A Multi-Level Modularized System Architecture for Mobile Robotics

2010 ◽  
Author(s):  
Brandon Basso ◽  
Benjamin Kehoe ◽  
J. Karl Hedrick
Keyword(s):  
System Architecture ◽  
Design Principle ◽  
Mobile Robotics ◽  
Modular System ◽  
Design Philosophy ◽  
Wide Range ◽  
Multi Agent ◽  
Multi Level ◽  
Bottom To Top

This paper describes a modular system architecture for mobile robotics. It presents the view of an individual robot as a collection of many small pieces of hardware and software grouped into functional subsystems. A set of robots can then join together to form a larger system. The goal of this work is to describe a software design philosophy and architecture that is flexible yet robust enough to meet the challenges of the mobile robotics domain. The guiding design principle is bottom-to-top modularization, from individual algorithms, to software executables, to functional groupings of executables. These functional groupings are presented as canonical subsystems for collaborative robotics, applicable to a wide range of robotics systems. A multi-agent multi-user UAV application is presented as a case study and proof of the generality of the design philosophy.

scholarly journals Governance for Sustainability of Estuarine Areas—Assessing Alternative Models Using the Case of Ria de Aveiro, Portugal

Water ◽  
2019 ◽  
Vol 11 (4) ◽  
pp. 846 ◽  
Author(s):  
Teresa Fidélis ◽  
Filipe Teles ◽  
Peter Roebeling ◽  
Fayaz Riazi
Keyword(s):  
Institutional Design ◽  
Legal Framework ◽  
Economic Activities ◽  
Institutional Reforms ◽  
Ria De Aveiro ◽  
Wide Range ◽  
Multi Agent ◽  
Multi Level ◽  
Compliance Model

Estuaries are one of the most productive and complex types of ecosystems supporting a wide range of economic activities. Departing from a set of governance problems and emergent goals, such as sustainability or climate change adaptation faced by an estuarine case study area, Ria de Aveiro, in Portugal, this article assesses the adequacy of alternative governance models under the existing water resources legal framework and traditional political culture. It shows that apart from the centrally-based compliance model, all other alternatives require high degrees of institutional reforms. Moreover, although the model based on a dedicated new agency, long preferred by many users of Ria de Aveiro, is the most understandable and focused, it does not assure the pursuance of adaptability or collaboration, which are considered essential for estuary governance. As it relies on collective action and multi-level and multi-agent contexts, estuarine governance may require a new institutional design. Where one begins a process of institutional change, however, is not a simple issue to address and demands a deeper analysis, particularly on the types of required institutional changes, as well as on their impacts on policy and decision-making outcomes over estuarine environments and associated socio-ecological networks.

scholarly journals An Introduction to Indoor Localization Techniques. Case of Study: A Multi-Trilateration-Based Localization System with User–Environment Interaction Feature

2021 ◽  
Vol 11 (16) ◽  
pp. 7392
Author(s):  
Bruno Andò ◽  
Salvatore Baglio ◽  
Ruben Crispino ◽  
Vincenzo Marletta
Keyword(s):  
System Architecture ◽  
Indoor Localization ◽  
State Of The Art ◽  
Operating Conditions ◽  
Environment Interaction ◽  
End User ◽  
Localization System ◽  
Wide Range ◽  
Continuous Estimation

The problem of estimating the indoor position of a person or an object, also known as indoor localization, has gained a lot of interest in the last decades. Actually, this feature would be valuable in many application contexts, from logistics to robotic and Assistive Technology. Different solutions have been proposed in the literature, exploiting a wide range of approaches. This paper aims to provide a brief review of the state-of-the-art approaches in the field, as well as to present the RESIMA case study. The latter exploits an ultrasound-based indoor localization system and a User–Environment Interaction functionality, which allows for performing the continuous estimation of the distance between the end-user and objects in the environment. The latter is valuable to provide the end-user with efficient assistance during the environment exploitation. The main focus of this work is related to the overall description of the system architecture, the trilateration algorithm adopted for the sake of user localization and the estimation of the delay time produced by user-distance computation under different operating conditions.

Blockchain-based architecture for the control of logistics activities: Pharmaceutical utilities case study

2020 ◽  
Author(s):  
Yeray Mezquita ◽  
Roberto Casado-Vara ◽  
Alfonso GonzÁlez Briones ◽  
Javier Prieto ◽  
Juan M Corchado
Keyword(s):  
Smart Contracts ◽  
Multi Agent System ◽  
Agent System ◽  
Logistics System ◽  
New Model ◽  
Wide Range ◽  
Logistics Services ◽  
Speed Up ◽  
Multi Agent

Abstract Logistics services involve a wide range of transport operations between distributors and clients. Currently, the large number of intermediaries are a challenge for this sector, as it makes all the processes more complicated. To face that problem, we propose a system that uses smart contracts to remove intermediaries and speed up logistics activities. Our new model combines smart contracts and a multi-agent system in a single platform to improve the current logistics system by increasing organization, security and getting rid of several human intermediaries to automate its processes, making distribution times significantly faster. Also, with this kind of approach, it is possible to apply penalties to parties that do not comply with the terms of using this platform.

