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Adaptive locomotion of a snake like robot based on curvature derivatives

Adaptive locomotion of a snake like robot based on curvature...

引用

2007 IEEE/RSJ international conference on intelligent Robots and Systems

作者： Hisashi Date Yoshihiro Takita Department of Computer Science National Defense Academy of Japan Yokosuka Japan

This paper presents locomotion control for a robotic snake that adaptively travels over rugged terrain using obstacles as supports. This kind of locomotion can typically be found in snakes in nature. The snake robot dealt with in this paper has an articulated structure in which all joints are actively driven. For locomotion on a flat terrain, joint torques distributed according to the curvature derivative of the body curve has been proved to be optimal under the condition that there is no lateral slippage at every part of the body. In this paper, the same method is applied to locomotion using two kinds of environmental supports; a narrow corridor surrounded by smoothly curved walls and a peg.

关键词： Tactile sensors Propulsion intelligent robots Mobile robots Friction Prototypes Servomechanisms Robot sensing systems USA Councils

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Prevention, Detection and Recovery from Cyber-Attacks Using a Multilevel Agent Architecture

Prevention, Detection and Recovery from Cyber-Attacks Using ...

引用

IEEE international conference on System of Systems Engineering (SoSE)

作者： Dennis Edwards Sharon Simmons Norman Wilde Department of Computer Science University of West Florida Pensacola FL USA

intelligent software agents offer great potential for improving the operation and response of power grids. These agents are networked applications that could be vulnerable to cyber attacks. The goal of this research is to prevent known attacks, and to reduce or eliminate the consequences of successful attacks. A multilevel security architecture is presented that contains small, verifiable agents at each level with a well defined duty. Layers are designed to intercept dangerous or malformed information before it has a chance to damage the computational agents. Cross-monitoring ensures that any malfunctioning agent in the multilayer system is detected and the consequences of the attack are prevented or corrected. At the lowest level of the architecture are the computational agents. These agents are replicated to provide redundancy. Each replicate is mutated using a novel technique to prevent an attack from succeeding. Our mutation engine alters the program without changing the functionality.

关键词： computer architecture computer hacking intelligent agent Software agents Genetic mutations Power grids Multilevel systems distributed control Security Algorithms

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Research on a Novel Planning Algorithm Based on Constraints Propagating

Research on a Novel Planning Algorithm Based on Constraints ...

引用

international conference on Natural Computation (ICNC)

作者： Weijin Jiang School of computer Hunan University of Technology Zhuzhou China

This paper presents a distributional multi-agent planning algorithm based on constraints propagating. In our algorithm, conflicts are detected and resolved through a special type of negotiation among agents, i.e. consistency checking for constraints. The algorithm is sound under deterministic circumstance. In our algorithm, agents only exchange information about actions, casual links and constraints related to conflicts. It is of less communication, higher security than that exchanging the whole plan.

关键词： Technology planning Acoustic propagation Information security Level control Cognition Condition monitoring intelligent agent Calendars distributed computing

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A Cost Model for Storing and Retrieving Data in Wireless Sensor Networks

A Cost Model for Storing and Retrieving Data in Wireless Sen...

引用

international conference on Data Engineering Workshops

作者： Adesola Omotayo Moustafa A. Hammad Ken Barker Department of Computer Science University of Calgary Calgary AB Canada

Many applications require storing data in Wireless Sensor Networks (WSNs). For example, in environmental monitoring applications. WSN may archive sensor data for retrieval at periodic intervals. In contrast to conventional network data storage, storing data in WSNs is challenging because of the limited power, memory, and communication bandwidth of WSNs. This paper identifies the critical parameters of WSNs and proposes a cost model for data storage and retrieval. This paper also proposes a distributed algorithm that utilizes the cost model to intelligently distribute excess data from sensor nodes over WSN. The proposed algorithm chooses for remote storage nodes with the most extra memory and the least communication cost. The algorithm also adapts dynamically to changes in the storage requirements of sensor nodes. The benefits of the cost model are experimentally evaluated by using the algorithm in a simulated WSN. Results from the experiments show that as much as 30% more data may be stored in WSN at a slightly higher communication cost when a node's data is distributed across WSN instead of only being stored locally in the node.

关键词： Costs Information retrieval Wireless sensor networks Memory intelligent sensors Batteries Application software distributed algorithms Heuristic algorithms Sensor arrays

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Analytical Tools for Loop Detectors and Traffic monitoring Systems

Analytical Tools for Loop Detectors and Traffic Monitoring S...

