Some Novel Design Principles for Collective Behaviors in Mobile Robots

Multiple mobile robots with six PSD (Position Sensitive Detector) sensors are designed for experimentally evaluating the performance of two control systems. They are self-control mode and server-supervisory control mode. The control systems are considered to realize swarm behaviors such as Ligia exotica. This is done by using only information of PSD sensors. Experimental results show basic but important behaviors for multiple mobile robots. They are following, avoidance, and schooling behaviors. The collective behaviors such as following, avoidance, and schooling emerge from the local interactions among the robots and/or between the robots and the environment. The objective of the study is to design an actual system for multiple mobile robots, to systematically simulate the behaviors of various creatures who form groups such as a school of fish or a swarm of insect. Further, the applicability of the server-supervisory control scheme to an intelligent DNC (Direct Numerical Control) system is briefly considered for future development. DNC system is an important peripheral apparatus, which can directly control NC machine tools. However, conventional DNC systems can neither deal with various information transmitted from different kinds of sensors through wireless communication nor output suitable G-codes by analyzing the sensors information in real time. The intelligent DNC system proposed at the end of the chapter aims to realize such a novel and flexible function with low cost.

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Robot-Inclusive False Ceiling Design Guidelines

Buildings ◽

10.3390/buildings11120600 ◽

2021 ◽

Vol 11 (12) ◽

pp. 600

Author(s):

Matthew S. K. Yeo ◽

S. M. Bhagya P. Samarakoon ◽

Qi Boon Ng ◽

Yi Jin Ng ◽

M. A. Viraj J. Muthugala ◽

...

Keyword(s):

Mobile Robots ◽

Design Principles ◽

Design Guidelines ◽

Inclusive Design ◽

Site Conditions ◽

Top Down ◽

Spatial Constraints ◽

Periodic Inspection ◽

Inspection Robots ◽

Commercial Spaces

False ceilings are often utilised in residential and commercial spaces as a way to contain and conceal necessary but unattractive building infrastructure, including mechanical, electrical, and plumbing services. Concealing such elements has made it difficult to perform periodic inspection safely for maintenance. To complement this, there have been increasing research interests in mobile robots in recent years that are capable of accessing hard-to-reach locations, thus allowing workers to perform inspections remotely. However, current initiatives are met with challenges arising from unstructured site conditions that hamper the robot’s productivity for false ceiling inspection. The paper adopts a top-down approach known as “Design for Robots”, taking into account four robot-inclusive design principles: activity, accessibility, safety, observability. Falcon, a class of inspection robots, was used as a benchmark to identify spatial constraints according to the four principles. Following this, a list of false ceiling design guidelines for each category are proposed.

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Robust top-down and bottom-up visual saliency for mobile robots using bio-inspired design principles

10.1109/iros51168.2021.9636800 ◽

2021 ◽

Author(s):

Uziel Jaramillo-Avila ◽

Jonathan M. Aitken ◽

Kevin Gurney ◽

Sean R. Anderson

Keyword(s):

Mobile Robots ◽

Visual Saliency ◽

Design Principles ◽

Top Down ◽

Bottom Up

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FUNCTIONAL ELECTRICAL STIMULATION FOR NEURO REHABILITATION. A NEW DESIGN PARADIGM

Journal of Health and Allied Sciences NU ◽

10.1055/s-0040-1703581 ◽

2012 ◽

Vol 02 (03) ◽

pp. 14-15

Author(s):

Subramanya K. ◽

Ajithanjaya Kumar Mijar Kanakabettu

Keyword(s):

Electrical Stimulation ◽

Electrical Activity ◽

Functional Electrical Stimulation ◽

Neurological Disorders ◽

Closed Loop ◽

Design Principles ◽

Ideal Candidate ◽

Design Paradigm ◽

Stimulation Current ◽

Novel Design

AbstractOne of the most exciting recent advances in the neuroprosthetics field has been the application of biosignals in the design of functional electrical stimulation (FES) devices. An Electromyogram (EMG) measures the electrical activity in muscles and is often considered as ideal candidate biosignal for designing closed-loop controlled FES system. In this brief communication, we propose a novel design paradigm of a synergistic benefit of incorporating two different design principles in development of an EMG controlled FES system that hold promise for the future of rehabilitation of stroke and other neurological disorders. The proposed system will detect the residual EMG signals from the muscle and suitably adjust the stimulation current amplitude and stimulate the paralyzed muscles with a 'natural' EMG pattern envelope. We offer this design as a fruitful area for fuing recent advances in the neuroprosthetics field has been the application of biosignals in the design of functional electrical stimulation (FES) devices. An Electromyogram (EMG) measures the electrical activity in muscles and is often considered as ideal candidate biosignal for designing closed-loop controlled FES system. In this brief communication, we propose a novel design paradigm of a synergistic benefit of incorporating two different design principles in development of an EMG controlled FES system that hold promise for the future of rehabilitation of stroke and other neurological disorders. The proposed system will detect the residual EMG signals from the muscle and suitably adjust the stimulation current amplitude and stimulate the paralyzed muscles with a 'natural' EMG pattern envelope. We offer this design as a fruitful area for future research and clinical application.