Site specific agricultural soil management with the use of new technologies

2013 ◽  
Vol 16 (1) ◽  
pp. 59-67
Keyword(s):  
New Technologies ◽  
Digital Interface ◽  
Appropriate Treatment ◽  
Wide Range ◽  
Soil Variation ◽  
Soil Information ◽  
Remote Sensing Techniques ◽  
Agricultural Areas

<p>The Soil Science Institute of Thessaloniki produces new digitized Soil Maps that provide a useful electronic database for the spatial representation of the soil variation within a region, based on in situ soil sampling, laboratory analyses, GIS techniques and plant nutrition mathematical models, coupled with the local land cadastre. The novelty of these studies is that local agronomists have immediate access to a wide range of soil information by clicking on a field parcel shown in this digital interface and, therefore, can suggest an appropriate treatment (e.g. liming, manure incorporation, desalination, application of proper type and quantity of fertilizer) depending on the field conditions and cultivated crops. A specific case study is presented in the current work with regards to the construction of the digitized Soil Map of the regional unit of Kastoria. The potential of this map can easily be realized by the fact that the mapping of the physicochemical properties of the soils in this region provided delineation zones for differential fertilization management. An experiment was also conducted using remote sensing techniques for the enhancement of the fertilization advisory software database, which is a component of the digitized map, and the optimization of nitrogen management in agricultural areas.</p>

Software system for numerical simulation of broadband laser gas analysis of the atmosphere

2018 ◽  
pp. 66-73 ◽  
Author(s):  
S. A. Sadovnikov
Keyword(s):  
Numerical Simulation ◽  
Laser Radiation ◽  
Gas Analysis ◽  
Modular System ◽  
Software System ◽  
Transmission Spectra ◽  
Molecular Absorption ◽  
Molecular Scattering ◽  
Atmospheric Transmission ◽  
Wide Range

Introduction: Successful monitoring of environmental parameters requires the development of flexible software complexes with evolvable calculation functionality. Purpose: Developing a modular system for numerical simulation of atmospheric laser gas analysis. Results: Based on differential absorption method, a software system has been developed which provides the calculation of molecular absorption cross-sections, molecular absorption coefficients, atmospheric transmission spectra, and lidar signals. Absorption line contours are calculated using the Voigt profile. The prior information sources are HITRAN spectroscopic databases and statistical models of the distribution of temperature, pressure and gas components in the atmosphere. For modeling lidar signals, software blocks of calculating the molecular scattering coefficient and aerosol absorption/scattering coefficients were developed. For testing the applicability of various laser sources in the problems of environmental monitoring of the atmosphere, a concentration reconstruction error calculation block was developed for the atmospheric gas components, ignoring the interfering absorption of laser radiation by foreign gases. To verify the correct functioning of the software, a program block was developed for comparing the results of the modeling of atmospheric absorption and transmission spectra by using the standard SPECTRA information system. The discrepancy between the calculation of the atmospheric transmission spectra obtained using the developed system as compared to the SPECTRA results is less than 1%. Thus, a set of the presented program blocks allows you to carry out complex modeling of remote atmospheric gas analysis. Practical relevance: The software complex allows you to rapidly assess the possibilities of using a wide range of laser radiation sources for the problems of remote gas analysis.

The use of intelligent agents in modeling an integrated information system of transport logistics

2020 ◽  
Vol 5 ◽  
pp. 59-66
Author(s):  
Y.M. Iskanderov ◽  
Keyword(s):  
Information System ◽  
Supply Chains ◽  
Intelligent Agents ◽  
Technological Processes ◽  
Transport Services ◽  
Wide Range ◽  
Integrated Information System ◽  
Multi Agent ◽  
Transport Logistics ◽  
Integrated Information

Aim. The use of intelligent agents in modeling an integrated information system of transport logistics makes it possible to achieve a qualitatively new level of design of control systems in supply chains. Materials and methods. The article presents an original approach that implements the possibilities of using multi-agent technologies in the interests of modeling the processes of functioning of an integrated information system of transport logistics. It is shown that the multi-agent infrastructure is actually a semantic shell of the information system, refl ecting the rules of doing business and the interaction of its participants in the supply chains. The characteristic of the model of the class of an intelligent agent, which is basic for solving problems of management of transport and technological processes, is given. Results. The procedures of functioning of the model of integration of information resources of the participants of the transport services market on the basis of intelligent agents are considered. The presented procedures provide a wide range of network interaction operations in supply chains, including traffi c and network structure “fl exible” control, mutual exchange of content and service information, as well as their distributed processing, and information security. Conclusions. The proposed approach showed that the use of intelligent agents in modeling the functioning of an integrated information system makes it possible to take into account the peculiarities of transport and technological processes in supply chains, such as the integration of heterogeneous enterprises, their distributed organization, an open dynamic structure, standardization of products, interfaces and protocols.

