/O automata is just a mathematical model, whereas MTLA is a logic with a formally defined language. In this paper, therefore, we investigate how MTLA could be used as a formal language for the specification of dynamic I/O automata. We do this by writing an MTLA specification of a travel agent system which has been specified semi-formally in the literature on that model. In this specification, we deal with always existing agents as well as with an initially unknown number of dynamically created agents, with mobile and non-mobile agents, with I/O-automata-style communication, and with the changing communication capabilities of mobile agents. We have previously written a TLA specification of this system. This paper shows that an MTLA specification of such a system can be more elegant and faithful to the dynamic I/O automata definition because the agent existence and location can be expressed directly by using agent and location names instead of special variables as in TLA. It also shows how the reuse of names for dynamically created and destroyed agents within the dynamic I/O automata framework can be specified in MTLA.

Secure, Mobile, Wireless Network Technology Designed, Developed, and Demonstrated

NASA Technical Reports Server (NTRS)

Ivancic, William D.; Paulsen, Phillip E.

2004-01-01

The inability to seamlessly disseminate data securely over a high-integrity, wireless broadband network has been identified as a primary technical barrier to providing an order-of-magnitude increase in aviation capacity and safety. Secure, autonomous communications to and from aircraft will enable advanced, automated, data-intensive air traffic management concepts, increase National Air Space (NAS) capacity, and potentially reduce the overall cost of air travel operations. For the first time ever, secure, mobile, network technology was designed, developed, and demonstrated with state-ofthe- art protocols and applications by a diverse, cooperative Government-industry team led by the NASA Glenn Research Center. This revolutionary technology solution will make fundamentally new airplane system capabilities possible by enabling secure, seamless network connections from platforms in motion (e.g., cars, ships, aircraft, and satellites) to existing terrestrial systems without the need for manual reconfiguration. Called Mobile Router, the new technology autonomously connects and configures networks as they traverse from one operating theater to another. The Mobile Router demonstration aboard the Neah Bay, a U.S. Coast Guard vessel stationed in Cleveland, Ohio, accomplished secure, seamless interoperability of mobile network systems across multiple domains without manual system reconfiguration. The Neah Bay was chosen because of its low cost and communications mission similarity to low-Earth-orbiting satellite platforms. This technology was successfully advanced from technology readiness level (TRL) 2 (concept and/or application formation) to TRL 6 (system model or prototype demonstration in a relevant environment). The secure, seamless interoperability offered by the Mobile Router and encryption device will enable several new, vehicle-specific and systemwide technologies to perform such things as remote, autonomous aircraft performance monitoring and early detection and mitigation of potential equipment malfunctions. As an additional benefit, team advancements were incorporated into open standards, ensuring technology transfer. Low-cost, commercial products incorporating the new technology are already available. Furthermore, these products are fully interoperable with legacy network technology equipment currently being used throughout the world.

A reconfigurable computing platform for plume tracking with mobile sensor networks

NASA Astrophysics Data System (ADS)

Kim, Byung Hwa; D'Souza, Colin; Voyles, Richard M.; Hesch, Joel; Roumeliotis, Stergios I.

2006-05-01

Much work has been undertaken recently toward the development of low-power, high-performance sensor networks. There are many static remote sensing applications for which this is appropriate. The focus of this development effort is applications that require higher performance computation, but still involve severe constraints on power and other resources. Toward that end, we are developing a reconfigurable computing platform for miniature robotic and human-deployed sensor systems composed of several mobile nodes. The system provides static and dynamic reconfigurability for both software and hardware by the combination of CPU (central processing unit) and FPGA (field-programmable gate array) allowing on-the-fly reprogrammability. Static reconfigurability of the hardware manifests itself in the form of a "morphing bus" architecture that permits the modular connection of various sensors with no bus interface logic. Dynamic hardware reconfigurability provides for the reallocation of hardware resources at run-time as the mobile, resource-constrained nodes encounter unknown environmental conditions that render various sensors ineffective. This computing platform will be described in the context of work on chemical/biological/radiological plume tracking using a distributed team of mobile sensors. The objective for a dispersed team of ground and/or aerial autonomous vehicles (or hand-carried sensors) is to acquire measurements of the concentration of the chemical agent from optimal locations and estimate its source and spread. This requires appropriate distribution, coordination and communication within the team members across a potentially unknown environment. The key problem is to determine the parameters of the distribution of the harmful agent so as to use these values for determining its source and predicting its spread. The accuracy and convergence rate of this estimation process depend not only on the number and accuracy of the sensor measurements but also on their spatial distribution over time (the sampling strategy). For the safety of a human-deployed distribution of sensors, optimized trajectories to minimize human exposure are also of importance. The systems described in this paper are currently being developed. Parts of the system are already in existence and some results from these are described.

Minimal Representation and Decision Making for Networked Autonomous Agents

DTIC Science & Technology

2015-08-27

to a multi-vehicle version of the Travelling Salesman Problem (TSP). We further provided a direct formula for computing the number of robots...the sensor. As a first stab at this, the two-agent rendezvous problem is considered where one agent (the target) is equipped with no sensors and is...by the total distance traveled by all agents. For agents with limited sensing and communication capabilities, we give a formula that computes the

Development of Methodology for Programming Autonomous Agents

NASA Technical Reports Server (NTRS)

Erol, Kutluhan; Levy, Renato; Lang, Lun

2004-01-01

A brief report discusses the rationale for, and the development of, a methodology for generating computer code for autonomous-agent-based systems. The methodology is characterized as enabling an increase in the reusability of the generated code among and within such systems, thereby making it possible to reduce the time and cost of development of the systems. The methodology is also characterized as enabling reduction of the incidence of those software errors that are attributable to the human failure to anticipate distributed behaviors caused by the software. A major conceptual problem said to be addressed in the development of the methodology was that of how to efficiently describe the interfaces between several layers of agent composition by use of a language that is both familiar to engineers and descriptive enough to describe such interfaces unambivalently

Agent-Based Modeling of Mitochondria Links Sub-Cellular Dynamics to Cellular Homeostasis and Heterogeneity.

PubMed

Dalmasso, Giovanni; Marin Zapata, Paula Andrea; Brady, Nathan Ryan; Hamacher-Brady, Anne

2017-01-01

Mitochondria are semi-autonomous organelles that supply energy for cellular biochemistry through oxidative phosphorylation. Within a cell, hundreds of mobile mitochondria undergo fusion and fission events to form a dynamic network. These morphological and mobility dynamics are essential for maintaining mitochondrial functional homeostasis, and alterations both impact and reflect cellular stress states. Mitochondrial homeostasis is further dependent on production (biogenesis) and the removal of damaged mitochondria by selective autophagy (mitophagy). While mitochondrial function, dynamics, biogenesis and mitophagy are highly-integrated processes, it is not fully understood how systemic control in the cell is established to maintain homeostasis, or respond to bioenergetic demands. Here we used agent-based modeling (ABM) to integrate molecular and imaging knowledge sets, and simulate population dynamics of mitochondria and their response to environmental energy demand. Using high-dimensional parameter searches we integrated experimentally-measured rates of mitochondrial biogenesis and mitophagy, and using sensitivity analysis we identified parameter influences on population homeostasis. By studying the dynamics of cellular subpopulations with distinct mitochondrial masses, our approach uncovered system properties of mitochondrial populations: (1) mitochondrial fusion and fission activities rapidly establish mitochondrial sub-population homeostasis, and total cellular levels of mitochondria alter fusion and fission activities and subpopulation distributions; (2) restricting the directionality of mitochondrial mobility does not alter morphology subpopulation distributions, but increases network transmission dynamics; and (3) maintaining mitochondrial mass homeostasis and responding to bioenergetic stress requires the integration of mitochondrial dynamics with the cellular bioenergetic state. Finally, (4) our model suggests sources of, and stress conditions amplifying, cell-to-cell variability of mitochondrial morphology and energetic stress states. Overall, our modeling approach integrates biochemical and imaging knowledge, and presents a novel open-modeling approach to investigate how spatial and temporal mitochondrial dynamics contribute to functional homeostasis, and how subcellular organelle heterogeneity contributes to the emergence of cell heterogeneity.

Agent-Based Modeling of Mitochondria Links Sub-Cellular Dynamics to Cellular Homeostasis and Heterogeneity

PubMed Central

Dalmasso, Giovanni; Marin Zapata, Paula Andrea; Brady, Nathan Ryan; Hamacher-Brady, Anne

2017-01-01

Mitochondria are semi-autonomous organelles that supply energy for cellular biochemistry through oxidative phosphorylation. Within a cell, hundreds of mobile mitochondria undergo fusion and fission events to form a dynamic network. These morphological and mobility dynamics are essential for maintaining mitochondrial functional homeostasis, and alterations both impact and reflect cellular stress states. Mitochondrial homeostasis is further dependent on production (biogenesis) and the removal of damaged mitochondria by selective autophagy (mitophagy). While mitochondrial function, dynamics, biogenesis and mitophagy are highly-integrated processes, it is not fully understood how systemic control in the cell is established to maintain homeostasis, or respond to bioenergetic demands. Here we used agent-based modeling (ABM) to integrate molecular and imaging knowledge sets, and simulate population dynamics of mitochondria and their response to environmental energy demand. Using high-dimensional parameter searches we integrated experimentally-measured rates of mitochondrial biogenesis and mitophagy, and using sensitivity analysis we identified parameter influences on population homeostasis. By studying the dynamics of cellular subpopulations with distinct mitochondrial masses, our approach uncovered system properties of mitochondrial populations: (1) mitochondrial fusion and fission activities rapidly establish mitochondrial sub-population homeostasis, and total cellular levels of mitochondria alter fusion and fission activities and subpopulation distributions; (2) restricting the directionality of mitochondrial mobility does not alter morphology subpopulation distributions, but increases network transmission dynamics; and (3) maintaining mitochondrial mass homeostasis and responding to bioenergetic stress requires the integration of mitochondrial dynamics with the cellular bioenergetic state. Finally, (4) our model suggests sources of, and stress conditions amplifying, cell-to-cell variability of mitochondrial morphology and energetic stress states. Overall, our modeling approach integrates biochemical and imaging knowledge, and presents a novel open-modeling approach to investigate how spatial and temporal mitochondrial dynamics contribute to functional homeostasis, and how subcellular organelle heterogeneity contributes to the emergence of cell heterogeneity. PMID:28060865

Protection of autonomous microgrids using agent-based distributed communication

DOE PAGES

Cintuglu, Mehmet H.; Ma, Tan; Mohammed, Osama A.

2016-04-06

This study presents a real-time implementation of autonomous microgrid protection using agent-based distributed communication. Protection of an autonomous microgrid requires special considerations compared to large scale distribution net-works due to the presence of power converters and relatively low inertia. In this work, we introduce a practical overcurrent and a frequency selectivity method to overcome conventional limitations. The proposed overcurrent scheme defines a selectivity mechanism considering the remedial action scheme (RAS) of the microgrid after a fault instant based on feeder characteristics and the location of the intelligent electronic devices (IEDs). A synchrophasor-based online frequency selectivity approach is proposed to avoidmore » pulse loading effects in low inertia microgrids. Experimental results are presented for verification of the pro-posed schemes using a laboratory based microgrid. The setup was composed of actual generation units and IEDs using IEC 61850 protocol. The experimental results were in excellent agreement with the proposed protection scheme.« less

Protection of autonomous microgrids using agent-based distributed communication

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cintuglu, Mehmet H.; Ma, Tan; Mohammed, Osama A.

This study presents a real-time implementation of autonomous microgrid protection using agent-based distributed communication. Protection of an autonomous microgrid requires special considerations compared to large scale distribution net-works due to the presence of power converters and relatively low inertia. In this work, we introduce a practical overcurrent and a frequency selectivity method to overcome conventional limitations. The proposed overcurrent scheme defines a selectivity mechanism considering the remedial action scheme (RAS) of the microgrid after a fault instant based on feeder characteristics and the location of the intelligent electronic devices (IEDs). A synchrophasor-based online frequency selectivity approach is proposed to avoidmore » pulse loading effects in low inertia microgrids. Experimental results are presented for verification of the pro-posed schemes using a laboratory based microgrid. The setup was composed of actual generation units and IEDs using IEC 61850 protocol. The experimental results were in excellent agreement with the proposed protection scheme.« less

A development of intelligent entertainment robot for home life

NASA Astrophysics Data System (ADS)

Kim, Cheoltaek; Lee, Ju-Jang

2005-12-01

The purpose of this paper was to present the study and design idea for entertainment robot with educational purpose (IRFEE). The robot has been designed for home life considering dependability and interaction. The developed robot has three objectives - 1. Develop autonomous robot, 2. Design robot considering mobility and robustness, 3. Develop robot interface and software considering entertainment and education functionalities. The autonomous navigation was implemented by active vision based SLAM and modified EPF algorithm. The two differential wheels, the pan-tilt were designed mobility and robustness and the exterior was designed considering esthetic element and minimizing interference. The speech and tracking algorithm provided the good interface with human. The image transfer and Internet site connection is needed for service of remote connection and educational purpose.

Flocking algorithm for autonomous flying robots.

PubMed

Virágh, Csaba; Vásárhelyi, Gábor; Tarcai, Norbert; Szörényi, Tamás; Somorjai, Gergő; Nepusz, Tamás; Vicsek, Tamás

2014-06-01

Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks.

MER Surface Phase; Blurring the Line Between Fault Protection and What is Supposed to Happen

NASA Technical Reports Server (NTRS)

Reeves, Glenn E.

2008-01-01

An assessment on the limitations of communication with MER rovers and how such constraints drove the system design, flight software and fault protection architecture, blurring the line between traditional fault protection and expected nominal behavior, and requiring the most novel autonomous and semi-autonomous elements of the vehicle software including communication, surface mobility, attitude knowledge acquisition, fault protection, and the activity arbitration service.

Implementation of Autonomous Navigation and Mapping using a Laser Line Scanner on a Tactical Unmanned Aerial Vehicle

DTIC Science & Technology

2011-12-01

study new multi-agent algorithms to avoid collision and obstacles. Others, including Hanford et al. [2], have tried to build low-cost experimental...2007. [2] S. D. Hanford , L. N. Long, and J. F. Horn, “A Small Semi-Autonomous Rotary-Wing Unmanned Air Vehicle ( UAV ),” 2003 AIAA Atmospheric

University Student and Teacher Perceptions of Teacher Roles in Promoting Autonomous Language Learning with Technology outside the Classroom

ERIC Educational Resources Information Center

Lai, Chun; Yeung, Yuk; Hu, Jingjing

2016-01-01

Helping students to become autonomous learners, who actively utilize technologies for learning outside the classroom, is important for successful language learning. Teachers, as significant social agents who shape students' intellectual and social experiences, have a critical role to play. This study examined students' and teachers' perceptions of…

Casuist BDI-Agent: A New Extended BDI Architecture with the Capability of Ethical Reasoning

NASA Astrophysics Data System (ADS)

Honarvar, Ali Reza; Ghasem-Aghaee, Nasser

Since the intelligent agent is developed to be cleverer, more complex, and yet uncontrollable, a number of problems have been recognized. The capability of agents to make moral decisions has become an important question, when intelligent agents have developed more autonomous and human-like. We propose Casuist BDI-Agent architecture which extends the power of BDI architecture. Casuist BDI-Agent architecture combines CBR method in AI and bottom up casuist approach in ethics in order to add capability of ethical reasoning to BDI-Agent.

Computational Mobility: An Overview

NASA Technical Reports Server (NTRS)

Suri, Niranjan

2005-01-01

This viewgraph presentation describes a framework for the autonomous control of robot swarms, which negotiate with each other, delegate authority to their peers, and cooperate in teams to accomplish tasks.

Remote-controlled vision-guided mobile robot system

NASA Astrophysics Data System (ADS)

Ande, Raymond; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

Behavior control in the sensorimotor loop with short-term synaptic dynamics induced by self-regulating neurons.

PubMed

Toutounji, Hazem; Pasemann, Frank

2014-01-01

The behavior and skills of living systems depend on the distributed control provided by specialized and highly recurrent neural networks. Learning and memory in these systems is mediated by a set of adaptation mechanisms, known collectively as neuronal plasticity. Translating principles of recurrent neural control and plasticity to artificial agents has seen major strides, but is usually hampered by the complex interactions between the agent's body and its environment. One of the important standing issues is for the agent to support multiple stable states of behavior, so that its behavioral repertoire matches the requirements imposed by these interactions. The agent also must have the capacity to switch between these states in time scales that are comparable to those by which sensory stimulation varies. Achieving this requires a mechanism of short-term memory that allows the neurocontroller to keep track of the recent history of its input, which finds its biological counterpart in short-term synaptic plasticity. This issue is approached here by deriving synaptic dynamics in recurrent neural networks. Neurons are introduced as self-regulating units with a rich repertoire of dynamics. They exhibit homeostatic properties for certain parameter domains, which result in a set of stable states and the required short-term memory. They can also operate as oscillators, which allow them to surpass the level of activity imposed by their homeostatic operation conditions. Neural systems endowed with the derived synaptic dynamics can be utilized for the neural behavior control of autonomous mobile agents. The resulting behavior depends also on the underlying network structure, which is either engineered or developed by evolutionary techniques. The effectiveness of these self-regulating units is demonstrated by controlling locomotion of a hexapod with 18 degrees of freedom, and obstacle-avoidance of a wheel-driven robot.

Behavior control in the sensorimotor loop with short-term synaptic dynamics induced by self-regulating neurons

PubMed Central

Toutounji, Hazem; Pasemann, Frank

2014-01-01

The behavior and skills of living systems depend on the distributed control provided by specialized and highly recurrent neural networks. Learning and memory in these systems is mediated by a set of adaptation mechanisms, known collectively as neuronal plasticity. Translating principles of recurrent neural control and plasticity to artificial agents has seen major strides, but is usually hampered by the complex interactions between the agent's body and its environment. One of the important standing issues is for the agent to support multiple stable states of behavior, so that its behavioral repertoire matches the requirements imposed by these interactions. The agent also must have the capacity to switch between these states in time scales that are comparable to those by which sensory stimulation varies. Achieving this requires a mechanism of short-term memory that allows the neurocontroller to keep track of the recent history of its input, which finds its biological counterpart in short-term synaptic plasticity. This issue is approached here by deriving synaptic dynamics in recurrent neural networks. Neurons are introduced as self-regulating units with a rich repertoire of dynamics. They exhibit homeostatic properties for certain parameter domains, which result in a set of stable states and the required short-term memory. They can also operate as oscillators, which allow them to surpass the level of activity imposed by their homeostatic operation conditions. Neural systems endowed with the derived synaptic dynamics can be utilized for the neural behavior control of autonomous mobile agents. The resulting behavior depends also on the underlying network structure, which is either engineered or developed by evolutionary techniques. The effectiveness of these self-regulating units is demonstrated by controlling locomotion of a hexapod with 18 degrees of freedom, and obstacle-avoidance of a wheel-driven robot. PMID:24904403

Improving mobile robot localization: grid-based approach

NASA Astrophysics Data System (ADS)

Yan, Junchi

2012-02-01

Autonomous mobile robots have been widely studied not only as advanced facilities for industrial and daily life automation, but also as a testbed in robotics competitions for extending the frontier of current artificial intelligence. In many of such contests, the robot is supposed to navigate on the ground with a grid layout. Based on this observation, we present a localization error correction method by exploring the geometric feature of the tile patterns. On top of the classical inertia-based positioning, our approach employs three fiber-optic sensors that are assembled under the bottom of the robot, presenting an equilateral triangle layout. The sensor apparatus, together with the proposed supporting algorithm, are designed to detect a line's direction (vertical or horizontal) by monitoring the grid crossing events. As a result, the line coordinate information can be fused to rectify the cumulative localization deviation from inertia positioning. The proposed method is analyzed theoretically in terms of its error bound and also has been implemented and tested on a customary developed two-wheel autonomous mobile robot.

An Autonomous Distributed Fault-Tolerant Local Positioning System

NASA Technical Reports Server (NTRS)

Malekpour, Mahyar R.

2017-01-01

We describe a fault-tolerant, GPS-independent (Global Positioning System) distributed autonomous positioning system for static/mobile objects and present solutions for providing highly-accurate geo-location data for the static/mobile objects in dynamic environments. The reliability and accuracy of a positioning system fundamentally depends on two factors; its timeliness in broadcasting signals and the knowledge of its geometry, i.e., locations and distances of the beacons. Existing distributed positioning systems either synchronize to a common external source like GPS or establish their own time synchrony using a scheme similar to a master-slave by designating a particular beacon as the master and other beacons synchronize to it, resulting in a single point of failure. Another drawback of existing positioning systems is their lack of addressing various fault manifestations, in particular, communication link failures, which, as in wireless networks, are increasingly dominating the process failures and are typically transient and mobile, in the sense that they typically affect different messages to/from different processes over time.

Mission Operations with an Autonomous Agent

NASA Technical Reports Server (NTRS)

Pell, Barney; Sawyer, Scott R.; Muscettola, Nicola; Smith, Benjamin; Bernard, Douglas E.

1998-01-01

The Remote Agent (RA) is an Artificial Intelligence (AI) system which automates some of the tasks normally reserved for human mission operators and performs these tasks autonomously on-board the spacecraft. These tasks include activity generation, sequencing, spacecraft analysis, and failure recovery. The RA will be demonstrated as a flight experiment on Deep Space One (DSI), the first deep space mission of the NASA's New Millennium Program (NMP). As we moved from prototyping into actual flight code development and teamed with ground operators, we made several major extensions to the RA architecture to address the broader operational context in which PA would be used. These extensions support ground operators and the RA sharing a long-range mission profile with facilities for asynchronous ground updates; support ground operators monitoring and commanding the spacecraft at multiple levels of detail simultaneously; and enable ground operators to provide additional knowledge to the RA, such as parameter updates, model updates, and diagnostic information, without interfering with the activities of the RA or leaving the system in an inconsistent state. The resulting architecture supports incremental autonomy, in which a basic agent can be delivered early and then used in an increasingly autonomous manner over the lifetime of the mission. It also supports variable autonomy, as it enables ground operators to benefit from autonomy when L'@ey want it, but does not inhibit them from obtaining a detailed understanding and exercising tighter control when necessary. These issues are critical to the successful development and operation of autonomous spacecraft.

Brahms Mobile Agents: Architecture and Field Tests

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Kaskiris, Charis; vanHoof, Ron

2002-01-01

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, rover/All-Terrain Vehicle (ATV), robotic assistant, other personnel in a local habitat, and a remote mission support team (with time delay). Software processes, called agents, implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system (e.g., return here later and bring this back to the habitat ). This combination of agents, rover, and model-based spoken dialogue interface constitutes a personal assistant. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a run-time system.

A Biologically Inspired Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

Howsman, Tom; Craft, Mike; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

2002-01-01

A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

A Stigmergic Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

Howsman, Thomas G.; O'Neil, Daniel; Craft, Michael A.

2004-01-01

In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. A prototype cooperative multi-robot control architecture which may be suitable for the eventual construction of large space structures has been developed which emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically, i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

Lightweight autonomous chemical identification system (LACIS)

NASA Astrophysics Data System (ADS)

Lozos, George; Lin, Hai; Burch, Timothy

2012-06-01

Smiths Detection and Intelligent Optical Systems have developed prototypes for the Lightweight Autonomous Chemical Identification System (LACIS) for the US Department of Homeland Security. LACIS is to be a handheld detection system for Chemical Warfare Agents (CWAs) and Toxic Industrial Chemicals (TICs). LACIS is designed to have a low limit of detection and rapid response time for use by emergency responders and could allow determination of areas having dangerous concentration levels and if protective garments will be required. Procedures for protection of responders from hazardous materials incidents require the use of protective equipment until such time as the hazard can be assessed. Such accurate analysis can accelerate operations and increase effectiveness. LACIS is to be an improved point detector employing novel CBRNE detection modalities that includes a militaryproven ruggedized ion mobility spectrometer (IMS) with an array of electro-resistive sensors to extend the range of chemical threats detected in a single device. It uses a novel sensor data fusion and threat classification architecture to interpret the independent sensor responses and provide robust detection at low levels in complex backgrounds with minimal false alarms. The performance of LACIS prototypes have been characterized in independent third party laboratory tests at the Battelle Memorial Institute (BMI, Columbus, OH) and indoor and outdoor field tests at the Nevada National Security Site (NNSS). LACIS prototypes will be entering operational assessment by key government emergency response groups to determine its capabilities versus requirements.

Using articulated scene models for dynamic 3d scene analysis in vista spaces

NASA Astrophysics Data System (ADS)

Beuter, Niklas; Swadzba, Agnes; Kummert, Franz; Wachsmuth, Sven

2010-09-01

In this paper we describe an efficient but detailed new approach to analyze complex dynamic scenes directly in 3D. The arising information is important for mobile robots to solve tasks in the area of household robotics. In our work a mobile robot builds an articulated scene model by observing the environment in the visual field or rather in the so-called vista space. The articulated scene model consists of essential knowledge about the static background, about autonomously moving entities like humans or robots and finally, in contrast to existing approaches, information about articulated parts. These parts describe movable objects like chairs, doors or other tangible entities, which could be moved by an agent. The combination of the static scene, the self-moving entities and the movable objects in one articulated scene model enhances the calculation of each single part. The reconstruction process for parts of the static scene benefits from removal of the dynamic parts and in turn, the moving parts can be extracted more easily through the knowledge about the background. In our experiments we show, that the system delivers simultaneously an accurate static background model, moving persons and movable objects. This information of the articulated scene model enables a mobile robot to detect and keep track of interaction partners, to navigate safely through the environment and finally, to strengthen the interaction with the user through the knowledge about the 3D articulated objects and 3D scene analysis. [Figure not available: see fulltext.

