CCAST

Individual semi-autonomous unmanned systems have already proven to be useful in a variety of use cases including movie production, agriculture, civil engineering, military operations and insurance [1]. Likewise, small groups of unmanned systems have shown promise, particularly when coordinating to achieve a common goal [3]. Less studied are the potential benefits of large swarms comprising hundreds of capable unmanned systems, likely due to the difficulties associated with creating, or even simulating, such a system. Swarming unmanned systems operate in an environment with a large number of simultaneously moving vehicles, with extensive coordination in real time using mobile communication over a rapidly shifting and dynamic environment. They are often operating in confined areas, moving at speeds of several meters per second, and combining outdoor and indoor coordination.

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A Hybrid Multi-objective Approach for Real-time Flexible Production Scheduling and Rescheduling under Dynamic Environment in Industry 4.0 Context

Computers & Operations Research ◽

10.1016/j.cor.2021.105267 ◽

2021 ◽

pp. 105267

Author(s):

Sicheng Zhang ◽

Fangcheng Tang ◽

Xiang Li ◽

Jiaming Liu ◽

Bowen Zhang

Keyword(s):

Real Time ◽

Production Scheduling ◽

Industry 4.0 ◽

Dynamic Environment ◽

Flexible Production ◽

Multi Objective

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Multi-Robot Searching using Game-Theory Based Approach

International Journal of Advanced Robotic Systems ◽

10.5772/6232 ◽

2008 ◽

Vol 5 (4) ◽

pp. 44 ◽

Cited By ~ 17

Author(s):

Yan Meng

Keyword(s):

Game Theory ◽

Dynamic Programming ◽

Utility Function ◽

Real Time ◽

Dynamic Environment ◽

Equilibrium Solutions ◽

Strategy Equilibrium ◽

The Game Theory ◽

Target Searching ◽

Multi Robot

This paper proposes a game-theory based approach in a multi–target searching using a multi-robot system in a dynamic environment. It is assumed that a rough priori probability map of the targets' distribution within the environment is given. To consider the interaction between the robots, a dynamic-programming equation is proposed to estimate the utility function for each robot. Based on this utility function, a cooperative nonzero-sum game is generated, where both pure Nash Equilibrium and mixed-strategy Equilibrium solutions are presented to achieve an optimal overall robot behaviors. A special consideration has been taken to improve the real-time performance of the game-theory based approach. Several mechanisms, such as event-driven discretization, one-step dynamic programming, and decision buffer, have been proposed to reduce the computational complexity. The main advantage of the algorithm lies in its real-time capabilities whilst being efficient and robust to dynamic environments.

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Dynamic collision risk modeling under uncertainty

Robotica ◽

10.1017/s0263574712000550 ◽

2012 ◽

Vol 31 (4) ◽

pp. 525-537 ◽

Cited By ~ 4

Author(s):

F. Belkhouche ◽

B. Bendjilali

Keyword(s):

Configuration Space ◽

Collision Detection ◽

Sensory System ◽

Dynamic Environment ◽

Rate Of Change ◽

Risk Modeling ◽

Collision Risk ◽

Moving Vehicles ◽

Probability Of Collision ◽

Geometric Variables

SUMMARYThis paper introduces a probabilistic model for collision risk assessment between moving vehicles. The uncertainties in the states and the geometric variables obtained from the sensory system are characterized by probability density functions. Given the states and their uncertainties, the goal is to determine the probability of collision in a dynamic environment. Two approaches are discussed: (1) The virtual configuration space (VCS), and (2) the rates of change of the visibility angles. The VCS is a transformation of observer that reduces collision detection with a moving object to collision detection with a stationary object. This approach allows to create simple geometric collision cones. Error propagation models are used to solve the problem when going from the VCS to the configuration space. The second approach derives the collision conditions in terms of the rate of change of the limit visibility angles. The probability of collision is then calculated. A comparison between the two methods is carried out. Results are illustrated using simulation, including Monte Carlo simulation.