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international conference on intelligent Transportation

作者： B. Coifman H. Lee Department of Civil and Environmental Engineering and Geodetic Science Department of Electrical and Computer Engineering Ohio State Uinversity Columbus OH USA Department of Civil and Environmental Engineering and Geodetic Science Ohio State Uinversity Columbus OH USA

This paper presents two useful analytical tools developed in the course of evaluating the performance of a freeway management system (FMS). The first calibrates speed measurements from loop detectors using only data reported from a given detector and the assumed free flow speed, e.g., the posted speed limit. The approach finds a correction that sets the daily median speed to the expected free flow value, and it proved able to correct for changing performance over time even in the presence of noisy measurements. The results at both dual-loop and single-loop detectors are evaluated using a GPS equipped probe vehicle. The second tool is conceptually similar to the first, using the weekday median value from each week to present clearly on a single plot the time-series evolution over several years of delay, volume, or other system performance measures. Without this weekly median, typical daily variability makes it difficult to present in a single plot the trends over more than a few weeks.

关键词： Detectors monitoring Velocity measurement Performance analysis Traffic control Flexible manufacturing systems Fluid flow measurement Time measurement Vehicle detection Global Positioning System

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Multifunctional behaviors of reconfigurable superbot robots

Multifunctional behaviors of reconfigurable superbot robots

引用

2007 IEEE/RSJ international conference on intelligent Robots and Systems

作者： Wei-Min Shen Behnam Salemi Mark Moll Mike Rubenstein Harris C.H. Chiu Jacob Everist Feili Hou Nadeesha Ranasinghe Polymorphic Robotics Lab Information Sciences Institute University of Southern California USA Polymorphic Robotics Lab University of Southern California

Superbot consists of Lego-like but autonomous robotic modules that can reconfigure into different systems for different tasks. Examples of configurable systems include rolling tracks or wheels (for efficient travel), spiders or centipedes (for climbing), snakes (for burrowing in ground), and climbers (for inspection and repair in space). This video shows several configurations and behaviors that are new for modular and reconfigurable robots. Each SuperBot module is a complete robotic system and has a power supply, micro- controllers, sensors, communication, three degrees of freedom, and six connecting faces (front, back, left, right, up and down) to dynamically connect to other modules. This design allows flexible bending, docking, and continuous rotation. A single module can move forward, back, left, right, flip-over, and rotate as a wheel. Modules can communication with each other for totally distributed control and can support arbitrary module reshuffling during their operation. The modules have both internal and external sensors for monitoring self-status and environmental parameters. They can form arbitrary configurations (graphs) and can control these configurations for different functionality such as locomotion, manipulation, and self-repair. This video shows the latest status the SuperBot modules and all these behaviors were made in just one week. The fact that SuperBot can achieve so much in so short a time demonstrates the unique value of modular, multifunctional and self-reconfigurable robots.

关键词： Mobile robots Orbital robotics Wheels Robot sensing systems Communication system control Inspection Space exploration Power supplies control systems Sensor systems

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intelligent and learning-based approaches for health monitoring and fault diagnosis of RADARSAT-1 attitude control system

Intelligent and learning-based approaches for health monitor...

引用

IEEE international conference on Systems, Man and Cybernetics

作者： A. Joshi V. Gavriloiu A. Barua A. Garabedian P. Sinha K. Khorasani GlobVision Inc. QUE Canada Department of Electrical & Computer Engineering Concordia University Montreal QUE Canada

The objective of this research is to develop to the proof-of-concept stage, a fault tolerant diagnosis system for the RADARSAT-1 attitude control system (ACS) telemetry. The proposed system is using computational intelligence (CI) to detect and isolate faults and also to infer cause of failures from the telemetry data time series history using functional models of satellite ACS. The proposed work is based on a distributed nonlinear, self-learning and self-adapting models (that can learn and improve themselves overtime) adjusting to the environment and constraints to which the real data is subjected. The key research and development issue is to create prototype models that will be able to integrate telemetry data and address the fault diagnosis problem without human intervention and expertise. The proposed work aims to support space industries' future interests in on-board fault diagnosis for next generation spacecraft by utilizing CI techniques as well as to help ground system operators in performing calibrations, anomaly detection, isolation and recovery, or testing of components.

关键词： monitoring Fault diagnosis Telemetry Computational intelligence Fault detection Competitive intelligence Fault tolerant systems Radar detection History Satellites

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A Dynamic Merge Metering-Based Unconventional Alternative to Traffic control at Highway Bottlenecks

A Dynamic Merge Metering-Based Unconventional Alternative to...