Control of autonomous robot using neural networks

NASA Astrophysics Data System (ADS)

Barton, Adam; Volna, Eva

2017-07-01

The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

Conserving analyst attention units: use of multi-agent software and CEP methods to assist information analysis

NASA Astrophysics Data System (ADS)

Rimland, Jeffrey; McNeese, Michael; Hall, David

2013-05-01

Although the capability of computer-based artificial intelligence techniques for decision-making and situational awareness has seen notable improvement over the last several decades, the current state-of-the-art still falls short of creating computer systems capable of autonomously making complex decisions and judgments in many domains where data is nuanced and accountability is high. However, there is a great deal of potential for hybrid systems in which software applications augment human capabilities by focusing the analyst's attention to relevant information elements based on both a priori knowledge of the analyst's goals and the processing/correlation of a series of data streams too numerous and heterogeneous for the analyst to digest without assistance. Researchers at Penn State University are exploring ways in which an information framework influenced by Klein's (Recognition Primed Decision) RPD model, Endsley's model of situational awareness, and the Joint Directors of Laboratories (JDL) data fusion process model can be implemented through a novel combination of Complex Event Processing (CEP) and Multi-Agent Software (MAS). Though originally designed for stock market and financial applications, the high performance data-driven nature of CEP techniques provide a natural compliment to the proven capabilities of MAS systems for modeling naturalistic decision-making, performing process adjudication, and optimizing networked processing and cognition via the use of "mobile agents." This paper addresses the challenges and opportunities of such a framework for augmenting human observational capability as well as enabling the ability to perform collaborative context-aware reasoning in both human teams and hybrid human / software agent teams.

Autonomous intelligent cars: proof that the EPSRC Principles are future-proof

NASA Astrophysics Data System (ADS)

de Cock Buning, Madeleine; de Bruin, Roeland

2017-07-01

Principle 2 of the EPSRC's principles of robotics (AISB workshop on Principles of Robotics, 2016) proves to be future proof when applied to the current state of the art of law and technology surrounding autonomous intelligent cars (AICs). Humans, not AICS, are responsible agents. AICs should be designed; operated as far as is practicable to comply with existing laws and fundamental rights and freedoms, including privacy by design. It will show that some legal questions arising from autonomous intelligent driving technology can be answered by the technology itself.

Creating a Mobile Autonomous Robot Research System (MARRS)

DTIC Science & Technology

1984-12-01

Laboratory was made possible through the energetic support of many individuals and organizations. In particluar, we want to thank our thesis advisor Dr...subsystems. Computer Hardware Until a few years ago autonomous vehicles were unheard of in real life. The advent of the microcomputer has made fact...8217i.vjf/^vf.’ Most software development efforts for MARRS-1 took advantage of Virtual Devices Robo C compiler and Robo Assembler. The next best

Concept for a Micro Autonomous Ultrasonic Instrument (MAUI)

NASA Technical Reports Server (NTRS)

Wilson, William C.; Atkinson, Gary M.

2002-01-01

We investigate a concept for the construction a mobile Micro Optical ElectroMechanical Systems (MOEMS) based laser ultrasonic instrument to serve as a Micro Autonomous Ultrasonic Instrument (MAUI). The system will consist of a laser ultrasonic instrument fabricated using Micro Electro-Mechanical Systems (MEMS) technology, and a MEMS based walking platform like those developed by Pister et al. at Berkeley. This small system will allow for automated remote Non-Destructive Evaluation (NDE) of aerospace vehicles.

On-Line Point Positioning with Single Frame Camera Data

DTIC Science & Technology

1992-03-15

tion algorithms and methods will be found in robotics and industrial quality control. 1. Project data The project has been defined as "On-line point...development and use of the OLT algorithms and meth- ods for applications in robotics , industrial quality control and autonomous vehicle naviga- tion...Of particular interest in robotics and autonomous vehicle navigation is, for example, the task of determining the position and orientation of a mobile

Toward autonomous driving: The CMU Navlab. II - Architecture and systems

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

A description is given of EDDIE, the architecture for the Navlab mobile robot which provides a toolkit for building specific systems quickly and easily. Included in the discussion are the annotated maps used by EDDIE and the Navlab's road-following system, called the Autonomous Mail Vehicle, which was built using EDDIE and its annotated maps as a basis. The contributions of the Navlab project and the lessons learned from it are examined.

Bolts from Orion: Destroying Mobile Surface-to-Air Missile Systems with Lethal Autonomous Aircraft

DTIC Science & Technology

2016-07-01

era SAMs that had been upgraded by Ukrainian contractors . During the operation, Russian aircraft’s 10 electronic countermeasures could not...main SEAD asset is the F-16 CJ equipped with the HARM targeting system ( HTS ). The HTS can autonomously locate and identify threat radars and pass...targeting information to the HARMs before launch. The HTS can also provide targeting 13 information to global positioning system (GPS) guided

Optimal sensor fusion for land vehicle navigation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morrow, J.D.

1990-10-01

Position location is a fundamental requirement in autonomous mobile robots which record and subsequently follow x,y paths. The Dept. of Energy, Office of Safeguards and Security, Robotic Security Vehicle (RSV) program involves the development of an autonomous mobile robot for patrolling a structured exterior environment. A straight-forward method for autonomous path-following has been adopted and requires digitizing'' the desired road network by storing x,y coordinates every 2m along the roads. The position location system used to define the locations consists of a radio beacon system which triangulates position off two known transponders, and dead reckoning with compass and odometer. Thismore » paper addresses the problem of combining these two measurements to arrive at a best estimate of position. Two algorithms are proposed: the optimal'' algorithm treats the measurements as random variables and minimizes the estimate variance, while the average error'' algorithm considers the bias in dead reckoning and attempts to guarantee an average error. Data collected on the algorithms indicate that both work well in practice. 2 refs., 7 figs.« less

Anticipation of interoceptive threat in highly anxiety sensitive persons.

PubMed

Melzig, Christiane A; Michalowski, Jaroslaw M; Holtz, Katharina; Hamm, Alfons O

2008-10-01

Anticipatory anxiety plays a major role in the etiology of panic disorder. Although anticipatory anxiety elicited by expectation of interoceptive cues is specifically relevant for panic patients, it has rarely been studied. Using a population analogue in high fear of such interoceptive arousal sensations (highly anxiety sensitive persons) we evaluated a new experimental paradigm to assess anticipatory anxiety during anticipation of interoceptive (somatic sensations evoked by hyperventilation) and exteroceptive (electric shock) threat. Symptom reports, autonomic arousal, and defensive response mobilization (startle eyeblink response) were monitored during threat and matched safe conditions in 26 highly anxiety sensitive persons and 22 controls. The anticipation of exteroceptive threat led to a defensive and autonomic mobilization as indexed by a potentiation of the startle response and an increase in skin conductance level in both experimental groups. During interoceptive threat, however, only highly anxiety sensitive persons but not the controls exhibited a startle response potentiation as well as autonomic activation. The anticipation of a hyperventilation procedure thus seems a valid paradigm to investigate anticipatory anxiety elicited by interoceptive cues in the clinical context.

A Buyer Behaviour Framework for the Development and Design of Software Agents in E-Commerce.

ERIC Educational Resources Information Center

Sproule, Susan; Archer, Norm

2000-01-01

Software agents are computer programs that run in the background and perform tasks autonomously as delegated by the user. This paper blends models from marketing research and findings from the field of decision support systems to build a framework for the design of software agents to support in e-commerce buying applications. (Contains 35…

Next Generation Remote Agent Planner

NASA Technical Reports Server (NTRS)

Jonsson, Ari K.; Muscettola, Nicola; Morris, Paul H.; Rajan, Kanna

1999-01-01

In May 1999, as part of a unique technology validation experiment onboard the Deep Space One spacecraft, the Remote Agent became the first complete autonomous spacecraft control architecture to run as flight software onboard an active spacecraft. As one of the three components of the architecture, the Remote Agent Planner had the task of laying out the course of action to be taken, which included activities such as turning, thrusting, data gathering, and communicating. Building on the successful approach developed for the Remote Agent Planner, the Next Generation Remote Agent Planner is a completely redesigned and reimplemented version of the planner. The new system provides all the key capabilities of the original planner, while adding functionality, improving performance and providing a modular and extendible implementation. The goal of this ongoing project is to develop a system that provides both a basis for future applications and a framework for further research in the area of autonomous planning for spacecraft. In this article, we present an introductory overview of the Next Generation Remote Agent Planner. We present a new and simplified definition of the planning problem, describe the basics of the planning process, lay out the new system design and examine the functionality of the core reasoning module.

Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers

NASA Technical Reports Server (NTRS)

Tunstel, Edward

1999-01-01

Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described.

Fuzzy Cognitive and Social Negotiation Agent Strategy for Computational Collective Intelligence

NASA Astrophysics Data System (ADS)

Chohra, Amine; Madani, Kurosh; Kanzari, Dalel

Finding the adequate (win-win solutions for both parties) negotiation strategy with incomplete information for autonomous agents, even in one-to-one negotiation, is a complex problem. Elsewhere, negotiation behaviors, in which the characters such as conciliatory or aggressive define a 'psychological' aspect of the negotiator personality, play an important role. The aim of this paper is to develop a fuzzy cognitive and social negotiation strategy for autonomous agents with incomplete information, where the characters conciliatory, neutral, or aggressive, are suggested to be integrated in negotiation behaviors (inspired from research works aiming to analyze human behavior and those on social negotiation psychology). For this purpose, first, one-to-one bargaining process, in which a buyer agent and a seller agent negotiate over single issue (price), is developed for a time-dependent strategy (based on time-dependent behaviors of Faratin et al.) and for a fuzzy cognitive and social strategy. Second, experimental environments and measures, allowing a set of experiments, carried out for different negotiation deadlines of buyer and seller agents, are detailed. Third, experimental results for both time-dependent and fuzzy cognitive and social strategies are presented, analyzed, and compared for different deadlines of agents. The suggested fuzzy cognitive and social strategy allows agents to improve the negotiation process, with regard to the time-dependent one, in terms of agent utilities, round number to reach an agreement, and percentage of agreements.

Mobile Agents: A Distributed Voice-Commanded Sensory and Robotic System for Surface EVA Assistance

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Alena, Rick; Crawford, Sekou; Dowding, John; Graham, Jeff; Kaskiris, Charis; Tyree, Kim S.; vanHoof, Ronnie

2003-01-01

A model-based, distributed architecture integrates diverse components in a system designed for lunar and planetary surface operations: spacesuit biosensors, cameras, GPS, and a robotic assistant. The system transmits data and assists communication between the extra-vehicular activity (EVA) astronauts, the crew in a local habitat, and a remote mission support team. Software processes ("agents"), implemented in a system called Brahms, run on multiple, mobile platforms, including the spacesuit backpacks, all-terrain vehicles, and robot. These "mobile agents" interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. Different types of agents relate platforms to each other ("proxy agents"), devices to software ("comm agents"), and people to the system ("personal agents"). A state-of-the-art spoken dialogue interface enables people to communicate with their personal agents, supporting a speech-driven navigation and scheduling tool, field observation record, and rover command system. An important aspect of the engineering methodology involves first simulating the entire hardware and software system in Brahms, and then configuring the agents into a runtime system. Design of mobile agent functionality has been based on ethnographic observation of scientists working in Mars analog settings in the High Canadian Arctic on Devon Island and the southeast Utah desert. The Mobile Agents system is developed iteratively in the context of use, with people doing authentic work. This paper provides a brief introduction to the architecture and emphasizes the method of empirical requirements analysis, through which observation, modeling, design, and testing are integrated in simulated EVA operations.

TARDEC Overview: Ground Vehicle Power and Mobility

DTIC Science & Technology

2011-02-04

Fuel & Water Distribution • Force Sustainment • Construction Equipment • Bridging • Assured Mobility Systems Robotics • TALON • PackBot • MARCbot...Equipment • Mechanical Countermine Equipment • Tactical Bridging Intelligent Ground Systems • Autonomous Robotics Systems • Safe Operations...Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT) • Electro-chemical Analysis and Research Lab (EARL) • Battery Lab • Air

Mobility-Dependent Motion Planning for High Speed Robotic Vehicles

DTIC Science & Technology

2008-07-25

of the vehicle’s mobility in such type of terrain. Moreover, autonomous driv- ing of wheeled vehicles at high speeds adds a new level of complexity due...dynamic effects such as wheel slip, skidding, ballistic behavior, rollover, and vehicle-terrain interaction phenomena. Navigation algorithms must also...description of mobility was defined as the probability that for a given 6 ini ial v 10 ity at an initial po ition h robo will hav a non-n gative ve- loci y

Final Environmental Impact Statement for the Kauai Acoustic Thermometry of Ocean Climate Project and Its Associated Marine Mammal Research Program: Vol 1

DTIC Science & Technology

1995-05-01

at zero source level to allow time for any mobile marine animal who was annoyed by the sound to depart the affected area; and project facilities would...using conventional thermometers); autonomous polar hydrophones; and a dual site experiment using mobile playback experiments. Of the twelve alternatives...HYDROPHONES (ICE NOISE 2-43 MEASUREMENTS) (ALTERNATIVE 11) 2.2.12 DUAL SITE EXPERIMENT; ALTERNATIVE MMRP 2-44 TECHNIQUES -- MOBILE PLAYBACK EXPERIMENTS

Visualizing Decision-making Behaviours in Agent-based Autonomous Spacecraft

NASA Technical Reports Server (NTRS)

North, Steve; Hennessy, Joseph F. (Technical Monitor)

2003-01-01

The authors will report initial progress on the PIAudit project as a Research Resident Associate Program. The objective of this research is to prototype a tool for visualizing decision-making behaviours in autonomous spacecraft. This visualization will serve as an information source for human analysts. The current visualization prototype for PIAudit combines traditional Decision Trees with Weights of Evidence.

ARK: Autonomous mobile robot in an industrial environment

NASA Technical Reports Server (NTRS)

Nickerson, S. B.; Jasiobedzki, P.; Jenkin, M.; Jepson, A.; Milios, E.; Down, B.; Service, J. R. R.; Terzopoulos, D.; Tsotsos, J.; Wilkes, D.

1994-01-01

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Navigation strategies for multiple autonomous mobile robots moving in formation

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1991-01-01

The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

Agent Based Software for the Autonomous Control of Formation Flying Spacecraft

NASA Technical Reports Server (NTRS)

How, Jonathan P.; Campbell, Mark; Dennehy, Neil (Technical Monitor)

2003-01-01

Distributed satellite systems is an enabling technology for many future NASA/DoD earth and space science missions, such as MMS, MAXIM, Leonardo, and LISA [1, 2, 3]. While formation flying offers significant science benefits, to reduce the operating costs for these missions it will be essential that these multiple vehicles effectively act as a single spacecraft by performing coordinated observations. Autonomous guidance, navigation, and control as part of a coordinated fleet-autonomy is a key technology that will help accomplish this complex goal. This is no small task, as most current space missions require significant input from the ground for even relatively simple decisions such as thruster burns. Work for the NMP DS1 mission focused on the development of the New Millennium Remote Agent (NMRA) architecture for autonomous spacecraft control systems. NMRA integrates traditional real-time monitoring and control with components for constraint-based planning, robust multi-threaded execution, and model-based diagnosis and reconfiguration. The complexity of using an autonomous approach for space flight software was evident when most of its capabilities were stripped off prior to launch (although more capability was uplinked subsequently, and the resulting demonstration was very successful).

Operator Informational Needs for Multiple Autonomous Small Vehicles

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

2015-01-01

With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

A Multifunctional Coating for Autonomous Corrosion Control

NASA Technical Reports Server (NTRS)

Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott t.

2011-01-01

Nearly all metals and their alloys are subject to corrosion that causes them to lose their structural integrity or other critical functionality. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to indicate it and control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of existing microcapsulation designs, the corrosion controlled release function that triggers the delivery of corrosion indicators and inhibitors on demand, only when and where needed. Microencapsulation of self-healing agents for autonomous repair of mechanical damage to the coating is also being pursued. Corrosion indicators, corrosion inhibitors, as well as self-healing agents, have been encapsulated and dispersed into several paint systems to test the corrosion detection, inhibition, and self-healing properties of the coating. Key words: Corrosion, coating, autonomous corrosion control, corrosion indication, corrosion inhibition, self-healing coating, smart coating, multifunctional coating, microencapsulation.

Cooperative mobile agents search using beehive partitioned structure and Tabu Random search algorithm

NASA Astrophysics Data System (ADS)

Ramazani, Saba; Jackson, Delvin L.; Selmic, Rastko R.

2013-05-01

In search and surveillance operations, deploying a team of mobile agents provides a robust solution that has multiple advantages over using a single agent in efficiency and minimizing exploration time. This paper addresses the challenge of identifying a target in a given environment when using a team of mobile agents by proposing a novel method of mapping and movement of agent teams in a cooperative manner. The approach consists of two parts. First, the region is partitioned into a hexagonal beehive structure in order to provide equidistant movements in every direction and to allow for more natural and flexible environment mapping. Additionally, in search environments that are partitioned into hexagons, mobile agents have an efficient travel path while performing searches due to this partitioning approach. Second, we use a team of mobile agents that move in a cooperative manner and utilize the Tabu Random algorithm to search for the target. Due to the ever-increasing use of robotics and Unmanned Aerial Vehicle (UAV) platforms, the field of cooperative multi-agent search has developed many applications recently that would benefit from the use of the approach presented in this work, including: search and rescue operations, surveillance, data collection, and border patrol. In this paper, the increased efficiency of the Tabu Random Search algorithm method in combination with hexagonal partitioning is simulated, analyzed, and advantages of this approach are presented and discussed.

Self-Organized Link State Aware Routing for Multiple Mobile Agents in Wireless Network

NASA Astrophysics Data System (ADS)

Oda, Akihiro; Nishi, Hiroaki

Recently, the importance of data sharing structures in autonomous distributed networks has been increasing. A wireless sensor network is used for managing distributed data. This type of distributed network requires effective information exchanging methods for data sharing. To reduce the traffic of broadcasted messages, reduction of the amount of redundant information is indispensable. In order to reduce packet loss in mobile ad-hoc networks, QoS-sensitive routing algorithm have been frequently discussed. The topology of a wireless network is likely to change frequently according to the movement of mobile nodes, radio disturbance, or fading due to the continuous changes in the environment. Therefore, a packet routing algorithm should guarantee QoS by using some quality indicators of the wireless network. In this paper, a novel information exchanging algorithm developed using a hash function and a Boolean operation is proposed. This algorithm achieves efficient information exchanges by reducing the overhead of broadcasting messages, and it can guarantee QoS in a wireless network environment. It can be applied to a routing algorithm in a mobile ad-hoc network. In the proposed routing algorithm, a routing table is constructed by using the received signal strength indicator (RSSI), and the neighborhood information is periodically broadcasted depending on this table. The proposed hash-based routing entry management by using an extended MAC address can eliminate the overhead of message flooding. An analysis of the collision of hash values contributes to the determination of the length of the hash values, which is minimally required. Based on the verification of a mathematical theory, an optimum hash function for determining the length of hash values can be given. Simulations are carried out to evaluate the effectiveness of the proposed algorithm and to validate the theory in a general wireless network routing algorithm.

Epidemic spreading induced by diversity of agents' mobility.

PubMed

Zhou, Jie; Chung, Ning Ning; Chew, Lock Yue; Lai, Choy Heng

2012-08-01

In this paper, we study the impact of the preference of an individual for public transport on the spread of infectious disease, through a quantity known as the public mobility. Our theoretical and numerical results based on a constructed model reveal that if the average public mobility of the agents is fixed, an increase in the diversity of the agents' public mobility reduces the epidemic threshold, beyond which an enhancement in the rate of infection is observed. Our findings provide an approach to improve the resistance of a society against infectious disease, while preserving the utilization rate of the public transportation system.

Effects of short-term W-CDMA mobile phone base station exposure on women with or without mobile phone related symptoms.

PubMed

Furubayashi, Toshiaki; Ushiyama, Akira; Terao, Yasuo; Mizuno, Yoko; Shirasawa, Kei; Pongpaibool, Pornanong; Simba, Ally Y; Wake, Kanako; Nishikawa, Masami; Miyawaki, Kaori; Yasuda, Asako; Uchiyama, Mitsunori; Yamashita, Hitomi Kobayashi; Masuda, Hiroshi; Hirota, Shogo; Takahashi, Miyuki; Okano, Tomoko; Inomata-Terada, Satomi; Sokejima, Shigeru; Maruyama, Eiji; Watanabe, Soichi; Taki, Masao; Ohkubo, Chiyoji; Ugawa, Yoshikazu

2009-02-01

To investigate possible health effects of mobile phone use, we conducted a double-blind, cross-over provocation study to confirm whether subjects with mobile phone related symptoms (MPRS) are more susceptible than control subjects to the effect of electromagnetic fields (EMF) emitted from base stations. We sent questionnaires to 5,000 women and obtained 2,472 valid responses from possible candidates; from these, we recruited 11 subjects with MPRS and 43 controls. There were four EMF exposure conditions, each of which lasted 30 min: continuous, intermittent, and sham exposure with and without noise. Subjects were exposed to EMF of 2.14 GHz, 10 V/m (W-CDMA), in a shielded room to simulate whole-body exposure to EMF from base stations, although the exposure strength we used was higher than that commonly received from base stations. We measured several psychological and cognitive parameters pre- and post-exposure, and monitored autonomic functions. Subjects were asked to report on their perception of EMF and level of discomfort during the experiment. The MPRS group did not differ from the controls in their ability to detect exposure to EMF; nevertheless they consistently experienced more discomfort, regardless of whether or not they were actually exposed to EMF, and despite the lack of significant changes in their autonomic functions. Thus, the two groups did not differ in their responses to real or sham EMF exposure according to any psychological, cognitive or autonomic assessment. In conclusion, we found no evidence of any causal link between hypersensitivity symptoms and exposure to EMF from base stations. Copyright 2008 Wiley-Liss, Inc.

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-04

AND MULTI-BODY DYNAMICS Jayakumar , Smith, Ross, Jategaonkar, Konarzewski 4 August 2011 UNCLASSIFIED: Distribution Statement A. Approved for public...Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...Cannot neglect vehicle dynamics 4 August 2011 3 UNCLASSIFIED Importance of Simulation Fidelity • Performance evaluation requires entire system

Micro Autonomous Systems Research: Systems Engineering Processes for Micro-Autonomous Systems

DTIC Science & Technology

2015-09-30

detailed geometry that can be sent directly to an automated manufacturing process like a 3D printer . Like traditional design, 3D CAD files were...force REF is stationed. The REF operates mobile manufacturing labs equipped with 3D printers , laser cutters, and CNC mills. The REF takes the...to verify that the 3d printer was cable of printing airfoil sections with sufficient accuracy and consistency while also providing an airfoil that

Autonomic Healing of Low-Velocity Impact Damage in Fiber-Reinforced Composites

DTIC Science & Technology

2010-01-01

formaldehyde) microencapsulation using the method described by Brown et al. [37]. Two different size ranges of microcapsules were employed to promote even...agent. The components for self-healing, urea–formaldehyde microcapsules containing dicyclopentadiene (DCPD) liquid healing agent and paraffin wax...impact damage is the employment of self-healing materials. In particular, the strat- egy using microencapsulated healing agent, demonstrated by White

Multidisciplinary unmanned technology teammate (MUTT)

NASA Astrophysics Data System (ADS)

Uzunovic, Nenad; Schneider, Anne; Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark

2013-01-01

The U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) held an autonomous robot competition called CANINE in June 2012. The goal of the competition was to develop innovative and natural control methods for robots. This paper describes the winning technology, including the vision system, the operator interaction, and the autonomous mobility. The rules stated only gestures or voice commands could be used for control. The robots would learn a new object at the start of each phase, find the object after it was thrown into a field, and return the object to the operator. Each of the six phases became more difficult, including clutter of the same color or shape as the object, moving and stationary obstacles, and finding the operator who moved from the starting location to a new location. The Robotic Research Team integrated techniques in computer vision, speech recognition, object manipulation, and autonomous navigation. A multi-filter computer vision solution reliably detected the objects while rejecting objects of similar color or shape, even while the robot was in motion. A speech-based interface with short commands provided close to natural communication of complicated commands from the operator to the robot. An innovative gripper design allowed for efficient object pickup. A robust autonomous mobility and navigation solution for ground robotic platforms provided fast and reliable obstacle avoidance and course navigation. The research approach focused on winning the competition while remaining cognizant and relevant to real world applications.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

Kenyon, Samuel H.; Creary, D.; Thi, Dan; Maynard, Jeffrey

2005-05-01

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

Mobile Code: The Future of the Internet

DTIC Science & Technology

1999-01-01

code ( mobile agents) to multiple proxies or servers " Customization " (e.g., re-formatting, filtering, metasearch) Information overload Diversified... Mobile code is necessary, rather than client-side code, since many customization features (such as information monitoring) do not work if the...economic foundation for Web sites, many Web sites earn money solely from advertisements . If these sites allow mobile agents to easily access the content

Influence of government controls over the currency exchange rate in the evolution of Hurst's exponent: An autonomous agent-based model

NASA Astrophysics Data System (ADS)

Chávez Muñoz, Pablo; Fernandes da Silva, Marcus; Vivas Miranda, José; Claro, Francisco; Gomez Diniz, Raimundo

2007-12-01

We have studied the performance of the Hurst's index associated with the currency exchange rate in Brazil and Chile. It is shown that this index maps the degree of government control in the exchange rate. A model of supply and demand based in an autonomous agent is proposed, that simulates a virtual market of sale and purchase, where buyer or seller are forced to negotiate through an intermediary. According to this model, the average of the price of daily transactions correspond to the theoretical balance proposed by the law of supply and demand. The influence of an added tendency factor is also analyzed.