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Hierarchical scheduling for real-time agile satellite task scheduling in a dynamic environment

Advances in Space Research ◽

10.1016/j.asr.2018.10.007 ◽

2019 ◽

Vol 63 (2) ◽

pp. 897-912 ◽

Cited By ~ 7

Author(s):

Lei He ◽

Xiao-Lu Liu ◽

Ying-Wu Chen ◽

Li-Ning Xing ◽

Ke Liu

Keyword(s):

Real Time ◽

Task Scheduling ◽

Dynamic Environment ◽

Hierarchical Scheduling ◽

Agile Satellite

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Social Nurses’ Descriptions of Nursing: A Qualitative Study of What Social Nursing is and Does?

The Open Nursing Journal ◽

10.2174/1874434601913010228 ◽

2019 ◽

Vol 13 (1) ◽

pp. 228-236

Author(s):

Tine Louise Dideriksen ◽

Marianne Lisby ◽

Nina Brünés ◽

Pia Dreyer

Keyword(s):

Qualitative Study ◽

Health Inequalities ◽

Common Goal ◽

Structured Interviews ◽

Holistic Nursing ◽

Encounter Complex ◽

The Social ◽

Potential Benefits ◽

Female Nurses ◽

Insight Into

Background: In the meeting between socially marginalised patients and somatic hospitals, healthcare systems often encounter complex challenges related to health inequalities that are difficult to resolve. To help reduce these challenges, a nursing approach employing a nurse (RN) with in-depth knowledge of socially marginalised patients and competences in rehabilitation (“social nurse”) has contributed to diminish health inequalities. However, further insight into the potential benefits of social nursing is required. Aim: To examine how social nurses describe and experience the social nursing approach situated at somatic hospitals. Methods: A qualitative study of social nurses’ descriptions and experiences with a social nurse approach included eight Danish hospitals. One male and 12 female nurses (n=13) employed as social nurses at somatic hospitals participated. Thirteen semi structured interviews were conducted using the methodological frameworks of phenomenology and hermeneutics. The interviews were analysed employing a method inspired by the French philosopher Paul Ricoeur’s theory of interpretation. Results: Four themes emerged from the analysis: 1) A unique expertise encompassing experience and evidence-based knowledge 2) coordination towards a common goal to reduce patients’ vulnerability, 3) to see and understand patients as whole persons, thereby assuring successful treatment and 4) working with the system to avoid losing the patients. The themes describe a unique expertise emerging from focusing healthcare efforts on the socially marginalised patients and the system in charge. Conclusion: The study indicated that the social nurse approach is a holistic nursing approach. Applying this approach allows for optimised treatment that fosters a more equal outcome across the spectrum of socially marginalised patients. The social nurse approach may contribute to diminishing health inequalities.

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The Potential Benefits Of Real-Time Monitoring Of Combined Sewer Overflows In The City Of Toronto

10.32920/ryerson.14661741 ◽

2021 ◽

Author(s):

Romak Kordnejad

Keyword(s):

Real Time ◽

Weather Conditions ◽

Future Research ◽

Environmental Damage ◽

Real Time Monitoring ◽

Combined Sewer Overflows ◽

Combined Sewer ◽

Potential Benefits ◽

Sewer Overflows ◽

The City

This thesis focuses on the current state of combined sewer overflows (CSO) in the City of Toronto and the potential benefits of utilizing real-time monitoring system to explore options for optimizing current models and reducing future overflows. CSOs containing sanitary and stormwater sewage over spill during wet weather conditions, contaminating bodies of water. Antiquated sewer systems built to support population at the time, no longer have the required capacity to support exponential growth causing environmental damage. Key research findings include exploring the current CSO state in the City of Toronto, remediation plans executed by the City in hopes to reduce CSO and finally concluding the City’s progress to date. Extensive research on CSOs in North American cities has shown initiative towards reducing CSOs while using real-time monitoring systems which can be utilized in the City of Toronto. Future research is required to find effective and efficient ways of implementing such systems.

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