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international conference on intelligent Transportation

作者： Heng Wei Manojkumar Pavithran Qing-An Zeng Department of Civil and Environmental Engineering University of Cincinnati Cincinnati OH USA Y. S. Mantri and Associates Limited Liability Company Chandler AZ USA Department of Computer Science University of Cincinnati Cincinnati OH USA

This paper presents an unconventional alternative to integrating the dynamic late merge with a merge metering at the downstream taper area of a physical bottleneck (e.g., work zone), termed as D̲ynamic ̲erge ̲etering T̲r̲a̲ffic C̲ontrol S̲ystem for work zones (DMM-Tracs). The architecture and communication system for the DMM-Tracs, including system components, communication technologies and operation mechanism, are introduced. With this system, the merge metering control will be activated depending on the volume detected at an upstream location of the work zone. If the thresholds of control parameters are met, a merge metering signal installed at the taper area will be activated and approaching vehicles will be instructed in the advance areas of the work zone. To reduce forced merges and potentials of merge conflicts, the control scheme will adjusted on the realtime basis depending on the detected traffic conditions. The delay penalty is distributed equally in all lanes. This potentially increases the efficiency with which the traffic is discharged into the open lane inside the work zone. A portable controller is the "brain" of the DMM-Tracs System to receive data from detectors, to process the data, and to control the merge metering signal via wireless communications. The efficacy of the DMM-Tracs is evaluated via a micro-simulation test bed with VISSIM. Meanwhile, the volume threshold values are also determined via the simulation.

关键词： Traffic control Road transportation Communication system control Vehicle dynamics control systems Communication system traffic control Communications technology Vehicles Force control Delay

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The Upper Bound of the Number of Nodes on Fixed Energy Budget in Wireless Sensor Networks

The Upper Bound of the Number of Nodes on Fixed Energy Budge...

引用

ACIS international conference on Software Engineering, Artificial Intelligence, Networking, and Parallel/distributed Computing (SNPD)

作者： Fang Wang Guifa Teng Lisheng Ren College of Information Science & Technology University of Hebei agriculture China

Wireless sensor networks are consist of large number of embedded devices that are each capable of sensing, communicating, and computing. Sensor networks have a wide variety of applications in both military and civil environment (Akyildiz et al., 2002). Most sensors are equipped with non-rechargeable batteries that have limited lifetime (Wang and Xiao, 2006). Sensor nodes monitor some surrounding environmental phenomenon, process the data obtained and forward this data towards a base station located on the periphery of the sensor network. Base station(s) collect the data from the sensor nodes and transmit this data to some remote control station. Sensor network models considered by most researchers have a single static base station located on the periphery of the sensor network (Pottie, 1998). Following development of technology, the number of the nodes would increase highly. The upper bound of the number of the nodes becoming more and more important. In this work, we develop closed-form expressions of the upper bound of the number of nodes in energy-efficient wireless sensor networks.

关键词： Upper bound Wireless sensor networks Sensor phenomena and characterization Military computing Base stations computer networks Embedded computing Batteries Remote monitoring Closed-form solution

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An Agent Based Framework to Monitor and control High Performance Data Transfers

An Agent Based Framework to Monitor and Control High Perform...

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EUROCON 2007 - The international conference on " computer as a Tool" (EUROCON 2007), vol.4

作者： Ciprian M. Dobre Ramiro Voicu Adrian Muraru Iosif C. Legrand Politehnica University of Bucharest Romania California Institute of Technology USA European Center for Nuclear Research-CERN Geneva Switzerland

We present a distributed agent based system used to monitor, configure and control complex, large scale data transfers in the Wide Area Network. The Localhost Information Service Agent (LISA) is a lightweight dynamic service that provides complete system and applications monitoring, is capable to dynamically configure system parameters and can help in optimizing distributed applications. As part of the MonALISA (monitoring Agents in A Large Integrated Services Architecture) system, LISA is an end host agent capable to collect any type of monitoring information, to distribute them, and to take actions based on local or global decision units. The system has been used for the Bandwidth Challenge at Supercomputing 2006 to coordinate global large scale data transfers using Fast Data Transfer (FDT) application between hundreds of servers distributed on major Grid sites involved in processing High Energy Physics data for the future Large Hadron Collider experiments.

关键词： monitoring distributed information systems intelligent control control plane Peer-to-peer

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