Brain Computer Interfaces for Enhanced Interaction with Mobile Robot Agents

DTIC Science & Technology

2016-07-27

synergistic and complementary way. This project focused on acquiring a mobile robotic agent platform that can be used to explore these interfaces...providing a test environment where the human control of a robot agent can be experimentally validated in 1. REPORT DATE (DD-MM-YYYY) 4. TITLE AND...Distribution Unlimited UU UU UU UU 27-07-2016 17-Sep-2013 16-Sep-2014 Final Report: Brain Computer Interfaces for Enhanced Interactions with Mobile Robot

The Methodology for Developing Mobile Agent Application for Ubiquitous Environment

NASA Astrophysics Data System (ADS)

Matsuzaki, Kazutaka; Yoshioka, Nobukazu; Honiden, Shinichi

A methodology which enables a flexible and reusable development of mobile agent application to a mobility aware indoor environment is provided in this study. The methodology is named Workflow-awareness model based on a concept of a pair of mobile agents cooperating to perform a given task. A monolithic mobile agent application with numerous concerns in a mobility aware setting is divided into a master agent (MA) and a shadow agent (SA) according to a type of tasks. The MA executes a main application logic which includes monitoring a user's physical movement and coordinating various services. The SA performs additional tasks depending on environments to aid the MA in achieving efficient execution without losing application logic. "Workflow-awareness (WFA)" means that the SA knows the MA's execution state transition so that the SA can provide a proper task at a proper timing. A prototype implementation of the methodology is done with a practical use of AspectJ. AspectJ is used to automate WFA by weaving communication modules to both MA and SA. Usefulness of this methodology concerning its efficiency and software engineering aspects are analyzed. As for the effectiveness, the overhead of WFA is relatively small to the whole expenditure time. And from the view of the software engineering, WFA is possible to provide a mechanism to deploy one application in various situations.

Expressing Intervals in Automated Service Negotiation

NASA Astrophysics Data System (ADS)

Clark, Kassidy P.; Warnier, Martijn; van Splunter, Sander; Brazier, Frances M. T.

During automated negotiation of services between autonomous agents, utility functions are used to evaluate the terms of negotiation. These terms often include intervals of values which are prone to misinterpretation. It is often unclear if an interval embodies a continuum of real numbers or a subset of natural numbers. Furthermore, it is often unclear if an agent is expected to choose only one value, multiple values, a sub-interval or even multiple sub-intervals. Additional semantics are needed to clarify these issues. Normally, these semantics are stored in a domain ontology. However, ontologies are typically domain specific and static in nature. For dynamic environments, in which autonomous agents negotiate resources whose attributes and relationships change rapidly, semantics should be made explicit in the service negotiation. This paper identifies issues that are prone to misinterpretation and proposes a notation for expressing intervals. This notation is illustrated using an example in WS-Agreement.

Constructing Game Agents from Video of Human Behavior

DTIC Science & Technology

2009-01-01

Future Work Constructing autonomous agents is an important task in video game development. Games such as Quake, Warcraft III, and Halo 2 (Damian 2005...Vision. Rio de Janeiro, Brazil: IEEE Press. Kelley, J. P.; Botea, A.; and Koenig, S. 2008. Offline planning with hierarchical task networks in video ...

Application of Grazing-Inspired Guidance Laws to Autonomous Information Gathering

DTIC Science & Technology

2014-09-01

paths by expressing it as the Selective Traveling Salesman Problem subject to dynamic constraints. Tisdale et al. [11] utilized a receding horizon ap...vehicle failures by halving the initial fuel level on selected agents. Note that simulations start with agents 50s travel time away from where they

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

PubMed

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-04-13

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network

PubMed Central

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-01-01

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car. PMID:28406426

Autonomous Agents on Expedition: Humans and Progenitor Ants and Planetary Exploration

NASA Astrophysics Data System (ADS)

Rilee, M. L.; Clark, P. E.; Curtis, S. A.; Truszkowski, W. F.

2002-01-01

The Autonomous Nano-Technology Swarm (ANTS) is an advanced mission architecture based on a social insect analog of many specialized spacecraft working together to achieve mission goals. The principal mission concept driving the ANTS architecture is a Main Belt Asteroid Survey in the 2020s that will involve a thousand or more nano-technology enabled, artificially intelligent, autonomous pico-spacecraft (< 1 kg). The objective of this survey is to construct a compendium of composition, shape, and other physical parameter observations of a significant fraction of asteroid belt objects. Such an atlas will be of primary scientific importance for the understanding of Solar System origins and evolution and will lay the foundation for future exploration and capitalization of space. As the capabilities enabling ANTS are developed over the next two decades, these capabilities will need to be proven. Natural milestones for this process include the deployment of progenitors to ANTS on human expeditions to space and remote missions with interfaces for human interaction and control. These progenitors can show up in a variety of forms ranging from spacecraft subsystems and advanced handheld sensors, through complete prototypical ANTS spacecraft. A critical capability to be demonstrated is reliable, long-term autonomous operations across the ANTS architecture. High level, mission-oriented behaviors are to be managed by a control / communications layer of the swarm, whereas common low level functions required of all spacecraft, e.g. attitude control and guidance and navigation, are handled autonomically on each spacecraft. At the higher levels of mission planning and social interaction deliberative techniques are to be used. For the asteroid survey, ANTS acts as a large community of cooperative agents while for precursor missions there arises the intriguing possibility of Progenitor ANTS and humans acting together as agents. For optimal efficiency and responsiveness for individual spacecraft at the lowest levels of control we have been studying control methods based on nonlinear dynamical systems. We describe the critically important autonomous control architecture of the ANTS mission concept and a sequence of partial implementations that feature increasingly autonomous behaviors. The scientific and engineering roles that these Progenitor ANTS could play in human missions or remote missions with near real time human interactions, particularly to the Moon and Mars, will be discussed.

Increasing Mission Science Return Through Use of Spacecraft Autonomy and Sensor Webs: A Volcanology Example

NASA Astrophysics Data System (ADS)

Davies, A. G.; Chien, S. A.; Castano, R.; Tran, D. Q.; Scharenbroich, L. J.

2006-12-01

Mission science return is increased through use of onboard autonomy, and using disparate assets integrated into an autonomously-operating sensor web that can re-task these assets to rapidly obtain additional data. Software on spacecraft has been used to analyse data to detect dynamic events of high interest, such as on- going volcanic activity. This capability has been successfully demonstrated by the NASA New Millennium Program Autonomous Sciencecraft Experiment (ASE), on the Earth Observing 1 spacecraft in Earth-orbit [1-2]. The potential now exists for eruption parameters to be quantified onboard a spacecraft, using models that relate thermal emission to volumetric eruption rate. This promises a notification not only of on-going activity, but also the magnitude of the event, within a few hours of the original observation, a process that normally takes weeks. ASE/EO-1 is part of the JPL Volcano Sensor Web [3]. This autonomous system collates information of volcanic activity from numerous assets and retasks EO-1 to obtain observations as soon as practicable. The use of a ground-based planner allows rapid insertion or replacement of new observations, with no human intervention. Endusers are notified automatically by email. Spacecraft autonomy, involving automatic fault detection and mitigation, onboard processing of data, and replanning of observations, allows mission operations to break free from pre-ordained operations sequencing, necessary for studying dynamic volcanic processes on other bodies in the Solar System (e.g., Io and Enceladus). Onboard processing allows quantification of dynamic processes, improving both science content per returned byte and optimization of subsequent resource use. This work was carried out at the Jet Propulsion Laboratory-California Institute of Technology, under contract to NASA. [1] Chien, S. et al. (2004) The EO-1 Autonomous Science Agent, Proceedings of the 2004 Conferences on Autonomous Agents and Multi-agent Systems (AAMAS), New York City, USA, July 2004. [2] Davies, A. G. et al. (2006) Monitoring active volcanism with the Autonomous Sciencecraft Experiment (ASE) on EO-1, RSE, 101, 427-446. [3] Davies, A. G. et al., (2006) Sensor Web enables rapid response to volcanic activity, Eos, 87, 1, 1&5.

Acoustic Communications and Navigation for Mobile Under-Ice Sensors

DTIC Science & Technology

2017-02-04

From- To) 04/02/2017 Final Report 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Acoustic Communications and Navigation for Mobile Under-Ice Sensors...development and fielding of a new acoustic communications and navigation system for use on autonomous platforms (gliders and profiling floats) under the...contact below the ice. 15. SUBJECT TERMS Arctic Ocean, Undersea Workstations & Vehicles, Signal Processing, Navigation, Underwater Acoustics 16

Integrated mobile robot control

NASA Technical Reports Server (NTRS)

Amidi, Omead; Thorpe, Charles

1991-01-01

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Autonomous Learning in Mobile Cognitive Machines

DTIC Science & Technology

2017-11-25

2016). [18] Liu, Wei, et al. "Ssd: Single shot multibox detector." European conference on computer vision. Springer, Cham, 2016. [19] Vinyals, Oriol...the brain being evolved to support its mobility has been raised. In fact, as the project progressed, the researchers discovered that if one of the...deductive, relies on rule-based programming, and can solve complex problems, however, faces difficulties in learning and adaptability. The latter

Integrated mobile robot control

NASA Astrophysics Data System (ADS)

Amidi, Omead; Thorpe, Chuck E.

1991-03-01

This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

NASA NDE Applications for Mobile MEMS Devices and Sensors

NASA Technical Reports Server (NTRS)

Wilson, William C.; Atkinson, Gary M.; Barclay, R. O.

2008-01-01

NASA would like new devices and sensors for performing nondestructive evaluation (NDE) of aerospace vehicles. These devices must be small in size/volume, mass, and power consumption. The devices must be autonomous and mobile so they can access the internal structures of aircraft and spacecraft and adequately monitor the structural health of these craft. The platforms must be mobile in order to transport NDE sensors for evaluating structural integrity and determining whether further investigations will be required. Microelectromechanical systems (MEMS) technology is crucial to the development of the mobile platforms and sensor systems. This paper presents NASA s needs for micro mobile platforms and MEMS sensors that will enable NDE to be performed on aerospace vehicles.

Autonomous microfluidic sample preparation system for protein profile-based detection of aerosolized bacterial cells and spores.

PubMed

Stachowiak, Jeanne C; Shugard, Erin E; Mosier, Bruce P; Renzi, Ronald F; Caton, Pamela F; Ferko, Scott M; Van de Vreugde, James L; Yee, Daniel D; Haroldsen, Brent L; VanderNoot, Victoria A

2007-08-01

For domestic and military security, an autonomous system capable of continuously monitoring for airborne biothreat agents is necessary. At present, no system meets the requirements for size, speed, sensitivity, and selectivity to warn against and lead to the prevention of infection in field settings. We present a fully automated system for the detection of aerosolized bacterial biothreat agents such as Bacillus subtilis (surrogate for Bacillus anthracis) based on protein profiling by chip gel electrophoresis coupled with a microfluidic sample preparation system. Protein profiling has previously been demonstrated to differentiate between bacterial organisms. With the goal of reducing response time, multiple microfluidic component modules, including aerosol collection via a commercially available collector, concentration, thermochemical lysis, size exclusion chromatography, fluorescent labeling, and chip gel electrophoresis were integrated together to create an autonomous collection/sample preparation/analysis system. The cycle time for sample preparation was approximately 5 min, while total cycle time, including chip gel electrophoresis, was approximately 10 min. Sensitivity of the coupled system for the detection of B. subtilis spores was 16 agent-containing particles per liter of air, based on samples that were prepared to simulate those collected by wetted cyclone aerosol collector of approximately 80% efficiency operating for 7 min.

Application of autonomous robotized systems for the collection of nearshore topographic changing and hydrodynamic measurements

NASA Astrophysics Data System (ADS)

Belyakov, Vladimir; Makarov, Vladimir; Zezyulin, Denis; Kurkin, Andrey; Pelinovsky, Efim

2015-04-01

Hazardous phenomena in the coastal zone lead to the topographic changing which are difficulty inspected by traditional methods. It is why those autonomous robots are used for collection of nearshore topographic and hydrodynamic measurements. The robot RTS-Hanna is well-known (Wubbold, F., Hentschel, M., Vousdoukas, M., and Wagner, B. Application of an autonomous robot for the collection of nearshore topographic and hydrodynamic measurements. Coastal Engineering Proceedings, 2012, vol. 33, Paper 53). We describe here several constructions of mobile systems developed in Laboratory "Transported Machines and Transported Complexes", Nizhny Novgorod State Technical University. They can be used in the field surveys and monitoring of wave regimes nearshore.

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Neuromorphic vision sensors and preprocessors in system applications

NASA Astrophysics Data System (ADS)

Kramer, Joerg; Indiveri, Giacomo

1998-09-01

A partial review of neuromorphic vision sensors that are suitable for use in autonomous systems is presented. Interfaces are being developed to multiplex the high- dimensional output signals of arrays of such sensors and to communicate them in standard formats to off-chip devices for higher-level processing, actuation, storage and display. Alternatively, on-chip processing stages may be implemented to extract sparse image parameters, thereby obviating the need for multiplexing. Autonomous robots are used to test neuromorphic vision chips in real-world environments and to explore the possibilities of data fusion from different sensing modalities. Examples of autonomous mobile systems that use neuromorphic vision chips for line tracking and optical flow matching are described.

Remediation of heavy metal(loid)s contaminated soils--to mobilize or to immobilize?

PubMed

Bolan, Nanthi; Kunhikrishnan, Anitha; Thangarajan, Ramya; Kumpiene, Jurate; Park, Jinhee; Makino, Tomoyuki; Kirkham, Mary Beth; Scheckel, Kirk

2014-02-15

Unlike organic contaminants, metal(loid)s do not undergo microbial or chemical degradation and persist for a long time after their introduction. Bioavailability of metal(loid)s plays a vital role in the remediation of contaminated soils. In this review, the remediation of heavy metal(loid) contaminated soils through manipulating their bioavailability using a range of soil amendments will be presented. Mobilizing amendments such as chelating and desorbing agents increase the bioavailability and mobility of metal(loid)s. Immobilizing amendments such of precipitating agents and sorbent materials decrease the bioavailabilty and mobility of metal(loid)s. Mobilizing agents can be used to enhance the removal of heavy metal(loid)s though plant uptake and soil washing. Immobilizing agents can be used to reduce the transfer to metal(loid)s to food chain via plant uptake and leaching to groundwater. One of the major limitations of mobilizing technique is susceptibility to leaching of the mobilized heavy metal(loid)s in the absence of active plant uptake. Similarly, in the case of the immobilization technique the long-term stability of the immobilized heavy metal(loid)s needs to be monitored. Copyright © 2013 Elsevier B.V. All rights reserved.

Sign detection for autonomous navigation

NASA Astrophysics Data System (ADS)

Goodsell, Thomas G.; Snorrason, Magnus S.; Cartwright, Dustin; Stube, Brian; Stevens, Mark R.; Ablavsky, Vitaly X.

2003-09-01

Mobile robots currently cannot detect and read arbitrary signs. This is a major hindrance to mobile robot usability, since they cannot be tasked using directions that are intuitive to humans. It also limits their ability to report their position relative to intuitive landmarks. Other researchers have demonstrated some success on traffic sign recognition, but using template based methods limits the set of recognizable signs. There is a clear need for a sign detection and recognition system that can process a much wider variety of signs: traffic signs, street signs, store-name signs, building directories, room signs, etc. We are developing a system for Sign Understanding in Support of Autonomous Navigation (SUSAN), that detects signs from various cues common to most signs: vivid colors, compact shape, and text. We have demonstrated the feasibility of our approach on a variety of signs in both indoor and outdoor locations.

Wearable wireless sensor platform for studying autonomic activity and social behavior in non-human primates.

PubMed

Fletcher, Richard Ribón; Amemori, Ken-ichi; Goodwin, Matthew; Graybiel, Ann M

2012-01-01

A portable system has been designed to enable remote monitoring of autonomic nervous system output in non-human primates for the purpose of studying neural function related to social behavior over extended periods of time in an ambulatory setting. In contrast to prior systems which only measure heart activity, are restricted to a constrained laboratory setting, or require surgical attachment, our system is comprised of a multi-sensor self-contained wearable vest that can easily be transferred from one subject to another. The vest contains a small detachable low-power electronic sensor module for measuring electrodermal activity (EDA), electrocardiography (ECG), 3-axis acceleration, and temperature. The wireless transmission is implemented using a standard Bluetooth protocol and a mobile phone, which enables freedom of movement for the researcher as well as for the test subject. A custom Android software application was created on the mobile phone for viewing and recording live data as well as creating annotations. Data from up to seven monkeys can be recorded simultaneously using the mobile phone, with the option of real-time upload to a remote web server. Sample data are presented from two rhesus macaque monkeys showing stimulus-induced response in the laboratory as well as long-term ambulatory data collected in a large monkey cage. This system enables new possibilities for studying underlying mechanisms between autonomic brain function and social behavior with connection to human research in areas such as autism, substance abuse, and mood disorders.

Fuzzy logic control of an AGV

NASA Astrophysics Data System (ADS)

Kelkar, Nikhal; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic approach for steering and speed control, a neuro-fuzzy approach for ultrasound sensing (not discussed in this paper) and an overall expert system. The advantages of a modular system are related to portability and transportability, i.e. any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors. The speed and steering fuzzy logic controller is supervised by a 486 computer through a multi-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. This micro- controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system in which high speed computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected by a vision tracking device that transmits the X, Y coordinates of the lane marker to the control computer. Simulation and testing of these systems yielded promising results. This design, in its modularity, creates a portable autonomous fuzzy logic controller applicable to any mobile vehicle with only minor adaptations.

Autonomous and Autonomic Systems: A Paradigm for Future Space Exploration Missions

NASA Technical Reports Server (NTRS)

Truszkowski, Walter F.; Hinchey, Michael G.; Rash, James L.; Rouff, Christopher A.

2004-01-01

NASA increasingly will rely on autonomous systems concepts, not only in the mission control centers on the ground, but also on spacecraft and on rovers and other assets on extraterrestrial bodies. Automomy enables not only reduced operations costs, But also adaptable goal-driven functionality of mission systems. Space missions lacking autonomy will be unable to achieve the full range of advanced mission objectives, given that human control under dynamic environmental conditions will not be feasible due, in part, to the unavoidably high signal propagation latency and constrained data rates of mission communications links. While autonomy cost-effectively supports accomplishment of mission goals, autonomicity supports survivability of remote mission assets, especially when human tending is not feasible. Autonomic system properties (which ensure self-configuring, self-optimizing self-healing, and self-protecting behavior) conceptually may enable space missions of a higher order into any previously flown. Analysis of two NASA agent-based systems previously prototyped, and of a proposed future mission involving numerous cooperating spacecraft, illustrates how autonomous and autonomic system concepts may be brought to bear on future space missions.

Programming secure mobile agents in healthcare environments using role-based permissions.

PubMed

Georgiadis, C K; Baltatzis, J; Pangalos, G I

2003-01-01

The healthcare environment consists of vast amounts of dynamic and unstructured information, distributed over a large number of information systems. Mobile agent technology is having an ever-growing impact on the delivery of medical information. It supports acquiring and manipulating information distributed in a large number of information systems. Moreover is suitable for the computer untrained medical stuff. But the introduction of mobile agents generates advanced threads to the sensitive healthcare information, unless the proper countermeasures are taken. By applying the role-based approach to the authorization problem, we ease the sharing of information between hospital information systems and we reduce the administering part. The different initiative of the agent's migration method, results in different methods of assigning roles to the agent.

Multirobot autonomous landmine detection using distributed multisensor information aggregation

NASA Astrophysics Data System (ADS)

Jumadinova, Janyl; Dasgupta, Prithviraj

2012-06-01

We consider the problem of distributed sensor information fusion by multiple autonomous robots within the context of landmine detection. We assume that different landmines can be composed of different types of material and robots are equipped with different types of sensors, while each robot has only one type of landmine detection sensor on it. We introduce a novel technique that uses a market-based information aggregation mechanism called a prediction market. Each robot is provided with a software agent that uses sensory input of the robot and performs calculations of the prediction market technique. The result of the agent's calculations is a 'belief' representing the confidence of the agent in identifying the object as a landmine. The beliefs from different robots are aggregated by the market mechanism and passed on to a decision maker agent. The decision maker agent uses this aggregate belief information about a potential landmine and makes decisions about which other robots should be deployed to its location, so that the landmine can be confirmed rapidly and accurately. Our experimental results show that, for identical data distributions and settings, using our prediction market-based information aggregation technique increases the accuracy of object classification favorably as compared to two other commonly used techniques.

Software for Automation of Real-Time Agents, Version 2

NASA Technical Reports Server (NTRS)

Fisher, Forest; Estlin, Tara; Gaines, Daniel; Schaffer, Steve; Chouinard, Caroline; Engelhardt, Barbara; Wilklow, Colette; Mutz, Darren; Knight, Russell; Rabideau, Gregg;

Situation awareness-based agent transparency for human-autonomy teaming effectiveness

NASA Astrophysics Data System (ADS)

Chen, Jessie Y. C.; Barnes, Michael J.; Wright, Julia L.; Stowers, Kimberly; Lakhmani, Shan G.

2017-05-01

We developed the Situation awareness-based Agent Transparency (SAT) model to support human operators' situation awareness of the mission environment through teaming with intelligent agents. The model includes the agent's current actions and plans (Level 1), its reasoning process (Level 2), and its projection of future outcomes (Level 3). Human-inthe-loop simulation experiments have been conducted (Autonomous Squad Member and IMPACT) to illustrate the utility of the model for human-autonomy team interface designs. Across studies, the results consistently showed that human operators' task performance improved as the agents became more transparent. They also perceived transparent agents as more trustworthy.

Modeling Interactive Intelligences

DTIC Science & Technology

2002-08-01

given a task in an uncertain environment? How can we design it with that type of intelligence? How do we gauge the ludic capabilities of an agent? The...for play, unless they are playgrounds or have been designated as toys. Our non-artistic creations come with built-in purposes. Deviations from expected...uses are usually not welcomed. How could play enter into autonomous agent design ? What enhancement of the agent could it bring about? To think

Autonomy and the akratic patient.

PubMed Central

McKnight, C J

1993-01-01

I argue that the distinction which is current in much writing on medical ethics between autonomous and non-autonomous patients cannot cope comfortably with weak-willed (incontinent) patients. I describe a case involving a patient who refuses a blood transfusion even though he or she agrees that it would be in his or her best interests. The case is discussed in the light of the treatment of autonomy by B Brody and R Gillon. These writers appear to force us to treat an incontinent patient either as autonomous, just like a rational agent whose decisions are in accordance with his beliefs or as non-autonomous, like comatose patients or children. Though neither is entirely satisfactory I opt for describing such patients as autonomous but point out that in cases like this the principle of respect for autonomy does not give a determinate answer about how the patient ought to be treated. PMID:8308874

Acute abdominal pain as the only symptom of a thoracic demyelinating lesion in multiple sclerosis.

PubMed

Nomura, Shohei; Shimakawa, Shuichi; Kashiwagi, Mitsuru; Tanabe, Takuya; Fukui, Miho; Tamai, Hiroshi

2015-11-01

Multiple sclerosis (MS) is a syndrome characterized by complex neurological symptoms resulting from demyelinating lesions in the central nervous system. We report a child with a relapse of MS whose only presenting symptom was severe abdominal pain. Dysfunctional intestinal mobility was assessed by abdominal computed tomography. Findings resembled paralytic ileus resulting from peritonitis. However, the patient demonstrated no other symptoms of peritonitis. A T2-weighted magnetic resonance image revealed a new demyelinating lesion localized to thoracic segments T4-T12. The lesion presumably affected autonomic efferents involved in intestinal mobility. Treatment with a pulse of methylprednisolone reduced both abdominal pain and lesion size. To our knowledge, this is the first reported case of a pediatric MS patient with a demyelinating lesion associated with an autonomic symptom of altered intestinal mobility in the absence of neurological symptoms. This atypical presentation of MS highlights the need for physicians' vigilance when treating this patient population. Copyright © 2015 The Japanese Society of Child Neurology. Published by Elsevier B.V. All rights reserved.

Navigation Architecture For A Space Mobile Network

NASA Technical Reports Server (NTRS)

Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell

2016-01-01

The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space-based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts.

Guaranteeing safety in spatially situated agents

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kohout, R.C.; Hendler, J.A.; Musliner, D.J.

1996-12-31

{open_quote}Mission-critical{close_quotes} systems, which include such diverse applications as nuclear power plant controllers, {open_quotes}fly-by-wire{close_quotes} airplanes, medical care and monitoring systems, and autonomous mobile vehicles, are characterized by the fact that system failure is potentially catastrophic. The high cost of failure justifies the expenditure of considerable effort at design-time in order to guarantee the correctness of system behavior. This paper examines the problem of guaranteeing safety in a well studied class of robot motion problems known as the {open_quotes}asteroid avoidance problem.{close_quotes} We establish necessary and sufficient conditions for ensuring safety in the simple version of this problem which occurs most frequently inmore » the literature, as well as sufficient conditions for a more general and realistic case. In doing so, we establish functional relationships between the number, size and speed of obstacles, the robot`s maximum speed and the conditions which must be maintained in order to ensure safety.« less

Agent autonomy approach to probabilistic physics-of-failure modeling of complex dynamic systems with interacting failure mechanisms

NASA Astrophysics Data System (ADS)

Gromek, Katherine Emily

A novel computational and inference framework of the physics-of-failure (PoF) reliability modeling for complex dynamic systems has been established in this research. The PoF-based reliability models are used to perform a real time simulation of system failure processes, so that the system level reliability modeling would constitute inferences from checking the status of component level reliability at any given time. The "agent autonomy" concept is applied as a solution method for the system-level probabilistic PoF-based (i.e. PPoF-based) modeling. This concept originated from artificial intelligence (AI) as a leading intelligent computational inference in modeling of multi agents systems (MAS). The concept of agent autonomy in the context of reliability modeling was first proposed by M. Azarkhail [1], where a fundamentally new idea of system representation by autonomous intelligent agents for the purpose of reliability modeling was introduced. Contribution of the current work lies in the further development of the agent anatomy concept, particularly the refined agent classification within the scope of the PoF-based system reliability modeling, new approaches to the learning and the autonomy properties of the intelligent agents, and modeling interacting failure mechanisms within the dynamic engineering system. The autonomous property of intelligent agents is defined as agent's ability to self-activate, deactivate or completely redefine their role in the analysis. This property of agents and the ability to model interacting failure mechanisms of the system elements makes the agent autonomy fundamentally different from all existing methods of probabilistic PoF-based reliability modeling. 1. Azarkhail, M., "Agent Autonomy Approach to Physics-Based Reliability Modeling of Structures and Mechanical Systems", PhD thesis, University of Maryland, College Park, 2007.

