Control and simulation of robotic swarms in heterogeneous environments

Simulation provides a low cost method of initial testing of control for robotic swarms. The expansion of robotic swarms to heterogeneous environments drives the need to model cooperative operation in those environments. The Autonomous Control Engineering center at The University of Texas at San Antonio is investigating methods of simulation techniques and simulation environments. This paper presents results from adapting simulation tools for diverse environments.

RF communication between surface and underwater robotic swarms

In order for underwater robots to communicate with land and air based robots on an equal basis, high speed communications is required. If the robots are not to be tethered then wireless communications is the only possibility. Sonar communications is too slow. Unfortunately radio waves are rapidly attenuated under water due to phenomena such as skin depth. These experiments attempt to extend the range of underwater radio communications.

Emergent effects in massive agent swarms in real-time game environments

 Computational efficiency and hence the scale of agent-based swarm simulations is bound by the nearest neighbour computation for each agent. This article proposes the use of GPU texture memory to implement lookup tables for a spatial partitioning based k-Nearest Neighbours algorithm. These improvements allow simulation of swarms of 220 agents at higher rates than the current best alternative algorithms. This approach is incorporated into an existing framework for simulating steering behaviours allowing for a complete implementation of massive agent swarm simulations, with per agent behaviour preferences, on a Graphics Processing Unit. These simulations have enabled an investigation of the emergent dynamics that occur when massive swarms interact with a choke point in their environment. Various modes of sustained dynamics with temporal and spatial coherence are identified when a critical mass of agents is simulated and some elementary properties are presented. The algorithms presented in this article enable researchers and content designers in games and movies to implement truly massive agent swarms in real time and thus provide a basis for further identification and analysis of the emergent dynamics in these swarms. This will improve not only the scale of swarms used in commercial games and movies but will also improve the reliability of swarm behaviour with respect to content design goals.

A blue whale (Balaenoptera musculus) feeding ground in a southern Australian coastal upwelling zone

A localised aggregation of blue whales. which may be pygmy blue whales (B. m. brevicauda), occurs in southern Australian coastal waters (between I39°45'E-143°E) during summer and autumn (December-May), where they feed on coastal krill (Nyctiphanes australis). a species which often forms surface swarms. While the abundance of blue whales using this area is unknown, up to 32 blue whales have been sighted in individual aerial  surveys. Krill appear to aggregate in response to enhanced productivity  resulting from the summer-autumn wind-forced Bonney Coast upwelling along the continental shelf. During the upwelling's quiescent (winter-spring) period. blue whales appear to be absent from the region. Krill surface  swarms have been associated with 48% of 261 blue whale sightings since 1998, with direct evidence of feeding observed in 36% of all sightings. Mean blue whale group size was 1.55 (SD =0.839), with all size classes represented including calves. This seasonally predictable upwelling system is evidently a regular feeding ground for blue whales, and careful  management of human activities is required there.

Simulation of underwater robots using MS Robot Studio©

One stage in designing the control for underwater robot swarms is to confirm the control algorithms via simulation. To perform the simulation Microsoftpsilas Robotic Studiocopy was chosen. The problem with this simulator and others like it is that it is set up for land-based robots only. This paper explores one possible way to get around this limitation. This solution cannot only work for underwater vehicles but aerial vehicles as well.

Distributed protocol for communications among underwater vehicles

Underwater surveying by swarms of autonomous underwater vehicles presents problems in communication among the robots. These problems involve the bandwidth, power consumption, timing, processing power, and other issues. This paper presents a novel approach to communicate and coordinate effectively among underwater vehicles to accomplish this task successfully. The proposed approach solves issues by reducing the number of hops to conserve power, while reducing computation time and bandwidth, effectively utilizing resources to reduce the load on each node. Finally, the simulation results are presented, in order to prove that the proposed approach improves efficiency and effectiveness in communicating among underwater vehicles.

Ecological linkages in the Bonney Upwelling blue whale feeding area

This research has described linkages between the cold-water Bonney Upwelling of south-east Australia, associated primary and secondary biological production, and the presence of feeding blue whales Balaenoptera musculus. This is a previously undescribed, seasonally predictable blue whale feeding area, where whales prey on abundant swarms of krill Nyctiphanes australis.