Oxford Studies in Ancient Philosophy, Volume 55

2018 ◽  
Keyword(s):  
Middle Ages ◽  
Ancient Philosophy ◽  
Recent Book ◽  
Loss Of Control ◽  
Ancient Greek ◽  
Original Essays ◽  
Constant Change ◽  
Wide Range ◽  
Metaphysical Principle

Oxford Studies in Ancient Philosophy provides, twice each year, a collection of the best current work in the field of ancient philosophy. Each volume features original essays that contribute to an understanding of a wide range of themes and problems in all periods of ancient Greek and Roman philosophy, from the beginnings to the threshold of the Middle Ages. From its first volume in 1983, OSAP has been a highly influential venue for work in the field, and has often featured essays of substantial length as well as critical essays on books of distinctive importance. Volume LV contains: a methodological examination on how the evidence for Presocratic thought is shaped through its reception by later thinkers, using discussions of a world soul as a case study; an article on Plato’s conception of flux and the way in which sensible particulars maintain a kind of continuity while undergoing constant change; a discussion of J. L. Austin’s unpublished lecture notes on Aristotle’s Nicomachean Ethics and his treatment of loss of control (akrasia); an article on the Stoics’ theory of time and in particular Chrysippus’ conception of the present and of events; and two articles on Plotinus, one that identifies a distinct argument to show that there is a single, ultimate metaphysical principle; and a review essay discussing E. K. Emilsson’s recent book, Plotinus.

scholarly journals The Problem of Success and Failure in Public-private Innovation Partnerships

2021 ◽  
pp. 1-21
Author(s):  
JONATHAN HAMMOND ◽  
SIMON BAILEY ◽  
OZ GORE ◽  
KATH CHECKLAND ◽  
SARAH DARLEY ◽  
...  
Keyword(s):  
Public Sector ◽  
Health Service ◽  
Policy Maker ◽  
Policy And Practice ◽  
Policy Success ◽  
Political Effects ◽  
Innovation Project ◽  
Multi Level ◽  
Test Beds

Abstract Public-Private Innovation Partnerships (PPIPs) are increasingly used as a tool for addressing ‘wicked’ public sector challenges. ‘Innovation’ is, however, frequently treated as a ‘magic’ concept: used unreflexively, taken to be axiomatically ‘good’, and left undefined within policy programmes. Using McConnell’s framework of policy success and failure and a case study of a multi-level PPIP in the English health service (NHS Test Beds), this paper critically explores the implications of the mobilisation of innovation in PPIP policy and practice. We highlight how the interplay between levels (macro/micro and policy maker/recipient) can shape both emerging policies and their prospects for success or failure. The paper contributes to an understanding of PPIP success and failure by extending McConnell’s framework to explore inter-level effects between policy and innovation project, and demonstrating how the success of PPIP policy cannot be understood without recognising the particular political effects of ‘innovation’ on formulation and implementation.

scholarly journals Assessing the Relation between Mud Components and Rheology for Loss Circulation Prevention Using Polymeric Gels: A Machine Learning Approach

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1377
Author(s):  
Musaab I. Magzoub ◽  
Raj Kiran ◽  
Saeed Salehi ◽  
Ibnelwaleed A. Hussein ◽  
Mustafa S. Nasser
Keyword(s):  
Machine Learning ◽  
Rheological Properties ◽  
Nearest Neighbor ◽  
Drilling Fluid ◽  
Gradient Boosting ◽  
K Nearest Neighbor ◽  
Wide Range ◽  
Machine Learning Approach ◽  
Drilling Operations

The traditional way to mitigate loss circulation in drilling operations is to use preventative and curative materials. However, it is difficult to quantify the amount of materials from every possible combination to produce customized rheological properties. In this study, machine learning (ML) is used to develop a framework to identify material composition for loss circulation applications based on the desired rheological characteristics. The relation between the rheological properties and the mud components for polyacrylamide/polyethyleneimine (PAM/PEI)-based mud is assessed experimentally. Four different ML algorithms were implemented to model the rheological data for various mud components at different concentrations and testing conditions. These four algorithms include (a) k-Nearest Neighbor, (b) Random Forest, (c) Gradient Boosting, and (d) AdaBoosting. The Gradient Boosting model showed the highest accuracy (91 and 74% for plastic and apparent viscosity, respectively), which can be further used for hydraulic calculations. Overall, the experimental study presented in this paper, together with the proposed ML-based framework, adds valuable information to the design of PAM/PEI-based mud. The ML models allowed a wide range of rheology assessments for various drilling fluid formulations with a mean accuracy of up to 91%. The case study has shown that with the appropriate combination of materials, reasonable rheological properties could be achieved to prevent loss circulation by managing the equivalent circulating density (ECD).

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