Human-Centered Design for the Personal Satellite Assistant

NASA Technical Reports Server (NTRS)

Bradshaw, Jeffrey M.; Sierhuis, Maarten; Gawdiak, Yuri; Thomas, Hans; Greaves, Mark; Clancey, William J.; Swanson, Keith (Technical Monitor)

2000-01-01

The Personal Satellite Assistant (PSA) is a softball-sized flying robot designed to operate autonomously onboard manned spacecraft in pressurized micro-gravity environments. We describe how the Brahms multi-agent modeling and simulation environment in conjunction with a KAoS agent teamwork approach can be used to support human-centered design for the PSA.

Self-organizing team formation for target observation

NASA Astrophysics Data System (ADS)

Bowyer, Richard S.; Bogner, Robert E.

2001-08-01

Target observation is a problem where the application of multiple sensors can improve the probability of detection and observation of the target. Team formation is one method by which seemingly unsophisticated heterogeneous sensors may be organized to achieve a coordinated observation system. The sensors, which we shall refer to as agents, are situated in an area of interest with the goal of observing a moving target. We apply a team approach to this problem, which combines the strengths of individual agents into a cohesive entity - the team. In autonomous systems, the mechanisms that underlie the formation of a team are of interest. Teams may be formed by various mechanisms, which include an externally imposed grouping of agents, or an internally, self-organized (SO) grouping of agents. Internally motivated mechanisms are particularly challenging, but offer the benefit of being unsupervised, an important quality for groups of autonomous cooperating machines. This is the focus of our research. By studying natural systems such as colonies of ants, we obtain insight into these mechanisms of self organization. We propose that the team is an expression of a distributed agent-self, and that a particular realization of the agent-self exists, whilst the environmental conditions are conducive to that existence. We describe an algorithms for agent team formation that is inspired by the self-organizing behavior of ants, and describe simulation results for team formation amongst a lattice of networked sensors.

Autonomic and Coevolutionary Sensor Networking

NASA Astrophysics Data System (ADS)

Boonma, Pruet; Suzuki, Junichi

(WSNs) applications are often required to balance the tradeoffs among conflicting operational objectives (e.g., latency and power consumption) and operate at an optimal tradeoff. This chapter proposes and evaluates a architecture, called BiSNET/e, which allows WSN applications to overcome this issue. BiSNET/e is designed to support three major types of WSN applications: , and hybrid applications. Each application is implemented as a decentralized group of, which is analogous to a bee colony (application) consisting of bees (agents). Agents collect sensor data or detect an event (a significant change in sensor reading) on individual nodes, and carry sensor data to base stations. They perform these data collection and event detection functionalities by sensing their surrounding network conditions and adaptively invoking behaviors such as pheromone emission, reproduction, migration, swarming and death. Each agent has its own behavior policy, as a set of genes, which defines how to invoke its behaviors. BiSNET/e allows agents to evolve their behavior policies (genes) across generations and autonomously adapt their performance to given objectives. Simulation results demonstrate that, in all three types of applications, agents evolve to find optimal tradeoffs among conflicting objectives and adapt to dynamic network conditions such as traffic fluctuations and node failures/additions. Simulation results also illustrate that, in hybrid applications, data collection agents and event detection agents coevolve to augment their adaptability and performance.

Agent Architectures for Compliance

NASA Astrophysics Data System (ADS)

Burgemeestre, Brigitte; Hulstijn, Joris; Tan, Yao-Hua

A Normative Multi-Agent System consists of autonomous agents who must comply with social norms. Different kinds of norms make different assumptions about the cognitive architecture of the agents. For example, a principle-based norm assumes that agents can reflect upon the consequences of their actions; a rule-based formulation only assumes that agents can avoid violations. In this paper we present several cognitive agent architectures for self-monitoring and compliance. We show how different assumptions about the cognitive architecture lead to different information needs when assessing compliance. The approach is validated with a case study of horizontal monitoring, an approach to corporate tax auditing recently introduced by the Dutch Customs and Tax Authority.

Dual-Schemata Model

NASA Astrophysics Data System (ADS)

Taniguchi, Tadahiro; Sawaragi, Tetsuo

In this paper, a new machine-learning method, called Dual-Schemata model, is presented. Dual-Schemata model is a kind of self-organizational machine learning methods for an autonomous robot interacting with an unknown dynamical environment. This is based on Piaget's Schema model, that is a classical psychological model to explain memory and cognitive development of human beings. Our Dual-Schemata model is developed as a computational model of Piaget's Schema model, especially focusing on sensori-motor developing period. This developmental process is characterized by a couple of two mutually-interacting dynamics; one is a dynamics formed by assimilation and accommodation, and the other dynamics is formed by equilibration and differentiation. By these dynamics schema system enables an agent to act well in a real world. This schema's differentiation process corresponds to a symbol formation process occurring within an autonomous agent when it interacts with an unknown, dynamically changing environment. Experiment results obtained from an autonomous facial robot in which our model is embedded are presented; an autonomous facial robot becomes able to chase a ball moving in various ways without any rewards nor teaching signals from outside. Moreover, emergence of concepts on the target movements within a robot is shown and discussed in terms of fuzzy logics on set-subset inclusive relationships.

Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS)

NASA Technical Reports Server (NTRS)

Cheng, Linfu; Mckendrick, John D.; Liu, Jeffrey

1990-01-01

Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.

Reusable Autonomy

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Obenschain, Arthur F. (Technical Monitor)

2002-01-01

Currently, spacecraft ground systems have a well defined and somewhat standard architecture and operations concept. Based on domain analysis studies of various control centers conducted over the years it is clear that ground systems have core capabilities and functionality that are common across all ground systems. This observation alone supports the realization of reuse. Additionally, spacecraft ground systems are increasing in their ability to do things autonomously. They are being engineered using advanced expert systems technology to provide automated support for operators. A clearer understanding of the possible roles of agent technology is advancing the prospects of greater autonomy for these systems. Many of their functional and management tasks are or could be supported by applied agent technology, the dynamics of the ground system's infrastructure could be monitored by agents, there are intelligent agent-based approaches to user-interfaces, etc. The premise of this paper is that the concepts associated with software reuse, applicable in consideration of classically-engineered ground systems, can be updated to address their application in highly agent-based realizations of future ground systems. As a somewhat simplified example consider the following situation, involving human agents in a ground system context. Let Group A of controllers be working on Mission X. They are responsible for the command, control and health and safety of the Mission X spacecraft. Let us suppose that mission X successfully completes it mission and is turned off. Group A could be dispersed or perhaps move to another Mission Y. In this case there would be reuse of the human agents from Mission X to Mission Y. The Group A agents perform their well-understood functions in a somewhat but related context. There will be a learning or familiarization process that the group A agents go through to make the new context, determined by the new Mission Y, understood. This simplified scenario highlights some of the major issues that need to be addressed when considering the situation where Group A is composed of software-based agents (not their human counterparts) and they migrate from one mission support system to another. This paper will address: - definition of an agent architecture appropriate to support reuse; - identification of non-mission-specific agent capabilities required; - appropriate knowledge representation schemes for mission-specific knowledge; - agent interface with mission-specific knowledge (a type of Learning); development of a fully-operational group of cooperative software agents for ground system support; architecture and operation of a repository of reusable agents that could be the source of intelligent components for realizing an autonomous (or nearly autonomous) agent-based ground system, and an agent-based approach to repository management and operation (an intelligent interface for human use of the repository in a ground-system development activity).

Evolving self-assembly in autonomous homogeneous robots: experiments with two physical robots.

PubMed

Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Christensen, Anders Lyhne; Dorigo, Marco

2009-01-01

This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.

Going mobile: non-cell-autonomous small RNAs shape the genetic landscape of plants.

PubMed

Pyott, Douglas E; Molnar, Attila

2015-04-01

RNA silencing is a form of genetic regulation, which is conserved across eukaryotes and has wide ranging biological functions. Recently, there has been a growing appreciation for the importance of mobility in RNA silencing pathways, particularly in plants. Moreover, in addition to the importance for mobile RNA silencing in an evolutionary context, the potential for utilizing mobile short silencing RNAs in biotechnological applications is becoming apparent. This review aims to set current knowledge of this topic in a historical context and provides examples to illustrate the importance of mobile RNA silencing in both natural and artificially engineered systems in plants. © 2015 Society for Experimental Biology, Association of Applied Biologists and John Wiley & Sons Ltd.

The autonomous sciencecraft constellations

NASA Technical Reports Server (NTRS)

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2003-01-01

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. In this paper we discuss how these AI technologies are synergistically integrated in a hybrid multi-layer control architecture to enable a virtual spacecraft science agent. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Connection adaption for control of networked mobile chaotic agents.

PubMed

Zhou, Jie; Zou, Yong; Guan, Shuguang; Liu, Zonghua; Xiao, Gaoxi; Boccaletti, S

2017-11-22

In this paper, we propose a strategy for the control of mobile chaotic oscillators by adaptively rewiring connections between nearby agents with local information. In contrast to the dominant adaptive control schemes where coupling strength is adjusted continuously according to the states of the oscillators, our method does not request adaption of coupling strength. As the resulting interaction structure generated by this proposed strategy is strongly related to unidirectional chains, by investigating synchronization property of unidirectional chains, we reveal that there exists a certain coupling range in which the agents could be controlled regardless of the length of the chain. This feature enables the adaptive strategy to control the mobile oscillators regardless of their moving speed. Compared with existing adaptive control strategies for networked mobile agents, our proposed strategy is simpler for implementation where the resulting interaction networks are kept unweighted at all time.

Optimal forwarding ratio on dynamical networks with heterogeneous mobility

NASA Astrophysics Data System (ADS)

Gan, Yu; Tang, Ming; Yang, Hanxin

2013-05-01

Since the discovery of non-Poisson statistics of human mobility trajectories, more attention has been paid to understand the role of these patterns in different dynamics. In this study, we first introduce the heterogeneous mobility of mobile agents into dynamical networks, and then investigate packet forwarding strategy on the heterogeneous dynamical networks. We find that the faster speed and the higher proportion of high-speed agents can enhance the network throughput and reduce the mean traveling time in random forwarding. A hierarchical structure in the dependence of high-speed is observed: the network throughput remains unchanged at small and large high-speed value. It is also interesting to find that a slightly preferential forwarding to high-speed agents can maximize the network capacity. Through theoretical analysis and numerical simulations, we show that the optimal forwarding ratio stems from the local structural heterogeneity of low-speed agents.

Efforts toward an autonomous wheelchair - biomed 2011.

PubMed

Barrett, Steven; Streeter, Robert

2011-01-01

An autonomous wheelchair is in development to provide mobility to those with significant physical challenges. The overall goal of the project is to develop a wheelchair that is fully autonomous with the ability to navigate about an environment and negotiate obstacles. As a starting point for the project, we have reversed engineered the joystick control system of an off-the-shelf commercially available wheelchair. The joystick control has been replaced with a microcontroller based system. The microcontroller has the capability to interface with a number of subsystems currently under development including wheel odometers, obstacle avoidance sensors, and ultrasonic-based wall sensors. This paper will discuss the microcontroller based system and provide a detailed system description. Results of this study may be adapted to commercial or military robot control.

Development for SSV on a parallel processing system (PARAGON)

NASA Astrophysics Data System (ADS)

Gothard, Benny M.; Allmen, Mark; Carroll, Michael J.; Rich, Dan

1995-12-01

A goal of the surrogate semi-autonomous vehicle (SSV) program is to have multiple vehicles navigate autonomously and cooperatively with other vehicles. This paper describes the process and tools used in porting UGV/SSV (unmanned ground vehicle) autonomous mobility and target recognition algorithms from a SISD (single instruction single data) processor architecture (i.e., a Sun SPARC workstation running C/UNIX) to a MIMD (multiple instruction multiple data) parallel processor architecture (i.e., PARAGON-a parallel set of i860 processors running C/UNIX). It discusses the gains in performance and the pitfalls of such a venture. It also examines the merits of this processor architecture (based on this conceptual prototyping effort) and programming paradigm to meet the final SSV demonstration requirements.

Terrain Perception for DEMO III

NASA Technical Reports Server (NTRS)

Manduchi, R.; Bellutta, P.; Matthies, L.; Owens, K.; Rankin, A.

2000-01-01

The Demo III program has as its primary focus the development of autonomous mobility for a small rugged cross country vehicle. In this paper we report recent progress on both stereo-based obstacle detection and terrain cover color-based classification.

Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

NASA Astrophysics Data System (ADS)

Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

2010-01-01

After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.

Simple autonomous Mars walker

NASA Technical Reports Server (NTRS)

Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

1989-01-01

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

A CDMA synchronisation scheme

NASA Technical Reports Server (NTRS)

Soprano, C.

1993-01-01

CDMA (Code Division Multiple Access) is known to decrease inter-service interference in Satellite Communication Systems. Its performance is increased by chip quasi-synchronous operation which virtually eliminates the self-noise; however, the theory shows that the time error on the synchronization has to be kept at less than one tenth of a chip which, for 1 Mchip/sec. spreading rate, corresponds to 10(exp -7) sec. This, on the return-link, may only be achieved by means of a closed loop control system which, for mobile communication systems, has to be capable of autonomous operation. Until now some results have been reported on the feasibility of chip quasi-synchronous operation for mobile communication systems only including satellites on GEO (Geostationary Earth Orbit). In what follows, the basic principles are exposed, and results are presented showing how low chip synchronism error may be achieved by means of an autonomous control loop operating through satellites on any Earth orbit.

Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

NASA Technical Reports Server (NTRS)

Regalado Reyes, Bjorn Constant

2015-01-01

1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

We Care about You: Incorporating Pet Characteristics with Educational Agents through Reciprocal Caring Approach

ERIC Educational Resources Information Center

Chen, Zhi-Hong

2012-01-01

Although different educational agents have been proposed to facilitate student learning, most of them operate from a "smart" (i.e., intelligent and autonomous) perspective. Recently, a so-called "non-smart" perspective is also attracting increasing interest, and is now regarded as a topic worthwhile of researching. To this end,…

Solving Autonomy Technology Gaps through Wireless Technology and Orion Avionics Architectural Principles

NASA Astrophysics Data System (ADS)

Black, Randy; Bai, Haowei; Michalicek, Andrew; Shelton, Blaine; Villela, Mark

2008-01-01

Currently, autonomy in space applications is limited by a variety of technology gaps. Innovative application of wireless technology and avionics architectural principles drawn from the Orion crew exploration vehicle provide solutions for several of these gaps. The Vision for Space Exploration envisions extensive use of autonomous systems. Economic realities preclude continuing the level of operator support currently required of autonomous systems in space. In order to decrease the number of operators, more autonomy must be afforded to automated systems. However, certification authorities have been notoriously reluctant to certify autonomous software in the presence of humans or when costly missions may be jeopardized. The Orion avionics architecture, drawn from advanced commercial aircraft avionics, is based upon several architectural principles including partitioning in software. Robust software partitioning provides "brick wall" separation between software applications executing on a single processor, along with controlled data movement between applications. Taking advantage of these attributes, non-deterministic applications can be placed in one partition and a "Safety" application created in a separate partition. This "Safety" partition can track the position of astronauts or critical equipment and prevent any unsafe command from executing. Only the Safety partition need be certified to a human rated level. As a proof-of-concept demonstration, Honeywell has teamed with the Ultra WideBand (UWB) Working Group at NASA Johnson Space Center to provide tracking of humans, autonomous systems, and critical equipment. Using UWB the NASA team can determine positioning to within less than one inch resolution, allowing a Safety partition to halt operation of autonomous systems in the event that an unplanned collision is imminent. Another challenge facing autonomous systems is the coordination of multiple autonomous agents. Current approaches address the issue as one of networking and coordination of multiple independent units, each with its own mission. As a proof-of-concept Honeywell is developing and testing various algorithms that lead to a deterministic, fault tolerant, reliable wireless backplane. Just as advanced avionics systems control several subsystems, actuators, sensors, displays, etc.; a single "master" autonomous agent (or base station computer) could control multiple autonomous systems. The problem is simplified to controlling a flexible body consisting of several sensors and actuators, rather than one of coordinating multiple independent units. By filling technology gaps associated with space based autonomous system, wireless technology and Orion architectural principles provide the means for decreasing operational costs and simplifying problems associated with collaboration of multiple autonomous systems.

Autonomous telemetry system by using mobile networks for a long-term seismic observation

NASA Astrophysics Data System (ADS)

Hirahara, S.; Uchida, N.; Nakajima, J.

2012-04-01

When a large earthquake occurs, it is important to know the detailed distribution of aftershocks immediately after the main shock for the estimation of the fault plane. The large amount of seismic data is also required to determine the three-dimensional seismic velocity structure around the focal area. We have developed an autonomous telemetry system using mobile networks, which is specialized for aftershock observations. Because the newly developed system enables a quick installation and real-time data transmission by using mobile networks, we can construct a dense online seismic network even in mountain areas where conventional wired networks are not available. This system is equipped with solar panels that charge lead-acid battery, and enables a long-term seismic observation without maintenance. Furthermore, this system enables a continuous observation at low costs with flat-rate or prepaid Internet access. We have tried to expand coverage areas of mobile communication and back up Internet access by configuring plural mobile carriers. A micro server embedded with Linux consists of automatic control programs of the Internet connection and data transmission. A status monitoring and remote maintenance are available via the Internet. In case of a communication failure, an internal storage can back up data for two years. The power consumption of communication device ranges from 2.5 to 4.0 W. With a 50 Ah lead-acid battery, this system continues to record data for four days if the battery charging by solar panels is temporarily unavailable.

Visual guidance of mobile platforms

NASA Astrophysics Data System (ADS)

Blissett, Rodney J.

1993-12-01

Two systems are described and results presented demonstrating aspects of real-time visual guidance of autonomous mobile platforms. The first approach incorporates prior knowledge in the form of rigid geometrical models linking visual references within the environment. The second approach is based on a continuous synthesis of information extracted from image tokens to generate a coarse-grained world model, from which potential obstacles are inferred. The use of these techniques in workplace applications is discussed.

Goal striving within agentic and communal roles: separate but functionally similar pathways to enhanced well-being.

PubMed

Sheldon, Kennon M; Cooper, M Lynne

2008-06-01

Do agency and communion strivings provide functionally similar but predictively independent pathways to enhanced well-being? We tested this idea via a year-long study of 493 diverse community adults. Our process model, based on self-determination and motive disposition theories, fit the data well. First, the need for achievement predicted initial autonomous motivation for agentic (work and school) role-goals and the need for intimacy predicted felt autonomy for communal (relationship and parenting) goals. For both agentic and communal goals, autonomous motivation predicted corresponding initial expectancies that predicted later goal attainment. Finally, each type of attainment predicted improved adjustment or role-satisfaction over the year. Besides being similar across agency and communion, the model was also similar across race and gender, except that the beneficial effects of communal goal attainment were stronger for high need for intimacy women and Blacks. Implications for agency/communion theories, motivation theories, and theories of well-being are discussed.

Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

NASA Astrophysics Data System (ADS)

Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

2017-10-01

Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

New methodology for preventing pressure ulcers using actimetry and autonomous nervous system recording.

PubMed

Meffre, R; Gehin, C; Schmitt, P M; De Oliveira, F; Dittmar, A

2006-01-01

Pressure ulcers constitute an important health problem. They affect lots of people with mobility disorder and they are difficult to detect and prevent because the damage begins on the muscle. This paper proposes a new approach to study pressure ulcers. We aim at developing a methodology to analyse the probability for a patient to develop a pressure ulcer, and that can detect risky situation. The idea is to relate the mobility disorder to autonomic nervous system (ANS) trouble. More precisely, the evaluation of the consequence of the discomfort on the ANS (stress induced by discomfort) can be relevant for the early detection of the pressure ulcer. Mobility is evaluated through movement measurement. This evaluation, at the interface between soft living tissues and any support has to consider the specificity of the human environment. Soft living tissues have non-linear mechanical properties making conventional rigid sensors non suitable for interface parameters measurement. A new actimeter system has been designed in order to study movements of the human body whatever its support while seating. The device is based on elementary active cells. The number of pressure cells can be easily adapted to the application. The spatial resolution is about 4 cm(2). In this paper, we compare activity measurement of a seated subject with his autonomic nervous system activity, recorded by E.motion device. It has been developed in order to record six parameters: skin potential, skin resistance, skin temperature, skin blood rate, instantaneous cardiac frequency and instantaneous respiratory frequency. The design, instrumentation, and first results are presented.

Promoting motivation with virtual agents and avatars: role of visual presence and appearance.

PubMed

Baylor, Amy L

2009-12-12

Anthropomorphic virtual agents can serve as powerful technological mediators to impact motivational outcomes such as self-efficacy and attitude change. Such anthropomorphic agents can be designed as simulated social models in the Bandurian sense, providing social influence as virtual 'role models'. Of particular value is the capacity for designing such agents as optimized social models for a target audience and context. Importantly, the visual presence and appearance of such agents can have a major impact on motivation and affect regardless of the underlying technical sophistication. Empirical results of different instantiations of agent presence and appearance are reviewed for both autonomous virtual agents and avatars that represent a user.

Control of Synchronization Regimes in Networks of Mobile Interacting Agents

NASA Astrophysics Data System (ADS)

Perez-Diaz, Fernando; Zillmer, Ruediger; Groß, Roderich

2017-05-01

We investigate synchronization in a population of mobile pulse-coupled agents with a view towards implementations in swarm-robotics systems and mobile sensor networks. Previous theoretical approaches dealt with range and nearest-neighbor interactions. In the latter case, a synchronization-hindering regime for intermediate agent mobility is found. We investigate the robustness of this intermediate regime under practical scenarios. We show that synchronization in the intermediate regime can be predicted by means of a suitable metric of the phase response curve. Furthermore, we study more-realistic K -nearest-neighbor and cone-of-vision interactions, showing that it is possible to control the extent of the synchronization-hindering region by appropriately tuning the size of the neighborhood. To assess the effect of noise, we analyze the propagation of perturbations over the network and draw an analogy between the response in the hindering regime and stable chaos. Our findings reveal the conditions for the control of clock or activity synchronization of agents with intermediate mobility. In addition, the emergence of the intermediate regime is validated experimentally using a swarm of physical robots interacting with cone-of-vision interactions.

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

NASA Technical Reports Server (NTRS)

Tran, Loc; Cross, Charles; Montague, Gilbert; Motter, Mark; Neilan, James; Qualls, Garry; Rothhaar, Paul; Trujillo, Anna; Allen, B. Danette

2015-01-01

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

Estimation and Control for Autonomous Coring from a Rover Manipulator

NASA Technical Reports Server (NTRS)

Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

2010-01-01

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

Experiments in autonomous robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hamel, W.R.

1987-01-01

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Lidar-based door and stair detection from a mobile robot

NASA Astrophysics Data System (ADS)

Bansal, Mayank; Southall, Ben; Matei, Bogdan; Eledath, Jayan; Sawhney, Harpreet

2010-04-01

We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehicle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Agent Based Intelligence in a Tetrahedral Rover

NASA Technical Reports Server (NTRS)

Phelps, Peter; Truszkowski, Walt

2007-01-01

A tetrahedron is a 4-node 6-strut pyramid structure which is being used by the NASA - Goddard Space Flight Center as the basic building block for a new approach to robotic motion. The struts are extendable; it is by the sequence of activities: strut-extension, changing the center of gravity and falling that the tetrahedron "moves". Currently, strut-extension is handled by human remote control. There is an effort underway to make the movement of the tetrahedron autonomous, driven by an attempt to achieve a goal. The approach being taken is to associate an intelligent agent with each node. Thus, the autonomous tetrahedron is realized as a constrained multi-agent system, where the constraints arise from the fact that between any two agents there is an extendible strut. The hypothesis of this work is that, by proper composition of such automated tetrahedra, robotic structures of various levels of complexity can be developed which will support more complex dynamic motions. This is the basis of the new approach to robotic motion which is under investigation. A Java-based simulator for the single tetrahedron, realized as a constrained multi-agent system, has been developed and evaluated. This paper reports on this project and presents a discussion of the structure and dynamics of the simulator.

Model of load balancing using reliable algorithm with multi-agent system

NASA Astrophysics Data System (ADS)

Afriansyah, M. F.; Somantri, M.; Riyadi, M. A.

2017-04-01

Massive technology development is linear with the growth of internet users which increase network traffic activity. It also increases load of the system. The usage of reliable algorithm and mobile agent in distributed load balancing is a viable solution to handle the load issue on a large-scale system. Mobile agent works to collect resource information and can migrate according to given task. We propose reliable load balancing algorithm using least time first byte (LFB) combined with information from the mobile agent. In system overview, the methodology consisted of defining identification system, specification requirements, network topology and design system infrastructure. The simulation method for simulated system was using 1800 request for 10 s from the user to the server and taking the data for analysis. Software simulation was based on Apache Jmeter by observing response time and reliability of each server and then compared it with existing method. Results of performed simulation show that the LFB method with mobile agent can perform load balancing with efficient systems to all backend server without bottleneck, low risk of server overload, and reliable.

Utah State University's T2 ODV mobility analysis

NASA Astrophysics Data System (ADS)

Davidson, Morgan E.; Bahl, Vikas; Wood, Carl G.