Cleanup worker exposures to hazardous chemicals at a former nuclear weapons plant : piloting of an exposure surveillance system

Cleanup of former U.S. Department of Energy (DOE) nuclear weapons production facilities involves potential exposures to various hazardous chemicals. We have collaboratively developed and piloted an exposure database and surveillance system for cleanup worker hazardous chemical exposure data with a cleanup contractor at the Rocky Flats Environmental Technology Site (RFETS). A unique system feature is the incorporation of a 34-category work task-coding scheme. This report presents an overview of the data captured by this system during development and piloting from March 1995 through August 1998. All air samples collected were entered into the system. Of the 859 breathing zone samples collected, 103 unique employees and 39 unique compounds were represented. Breathing zone exposure levels were usually low (86% of breathing zone samples were below analytical limits of detection). The use of respirators and other exposure controls was high (87 and 88%, respectively). Occasional high-level excursions did occur. Detailed quantitative summaries are provided for the six most monitored compounds: asbestos, beryllium, carbon tetrachloride, chromium, lead, and methylene chloride. Task and job title data were successfully collected for most samples, and showed specific cleanup activities by pipe fitters to be the most commonly represented in the database. Importantly, these results demonstrate the feasibility of the implementation of integrated exposure database and surveillance systems by practicing industrial hygienists employed in industry as well as the preventive potential and research uses of such systems. This exposure database and surveillance system--the central features of which are applicable in any industrial work setting--has enabled one of the first systematic quantitative characterizations of DOE cleanup worker exposures to hazardous chemicals.

Development and piloting of an exposure database and surveillance system for DOE cleanup operations

An industrial hygiene exposure database and surveillance system was developed in partnership between National Institute for Occupational Safety and Health (NIOSH)-funded independent investigators and practicing industrial hygienists at the Rocky Flats Environmental Technology Site (RFETS) in Golden, Colo. RFETS is a former U.S. Department of Energy nuclear weapons plant that is now in cleanup phase. This project is presented as a case study in the development of an exposure database and surveillance system in terms that are generalizable to most other industries and work contexts. Steps include gaining organizational support; defining system purpose and scope; defining database elements and coding; planning practical and efficient analysis strategies; incorporating reporting capabilities; and anticipating communication strategies that maximize the probability that surveillance findings will feed back to preventive applications. For each of these topics, the authors describe both general considerations as well as the specific choices made for this system. An important feature of the system is a two-tier task-coding scheme comprising 33 categories of task groups. Examples of grouped analyses of exposure data captured during the system pilot period demonstrate applications to exposure control, medical surveillance, and other preventive measures. Reprinted by permission of the publisher.

Development of an exposure database and surveillance system for use by practicing OSH professionals

This report summarizes the development of an occupational exposure database and surveillance system for use by health and safety professionals at Rocky Flats Environmental Technology Site (RFETS), a former nuclear weapons production facility. The site itself is currently in the cleanup stage with work expected to continue into 2006. The system was developed with the intent of helping health and safety personnel not only to manage and analyze exposure monitoring data, but also to identify exposure determinants during the highly variable cleanup work. Utilizing a series of focused meetings with health and safety personnel from two of the major contractors at RFETS, core data elements were established. These data elements were selected based on their utility for analysis and identification of exposure determinants. A task-based coding scheme was employed to better define the highly variable work. The coding scheme consisted of a two-tiered hierarchical list with a total of 34 possible combinations of work type and task. The data elements were incorporated into a Microsoft Access database with built-in data entry features to both promote consistency and limit entry choices to enable stratified analyses. In designing the system, emphasis was placed on the ability of end users to perform complex analyses and multiparameter queries to identify trends in their exposure data. A very flexible and user-friendly report generator was built into the system. This report generator allowed users to perform multiparameter queries using an intuitive system with very little training. In addition, a number of automated graphical analyses were built into the system, including ex posure levels by any combination of building, date, employee, job classification, type of contaminant, work type or task, exposure levels over time, exposure levels relative to the permissible exposure limit (PELS), and distributions of exposure levels. Both of these interfaces, allow the user to ''drill down'' or gradually narrow query criteria to identify specific exposure determinants. A number of other industrial hygiene processes were automated by the use of this database. Exposure calculations were coded into the system to allow automatic calculation of time-weighted averages and sample volumes. In addition, a table containing all the PELs and other relevant occupational exposure limits was built into the system to allow automatic comparisons with the current standards. Finally, the process of generating reports for employee notification was automated. The implementation of this system demonstrates that an integrated database system can save time for a practicing hygienist as well as provide useful and more importantly, timely information to guide primary prevention efforts.

