Path planning of robots in noisy workspaces using learning automata

The problem of a manipulator operating in a noisy workspace and required to move from an initial fixed position P0 to a final position Pf is considered. However, Pf is corrupted by noise, giving rise to Pˆf, which may be obtained by sensors. The use of learning automata is proposed to tackle this problem. An automaton is placed at each joint of the manipulator which moves according to the action chosen by the automaton (forward, backward, stationary) at each instant. The simultaneous reward or penalty of the automata enables avoiding any inverse kinematics computations that would be necessary if the distance of each joint from the final position had to be calculated. Three variable-structure learning algorithms are used, i.e., the discretized linear reward-penalty (DLR-P, the linear reward-penalty (LR-P ) and a nonlinear scheme. Each algorithm is separately tested with two (forward, backward) and three forward, backward, stationary) actions.

Trajectory planning of a robot using learning algorithms

The authors consider the problem of a robot manipulator operating in a noisy workspace. The manipulator is required to move from an initial position P(i) to a final position P(f). P(i) is assumed to be completely defined. However, P(f) is obtained by a sensing operation and is assumed to be fixed but unknown. The authors approach to this problem involves the use of three learning algorithms, the discretized linear reward-penalty (DLR-P) automaton, the linear reward-penalty (LR-P) automaton and a nonlinear reinforcement scheme. An automaton is placed at each joint of the robot and by acting as a decision maker, plans the trajectory based on noisy measurements of P(f).

Model-based groupware solution for distributed real-time collaborative 4D planning via teamwork

Construction planning plays a fundamental role in construction project management that requires team working among planners from a diverse range of disciplines and in geographically dispersed working situations. Model-based four-dimensional (4D) computer-aided design (CAD) groupware, though considered a possible approach to supporting collaborative planning, is still short of effective collaborative mechanisms for teamwork due to methodological, technological and social challenges. Targeting this problem, this paper proposes a model-based groupware solution to enable a group of multidisciplinary planners to perform real-time collaborative 4D planning across the Internet. In the light of the interactive definition method, and its computer-supported collaborative work (CSCW) design analysis, the paper discusses the realization of interactive collaborative mechanisms from software architecture, application mode, and data exchange protocol. These mechanisms have been integrated into a groupware solution, which was validated by a planning team in a truly geographically dispersed condition. Analysis of the validation results revealed that the proposed solution is feasible for real-time collaborative 4D planning to gain a robust construction plan through collaborative teamwork. The realization of this solution triggers further considerations about its enhancement for wider groupware applications.

Tephra fallout hazard assessment for a Plinian eruption scenario at Volcán de Colima (Mexico)

Volcanic ash fallout associated with renewal of explosive activity at Colima, represents a serious threat to the surrounding urbanized area. Here we assess the tephra fallout hazard associated with a Plinian eruption scenario. The eruptive history of Volcán de Colima shows that Plinian eruptions occur approximately every 100 years and the last eruption, the 1913, represents the largest historic eruption of this volcano. We used the last eruption as a reference to discuss volcanic hazard and risk scenarios connected with ash fallout. Tephra fallout deposits are modeled using HAZMAP, a model based on a semi-analytical solution of the advection– diffusion–sedimentation equation for volcanic particles. Based on a statistical study of wind profiles at Colima region, we first reconstructed ash loading maps and then computed ground load probability maps for different seasons. The obtained results show that a Plinian eruptive scenario at Volcán de Colima, could seriously damage more than 10 small towns and ranches, and potentially affect big cities located at tens of kilometers from the eruptive center. The probability maps obtained are aimed to give support to the risk mitigation strategies

Projections of when temperature change will exceed 2°C above pre-industrial levels

Climate change projections are usually presented as 'snapshots' of change at a particular time in the future. Instead, we consider the key question 'when will specific temperature thresholds will be exceeded?'. Framing the question as "when might something happen (either permanently or temporarily)?" rather than "what might happen?" demonstrates that lowering future emissions will delay the crossing of temperature thresholds and buy valuable time for planning adaptation. For example, in higher greenhouse gas emission scenarios, a global average 2°C warming threshold is likely to be crossed by 2060, whereas in a lower emissions scenario, the crossing of this threshold is delayed up to several decades. On regional scales, however, the 2°C threshold will probably be exceeded over large parts of Eurasia, North Africa and Canada by 2040 if emissions continue to increase- well within the lifetime of many people living now.

Beyond tokenism? Community-led planning and rational choices: findings from participants in local agenda-setting at the neighbourhood scale in England

The article confronts some key issues raised in the literature on public participation via a series of interrogatory questions drawn from rational choice theory. These are considered in relation to the design and process of public participation opportunities in planning and wider processes of local governance at the neighbourhood scale. In doing this, the article draws on recent research that has looked in some depth at a form of community-led planning (CLP) in England. The motives and expectations of participants, the abilities of participants, as well as the conditions in which participation takes place are seen as important factors. It is contended that the issues raised by rational choice theory are pertinent to emerging efforts to engage communities. As such, the article concludes that advocates of public participation or community engagement should not be afraid of responding to the challenges posed by questions of motive and reward of participants if lasting and worthwhile participation is to be established. Indeed, questions such as 'what's in it for me?' should be regarded as legitimate, necessary and indeed standard, in order to co-devise meaningful and durable participation opportunities and appropriate institutional environments. However, it is also maintained that wider considerations and capacity questions will also need to be confronted if participation is to become embedded as part of participatory neighbourhood-scale planning.