2000-07-01

In response to ultra-high maneuverability vehicle requirements, Utah State University (USU) has developed an autonomous vehicle with unique mobility and maneuverability capabilities. This paper describes a study of the mobility of the USU T2 Omni-Directional Vehicle (ODV). The T2 vehicle is a mid-scale (625 kg), second-generation ODV mobile robot with six independently driven and steered wheel assemblies. The six wheel, independent steering system is capable of unlimited steering rotation, presenting a unique solution to enhanced vehicle mobility requirements. This mobility study focuses on energy consumption in three basic experiments, comparing two modes of steering: Ackerman and ODV. The experiments are all performed on the same vehicle without any physical changes to the vehicle itself, providing a direct comparison these two steering methodologies. A computer simulation of the T2 mechanical and control system dynamics is described.

An enhanced performance through agent-based secure approach for mobile ad hoc networks

NASA Astrophysics Data System (ADS)

Bisen, Dhananjay; Sharma, Sanjeev

2018-01-01

This paper proposes an agent-based secure enhanced performance approach (AB-SEP) for mobile ad hoc network. In this approach, agent nodes are selected through optimal node reliability as a factor. This factor is calculated on the basis of node performance features such as degree difference, normalised distance value, energy level, mobility and optimal hello interval of node. After selection of agent nodes, a procedure of malicious behaviour detection is performed using fuzzy-based secure architecture (FBSA). To evaluate the performance of the proposed approach, comparative analysis is done with conventional schemes using performance parameters such as packet delivery ratio, throughput, total packet forwarding, network overhead, end-to-end delay and percentage of malicious detection.

Measurement of drug facilitated sexual assault agents in simulated sweat by ion mobility spectrometry.

PubMed

Demoranville, Leonard T; Verkouteren, Jennifer R

2013-03-15

Ion mobility spectrometry has found widespread use for the detection of explosives and illicit drugs. The technique offers rapid results with high sensitivity and little sample preparation. As such, it is well suited for field deployed screening settings. Here the response of ion mobility spectrometers for three drug-facilitated sexual assault (DFSA) agents - flunitrazepam, ketamine, and MDMA - and related metabolites has been studied in the presence of a simulated sweat. While all three DFSA agents present certain challenges for qualitative identification, IMS can provide useful information to guide the early treatment and investigation of sexual assault cases. Used as a presumptive test, the identification of DFSA agents would later require confirmatory analysis by other techniques. Published by Elsevier B.V.

Model-Unified Planning and Execution for Distributed Autonomous System Control

NASA Technical Reports Server (NTRS)

Aschwanden, Pascal; Baskaran, Vijay; Bernardini, Sara; Fry, Chuck; Moreno, Maria; Muscettola, Nicola; Plaunt, Chris; Rijsman, David; Tompkins, Paul

2006-01-01

The Intelligent Distributed Execution Architecture (IDEA) is a real-time architecture that exploits artificial intelligence planning as the core reasoning engine for interacting autonomous agents. Rather than enforcing separate deliberation and execution layers, IDEA unifies them under a single planning technology. Deliberative and reactive planners reason about and act according to a single representation of the past, present and future domain state. The domain state behaves the rules dictated by a declarative model of the subsystem to be controlled, internal processes of the IDEA controller, and interactions with other agents. We present IDEA concepts - modeling, the IDEA core architecture, the unification of deliberation and reaction under planning - and illustrate its use in a simple example. Finally, we present several real-world applications of IDEA, and compare IDEA to other high-level control approaches.

Ribbon networks for modeling navigable paths of autonomous agents in virtual environments.

PubMed

Willemsen, Peter; Kearney, Joseph K; Wang, Hongling

2006-01-01

This paper presents the Environment Description Framework (EDF) for modeling complex networks of intersecting roads and pathways in virtual environments. EDF represents information about the layout of streets and sidewalks, the rules that govern behavior on roads and walkways, and the locations of agents with respect to navigable structures. The framework serves as the substrate on which behavior programs for autonomous vehicles and pedestrians are built. Pathways are modeled as ribbons in space. The ribbon structure provides a natural coordinate frame for defining the local geometry of navigable surfaces. EDF includes a powerful runtime interface supported by robust and efficient code for locating objects on the ribbon network, for mapping between Cartesian and ribbon coordinates, and for determining behavioral constraints imposed by the environment.

Development and deployment of a low-cost, mobile-ready, air quality sensor system: progress toward distributed networks and autonomous aerial sampling

NASA Astrophysics Data System (ADS)

Hersey, S. P.; DiVerdi, R.; Gadtaula, P.; Sheneman, T.; Flores, K.; Chen, Y. H.; Jayne, J. T.; Cross, E. S.

2017-12-01

Throughout the 2016-2017 academic year, a new partnership between Olin College of Engineering and Aerodyne Research, Inc. developed an affordable, self-contained air quality monitoring instrument called Modulair. The Modulair instrument is based on the same operating principles as Aerodyne's newly-developed ARISense integrated sensor system, employing electrochemical sensors for gas-phase measurements of CO, NO, NO2, and O3 and an off-the-shelf optical particle counter for particle concentration, number, and size distribution information (0.4 < dp < 17 microns). High Dimensional Model Representation (HDMR) has been used to model the interference derived from relative humidity and temperature as well as the cross-sensitivity of the electrochemical sensors to non-target gas-phase species. The aim of the modeling effort is to provide transparent and robust calibration of electrical signals to pollutant concentrations from a set of electrochemical sensors. Modulair was designed from the ground-up, with custom electronics - including a more powerful microcontroller, a fully re-designed housing and a device-specific backend with a mobile, cloud-based data management system for real-time data posting and analysis. Open source tools and software were utilized in the development of the instrument. All initial work was completed by a team of undergraduate students as part of the Senior Capstone Program in Engineering (SCOPE) at Olin College. Deployment strategies for Modulair include distributed, mobile measurements and drone-based aerial sampling. Design goals for the drone integration include maximizing airborne sampling time and laying the foundation for software integration with the drone's autopilot system to allow for autonomous plume sampling across concentration gradients. Modulair and its flexible deployments enable real-time mapping of air quality data at exposure-relevant spatial scales, as well as regular, autonomous characterization of sources and dispersion of atmospheric pollutants. We will present an overview of the Modulair instrument and results from benchtop and field validation, including mobile and drone-based plume sampling in the Boston area.

Ionic liquid as a mobile phase additive in high-performance liquid chromatography for the simultaneous determination of eleven fluorescent whitening agents in paper materials.

PubMed

Wang, Qing; Chen, Xianbo; Qiu, Bin; Zhou, Liang; Zhang, Hui; Xie, Juan; Luo, Yan; Wang, Bin

2016-04-01

In the present study, 11 4,4'-diaminostilbene-2,2'-disulfonic acid based fluorescent whitening agents with different numbers of sulfonic acid groups were separated by using an ionic liquid as a mobile phase additive in high-performance liquid chromatography with fluorescence detection. The effects of ionic liquid concentration, pH of mobile phase B, and composition of mobile phase A on the separation of fluorescent whitening agents were systematically investigated. The ionic liquid tetrabutylammonium tetrafluoroborate is superior to tetrabutylammomnium bromide for the separation of the fluorescent whitening agents. The optimal separation conditions were an ionic liquid concentration at 8 mM and the pH of mobile phase B at 8.5 with methanol as mobile phase A. The established method exhibited low limits of detection (0.04-0.07 ng/mL) and wide linearity ranges (0.30-20 ng/mL) with high linear correlation coefficients from 0.9994 to 0.9998. The optimized procedure was applied to analyze target analytes in paper samples with satisfactory results. Eleven target analytes were quantified, and the recoveries of spiked paper samples were in the range of 85-105% with the relative standard deviations from 2.1 to 5.1%. The obtained results indicated that the method was efficient for detection of 11 fluorescent whitening agents. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Autonomous distributed self-organization for mobile wireless sensor networks.

PubMed

Wen, Chih-Yu; Tang, Hung-Kai

2009-01-01

This paper presents an adaptive combined-metrics-based clustering scheme for mobile wireless sensor networks, which manages the mobile sensors by utilizing the hierarchical network structure and allocates network resources efficiently A local criteria is used to help mobile sensors form a new cluster or join a current cluster. The messages transmitted during hierarchical clustering are applied to choose distributed gateways such that communication for adjacent clusters and distributed topology control can be achieved. In order to balance the load among clusters and govern the topology change, a cluster reformation scheme using localized criterions is implemented. The proposed scheme is simulated and analyzed to abstract the network behaviors in a number of settings. The experimental results show that the proposed algorithm provides efficient network topology management and achieves high scalability in mobile sensor networks.

The Challenge of Planning and Execution for Spacecraft Mobile Robots

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

Intelligent Agent Appropriation in the Tracking Phase of an Environmental Scanning Process: A Case Study of a French Trade Union

ERIC Educational Resources Information Center

Lafaye, Christophe

2009-01-01

Introduction: The rapid growth of the Internet has modified the boundaries of information acquisition (tracking) in environmental scanning. Despite the numerous advantages of this new medium, information overload is an enormous problem for Internet scanners. In order to help them, intelligent agents (i.e., autonomous, automated software agents…

Crowd Simulation Incorporating Agent Psychological Models, Roles and Communication

DTIC Science & Technology

2005-01-01

system (PMFserv) that implements human behavior models from a range of ability, stress, emotion , decision theoretic and motivation sources. An...autonomous agents, human behavior models, culture and emotions 1. Introduction There are many applications of computer animation and simulation where...We describe a new architecture to integrate a psychological model into a crowd simulation system in order to obtain believable emergent behaviors

An agent-based peer-to-peer architecture for semantic discovery of manufacturing services across virtual enterprises

NASA Astrophysics Data System (ADS)

Zhang, Wenyu; Zhang, Shuai; Cai, Ming; Jian, Wu

2015-04-01

With the development of virtual enterprise (VE) paradigm, the usage of serviceoriented architecture (SOA) is increasingly being considered for facilitating the integration and utilisation of distributed manufacturing resources. However, due to the heterogeneous nature among VEs, the dynamic nature of a VE and the autonomous nature of each VE member, the lack of both sophisticated coordination mechanism in the popular centralised infrastructure and semantic expressivity in the existing SOA standards make the current centralised, syntactic service discovery method undesirable. This motivates the proposed agent-based peer-to-peer (P2P) architecture for semantic discovery of manufacturing services across VEs. Multi-agent technology provides autonomous and flexible problemsolving capabilities in dynamic and adaptive VE environments. Peer-to-peer overlay provides highly scalable coupling across decentralised VEs, each of which exhibiting as a peer composed of multiple agents dealing with manufacturing services. The proposed architecture utilises a novel, efficient, two-stage search strategy - semantic peer discovery and semantic service discovery - to handle the complex searches of manufacturing services across VEs through fast peer filtering. The operation and experimental evaluation of the prototype system are presented to validate the implementation of the proposed approach.

Advantages of Brahms for Specifying and Implementing a Multiagent Human-Robotic Exploration System

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Kaskiris, Charis; vanHoof, Ron

2003-01-01

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, all-terrain vehicles, robotic assistant, crew in a local habitat, and mission support team. Software processes ('agents') implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a runtime system Thus, Brahms provides a language, engine, and system builder's toolkit for specifying and implementing multiagent systems.

Propagation, cascades, and agreement dynamics in complex communication and social networks

NASA Astrophysics Data System (ADS)

Lu, Qiming

Many modern and important technological, social, information and infrastructure systems can be viewed as complex systems with a large number of interacting components. Models of complex networks and dynamical interactions, as well as their applications are of fundamental interests in many aspects. Here, several stylized models of multiplex propagation and opinion dynamics are investigated on complex and empirical social networks. We first investigate cascade dynamics in threshold-controlled (multiplex) propagation on random geometric networks. We find that such local dynamics can serve as an efficient, robust, and reliable prototypical activation protocol in sensor networks in responding to various alarm scenarios. We also consider the same dynamics on a modified network by adding a few long-range communication links, resulting in a small-world network. We find that such construction can further enhance and optimize the speed of the network's response, while keeping energy consumption at a manageable level. We also investigate a prototypical agent-based model, the Naming Game, on two-dimensional random geometric networks. The Naming Game [A. Baronchelli et al., J. Stat. Mech.: Theory Exp. (2006) P06014.] is a minimal model, employing local communications that captures the emergence of shared communication schemes (languages) in a population of autonomous semiotic agents. Implementing the Naming Games with local broadcasts on random geometric graphs, serves as a model for agreement dynamics in large-scale, autonomously operating wireless sensor networks. Further, it captures essential features of the scaling properties of the agreement process for spatially-embedded autonomous agents. Among the relevant observables capturing the temporal properties of the agreement process, we investigate the cluster-size distribution and the distribution of the agreement times, both exhibiting dynamic scaling. We also present results for the case when a small density of long-range communication links are added on top of the random geometric graph, resulting in a "small-world"-like network and yielding a significantly reduced time to reach global agreement. We construct a finite-size scaling analysis for the agreement times in this case. When applying the model of Naming Game on empirical social networks, this stylized agent-based model captures essential features of agreement dynamics in a network of autonomous agents, corresponding to the development of shared classification schemes in a network of artificial agents or opinion spreading and social dynamics in social networks. Our study focuses on the impact that communities in the underlying social graphs have on the outcome of the agreement process. We find that networks with strong community structure hinder the system from reaching global agreement; the evolution of the Naming Game in these networks maintains clusters of coexisting opinions indefinitely. Further, we investigate agent-based network strategies to facilitate convergence to global consensus.

Model of mobile agents for sexual interactions networks

NASA Astrophysics Data System (ADS)

González, M. C.; Lind, P. G.; Herrmann, H. J.

2006-02-01

We present a novel model to simulate real social networks of complex interactions, based in a system of colliding particles (agents). The network is build by keeping track of the collisions and evolves in time with correlations which emerge due to the mobility of the agents. Therefore, statistical features are a consequence only of local collisions among its individual agents. Agent dynamics is realized by an event-driven algorithm of collisions where energy is gained as opposed to physical systems which have dissipation. The model reproduces empirical data from networks of sexual interactions, not previously obtained with other approaches.

Mexico's Oxbridge.

ERIC Educational Resources Information Center

Haussman, Fay

1979-01-01

For 400 years the National Autonomous University of Mexico has remained at the hub of the country's intellectual and political life. The history of the University from the Mayas and the Aztecs, University expansion, upward mobility of students, and student pressure groups and politics are described. (MLW)

Autonomous intelligent assembly systems LDRD 105746 final report.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert J.

2013-04-01

This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control frameworkmore » for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.« less

Effect of mood stabilizing agents on agonist-induced calcium mobilization in human platelets.

PubMed Central

Kusumi, I; Koyama, T; Yamashita, I

1994-01-01

The effect of mood stabilizing agents such as lithium, carbamazepine, valproic acid and clonazepam on serotonin(5-HT)- or thrombin-induced intracellular calcium (Ca) mobilization was studied in the platelets of healthy subjects using the fluorescent Ca indicator fura-2. After incubating platelet-rich plasma with these drugs for one or four hours, there was no significant difference in either basal Ca2+ concentration or 5-HT-stimulated Ca response between each agent treatment and control. 5-HT- or thrombin-induced Ca mobilization was not altered by four weeks of lithium carbonate administration in healthy volunteers. These results indicate that these mood stabilizers fail to affect the agonist-stimulated intracellular Ca mobilizing pathway either in vitro or ex vivo in the platelets of healthy subjects. Images Fig. 1 PMID:8031747

Agent-based approach for generation of a money-centered star network

NASA Astrophysics Data System (ADS)

Yang, Jae-Suk; Kwon, Okyu; Jung, Woo-Sung; Kim, In-mook

2008-09-01

The history of trade is a progression from a pure barter system. A medium of exchange emerges autonomously in the market, a position currently occupied by money. We investigate an agent-based computational economics model consisting of interacting agents considering distinguishable properties of commodities which represent salability. We also analyze the properties of the commodity network using a spanning tree. We find that the “storage fee” is more crucial than “demand” in determining which commodity is used as a medium of exchange.

Delay-dependent coupling for a multi-agent LTI consensus system with inter-agent delays

NASA Astrophysics Data System (ADS)

Qiao, Wei; Sipahi, Rifat

2014-01-01

Delay-dependent coupling (DDC) is considered in this paper in a broadly studied linear time-invariant multi-agent consensus system in which agents communicate with each other under homogeneous delays, while attempting to reach consensus. The coupling among the agents is designed here as an explicit parameter of this delay, allowing couplings to autonomously adapt based on the delay value, and in order to guarantee stability and a certain degree of robustness in the network despite the destabilizing effect of delay. Design procedures, analysis of convergence speed of consensus, comprehensive numerical studies for the case of time-varying delay, and limitations are presented.

Consensus in evolving networks of mobile agents

NASA Astrophysics Data System (ADS)

Baronchelli, Andrea; Díaz-Guilera, Albert

2012-02-01

Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously evolving networks defined by the local interactions of the moving individuals. We adopt a general scheme of motion in two dimensions and we let the individuals interact through the minimal naming game, a prototypical scheme to investigate social consensus. We distinguish different regimes of convergence determined by the emission range of the agents and by their mobility, and we identify the corresponding scaling behaviors of the consensus time. In the same way, we rationalize also the behavior of the maximum memory used during the convergence process, which determines the minimum cognitive/storage capacity needed by the individuals. Overall, we believe that the simple and general model presented in this talk can represent a helpful reference for a better understanding of the behavior of populations of mobile agents.

Consensus in networks of mobile communicating agents

NASA Astrophysics Data System (ADS)

Baronchelli, Andrea; Díaz-Guilera, Albert

2012-01-01

Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously evolving network defined by the local interactions of the moving individuals. We adopt a general scheme of motion in two dimensions and we let the individuals interact through the minimal naming game, a prototypical scheme to investigate social consensus. We distinguish different regimes of convergence determined by the emission range of the agents and by their mobility, and we identify the corresponding scaling behaviors of the consensus time. In the same way, we rationalize also the behavior of the maximum memory used during the convergence process, which determines the minimum cognitive/storage capacity needed by the individuals. Overall, we believe that the simple and general model presented in this paper can represent a helpful reference for a better understanding of the behavior of populations of mobile agents.

Multi-Sensor Based State Prediction for Personal Mobility Vehicles

PubMed Central

Gupta, Pankaj; Umata, Ichiro; Watanabe, Atsushi; Even, Jani; Suyama, Takayuki; Ishii, Shin

2016-01-01

This paper presents a study on multi-modal human emotional state detection while riding a powered wheelchair (PMV; Personal Mobility Vehicle) in an indoor labyrinth-like environment. The study reports findings on the habituation of human stress response during self-driving. In addition, the effects of “loss of controllability”, change in the role of the driver to a passenger, are investigated via an autonomous driving modality. The multi-modal emotional state detector sensing framework consists of four sensing devices: electroencephalograph (EEG), heart inter-beat interval (IBI), galvanic skin response (GSR) and stressor level lever (in the case of autonomous riding). Physiological emotional state measurement characteristics are organized by time-scale, in terms of capturing slower changes (long-term) and quicker changes from moment-to-moment. Experimental results with fifteen participants regarding subjective emotional state reports and commercial software measurements validated the proposed emotional state detector. Short-term GSR and heart signal characterizations captured moment-to-moment emotional state during autonomous riding (Spearman correlation; ρ = 0.6, p < 0.001). Short-term GSR and EEG characterizations reliably captured moment-to-moment emotional state during self-driving (Classification accuracy; 69.7). Finally, long-term GSR and heart characterizations were confirmed to reliably capture slow changes during autonomous riding and also of emotional state during participant resting state. The purpose of this study and the exploration of various algorithms and sensors in a structured framework is to provide a comprehensive background for multi-modal emotional state prediction experiments and/or applications. Additional discussion regarding the feasibility and utility of the possibilities of these concepts are given. PMID:27732589

Multi-Sensor Based State Prediction for Personal Mobility Vehicles.

PubMed

Abdur-Rahim, Jamilah; Morales, Yoichi; Gupta, Pankaj; Umata, Ichiro; Watanabe, Atsushi; Even, Jani; Suyama, Takayuki; Ishii, Shin

2016-01-01

This paper presents a study on multi-modal human emotional state detection while riding a powered wheelchair (PMV; Personal Mobility Vehicle) in an indoor labyrinth-like environment. The study reports findings on the habituation of human stress response during self-driving. In addition, the effects of "loss of controllability", change in the role of the driver to a passenger, are investigated via an autonomous driving modality. The multi-modal emotional state detector sensing framework consists of four sensing devices: electroencephalograph (EEG), heart inter-beat interval (IBI), galvanic skin response (GSR) and stressor level lever (in the case of autonomous riding). Physiological emotional state measurement characteristics are organized by time-scale, in terms of capturing slower changes (long-term) and quicker changes from moment-to-moment. Experimental results with fifteen participants regarding subjective emotional state reports and commercial software measurements validated the proposed emotional state detector. Short-term GSR and heart signal characterizations captured moment-to-moment emotional state during autonomous riding (Spearman correlation; ρ = 0.6, p < 0.001). Short-term GSR and EEG characterizations reliably captured moment-to-moment emotional state during self-driving (Classification accuracy; 69.7). Finally, long-term GSR and heart characterizations were confirmed to reliably capture slow changes during autonomous riding and also of emotional state during participant resting state. The purpose of this study and the exploration of various algorithms and sensors in a structured framework is to provide a comprehensive background for multi-modal emotional state prediction experiments and/or applications. Additional discussion regarding the feasibility and utility of the possibilities of these concepts are given.

Control Architecture for Robotic Agent Command and Sensing

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand; Estlin, Tara; Gaines, Daniel

2008-01-01

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Modeling of a production system using the multi-agent approach

NASA Astrophysics Data System (ADS)

Gwiazda, A.; Sękala, A.; Banaś, W.

2017-08-01

The method that allows for the analysis of complex systems is a multi-agent simulation. The multi-agent simulation (Agent-based modeling and simulation - ABMS) is modeling of complex systems consisting of independent agents. In the case of the model of the production system agents may be manufactured pieces set apart from other types of agents like machine tools, conveyors or replacements stands. Agents are magazines and buffers. More generally speaking, the agents in the model can be single individuals, but you can also be defined as agents of collective entities. They are allowed hierarchical structures. It means that a single agent could belong to a certain class. Depending on the needs of the agent may also be a natural or physical resource. From a technical point of view, the agent is a bundle of data and rules describing its behavior in different situations. Agents can be autonomous or non-autonomous in making the decision about the types of classes of agents, class sizes and types of connections between elements of the system. Multi-agent modeling is a very flexible technique for modeling and model creating in the convention that could be adapted to any research problem analyzed from different points of views. One of the major problems associated with the organization of production is the spatial organization of the production process. Secondly, it is important to include the optimal scheduling. For this purpose use can approach multi-purposeful. In this regard, the model of the production process will refer to the design and scheduling of production space for four different elements. The program system was developed in the environment NetLogo. It was also used elements of artificial intelligence. The main agent represents the manufactured pieces that, according to previously assumed rules, generate the technological route and allow preprint the schedule of that line. Machine lines, reorientation stands, conveyors and transport devices also represent the other type of agent that are utilized in the described simulation. The article presents the idea of an integrated program approach and shows the resulting production layout as a virtual model. This model was developed in the NetLogo multi-agent program environment.

Sandia National Laboratories proof-of-concept robotic security vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

Virtual agents in a simulated virtual training environment

NASA Technical Reports Server (NTRS)

Achorn, Brett; Badler, Norman L.

1993-01-01

A drawback to live-action training simulations is the need to gather a large group of participants in order to train a few individuals. One solution to this difficulty is the use of computer-controlled agents in a virtual training environment. This allows a human participant to be replaced by a virtual, or simulated, agent when only limited responses are needed. Each agent possesses a specified set of behaviors and is capable of limited autonomous action in response to its environment or the direction of a human trainee. The paper describes these agents in the context of a simulated hostage rescue training session, involving two human rescuers assisted by three virtual (computer-controlled) agents and opposed by three other virtual agents.

Access Scheme for Controlling Mobile Agents and its Application to Share Medical Information.

PubMed

Liao, Yu-Ting; Chen, Tzer-Shyong; Chen, Tzer-Long; Chung, Yu-Fang; Chen, Yu- Xin; Hwang, Jen-Hung; Wang, Huihui; Wei, Wei

2016-05-01

This study is showing the advantage of mobile agents to conquer heterogeneous system environments and contribute to a virtual integrated sharing system. Mobile agents will collect medical information from each medical institution as a method to achieve the medical purpose of data sharing. Besides, this research also provides an access control and key management mechanism by adopting Public key cryptography and Lagrange interpolation. The safety analysis of the system is based on a network attacker's perspective. The achievement of this study tries to improve the medical quality, prevent wasting medical resources and make medical resources access to appropriate configuration.

Dynamics and Steady States in Excitable Mobile Agent Systems

NASA Astrophysics Data System (ADS)

Peruani, Fernando; Sibona, Gustavo J.

2008-04-01

We study the spreading of excitations in 2D systems of mobile agents where the excitation is transmitted when a quiescent agent keeps contact with an excited one during a nonvanishing time. We show that the steady states strongly depend on the spatial agent dynamics. Moreover, the coupling between exposition time (ω) and agent-agent contact rate (CR) becomes crucial to understand the excitation dynamics, which exhibits three regimes with CR: no excitation for low CR, an excited regime in which the number of quiescent agents (S) is inversely proportional to CR, and, for high CR, a novel third regime, model dependent, where S scales with an exponent ξ-1, with ξ being the scaling exponent of ω with CR.

Protecting Dynamic Mobile Agent against Denial of Service Attacks

NASA Astrophysics Data System (ADS)

Aggarwal, Mayank; Nipur, Pallavi

2010-11-01

Mobile Agents are softwares migrating from one node to another to fulfill the task of its owner. The introduction of mobile agents has reduced network latency, network traffic a lot but at the same time it has increased the vulnerability for attacks by malicious hosts. One such attack is `Denial of Service', once the agent is launched it is free to roam without any control of its owner, this on one hand decreases the cost of agent—owner interaction and on the other hand increases the chances of `Denial Of Service'. In Denial Of Service attack the malicious host may deny resources required by the agent and kill the agent, thus the result computed so far is lost and this may happen every time the agent visits any malicious host. In this paper we continued the work done in [10] in which the authors proposed techniques by which owner can detect the malicious host for `Denial Of Service' but they did not covered technique for dynamic routes i.e. where the host or agent initiate migrations to hosts which were not contained in the route composed by the owner. We introduced an algorithm and a model which can be useful for the above purpose.