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Bio-inspired novel design principles for artificial molecular motors

Current Opinion in Biotechnology ◽

10.1016/j.copbio.2010.06.003 ◽

2010 ◽

Vol 21 (5) ◽

pp. 683-689 ◽

Cited By ~ 10

Author(s):

Thorsten Hugel ◽

Christina Lumme

Keyword(s):

Molecular Motors ◽

Design Principles ◽

Novel Design

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Evolutionary design principles in metabolism

Proceedings of The Royal Society B Biological Sciences ◽

10.1098/rspb.2019.0098 ◽

2019 ◽

Vol 286 (1898) ◽

pp. 20190098 ◽

Cited By ~ 4

Author(s):

Gayathri Sambamoorthy ◽

Himanshu Sinha ◽

Karthik Raman

Keyword(s):

Protein Interactions ◽

Metabolic Networks ◽

Design Principles ◽

Dynamic Environments ◽

Evolutionary Design ◽

Protein Protein Interactions ◽

Flux Coupling ◽

A Cell ◽

And Function ◽

Novel Design

Microorganisms are ubiquitous and adapt to various dynamic environments to sustain growth. These adaptations accumulate, generating new traits forming the basis of evolution. Organisms adapt at various levels, such as gene regulation, signalling, protein–protein interactions and metabolism. Of these, metabolism forms the integral core of an organism for maintaining the growth and function of a cell. Therefore, studying adaptations in metabolic networks is crucial to understand the emergence of novel metabolic capabilities. Metabolic networks, composed of enzyme-catalysed reactions, exhibit certain repeating paradigms or design principles that arise out of different selection pressures. In this review, we discuss the design principles that are known to exist in metabolic networks, such as functional redundancy, modularity, flux coupling and exaptations. We elaborate on the studies that have helped gain insights highlighting the interplay of these design principles and adaptation. Further, we discuss how evolution plays a role in exploiting such paradigms to enhance the robustness of organisms. Looking forward, we predict that with the availability of ever-increasing numbers of bacterial, archaeal and eukaryotic genomic sequences, novel design principles will be identified, expanding our understanding of these paradigms shaped by varied evolutionary processes.

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The Knowledge Sharing Based Reinforcement Learning Algorithm for Collective Behaviors of Mobile Robots

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.588-589.1515 ◽

2012 ◽

Vol 588-589 ◽

pp. 1515-1518

Author(s):

Yong Song ◽

Bing Liu ◽

Yi Bin Li

Keyword(s):

Reinforcement Learning ◽

Mobile Robots ◽

Knowledge Sharing ◽

State Space ◽

Learning Algorithm ◽

Collective Behaviors ◽

Q Learning ◽

Exponential Increase ◽

Multi Robot ◽

Reinforcement Learning Algorithm

Reinforcement learning algorithm for multi-robot may will become very slow when the number of robots is increasing resulting in an exponential increase of state space. A sequential Q-learning base on knowledge sharing is presented. The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning. Mobile robots obtain present environmental state by sensors. Then the state will be matched to determine if the relevant behavior rule has been stored in database. If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined. Otherwise the new rule will be joined in the database. The robots learn according to a given sequence and share the behavior database. We examine the algorithm by multi-robot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed.

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Collective Behaviors of Mobile Robots Beyond the Nearest Neighbor Rules With Switching Topology

IEEE Transactions on Cybernetics ◽

10.1109/tcyb.2017.2708321 ◽

2018 ◽

Vol 48 (5) ◽

pp. 1577-1590 ◽

Cited By ~ 57

Author(s):

Boda Ning ◽

Qing-Long Han ◽

Zongyu Zuo ◽

Jiong Jin ◽

Jinchuan Zheng

Keyword(s):

Mobile Robots ◽

Nearest Neighbor ◽

Switching Topology ◽

Collective Behaviors

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Controlling Singlet Fission with Coordination Chemistry-Induced Assembly of Dipyridyl Pyrrole Bipentacenes

10.26434/chemrxiv.12712106.v1 ◽

2020 ◽

Author(s):

Ryan Ribson ◽

Gyeongshin Choi ◽

Ryan Hadt ◽

Theodor Agapie

Keyword(s):

Coordination Chemistry ◽

Structural Changes ◽

Information Science ◽

Rate Increase ◽

Design Principles ◽

Singlet Fission ◽

Photophysical Parameters ◽

Novel Design ◽

Triplet Lifetime

Singlet fission has the potential to surpass current efficiency limits in next-generation photovoltaics and to find use in quantum information science. Despite the demonstration of singlet fission in various materials, there is still a great need for fundamental design principles that allow for tuning of photophysical parameters, including the rate of fission and triplet lifetimes. Here we describe the synthesis and photophysical characterization of a novel bipentacene dipyridyl pyrrole (HDPP-Pent) and its Li- and K-coordinated derivatives. HDPP-Pent undergoes singlet fission at roughly 50% efficiency (τ<sub>SF</sub> = 730 ps), whereas coordination in the Li complex induces significant structural changes to generate a dimer, resulting in a 5-fold rate increase (τ<sub>SF</sub> = 140 ps) and near fully efficient singlet fission with virtually no sacrifice in triplet lifetime. We thus illustrate novel design principles to produce favorable singlet fission properties, wherein through-space control can be achieved via coordination chemistry-induced multi-pentacene assembly.

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