Exposure databases and exposure surveillance : promise and practice

Based on recent developments in occupational health and a review of industry practices, it is argued that integrated exposure database and surveillance systems hold considerable promise for improving workplace health and safety. A foundation from which to build practical and effective exposure surveillance systems is proposed based on the integration of recent developments in electronic exposure databases, the codification of exposure assessment practice, and the theory and practice of public health surveillance. The merging of parallel, but until now largely separate, efforts in these areas into exposure surveillance systems combines unique strengths from each subdiscipline. The promise of exposure database and surveillance systems, however, is yet to be realized. Exposure surveillance practices in general industry are reviewed based on the published literature as well as an Internet survey of three prominent industrial hygiene e-mail lists. Although the benefits of exposure surveillance are many, relatively few organizations use electronic exposure databases, and even fewer have active exposure surveillance systems. Implementation of exposure databases and surveillance systems can likely be improved by the development of systems that are more responsive to workplace or organizational-level needs. An overview of exposure database software packages provides guidance to readers considering the implementation of commercially available systems. Strategies for improving the implementation of exposure database and surveillance systems are outlined. A companion report in this issue on the development and pilot testing of a workplace-level exposure surveillance system concretely illustrates the application of the conceptual framework proposed.

Integrating workplace exposure databases for occupational medicine services and epidemiologic studies at a former nuclear weapons facility

We outline methods for integrating epidemiologic and industrial hygiene data systems for the purpose of exposure estimation, exposure surveillance, worker notification, and occupational medicine practice. We present examples of these methods from our work at the Rocky Flats Plant?a former nuclear weapons facility that fabricated plutonium triggers for nuclear weapons and is now being decontaminated and decommissioned. The weapons production processes exposed workers to plutonium, gamma photons, neutrons, beryllium, asbestos, and several hazardous chemical agents, including chlorinated hydrocarbons and heavy metals. We developed a job exposure matrix (JEM) for estimating exposures to 10 chemical agents in 20 buildings for 120 different job categories over a production history spanning 34 years. With the JEM, we estimated lifetime chemical exposures for about 12,000 of the 16,000 former production workers. We show how the JEM database is used to estimate cumulative exposures over different time periods for epidemiological studies and to provide notification and determine eligibility for a medical screening program developed for former workers. We designed an industrial hygiene data system for maintaining exposure data for current cleanup workers. We describe how this system can be used for exposure surveillance and linked with the JEM and databases on radiation doses to develop lifetime exposure histories and to determine appropriate medical monitoring tests for current cleanup workers. We also present time-line-based graphical methods for reviewing and correcting exposure estimates and reporting them to individual workers.

Formations of robotic swarm: an artificial force based approach

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding intermember collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc. Also the performance of the proposed distributed swarm control architecture was investigated in the presence of realistic implementation issues such as localization errors, communication range limitations, boundedness of forces etc.

Underwater swarm robotics review

Underwater robotics is a growing field in which more research is required. A literature review has been conducted on underwater robotics, focusing on the swarm problem with this type of robotics to help overcome this gap. Consensus control of robotic swarms is focused on, with a brief description of formation control and how it can be applied in the underwater setting. The basic concepts behind Particle Swarm Optimization, Ant Colony Optimization, Bees Algorithm and Heterogeneous Swarms has also been presented. The problems that are associated with communicating underwater are shown, with some possible solutions to this problem also being presented. Possible future work is described to conclude the paper.