Issues Regarding the Future Application of Autonomous Systems to Command and Control (C2)

DTIC Science & Technology

2015-06-01

working with Lockheed Martin to build a fleet of land and air drones to deliver cars and even containers of soldiers[OG13]. 5.3.4 Space Deep Space 1...Orlando Belo. Autonomous forex trading agents. In Petra Perner, editor, Advances in Data Mining. Medical Applications, E- Commerce, Marketing, and...http://pando.com/2013/04/02/ want-to-take-on-wall-street-quantopians-algorithmic-trading- platform-now-accepts-outside-data-sets/. CC05. Martin

Autonomous Navigation, Dynamic Path and Work Flow Planning in Multi-Agent Robotic Swarms Project

NASA Technical Reports Server (NTRS)

Falker, John; Zeitlin, Nancy; Leucht, Kurt; Stolleis, Karl

2015-01-01

Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots, called Swarmies, to be used as a ground-based research platform for in-situ resource utilization missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in an unknown environment and return those resources to a central site.

A Mobile and Intelligent Patient Diary for Chronic Disease Self-Management.

PubMed

Van Woensel, William; Roy, Patrice C; Abidi, Samina R; Abidi, Syed S R

2015-01-01

By involving patients in their own long-term care, patient self-management approaches aim to increase self-sufficiency and reduce healthcare costs. For example, electronic patient diaries enable patients to collect health data autonomously, increasing self-reliance and reducing strain on health professionals. By deploying patient diaries on mobile platforms, health data collection can occur at any time and place, increasing the mobility of chronic patients who typically need to enter health data frequently. Importantly, an opportunity also arises for mobile clinical decision support, where health feedback is directly issued to patients without relying on connectivity or remote servers. Regardless of the specific self-management strategy, patient and healthcare provider adoption are crucial. Tailoring the system towards the particular patient and toward institution-specific clinical pathways is essential to increasing acceptance. In this paper we discuss a mobile patient diary realizing both the opportunities and challenges of mobile deployment.

A multi-agent architecture for geosimulation of moving agents

NASA Astrophysics Data System (ADS)

Vahidnia, Mohammad H.; Alesheikh, Ali A.; Alavipanah, Seyed Kazem

2015-10-01

In this paper, a novel architecture is proposed in which an axiomatic derivation system in the form of first-order logic facilitates declarative explanation and spatial reasoning. Simulation of environmental perception and interaction between autonomous agents is designed with a geographic belief-desire-intention and a request-inform-query model. The architecture has a complementary quantitative component that supports collaborative planning based on the concept of equilibrium and game theory. This new architecture presents a departure from current best practices geographic agent-based modelling. Implementation tasks are discussed in some detail, as well as scenarios for fleet management and disaster management.

Where neuroscience and dynamic system theory meet autonomous robotics: a contracting basal ganglia model for action selection.

PubMed

Girard, B; Tabareau, N; Pham, Q C; Berthoz, A; Slotine, J-J

2008-05-01

Action selection, the problem of choosing what to do next, is central to any autonomous agent architecture. We use here a multi-disciplinary approach at the convergence of neuroscience, dynamical system theory and autonomous robotics, in order to propose an efficient action selection mechanism based on a new model of the basal ganglia. We first describe new developments of contraction theory regarding locally projected dynamical systems. We exploit these results to design a stable computational model of the cortico-baso-thalamo-cortical loops. Based on recent anatomical data, we include usually neglected neural projections, which participate in performing accurate selection. Finally, the efficiency of this model as an autonomous robot action selection mechanism is assessed in a standard survival task. The model exhibits valuable dithering avoidance and energy-saving properties, when compared with a simple if-then-else decision rule.

Human-Vehicle Interface for Semi-Autonomous Operation of Uninhabited Aero Vehicles

NASA Technical Reports Server (NTRS)

Jones, Henry L.; Frew, Eric W.; Woodley, Bruce R.; Rock, Stephen M.

2001-01-01

The robustness of autonomous robotic systems to unanticipated circumstances is typically insufficient for use in the field. The many skills of human user often fill this gap in robotic capability. To incorporate the human into the system, a useful interaction between man and machine must exist. This interaction should enable useful communication to be exchanged in a natural way between human and robot on a variety of levels. This report describes the current human-robot interaction for the Stanford HUMMINGBIRD autonomous helicopter. In particular, the report discusses the elements of the system that enable multiple levels of communication. An intelligent system agent manages the different inputs given to the helicopter. An advanced user interface gives the user and helicopter a method for exchanging useful information. Using this human-robot interaction, the HUMMINGBIRD has carried out various autonomous search, tracking, and retrieval missions.

A Rover Mobility Platform with Autonomous Capability to Enable Mars Sample Return

NASA Astrophysics Data System (ADS)

Fulford, P.; Langley, C.; Shaw, A.

2018-04-01

The next step in understanding Mars is sample return. In Fall 2016, the CSA conducted an analogue deployment using the Mars Exploration Science Rover. An objective was to demonstrate the maturity of the rover's guidance, navigation, and control.

The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

EICKER,PATRICK J.

2001-02-01

Ground mobile robots are much in the mind of defense planners at this time, being considered for a significant variety of missions with a diversity ranging from logistics supply to reconnaissance and surveillance. While there has been a very large amount of basic research funded in the last quarter century devoted to mobile robots and their supporting component technologies, little of this science base has been fully developed and deployed--notable exceptions being NASA's Mars rover and several terrestrial derivatives. The material in this paper was developed as a first exemplary step in the development of a more systematic approach tomore » the R and D of ground mobile robots.« less

Fuzzy Decision-Making Fuser (FDMF) for Integrating Human-Machine Autonomous (HMA) Systems with Adaptive Evidence Sources.

PubMed

Liu, Yu-Ting; Pal, Nikhil R; Marathe, Amar R; Wang, Yu-Kai; Lin, Chin-Teng

2017-01-01

A brain-computer interface (BCI) creates a direct communication pathway between the human brain and an external device or system. In contrast to patient-oriented BCIs, which are intended to restore inoperative or malfunctioning aspects of the nervous system, a growing number of BCI studies focus on designing auxiliary systems that are intended for everyday use. The goal of building these BCIs is to provide capabilities that augment existing intact physical and mental capabilities. However, a key challenge to BCI research is human variability; factors such as fatigue, inattention, and stress vary both across different individuals and for the same individual over time. If these issues are addressed, autonomous systems may provide additional benefits that enhance system performance and prevent problems introduced by individual human variability. This study proposes a human-machine autonomous (HMA) system that simultaneously aggregates human and machine knowledge to recognize targets in a rapid serial visual presentation (RSVP) task. The HMA focuses on integrating an RSVP BCI with computer vision techniques in an image-labeling domain. A fuzzy decision-making fuser (FDMF) is then applied in the HMA system to provide a natural adaptive framework for evidence-based inference by incorporating an integrated summary of the available evidence (i.e., human and machine decisions) and associated uncertainty. Consequently, the HMA system dynamically aggregates decisions involving uncertainties from both human and autonomous agents. The collaborative decisions made by an HMA system can achieve and maintain superior performance more efficiently than either the human or autonomous agents can achieve independently. The experimental results shown in this study suggest that the proposed HMA system with the FDMF can effectively fuse decisions from human brain activities and the computer vision techniques to improve overall performance on the RSVP recognition task. This conclusion demonstrates the potential benefits of integrating autonomous systems with BCI systems.

Fuzzy Decision-Making Fuser (FDMF) for Integrating Human-Machine Autonomous (HMA) Systems with Adaptive Evidence Sources

PubMed Central

Liu, Yu-Ting; Pal, Nikhil R.; Marathe, Amar R.; Wang, Yu-Kai; Lin, Chin-Teng

2017-01-01

A brain-computer interface (BCI) creates a direct communication pathway between the human brain and an external device or system. In contrast to patient-oriented BCIs, which are intended to restore inoperative or malfunctioning aspects of the nervous system, a growing number of BCI studies focus on designing auxiliary systems that are intended for everyday use. The goal of building these BCIs is to provide capabilities that augment existing intact physical and mental capabilities. However, a key challenge to BCI research is human variability; factors such as fatigue, inattention, and stress vary both across different individuals and for the same individual over time. If these issues are addressed, autonomous systems may provide additional benefits that enhance system performance and prevent problems introduced by individual human variability. This study proposes a human-machine autonomous (HMA) system that simultaneously aggregates human and machine knowledge to recognize targets in a rapid serial visual presentation (RSVP) task. The HMA focuses on integrating an RSVP BCI with computer vision techniques in an image-labeling domain. A fuzzy decision-making fuser (FDMF) is then applied in the HMA system to provide a natural adaptive framework for evidence-based inference by incorporating an integrated summary of the available evidence (i.e., human and machine decisions) and associated uncertainty. Consequently, the HMA system dynamically aggregates decisions involving uncertainties from both human and autonomous agents. The collaborative decisions made by an HMA system can achieve and maintain superior performance more efficiently than either the human or autonomous agents can achieve independently. The experimental results shown in this study suggest that the proposed HMA system with the FDMF can effectively fuse decisions from human brain activities and the computer vision techniques to improve overall performance on the RSVP recognition task. This conclusion demonstrates the potential benefits of integrating autonomous systems with BCI systems. PMID:28676734

Autonomous Onboard Science Image Analysis for Future Mars Rover Missions

NASA Technical Reports Server (NTRS)

Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Roush, T. L.

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these and other algorithms and demonstrate their performance during a recent rover field test.

Beyond NextGen: AutoMax Overview and Update

NASA Technical Reports Server (NTRS)

Kopardekar, Parimal; Alexandrov, Natalia

2013-01-01

Main Message: National and Global Needs - Develop scalable airspace operations management system to accommodate increased mobility needs, emerging airspace uses, mix, future demand. Be affordable and economically viable. Sense of Urgency. Saturation (delays), emerging airspace uses, proactive development. Autonomy is Needed for Airspace Operations to Meet Future Needs. Costs, time critical decisions, mobility, scalability, limits of cognitive workload. AutoMax to Accommodate National and Global Needs. Auto: Automation, autonomy, autonomicity for airspace operations. Max: Maximizing performance of the National Airspace System. Interesting Challenges and Path Forward.

Mobile transporter path planning

NASA Technical Reports Server (NTRS)

Baffes, Paul; Wang, Lui

1990-01-01

The use of a genetic algorithm (GA) for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the space station which must be able to reach any point of the structure autonomously. Elements of the genetic algorithm are explored in both a theoretical and experimental sense. Specifically, double crossover, greedy crossover, and tournament selection techniques are examined. Additionally, the use of local optimization techniques working in concert with the GA are also explored. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research.

DyHAP: Dynamic Hybrid ANFIS-PSO Approach for Predicting Mobile Malware.

PubMed

Afifi, Firdaus; Anuar, Nor Badrul; Shamshirband, Shahaboddin; Choo, Kim-Kwang Raymond

2016-01-01

To deal with the large number of malicious mobile applications (e.g. mobile malware), a number of malware detection systems have been proposed in the literature. In this paper, we propose a hybrid method to find the optimum parameters that can be used to facilitate mobile malware identification. We also present a multi agent system architecture comprising three system agents (i.e. sniffer, extraction and selection agent) to capture and manage the pcap file for data preparation phase. In our hybrid approach, we combine an adaptive neuro fuzzy inference system (ANFIS) and particle swarm optimization (PSO). Evaluations using data captured on a real-world Android device and the MalGenome dataset demonstrate the effectiveness of our approach, in comparison to two hybrid optimization methods which are differential evolution (ANFIS-DE) and ant colony optimization (ANFIS-ACO).

DyHAP: Dynamic Hybrid ANFIS-PSO Approach for Predicting Mobile Malware

PubMed Central

Afifi, Firdaus; Anuar, Nor Badrul; Shamshirband, Shahaboddin

2016-01-01

To deal with the large number of malicious mobile applications (e.g. mobile malware), a number of malware detection systems have been proposed in the literature. In this paper, we propose a hybrid method to find the optimum parameters that can be used to facilitate mobile malware identification. We also present a multi agent system architecture comprising three system agents (i.e. sniffer, extraction and selection agent) to capture and manage the pcap file for data preparation phase. In our hybrid approach, we combine an adaptive neuro fuzzy inference system (ANFIS) and particle swarm optimization (PSO). Evaluations using data captured on a real-world Android device and the MalGenome dataset demonstrate the effectiveness of our approach, in comparison to two hybrid optimization methods which are differential evolution (ANFIS-DE) and ant colony optimization (ANFIS-ACO). PMID:27611312

Impact of mobility structure on optimization of small-world networks of mobile agents

NASA Astrophysics Data System (ADS)

Lee, Eun; Holme, Petter

2016-06-01

In ad hoc wireless networking, units are connected to each other rather than to a central, fixed, infrastructure. Constructing and maintaining such networks create several trade-off problems between robustness, communication speed, power consumption, etc., that bridges engineering, computer science and the physics of complex systems. In this work, we address the role of mobility patterns of the agents on the optimal tuning of a small-world type network construction method. By this method, the network is updated periodically and held static between the updates. We investigate the optimal updating times for different scenarios of the movement of agents (modeling, for example, the fat-tailed trip distances, and periodicities, of human travel). We find that these mobility patterns affect the power consumption in non-trivial ways and discuss how these effects can best be handled.

A Tree Based Self-routing Scheme for Mobility Support in Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Kim, Young-Duk; Yang, Yeon-Mo; Kang, Won-Seok; Kim, Jin-Wook; An, Jinung

Recently, WSNs (Wireless Sensor Networks) with mobile robot is a growing technology that offer efficient communication services for anytime and anywhere applications. However, the tiny sensor node has very limited network resources due to its low battery power, low data rate, node mobility, and channel interference constraint between neighbors. Thus, in this paper, we proposed a tree based self-routing protocol for autonomous mobile robots based on beacon mode and implemented in real test-bed environments. The proposed scheme offers beacon based real-time scheduling for reliable association process between parent and child nodes. In addition, it supports smooth handover procedure by reducing flooding overhead of control packets. Throughout the performance evaluation by using a real test-bed system and simulation, we illustrate that our proposed scheme demonstrates promising performance for wireless sensor networks with mobile robots.

A design strategy for autonomous systems

NASA Technical Reports Server (NTRS)

Forster, Pete

1989-01-01

Some solutions to crucial issues regarding the competent performance of an autonomously operating robot are identified; namely, that of handling multiple and variable data sources containing overlapping information and maintaining coherent operation while responding adequately to changes in the environment. Support for the ideas developed for the construction of such behavior are extracted from speculations in the study of cognitive psychology, an understanding of the behavior of controlled mechanisms, and the development of behavior-based robots in a few robot research laboratories. The validity of these ideas is supported by some simple simulation experiments in the field of mobile robot navigation and guidance.

Capturing Safety Requirements to Enable Effective Task Allocation Between Humans and Automaton in Increasingly Autonomous Systems

NASA Technical Reports Server (NTRS)

Neogi, Natasha A.

2016-01-01

There is a current drive towards enabling the deployment of increasingly autonomous systems in the National Airspace System (NAS). However, shifting the traditional roles and responsibilities between humans and automation for safety critical tasks must be managed carefully, otherwise the current emergent safety properties of the NAS may be disrupted. In this paper, a verification activity to assess the emergent safety properties of a clearly defined, safety critical, operational scenario that possesses tasks that can be fluidly allocated between human and automated agents is conducted. Task allocation role sets were proposed for a human-automation team performing a contingency maneuver in a reduced crew context. A safety critical contingency procedure (engine out on takeoff) was modeled in the Soar cognitive architecture, then translated into the Hybrid Input Output formalism. Verification activities were then performed to determine whether or not the safety properties held over the increasingly autonomous system. The verification activities lead to the development of several key insights regarding the implicit assumptions on agent capability. It subsequently illustrated the usefulness of task annotations associated with specialized requirements (e.g., communication, timing etc.), and demonstrated the feasibility of this approach.

HIV-1-Tat excites cardiac parasympathetic neurons of nucleus ambiguus and triggers prolonged bradycardia in conscious rats

PubMed Central

Brailoiu, Eugen; Deliu, Elena; Sporici, Romeo A.; Benamar, Khalid

2014-01-01

The mechanisms of autonomic imbalance and subsequent cardiovascular manifestations in HIV-1-infected patients are poorly understood. We report here that HIV-1 transactivator of transcription (Tat, fragment 1–86) produced a concentration-dependent increase in cytosolic Ca2+ in cardiac-projecting parasympathetic neurons of nucleus ambiguus retrogradely labeled with rhodamine. Using store-specific pharmacological agents, we identified several mechanisms of the Tat-induced Ca2+ elevation: 1) lysosomal Ca2+ mobilization, 2) Ca2+ release via inositol 1,4,5-trisphosphate-sensitive endoplasmic reticulum pools, and 3) Ca2+ influx via transient receptor potential vanilloid type 2 (TRPV2) channels. Activation of TRPV2, nonselective cation channels, induced a robust and prolonged neuronal membrane depolarization, thus triggering an additional P/Q-mediated Ca2+ entry. In vivo microinjection studies indicate a dose-dependent, prolonged bradycardic effect of Tat administration into the nucleus ambiguus of conscious rats, in which neuronal TRPV2 played a major role. Our results support previous studies, indicating that Tat promotes bradycardia and, consequently, may be involved in the QT interval prolongation reported in HIV-infected patients. In the context of an overall HIV-dependent autonomic dysfunction, these Tat-mediated mechanisms may account for the higher prevalence of sudden cardiac death in HIV-1-infected patients compared with general population with similar risk factors. Our results may be particularly relevant in view of the recent findings that significant Tat levels can still be identified in the cerebrospinal fluid of HIV-infected patients with viral load suppression due to efficient antiretroviral therapy. PMID:24694382

Development and validation of a low-cost mobile robotics testbed

NASA Astrophysics Data System (ADS)

Johnson, Michael; Hayes, Martin J.

2012-03-01

This paper considers the design, construction and validation of a low-cost experimental robotic testbed, which allows for the localisation and tracking of multiple robotic agents in real time. The testbed system is suitable for research and education in a range of different mobile robotic applications, for validating theoretical as well as practical research work in the field of digital control, mobile robotics, graphical programming and video tracking systems. It provides a reconfigurable floor space for mobile robotic agents to operate within, while tracking the position of multiple agents in real-time using the overhead vision system. The overall system provides a highly cost-effective solution to the topical problem of providing students with practical robotics experience within severe budget constraints. Several problems encountered in the design and development of the mobile robotic testbed and associated tracking system, such as radial lens distortion and the selection of robot identifier templates are clearly addressed. The testbed performance is quantified and several experiments involving LEGO Mindstorm NXT and Merlin System MiaBot robots are discussed.

Ion mobility spectrometric analysis of vaporous chemical warfare agents by the instrument with corona discharge ionization ammonia dopant ambient temperature operation.

PubMed

Satoh, Takafumi; Kishi, Shintaro; Nagashima, Hisayuki; Tachikawa, Masumi; Kanamori-Kataoka, Mieko; Nakagawa, Takao; Kitagawa, Nobuyoshi; Tokita, Kenichi; Yamamoto, Soichiro; Seto, Yasuo

2015-03-20

The ion mobility behavior of nineteen chemical warfare agents (7 nerve gases, 5 blister agents, 2 lachrymators, 2 blood agents, 3 choking agents) and related compounds including simulants (8 agents) and organic solvents (39) was comparably investigated by the ion mobility spectrometry instrument utilizing weak electric field linear drift tube with corona discharge ionization, ammonia doping, purified inner air drift flow circulation operated at ambient temperature and pressure. Three alkyl methylphosphonofluoridates, tabun, and four organophosphorus simulants gave the intense characteristic positive monomer-derived ion peaks and small dimer-derived ion peaks, and the later ion peaks were increased with the vapor concentrations. VX, RVX and tabun gave both characteristic positive monomer-derived ions and degradation product ions. Nitrogen mustards gave the intense characteristic positive ion peaks, and in addition distinctive negative ion peak appeared from HN3. Mustard gas, lewisite 1, o-chlorobenzylidenemalononitrile and 2-mercaptoethanol gave the characteristic negative ion peaks. Methylphosphonyl difluoride, 2-chloroacetophenone and 1,4-thioxane gave the characteristic ion peaks both in the positive and negative ion mode. 2-Chloroethylethylsulfide and allylisothiocyanate gave weak ion peaks. The marker ion peaks derived from two blood agents and three choking agents were very close to the reactant ion peak in negative ion mode and the respective reduced ion mobility was fluctuated. The reduced ion mobility of the CWA monomer-derived peaks were positively correlated with molecular masses among structurally similar agents such as G-type nerve gases and organophosphorus simulants; V-type nerve gases and nitrogen mustards. The slope values of the calibration plots of the peak heights of the characteristic marker ions versus the vapor concentrations are related to the detection sensitivity, and within chemical warfare agents examined the slope values for sarin, soman, tabun and nitrogen mustards were higher. Some CWA simulants and organic solvents gave the ion peaks eluting at the similar positions of the CWAs, resulting in false positive alarms. Copyright © 2015 Elsevier B.V. All rights reserved.

A Survey on Distributed Mobile Database and Data Mining

NASA Astrophysics Data System (ADS)

Goel, Ajay Mohan; Mangla, Neeraj; Patel, R. B.

2010-11-01

The anticipated increase in popular use of the Internet has created more opportunity in information dissemination, Ecommerce, and multimedia communication. It has also created more challenges in organizing information and facilitating its efficient retrieval. In response to this, new techniques have evolved which facilitate the creation of such applications. Certainly the most promising among the new paradigms is the use of mobile agents. In this paper, mobile agent and distributed database technologies are applied in the banking system. Many approaches have been proposed to schedule data items for broadcasting in a mobile environment. In this paper, an efficient strategy for accessing multiple data items in mobile environments and the bottleneck of current banking will be proposed.

Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; de Saussure, G.; Spelt, P.F.

1988-01-01

This paper describes recent research activities at the Center for Engineering Systems Advanced Research (CESAR) in the area of sensor based reasoning, with emphasis being given to their application and implementation on our HERMIES-IIB autonomous mobile vehicle. These activities, including navigation and exploration in a-priori unknown and dynamic environments, goal recognition, vision-guided manipulation and sensor-driven machine learning, are discussed within the framework of a scenario in which an autonomous robot is asked to navigate through an unknown dynamic environment, explore, find and dock at the panel, read and understand the status of the panel's meters and dials, learn the functioningmore » of a process control panel, and successfully manipulate the control devices of the panel to solve a maintenance emergency problems. A demonstration of the successful implementation of the algorithms on our HERMIES-IIB autonomous robot for resolution of this scenario is presented. Conclusions are drawn concerning the applicability of the methodologies to more general classes of problems and implications for future work on sensor-driven reasoning for autonomous robots are discussed. 8 refs., 3 figs.« less

Efficient priority queueing routing strategy on networks of mobile agents

NASA Astrophysics Data System (ADS)

Wu, Gan-Hua; Yang, Hui-Jie; Pan, Jia-Hui

2018-03-01

As a consequence of their practical implications for communications networks, traffic dynamics on complex networks have recently captivated researchers. Previous routing strategies for improving transport efficiency have paid little attention to the orders in which the packets should be forwarded, just simply used first-in-first-out queue discipline. Here, we apply a priority queuing discipline and propose a shortest-distance-first routing strategy on networks of mobile agents. Numerical experiments reveal that the proposed scheme remarkably improves both the network throughput and the packet arrival rate and reduces both the average traveling time and the rate of waiting time to traveling time. Moreover, we find that the network capacity increases with an increase in both the communication radius and the number of agents. Our work may be helpful for the design of routing strategies on networks of mobile agents.

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

In an important step toward advancing intelligent, efficient, and autonomous electric vehicles, the National Renewable Energy Laboratory (NREL) plans to partner on research and development efforts with EasyMile, a smart mobility solutions company. EasyMile provided a demo of its driverless EZ10 shuttle on the NREL campus in September 2017.

Autonomous stair-climbing with miniature jumping robots.

PubMed

Stoeter, Sascha A; Papanikolopoulos, Nikolaos

2005-04-01

The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Autonomous robotic platforms for locating radio sources buried under rubble

NASA Astrophysics Data System (ADS)

Tasu, A. S.; Anchidin, L.; Tamas, R.; Paun, M.; Danisor, A.; Petrescu, T.

2016-12-01

This paper deals with the use of autonomous robotic platforms able to locate radio signal sources such as mobile phones, buried under collapsed buildings as a result of earthquakes, natural disasters, terrorism, war, etc. This technique relies on averaging position data resulting from a propagation model implemented on the platform and the data acquired by robotic platforms at the disaster site. That allows us to calculate the approximate position of radio sources buried under the rubble. Based on measurements, a radio map of the disaster site is made, very useful for locating victims and for guiding specific rubble lifting machinery, by assuming that there is a victim next to a mobile device detected by the robotic platform; by knowing the approximate position, the lifting machinery does not risk to further hurt the victims. Moreover, by knowing the positions of the victims, the reaction time is decreased, and the chances of survival for the victims buried under the rubble, are obviously increased.

Applying Utility Functions to Adaptation Planning for Home Automation Applications

NASA Astrophysics Data System (ADS)

Bratskas, Pyrros; Paspallis, Nearchos; Kakousis, Konstantinos; Papadopoulos, George A.

A pervasive computing environment typically comprises multiple embedded devices that may interact together and with mobile users. These users are part of the environment, and they experience it through a variety of devices embedded in the environment. This perception involves technologies which may be heterogeneous, pervasive, and dynamic. Due to the highly dynamic properties of such environments, the software systems running on them have to face problems such as user mobility, service failures, or resource and goal changes which may happen in an unpredictable manner. To cope with these problems, such systems must be autonomous and self-managed. In this chapter we deal with a special kind of a ubiquitous environment, a smart home environment, and introduce a user-preference-based model for adaptation planning. The model, which dynamically forms a set of configuration plans for resources, reasons automatically and autonomously, based on utility functions, on which plan is likely to best achieve the user's goals with respect to resource availability and user needs.

Miniaturized spectrometer for stand-off chemical detection

NASA Astrophysics Data System (ADS)

Henning, Patrick F.; Chadha, Suneet; Damren, Richard; Rowe, Rebecca C.; Stevenson, Chuck; Curtiss, Lawrence E.; DiGiuseppe, Thomas G.

2002-02-01

Advanced autonomous detection of both chemical warfare agents and toxic industrial chemicals has long been of major military concern and is becoming an increasingly realistic need. Foster-Miller has successfully designed and demonstrated a high spectral throughput monolithic wedge spectrometer capable of providing early, stand-off detection of chemical threats. Recent breakthrough innovations in IR source technologies, high D* multispectral array detectors, and IR waveguide materials has allowed for the development of a robust, miniature, monolithic infrared spectrometer. Foster-Miller recently demonstrated a high resolution spectrometer operating in the 8 to 12 micron region for chemical agent detection. Results will be presented demonstrating the feasibility of adapting the wedge spectrometer to operate as an upward looking ground sensor for stand-off chemical detection. Our miniaturized spectrometer forms the basis for deploying low cost, lightweight sensors which may be used for reconnaissance missions or delivered to remote locations for unattended operation. The ability of perform passive stand-off infrared chemical agent and chemical emissions detection with a low cost, compact device that can operate autonomously in remote environments has broad applications in both the military and commercial marketplace.

Self-healing in single and multiple fiber(s) reinforced polymer composites

NASA Astrophysics Data System (ADS)

Woldesenbet, E.

2010-06-01

You Polymer composites have been attractive medium to introduce the autonomic healing concept into modern day engineering materials. To date, there has been significant research in self-healing polymeric materials including several studies specifically in fiber reinforced polymers. Even though several methods have been suggested in autonomic healing materials, the concept of repair by bleeding of enclosed functional agents has garnered wide attention by the scientific community. A self-healing fiber reinforced polymer composite has been developed. Tensile tests are carried out on specimens that are fabricated by using the following components: hollow and solid glass fibers, healing agent, catalysts, multi-walled carbon nanotubes, and a polymer resin matrix. The test results have demonstrated that single fiber polymer composites and multiple fiber reinforced polymer matrix composites with healing agents and catalysts have provided 90.7% and 76.55% restoration of the original tensile strength, respectively. Incorporation of functionalized multi-walled carbon nanotubes in the healing medium of the single fiber polymer composite has provided additional efficiency. Healing is found to be localized, allowing multiple healing in the presence of several cracks.

Water-driven micromotors for rapid photocatalytic degradation of biological and chemical warfare agents.

PubMed

Li, Jinxing; Singh, Virendra V; Sattayasamitsathit, Sirilak; Orozco, Jahir; Kaufmann, Kevin; Dong, Renfeng; Gao, Wei; Jurado-Sanchez, Beatriz; Fedorak, Yuri; Wang, Joseph

2014-11-25

Threats of chemical and biological warfare agents (CBWA) represent a serious global concern and require rapid and efficient neutralization methods. We present a highly effective micromotor strategy for photocatalytic degradation of CBWA based on light-activated TiO2/Au/Mg microspheres that propel autonomously in natural water and obviate the need for external fuel, decontaminating reagent, or mechanical agitation. The activated TiO2/Au/Mg micromotors generate highly reactive oxygen species responsible for the efficient destruction of the cell membranes of the anthrax simulant Bacillus globigii spore, as well as rapid and complete in situ mineralization of the highly persistent organophosphate nerve agents into nonharmful products. The water-driven propulsion of the TiO2/Au/Mg micromotors facilitates efficient fluid transport and dispersion of the photogenerated reactive oxidative species and their interaction with the CBWA. Coupling of the photocatalytic surface of the micromotors and their autonomous water-driven propulsion thus leads to a reagent-free operation which holds a considerable promise for diverse "green" defense and environmental applications.

BatSLAM: Simultaneous localization and mapping using biomimetic sonar.

PubMed

Steckel, Jan; Peremans, Herbert

2013-01-01

We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office) environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building.

BatSLAM: Simultaneous Localization and Mapping Using Biomimetic Sonar

PubMed Central

Steckel, Jan; Peremans, Herbert

2013-01-01

We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office) environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building. PMID:23365647

Environmentally Friendly Coating Technology for Autonomous Corrosion Control

NASA Technical Reports Server (NTRS)

Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Johnsey, Marissa N.; Jolley, Scott T.; Pearman, Benjamin P.; Zhang, Xuejun; Fitzpatrick, Lilliana; Gillis, Mathew; Blanton, Michael;

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

PubMed Central

Qian, Jun; Zi, Bin; Ma, Yangang; Zhang, Dan

2017-01-01

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields. PMID:28891964

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System.

PubMed

Qian, Jun; Zi, Bin; Wang, Daoming; Ma, Yangang; Zhang, Dan

2017-09-10

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.

Launch Commit Criteria Monitoring Agent

NASA Technical Reports Server (NTRS)

Semmel, Glenn S.; Davis, Steven R.; Leucht, Kurt W.; Rowe, Dan A.; Kelly, Andrew O.; Boeloeni, Ladislau

2005-01-01

The Spaceport Processing Systems Branch at NASA Kennedy Space Center has developed and deployed a software agent to monitor the Space Shuttle's ground processing telemetry stream. The application, the Launch Commit Criteria Monitoring Agent, increases situational awareness for system and hardware engineers during Shuttle launch countdown. The agent provides autonomous monitoring of the telemetry stream, automatically alerts system engineers when predefined criteria have been met, identifies limit warnings and violations of launch commit criteria, aids Shuttle engineers through troubleshooting procedures, and provides additional insight to verify appropriate troubleshooting of problems by contractors. The agent has successfully detected launch commit criteria warnings and violations on a simulated playback data stream. Efficiency and safety are improved through increased automation.

Tier-scalable reconnaissance: the future in autonomous C4ISR systems has arrived: progress towards an outdoor testbed

NASA Astrophysics Data System (ADS)

Fink, Wolfgang; Brooks, Alexander J.-W.; Tarbell, Mark A.; Dohm, James M.

2017-05-01

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-)deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous C4ISR systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous tele-commanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

Application of Mobile Agents in Web-Based Learning Environment.

ERIC Educational Resources Information Center

Hong Hong, Kinshuk; He, Xiaoqin; Patel, Ashok; Jesshope, Chris

Web-based learning environments are strongly driven by the information revolution and the Internet, but they have a number of common deficiencies, such as slow access, no adaptivity to the individual student, limitation by bandwidth, and more. This paper outlines the benefits of mobile agents technology, and describes its application in Web-based…

Remote Data Retrieval for Bioinformatics Applications: An Agent Migration Approach

PubMed Central

Gao, Lei; Dai, Hua; Zhang, Tong-Liang; Chou, Kuo-Chen

2011-01-01

Some of the approaches have been developed to retrieve data automatically from one or multiple remote biological data sources. However, most of them require researchers to remain online and wait for returned results. The latter not only requires highly available network connection, but also may cause the network overload. Moreover, so far none of the existing approaches has been designed to address the following problems when retrieving the remote data in a mobile network environment: (1) the resources of mobile devices are limited; (2) network connection is relatively of low quality; and (3) mobile users are not always online. To address the aforementioned problems, we integrate an agent migration approach with a multi-agent system to overcome the high latency or limited bandwidth problem by moving their computations to the required resources or services. More importantly, the approach is fit for the mobile computing environments. Presented in this paper are also the system architecture, the migration strategy, as well as the security authentication of agent migration. As a demonstration, the remote data retrieval from GenBank was used to illustrate the feasibility of the proposed approach. PMID:21701677

The use of poplar during a two-year induced phytoextraction of metals from contaminated agricultural soils.

PubMed

Komárek, Michael; Tlustos, Pavel; Száková, Jirina; Chrastný, Vladislav

2008-01-01

The efficiency of poplar (Populus nigra L.xPopulus maximowiczii Henry.) was assessed during a two-year chemically enhanced phytoextraction of metals from contaminated soils. The tested metal mobilizing agents were EDTA (ethylenediaminetetraacetic acid) and NH4Cl. EDTA was more efficient than chlorides in solubilizing metals (especially Pb) from the soil matrix. The application of chlorides only increased the solubility of Cd and Zn. However, the increased uptake of metals after the application of higher concentrations of mobilizing agents was associated with low biomass yields of the poplar plants and the extraction efficiencies after the two vegetation periods were thus comparable to the untreated plants. Additionally, the application of mobilizing agents led to phytotoxicity effects and increased mobility of metals. Higher phytoextraction efficiencies were observed for Cd and Zn compared to Pb and Cu. Poplars are therefore not suitable for chemically enhanced phytoextraction of metals from severely contaminated agricultural soils.

Effects of Agent Transparency on Multi-Robot Management Effectiveness

DTIC Science & Technology

2015-09-01

capacity was found to be a significant predictor of participants’ trust in the agent. Individual differences in spatial ability accounted for...Another concern regarding autonomous systems is operator workload, which is the cost of performing a task that reduces an individual’s ability to complete...more elaborate and costly strategy that cost additional time (Clark et al. 2011). We hypothesize, therefore, that action GE will be associated with

Neutron Radiography Based Visualization and Profiling of Water Uptake in (Un)cracked and Autonomously Healed Cementitious Materials

PubMed Central

Van den Heede, Philip; Van Belleghem, Bjorn; Alderete, Natalia; Van Tittelboom, Kim; De Belie, Nele

2016-01-01

Given their low tensile strength, cement-based materials are very susceptible to cracking. These cracks serve as preferential pathways for corrosion inducing substances. For large concrete infrastructure works, currently available time-consuming manual repair techniques are not always an option. Often, one simply cannot reach the damaged areas and when making those areas accessible anyway (e.g., by redirecting traffic), the economic impacts involved would be enormous. Under those circumstances, it might be useful to have concrete with an embedded autonomous healing mechanism. In this paper, the effectiveness of incorporating encapsulated high and low viscosity polyurethane-based healing agents to ensure (multiple) crack healing has been investigated by means of capillary absorption tests on mortar while monitoring the time-dependent water ingress with neutron radiography. Overall visual interpretation and water front/sample cross-section area ratios as well as water profiles representing the area around the crack and their integrals do not show a preference for the high or low viscosity healing agent. Another observation is that in presence of two cracks, only one is properly healed, especially when using the latter healing agent. Exposure to water immediately after release of the healing agent stimulates the foaming reaction of the polyurethane and ensures a better crack closure. PMID:28773436

Mobilizing Community Museum Networks in Mexico--and Beyond.

ERIC Educational Resources Information Center

Healy, Kevin

2003-01-01

Since the late 1980s, a network of community museums has spread throughout Oaxaca (Mexico), serving as an autonomous force for broad-based cultural development, supporting the maintenance and revitalization of local Indigenous cultures, countering Western cultural hegemony, and involving Indigenous communities in museum development and related…

Work Uncertainty and the Promotion of Professional Women: The Case of Law Firm Partnership

ERIC Educational Resources Information Center

Gorman, Elizabeth H.

2006-01-01

Work uncertainty may affect gender disparities in professionals' upward mobility in organizational hierarchies. Professional work involves three forms of uncertainty--problem variability, strategic indeterminacy and dependence on autonomous actors--that weaken the association between performance and ability, leading organizational decision-makers…

Neural Network-Based Landmark Recognition and Navigation with IAMRs. Understanding the Principles of Thought and Behavior.

ERIC Educational Resources Information Center

Doty, Keith L.

1999-01-01

Research on neural networks and hippocampal function demonstrating how mammals construct mental maps and develop navigation strategies is being used to create Intelligent Autonomous Mobile Robots (IAMRs). Such robots are able to recognize landmarks and navigate without "vision." (SK)

Cancellation of the Army’s Autonomous Navigation System

DTIC Science & Technology

2012-08-02

Auto/Truck Various Vehicle Leader/Follower, Road Following Google Driverless Vehicle Google Road Following Source: GAO presentation of data from Red...both of which are estimated to cost over $300,000 per system. However, Google’s Driverless Vehicle and the Southwest Research Institute’s Mobile

SWARMS: Scalable sWarms of Autonomous Robots and Mobile Sensors

DTIC Science & Technology

2013-03-18

Pasqualetti, Antonio Franchi , Francesco Bullo. On optimal cooperative patrolling, 2010 49th IEEE Conference on Decision and Control (CDC). 2010/12/15 00...exhibits “ global stability” Provided a complete convergence proof for the adaptive version of the range only station keeping problem. Graph Theoretic

Algorithms of walking and stability for an anthropomorphic robot

NASA Astrophysics Data System (ADS)

Sirazetdinov, R. T.; Devaev, V. M.; Nikitina, D. V.; Fadeev, A. Y.; Kamalov, A. R.

2017-09-01

Autonomous movement of an anthropomorphic robot is considered as a superposition of a set of typical elements of movement - so-called patterns, each of which can be considered as an agent of some multi-agent system [ 1 ]. To control the AP-601 robot, an information and communication infrastructure has been created that represents some multi-agent system that allows the development of algorithms for individual patterns of moving and run them in the system as a set of independently executed and interacting agents. The algorithms of lateral movement of the anthropomorphic robot AP-601 series with active stability due to the stability pattern are presented.

Animation of Traffic through Roundabouts

DOT National Transportation Integrated Search

1998-01-14

This report describes work done on a roundabout animation program during 1997. The roundabout animation program began as an undergraduate class project and has evolved to its current state. The program is based on the principle of an autonomous agent...

A study on agent-based secure scheme for electronic medical record system.

PubMed

Chen, Tzer-Long; Chung, Yu-Fang; Lin, Frank Y S

2012-06-01

Patient records, including doctors' diagnoses of diseases, trace of treatments and patients' conditions, nursing actions, and examination results from allied health profession departments, are the most important medical records of patients in medical systems. With patient records, medical staff can instantly understand the entire medical information of a patient so that, according to the patient's conditions, more accurate diagnoses and more appropriate in-depth treatments can be provided. Nevertheless, in such a modern society with booming information technologies, traditional paper-based patient records have faced a lot of problems, such as lack of uniform formats, low data mobility, slow data transfer, illegible handwritings, enormous and insufficient storage space, difficulty of conservation, being easily damaged, and low transferability. To improve such drawbacks, reduce medical costs, and advance medical quality, paper-based patient records are modified into electronic medical records and reformed into electronic patient records. However, since electronic patient records used in various hospitals are diverse and different, in consideration of cost, it is rather difficult to establish a compatible and complete integrated electronic patient records system to unify patient records from heterogeneous systems in hospitals. Moreover, as the booming of the Internet, it is no longer necessary to build an integrated system. Instead, doctors can instantly look up patients' complete information through the Internet access to electronic patient records as well as avoid the above difficulties. Nonetheless, the major problem of accessing to electronic patient records cross-hospital systems exists in the security of transmitting and accessing to the records in case of unauthorized medical personnels intercepting or stealing the information. This study applies the Mobile Agent scheme to cope with the problem. Since a Mobile Agent is a program, which can move among hosts and automatically disperse arithmetic processes, and moves from one host to another in heterogeneous network systems with the characteristics of autonomy and mobility, decreasing network traffic, reducing transfer lag, encapsulating protocol, availability on heterogeneous platforms, fault-tolerance, high flexibility, and personalization. However, since a Mobile Agent contacts and exchanges information with other hosts or agents on the Internet for rapid exchange and access to medical information, the security is threatened. In order to solve the problem, this study proposes a key management scheme based on Lagrange interpolation formulas and hierarchical management structure to make Mobile Agents a more secure and efficient access control scheme for electronic patient record systems when applied to the access of patients' personal electronic patient records cross hospitals. Meanwhile, with the comparison of security and efficacy analyses being the feasibility of validation scheme and the basis of better efficiency, the security of Mobile Agents in the process of operation can be guaranteed, key management efficacy can be advanced, and the security of the Mobile Agent system can be protected.

Towards a Bio-inspired Security Framework for Mission-Critical Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Ren, Wei; Song, Jun; Ma, Zhao; Huang, Shiyong

Mission-critical wireless sensor networks (WSNs) have been found in numerous promising applications in civil and military fields. However, the functionality of WSNs extensively relies on its security capability for detecting and defending sophisticated adversaries, such as Sybil, worm hole and mobile adversaries. In this paper, we propose a bio-inspired security framework to provide intelligence-enabled security mechanisms. This scheme is composed of a middleware, multiple agents and mobile agents. The agents monitor the network packets, host activities, make decisions and launch corresponding responses. Middleware performs an infrastructure for the communication between various agents and corresponding mobility. Certain cognitive models and intelligent algorithms such as Layered Reference Model of Brain and Self-Organizing Neural Network with Competitive Learning are explored in the context of sensor networks that have resource constraints. The security framework and implementation are also described in details.

Agent-based model of the effect of globalization on inequality and class mobility

NASA Astrophysics Data System (ADS)

Evers, Joep H. M.; Iron, David; Kolokolnikov, Theodore; Rumsey, John

2017-12-01

We consider a variant of the Bouchaud-Mézard model for wealth distribution in a society which incorporates the interaction radius between the agents, to model the extent of globalization in a society. The wealth distribution depends critically on the extent of this interaction. When interaction is relatively local, a small cluster of individuals emerges which accumulate most of the society's wealth. In this regime, the society is highly stratified with little or no class mobility. As the interaction is increased, the number of wealthy agents decreases, but the overall inequality rises as the freed-up wealth is transferred to the remaining wealthy agents. However when the interaction exceeds a certain critical threshold, the society becomes highly mobile resulting in a much lower economic inequality (low Gini index). This is consistent with the Kuznets upside-down U shaped inequality curve hypothesis.

Coordinating teams of autonomous vehicles: an architectural perspective

NASA Astrophysics Data System (ADS)

Czichon, Cary; Peterson, Robert W.; Mettala, Erik G.; Vondrak, Ivo

2005-05-01

In defense-related robotics research, a mission level integration gap exists between mission tasks (tactical) performed by ground, sea, or air applications and elementary behaviors enacted by processing, communications, sensors, and weaponry resources (platform specific). The gap spans ensemble (heterogeneous team) behaviors, automatic MOE/MOP tracking, and tactical task modeling/simulation for virtual and mixed teams comprised of robotic and human combatants. This study surveys robotic system architectures, compares approaches for navigating problem/state spaces by autonomous systems, describes an architecture for an integrated, repository-based modeling, simulation, and execution environment, and outlines a multi-tiered scheme for robotic behavior components that is agent-based, platform-independent, and extendable via plug-ins. Tools for this integrated environment, along with a distributed agent framework for collaborative task performance are being developed by a U.S. Army funded SBIR project (RDECOM Contract N61339-04-C-0005).

Muscarine- and carbachol-induced aggressions: fear and irritable kinds of aggressions.

PubMed

Beleslin, D B; Samardzić, R

1977-12-28

In unaneasthetized and unrestrained cats, muscarine and carbachol were injected into the cerebral ventricles. The kind of aggressive behaviour depended on the cholinomimetic drug and was classified as fear and an irritable kind of aggression. Muscarine induced the fear kind of aggression. The aggressive behaviour was usually preceded by attempts to escape and the attack was relevant to the situation. For the attack the presence of some threatening agent was needed. The aggression was accompanied by intense motor but less autonomic activation. On the other hand, carbachol induced an irritable kind of aggression and had the following characteristics: for the attack the presence of some threatening agent was not needed; the attack was not relevant to the situation; the aggression was not preceded by attempts to escape; and the aggressive behaviour was accompanied by intense motor and autonomic activation. It is concluded that cholinoceptive mechanisms are involved in the control of aggressive behaviour.

An Agent Based Collaborative Simplification of 3D Mesh Model

NASA Astrophysics Data System (ADS)

Wang, Li-Rong; Yu, Bo; Hagiwara, Ichiro

Large-volume mesh model faces the challenge in fast rendering and transmission by Internet. The current mesh models obtained by using three-dimensional (3D) scanning technology are usually very large in data volume. This paper develops a mobile agent based collaborative environment on the development platform of mobile-C. Communication among distributed agents includes grasping image of visualized mesh model, annotation to grasped image and instant message. Remote and collaborative simplification can be efficiently conducted by Internet.

Protecting software agents from malicious hosts using quantum computing

NASA Astrophysics Data System (ADS)

Reisner, John; Donkor, Eric

2000-07-01

We evaluate how quantum computing can be applied to security problems for software agents. Agent-based computing, which merges technological advances in artificial intelligence and mobile computing, is a rapidly growing domain, especially in applications such as electronic commerce, network management, information retrieval, and mission planning. System security is one of the more eminent research areas in agent-based computing, and the specific problem of protecting a mobile agent from a potentially hostile host is one of the most difficult of these challenges. In this work, we describe our agent model, and discuss the capabilities and limitations of classical solutions to the malicious host problem. Quantum computing may be extremely helpful in addressing the limitations of classical solutions to this problem. This paper highlights some of the areas where quantum computing could be applied to agent security.

A Context-Aware Self-Adaptive Fractal Based Generalized Pedagogical Agent Framework for Mobile Learning

ERIC Educational Resources Information Center

Boulehouache, Soufiane; Maamri, Ramdane; Sahnoun, Zaidi

2015-01-01

The Pedagogical Agents (PAs) for Mobile Learning (m-learning) must be able not only to adapt the teaching to the learner knowledge level and profile but also to ensure the pedagogical efficiency within unpredictable changing runtime contexts. Therefore, to deal with this issue, this paper proposes a Context-aware Self-Adaptive Fractal Component…

The Adoption of a Technological Innovation in Higher Education: A Case Study Involving a Mobile Device

ERIC Educational Resources Information Center

Schnitman, Ivana Maria; Forgerini, Fabrício

2018-01-01

This article examines the adoption of technological innovations in education, such as the use of mobile devices, as teaching agent to pedagogical mediation. The research discusses factors that could contribute to motivation or serve as barriers to the use of tablets as teaching agents to mediate learning. Findings suggest satisfaction and…

Development of a High Reliability Compact Air Independent PEMFC Power System

NASA Technical Reports Server (NTRS)

Wynne, B.; Diffenderfer, C.; Ferguson, S.; Keyser, J.; Miller, M.; Sievers, B.; Song, Y.; Araghi, K.; Vasquez, A.

2013-01-01

Autonomous Underwater Vehicles (AUV's) have received increased attention in recent years as military and commercial users look for means to maintain a mobile and persistent presence in the undersea world. Teledyne Energy Systems, Inc. (TESI) is committed to meeting the energy needs for these missions

A non-autonomous insect piggyBac trasposable element is mobile in tobacco

USDA-ARS?s Scientific Manuscript database

The piggyBac transposable element, originally isolated from a virus in an insect cell line, is a valuable molecular tool for transgenesis and mutagenesis of invertebrates. For heterologous transgenesis in a variety of mammals, transfer of the piggyBac transposable element from an ectopic plasmid onl...

Introduction to Autonomous Mobile Robotics Using "Lego Mindstorms" NXT

ERIC Educational Resources Information Center

Akin, H. Levent; Meriçli, Çetin; Meriçli, Tekin

2013-01-01

Teaching the fundamentals of robotics to computer science undergraduates requires designing a well-balanced curriculum that is complemented with hands-on applications on a platform that allows rapid construction of complex robots, and implementation of sophisticated algorithms. This paper describes such an elective introductory course where the…

Research and applications: Artificial intelligence

NASA Technical Reports Server (NTRS)

Chaitin, L. J.; Duda, R. O.; Johanson, P. A.; Raphael, B.; Rosen, C. A.; Yates, R. A.

1970-01-01

The program is reported for developing techniques in artificial intelligence and their application to the control of mobile automatons for carrying out tasks autonomously. Visual scene analysis, short-term problem solving, and long-term problem solving are discussed along with the PDP-15 simulator, LISP-FORTRAN-MACRO interface, resolution strategies, and cost effectiveness.

Stochastic Modeling and Uncertainty Cascade of Soil Bearing and Shearing Characteristics for Light-Weight Vehicle Applications

DTIC Science & Technology

2013-11-01

Interaction. Massachusetts Institute of Technology, Cambridge, MA, 2005. [12] C. Senatore, M. Wulfmeier, P. Jayakumar , J. Maclennan, and K. Iagnemma...D. Lamb, P. Jayakumar , M. Letherwood, et al., "Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing

Gyro and Accelerometer Based Navigation System for a Mobile Autonomous Robot.

DTIC Science & Technology

1985-12-02

special thanks goes to our thesis advisor Dr. Matthew Kabrisky for having the confidence to turn us loose on this project. Additionally, we would...Wordmaster Word Processor 1 Wordstar Word Processor 1 Virtual Devices Robo A 6802 Cross Assembler 1 Modem 720 Communication Program 1 CP/M Operating

Working and Learning with Knowledge in the Lobes of a Humanoid's Mind

NASA Technical Reports Server (NTRS)

Ambrose, Robert; Savely, Robert; Bluethmann, William; Kortenkamp, David

2003-01-01

Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that has proven so successful for autonomous robots is missing one or more key elements that will be needed for humanoids to meet their full potential as autonomous human assistants. This key ingredient is knowledge. The presented work includes experiments conducted on the Robonaut system, a NASA and the Defense Advanced research Projects Agency (DARPA) joint project, and includes collaborative efforts with a DARPA Mobile Autonomous Robot Software technical program team of researchers at NASA, MIT, USC, NRL, UMass and Vanderbilt. The paper reports on results in the areas of human-robot interaction (human tracking, gesture recognition, natural language, supervised control), perception (stereo vision, object identification, object pose estimation), autonomous grasping (tactile sensing, grasp reflex, grasp stability) and learning (human instruction, task level sequences, and sensorimotor association).

Autonomous biomorphic robots as platforms for sensors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tilden, M.; Hasslacher, B.; Mainieri, R.

1996-10-01

The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomousmore » machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.« less

Advanced Autonomous Systems for Space Operations

NASA Astrophysics Data System (ADS)

Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

2002-01-01

New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not otherwise possible, as well as many more efficient and low cost applications. In addition, utilizing component and system modeling and reasoning capabilities, autonomous systems will play an increasing role in ground operations for space missions, where they will both reduce the human workload as well as provide greater levels of monitoring and system safety. This paper will focus specifically on new and innovative software for remote, autonomous, space systems flight operations. Topics to be presented will include a brief description of key autonomous control concepts, the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New on-board software for autonomous science data acquisition for planetary exploration will be described, as well as advanced systems for safe planetary landings. A new multi-agent architecture that addresses some of the challenges of autonomous systems will be presented. Autonomous operation of ground systems will also be considered, including software for autonomous in-situ propellant production and management, and closed- loop ecological life support systems (CELSS). Finally, plans and directions for the future will be discussed.

Evolutionary Computation for the Identification of Emergent Behavior in Autonomous Systems

NASA Technical Reports Server (NTRS)

Terrile, Richard J.; Guillaume, Alexandre

2009-01-01

Over the past several years the Center for Evolutionary Computation and Automated Design at the Jet Propulsion Laboratory has developed a technique based on Evolutionary Computational Methods (ECM) that allows for the automated optimization of complex computationally modeled systems. An important application of this technique is for the identification of emergent behaviors in autonomous systems. Mobility platforms such as rovers or airborne vehicles are now being designed with autonomous mission controllers that can find trajectories over a solution space that is larger than can reasonably be tested. It is critical to identify control behaviors that are not predicted and can have surprising results (both good and bad). These emergent behaviors need to be identified, characterized and either incorporated into or isolated from the acceptable range of control characteristics. We use cluster analysis of automatically retrieved solutions to identify isolated populations of solutions with divergent behaviors.

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Itinerancy of money

NASA Astrophysics Data System (ADS)

Yasutomi, Ayumu

2003-09-01

Previously, I studied [Physica D 82, 180-194 (1995)] the emergence and collapse of money in a computer simulation model. In this paper I will revisit the same topic, building a model in the same line. I discuss this problem from the viewpoint of chaotic itinerancy. Money is the most popular system for evading the difficulty of exchange under division of labor. It emerges autonomously from exchanges among selfish agents which behave as automata. And such emergent money collapses autonomously. I describe money as a structure in economic space, explaining its autonomous emergence and collapse as two phases of the same phenomenon. The key element in this phenomenon is the switch of the meaning of strategies. This is caused by the drastic change of environment caused by the emergence of a structure. This dynamics shares some aspects with chaotic itinerancy.

The cytoskeleton in cell-autonomous immunity: structural determinants of host defence

PubMed Central

Mostowy, Serge; Shenoy, Avinash R.

2016-01-01

Host cells use antimicrobial proteins, pathogen-restrictive compartmentalization and cell death in their defence against intracellular pathogens. Recent work has revealed that four components of the cytoskeleton — actin, microtubules, intermediate filaments and septins, which are well known for their roles in cell division, shape and movement — have important functions in innate immunity and cellular self-defence. Investigations using cellular and animal models have shown that these cytoskeletal proteins are crucial for sensing bacteria and for mobilizing effector mechanisms to eliminate them. In this Review, we highlight the emerging roles of the cytoskeleton as a structural determinant of cell-autonomous host defence. PMID:26292640

Experiments with a small behaviour controlled planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Desai, Rajiv S.; Gat, Erann; Ivlev, Robert; Loch, John

1993-01-01

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

Research on Production Scheduling System with Bottleneck Based on Multi-agent

NASA Astrophysics Data System (ADS)

Zhenqiang, Bao; Weiye, Wang; Peng, Wang; Pan, Quanke

Aimed at the imbalance problem of resource capacity in Production Scheduling System, this paper uses Production Scheduling System based on multi-agent which has been constructed, and combines the dynamic and autonomous of Agent; the bottleneck problem in the scheduling is solved dynamically. Firstly, this paper uses Bottleneck Resource Agent to find out the bottleneck resource in the production line, analyses the inherent mechanism of bottleneck, and describes the production scheduling process based on bottleneck resource. Bottleneck Decomposition Agent harmonizes the relationship of job's arrival time and transfer time in Bottleneck Resource Agent and Non-Bottleneck Resource Agents, therefore, the dynamic scheduling problem is simplified as the single machine scheduling of each resource which takes part in the scheduling. Finally, the dynamic real-time scheduling problem is effectively solved in Production Scheduling System.

Engineering resistance against viroid

USDA-ARS?s Scientific Manuscript database

Viroids, the smallest infectious agents endowed with autonomous replication, are tiny single-stranded circular RNAs (~250-400 nt) without protein-coding ability that, despite their simplicity, infect and often cause disease in herbaceous and woody plants of economic relevance. To mitigate the result...

Field validation of a free-agent cellular automata model of fire spread with fire–atmosphere coupling

Treesearch

Gary Achtemeier

2012-01-01

A cellular automata fire model represents ‘elements’ of fire by autonomous agents. A few simple algebraic expressions substituted for complex physical and meteorological processes and solved iteratively yield simulations for ‘super-diffusive’ fire spread and coupled surface-layer (2-m) fire–atmosphere processes. Pressure anomalies, which are integrals of the thermal...

A Concept of Operations for the Use of Emergent Open Internet Technologies as the Basis for a Network-Centric Environment

DTIC Science & Technology

2006-09-01

automated agents , such as chatbots to acts as a relay between chatrooms and blogs or other systems. In particular, chatbots could be used to monitor...bandwidth connections and legacy systems. Chatbot Integration The use of connected autonomous agents that monitor chatrooms to allow users access...of Cell Phone GPS Tracking. .............84 Figure 35. Example of a Chatbot Creating a Blog Entry

Multi-issue Agent Negotiation Based on Fairness

NASA Astrophysics Data System (ADS)

Zuo, Baohe; Zheng, Sue; Wu, Hong

Agent-based e-commerce service has become a hotspot now. How to make the agent negotiation process quickly and high-efficiently is the main research direction of this area. In the multi-issue model, MAUT(Multi-attribute Utility Theory) or its derived theory usually consider little about the fairness of both negotiators. This work presents a general model of agent negotiation which considered the satisfaction of both negotiators via autonomous learning. The model can evaluate offers from the opponent agent based on the satisfaction degree, learn online to get the opponent's knowledge from interactive instances of history and negotiation of this time, make concessions dynamically based on fair object. Through building the optimal negotiation model, the bilateral negotiation achieved a higher efficiency and fairer deal.

Decentralized Bayesian search using approximate dynamic programming methods.

PubMed

Zhao, Yijia; Patek, Stephen D; Beling, Peter A

2008-08-01

We consider decentralized Bayesian search problems that involve a team of multiple autonomous agents searching for targets on a network of search points operating under the following constraints: 1) interagent communication is limited; 2) the agents do not have the opportunity to agree in advance on how to resolve equivalent but incompatible strategies; and 3) each agent lacks the ability to control or predict with certainty the actions of the other agents. We formulate the multiagent search-path-planning problem as a decentralized optimal control problem and introduce approximate dynamic heuristics that can be implemented in a decentralized fashion. After establishing some analytical properties of the heuristics, we present computational results for a search problem involving two agents on a 5 x 5 grid.

A leptin-regulated circuit controls glucose mobilization during noxious stimuli.

PubMed

Flak, Jonathan N; Arble, Deanna; Pan, Warren; Patterson, Christa; Lanigan, Thomas; Goforth, Paulette B; Sacksner, Jamie; Joosten, Maja; Morgan, Donald A; Allison, Margaret B; Hayes, John; Feldman, Eva; Seeley, Randy J; Olson, David P; Rahmouni, Kamal; Myers, Martin G

2017-08-01

Adipocytes secrete the hormone leptin to signal the sufficiency of energy stores. Reductions in circulating leptin concentrations reflect a negative energy balance, which augments sympathetic nervous system (SNS) activation in response to metabolically demanding emergencies. This process ensures adequate glucose mobilization despite low energy stores. We report that leptin receptor-expressing neurons (LepRb neurons) in the periaqueductal gray (PAG), the largest population of LepRb neurons in the brain stem, mediate this process. Application of noxious stimuli, which often signal the need to mobilize glucose to support an appropriate response, activated PAG LepRb neurons, which project to and activate parabrachial nucleus (PBN) neurons that control SNS activation and glucose mobilization. Furthermore, activating PAG LepRb neurons increased SNS activity and blood glucose concentrations, while ablating LepRb in PAG neurons augmented glucose mobilization in response to noxious stimuli. Thus, decreased leptin action on PAG LepRb neurons augments the autonomic response to noxious stimuli, ensuring sufficient glucose mobilization during periods of acute demand in the face of diminished energy stores.

Automatic control of a mobile Viking lander on the surface of Mars

NASA Technical Reports Server (NTRS)

Moore, J.; Scofield, W.; Tobey, W.

1976-01-01

A mobile lander system is being considered for use in a possible follow-on mission to the Viking '75 landings on Mars. A mobile Viking lander, which could be launched as early as the 1979 opportunity, would be capable of traversing 100 m to 1 km per day on a commanded heading while sensing hazards and performing avoidance maneuvers. The degree of autonomous control, and consequently the daily traverse range, is still under study. The mobility concept requires the addition of: (1) track-laying or wheel units in place of the Viking Lander footpads, (2) a set of hazard and navigation sensors, and (3) a mobility control computer capability. The technology required to develop these three subsystems is available today. The principal objective of current design studies, as described in this paper, is to define a mobile lander system that will demonstrate high reliability and fail-safe hazard avoidance while achieving range- and terrain-handling capabilities which satisfy the Mars exploration science requirements.

Enhancing Sensitivity of Liquid Chromatography-Mass Spectrometry of Peptides and Proteins Using Supercharging Agents.

PubMed

Nshanian, Michael; Lakshmanan, Rajeswari; Chen, Hao; Ogorzalek Loo, Rachel R; Loo, Joseph A

2018-04-01

Trifluoroacetic acid (TFA) is often used as a mobile phase modifier to enhance reversed phase chromatographic performance. TFA adjusts solution pH and is an ion-pairing agent, but it is not typically suitable for electrospray ionization-mass spectrometry (ESI-MS) and liquid chromatography/MS (LC/MS) because of its significant signal suppression. Supercharging agents elevate peptide and protein charge states in ESI, increasing tandem MS (MS/MS) efficiency. Here, LC/MS protein supercharging was effected by adding agents to LC mobile phase solvents. Significantly, the ionization suppression generally observed with TFA was, for the most part, rescued by supercharging agents, with improved separation efficiency (higher number of theoretical plates) and lowered detection limits.

An adaptive neural swarm approach for intrusion defense in ad hoc networks

NASA Astrophysics Data System (ADS)

Cannady, James

2011-06-01

Wireless sensor networks (WSN) and mobile ad hoc networks (MANET) are being increasingly deployed in critical applications due to the flexibility and extensibility of the technology. While these networks possess numerous advantages over traditional wireless systems in dynamic environments they are still vulnerable to many of the same types of host-based and distributed attacks common to those systems. Unfortunately, the limited power and bandwidth available in WSNs and MANETs, combined with the dynamic connectivity that is a defining characteristic of the technology, makes it extremely difficult to utilize traditional intrusion detection techniques. This paper describes an approach to accurately and efficiently detect potentially damaging activity in WSNs and MANETs. It enables the network as a whole to recognize attacks, anomalies, and potential vulnerabilities in a distributive manner that reflects the autonomic processes of biological systems. Each component of the network recognizes activity in its local environment and then contributes to the overall situational awareness of the entire system. The approach utilizes agent-based swarm intelligence to adaptively identify potential data sources on each node and on adjacent nodes throughout the network. The swarm agents then self-organize into modular neural networks that utilize a reinforcement learning algorithm to identify relevant behavior patterns in the data without supervision. Once the modular neural networks have established interconnectivity both locally and with neighboring nodes the analysis of events within the network can be conducted collectively in real-time. The approach has been shown to be extremely effective in identifying distributed network attacks.

Parallel-distributed mobile robot simulator

NASA Astrophysics Data System (ADS)

Okada, Hiroyuki; Sekiguchi, Minoru; Watanabe, Nobuo

1996-06-01

The aim of this project is to achieve an autonomous learning and growth function based on active interaction with the real world. It should also be able to autonomically acquire knowledge about the context in which jobs take place, and how the jobs are executed. This article describes a parallel distributed movable robot system simulator with an autonomous learning and growth function. The autonomous learning and growth function which we are proposing is characterized by its ability to learn and grow through interaction with the real world. When the movable robot interacts with the real world, the system compares the virtual environment simulation with the interaction result in the real world. The system then improves the virtual environment to match the real-world result more closely. This the system learns and grows. It is very important that such a simulation is time- realistic. The parallel distributed movable robot simulator was developed to simulate the space of a movable robot system with an autonomous learning and growth function. The simulator constructs a virtual space faithful to the real world and also integrates the interfaces between the user, the actual movable robot and the virtual movable robot. Using an ultrafast CG (computer graphics) system (FUJITSU AG series), time-realistic 3D CG is displayed.

Network flow of mobile agents enhances the evolution of cooperation

NASA Astrophysics Data System (ADS)

Ichinose, G.; Satotani, Y.; Nagatani, T.

2018-01-01

We study the effect of contingent movement on the persistence of cooperation on complex networks with empty nodes. Each agent plays the Prisoner's Dilemma game with its neighbors and then it either updates the strategy depending on the payoff difference with neighbors or it moves to another empty node if not satisfied with its own payoff. If no neighboring node is empty, each agent stays at the same site. By extensive evolutionary simulations, we show that the medium density of agents enhances cooperation where the network flow of mobile agents is also medium. Moreover, if the movements of agents are more frequent than the strategy updating, cooperation is further promoted. In scale-free networks, the optimal density for cooperation is lower than other networks because agents get stuck at hubs. Our study suggests that keeping a smooth network flow is significant for the persistence of cooperation in ever-changing societies.

Intermediate Levels of Autonomy within the SSM/PMAD Breadboard

NASA Technical Reports Server (NTRS)

Dugal-Whitehead, Norma R.; Walls, Bryan

1995-01-01

The Space Station Module Power Management and Distribution (SSM/PMAD) bread-board is a test bed for the development of advanced power system control and automation. Software control in the SSM/PMAD breadboard is through co-operating systems, called Autonomous Agents. Agents can be a mixture of algorithmic software and expert systems. The early SSM/PMAD system was envisioned as being completely autonomous. It soon became apparent, though, that there would always be a need for human intervention, at least as long as a human interacts with the system in any way. In a system designed only for autonomous operation, manual intervention meant taking full control of the whole system, and loosing whatever expertise was in the system. Several methods for allowing humans to interact at an appropriate level of control were developed. This paper examines some of these intermediate modes of autonomy. The least humanly intrusive mode is simple monitoring. The ability to modify future behavior by altering a schedule involves high-level interaction. Modification of operating activities comes next. The coarsest mode of control is individual, unplanned operation of individual Power System components. Each of these levels is integrated into the SSM/PMAD breadboard, with support for the user (such as warnings of the consequences of control decisions) at every level.

Multiple-Agent Air/Ground Autonomous Exploration Systems

NASA Technical Reports Server (NTRS)

Fink, Wolfgang; Chao, Tien-Hsin; Tarbell, Mark; Dohm, James M.

2007-01-01

Autonomous systems of multiple-agent air/ground robotic units for exploration of the surfaces of remote planets are undergoing development. Modified versions of these systems could be used on Earth to perform tasks in environments dangerous or inaccessible to humans: examples of tasks could include scientific exploration of remote regions of Antarctica, removal of land mines, cleanup of hazardous chemicals, and military reconnaissance. A basic system according to this concept (see figure) would include a unit, suspended by a balloon or a blimp, that would be in radio communication with multiple robotic ground vehicles (rovers) equipped with video cameras and possibly other sensors for scientific exploration. The airborne unit would be free-floating, controlled by thrusters, or tethered either to one of the rovers or to a stationary object in or on the ground. Each rover would contain a semi-autonomous control system for maneuvering and would function under the supervision of a control system in the airborne unit. The rover maneuvering control system would utilize imagery from the onboard camera to navigate around obstacles. Avoidance of obstacles would also be aided by readout from an onboard (e.g., ultrasonic) sensor. Together, the rover and airborne control systems would constitute an overarching closed-loop control system to coordinate scientific exploration by the rovers.

Emergence of metapopulations and echo chambers in mobile agents

NASA Astrophysics Data System (ADS)

Starnini, Michele; Frasca, Mattia; Baronchelli, Andrea

2016-08-01

Multi-agent models often describe populations segregated either in the physical space, i.e. subdivided in metapopulations, or in the ecology of opinions, i.e. partitioned in echo chambers. Here we show how both kinds of segregation can emerge from the interplay between homophily and social influence in a simple model of mobile agents endowed with a continuous opinion variable. In the model, physical proximity determines a progressive convergence of opinions but differing opinions result in agents moving away from each others. This feedback between mobility and social dynamics determines the onset of a stable dynamical metapopulation scenario where physically separated groups of like-minded individuals interact with each other through the exchange of agents. The further introduction of confirmation bias in social interactions, defined as the tendency of an individual to favor opinions that match his own, leads to the emergence of echo chambers where different opinions coexist also within the same group. We believe that the model may be of interest to researchers investigating the origin of segregation in the offline and online world.

Towards the development of tamper-resistant, ground-based mobile sensor nodes

NASA Astrophysics Data System (ADS)

Mascarenas, David; Stull, Christopher; Farrar, Charles

2011-11-01

Mobile sensor nodes hold great potential for collecting field data using fewer resources than human operators would require and potentially requiring fewer sensors than a fixed-position sensor array. It would be very beneficial to allow these mobile sensor nodes to operate unattended with a minimum of human intervention. In order to allow mobile sensor nodes to operate unattended in a field environment, it is imperative that they be capable of identifying and responding to external agents that may attempt to tamper with, damage or steal the mobile sensor nodes, while still performing their data collection mission. Potentially hostile external agents could include animals, other mobile sensor nodes, or humans. This work will focus on developing control policies to help enable a mobile sensor node to identify and avoid capture by a hostile un-mounted human. The work is developed in a simulation environment, and demonstrated using a non-holonomic, ground-based mobile sensor node. This work will be a preliminary step toward ensuring the cyber-physical security of ground-based mobile sensor nodes that operate unattended in potentially unfriendly environments.

Unexploded Ordnance Characterization And Detection in Muddy Estuarine Environments

NASA Astrophysics Data System (ADS)

Trembanis, A. C.; DuVal, C.

2017-12-01

There is recognized need for better quantitative understanding of the impact of coastal environments on UXO mobility, burial, and detection. Current efforts are underway to address aspects of UXO mobility and detection in sandy coastal areas. However, a significant data gap has been identified regarding UXO in shallow, muddy environments; 139 Formally Used Defense Sites (FUDS), in U.S. tidal waters alone, have been identified as containing muddy sediments. This study works to address this data gap. Using a shallow estuarine site in the Delaware Bay, this study 1) monitors the mobility and behavior of sensor-integrated surrogate munitions in muddy environments using a high-accuracy acoustic positioning system, 2) directly observes surrogate munition response to hydrodynamic forcing through instrumented bottom frame time-lapse hydrodynamic data and sonar imagery, and 3) monitors site changes through repetitive site surveying autonomous underwater vehicle (AUV) using both sonar and magnetometry. Surrogate UXO, modified with acoustic tracking devices and inertial motion units (IMU), are being deployed at a previously characterized muddy estuarine site. The surrogates are being monitored for changes in mobility and burial using the VEMCO positioning system, an off-the-shelf acoustic positioning system that is capable of tracking the position of multiple acoustic tags with accuracies down to 10 cm. Concurrently, time-series acoustic imagery and hydrodynamic sensors are being deployed to characterize UXO response to varied hydrodynamic conditions and compared to site-wide surrogate behavior. A series of repetitive surveys are being conducted using a magnetometer specifically designed for UXO detection on an autonomous underwater vehicle (AUV). Survey results will be compared to long-term acoustic positioning of the surrogate UXO to determine the effectiveness of the magnetometer for efficiently and effectively locating UXO in shallow, muddy environments. Additionally, this study will help inform parameters for UXO mobility and behavior in storms and muddy environments for integration into existing expert system models of UXO burial and mobility.

Method for mobilization of hazardous metal ions in soils

DOEpatents

Dugan, Patrick R.; Pfister, Robert M.

1995-01-01

A microbial process for removing heavy metals such as bismuth, cadmium, lead, thorium, uranium and other transuranics from soils and sediments, utilizing indigenous, or isolates of indigenous, microorganisms and reducing agents, such as cysteine or sodium thioglycollate, or complexing agents such as the amino acid glycine, to effect the mobilization or release of the metals from the soil particles.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

2012-12-01

We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero-emissions rover could travel more than 500 km per week during Polar summers and provide 100 - 200 W to power instrument payloads to help investigate the atmosphere, magnetosphere, glaciology and sub-glacial geology in Antarctica and Greenland. We are currently upgrading Cool Robot's navigation and solar-power systems and will deploy it during 2013 to map the emissions footprint around Summit Station to demonstrate its potential to execute long-endurance Polar science campaigns. These rovers could assist science traverses to chart safe routes into the interior of Antarctica and Greenland or conduct autonomous, remote science campaigns to extend spatial and temporal coverage for data collection. Our goals include 1,000 - 2,000-km summertime traverses of Antarctica and Greenland, safe navigation through 0.5-m amplitude sastrugi fields, survival in blizzards, and rover-network adaptation to research events of opportunity. We are seeking Polar scientists interested in autonomous, mobile data collection and can adapt the rovers to meet their requirements.

The VIPER project (Visualization Integration Platform for Exploration Research): a biologically inspired autonomous reconfigurable robotic platform for diverse unstructured environments

NASA Astrophysics Data System (ADS)

Schubert, Oliver J.; Tolle, Charles R.

2004-09-01

Over the last decade the world has seen numerous autonomous vehicle programs. Wheels and track designs are the basis for many of these vehicles. This is primarily due to four main reasons: a vast preexisting knowledge base for these designs, energy efficiency of power sources, scalability of actuators, and the lack of control systems technologies for handling alternate highly complex distributed systems. Though large efforts seek to improve the mobility of these vehicles, many limitations still exist for these systems within unstructured environments, e.g. limited mobility within industrial and nuclear accident sites where existing plant configurations have been extensively changed. These unstructured operational environments include missions for exploration, reconnaissance, and emergency recovery of objects within reconfigured or collapsed structures, e.g. bombed buildings. More importantly, these environments present a clear and present danger for direct human interactions during the initial phases of recovery operations. Clearly, the current classes of autonomous vehicles are incapable of performing in these environments. Thus the next generation of designs must include highly reconfigurable and flexible autonomous robotic platforms. This new breed of autonomous vehicles will be both highly flexible and environmentally adaptable. Presented in this paper is one of the most successful designs from nature, the snake-eel-worm (SEW). This design implements shape memory alloy (SMA) actuators which allow for scaling of the robotic SEW designs from sub-micron scale to heavy industrial implementations without major conceptual redesigns as required in traditional hydraulic, pneumatic, or motor driven systems. Autonomous vehicles based on the SEW design posses the ability to easily move between air based environments and fluid based environments with limited or no reconfiguration. Under a SEW designed vehicle, one not only achieves vastly improved maneuverability within a highly unstructured environment, but also gains robotic manipulation abilities, normally relegated as secondary add-ons within existing vehicles, all within one small condensed package. The prototype design presented includes a Beowulf style computing system for advanced guidance calculations and visualization computations. All of the design and implementation pertaining to the SEW robot discussed in this paper is the product of a student team under the summer fellowship program at the DOEs INEEL.

Autonomous Image Analysis for Future Mars Missions

NASA Technical Reports Server (NTRS)

Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Bandari, E.; Roush, T. L.

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to preferentially transmit "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high-resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. We are currently investigating the possibility of reconstructing a 3D surface from a sequence of images acquired by a robotic arm camera. This would then allow the return of a single completely in focus image constructed only from those portions of individual images that lie within the camera's depth of field. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these algorithms and their performance during a recent rover field test.

Ecology Based Decentralized Agent Management System

NASA Technical Reports Server (NTRS)

Peysakhov, Maxim D.; Cicirello, Vincent A.; Regli, William C.

2004-01-01

The problem of maintaining a desired number of mobile agents on a network is not trivial, especially if we want a completely decentralized solution. Decentralized control makes a system more r e bust and less susceptible to partial failures. The problem is exacerbated on wireless ad hoc networks where host mobility can result in significant changes in the network size and topology. In this paper we propose an ecology-inspired approach to the management of the number of agents. The approach associates agents with living organisms and tasks with food. Agents procreate or die based on the abundance of uncompleted tasks (food). We performed a series of experiments investigating properties of such systems and analyzed their stability under various conditions. We concluded that the ecology based metaphor can be successfully applied to the management of agent populations on wireless ad hoc networks.

Changeable HA to improve MIPv6 protocol

NASA Astrophysics Data System (ADS)

Hu, Qing-gui

2015-12-01

For mobile IPv6, home agent (HA) plays an important role. Each mobile node (MN) has a home IP address, it will be not changeable. Also, the home agent (HA) of MN is not changeable. This rule provides the convenient for the ongoing communication without interruption. But it has some obvious drawbacks. Here, the new variable HA scheme is proposed. Every MN has a dynamic cache table, recording the information such as its home address, care-of address, and history address etc. If the accumulated time in one region exceeds that in the hometown, the foreign agent (FA) could become home agent (HA), the home agent could become history agent. Later, the performance of the new protocol is simulated with OPNET software, whose result shows the performance of the new protocol works better than that of the traditional protocol.