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.

A simulation-based control interface layer for a high-fidelity anthropomorphic training simulator

Deakin University’s futuristic Universal Motion simulator will overcome the limitations of current motion simulator platforms by employing an anthropomorphic robot arm to provide the motion fidelity necessary to exploit the potential of modern simulation environments. Full motion simulators frequently utilize Stewart platforms to mimic the movement of vehicles during simulation. However, due to the limited motion range and dexterity of such systems, and their inability to convey realistic accelerations, they are unable to represent accurate motion characteristics. The Universal Motion Simulation aims to close the gap between the limitations of the current motion technology and real world, by introducing a flexible, modular, high-fidelity motion system that can be used for a variety of immersive training applications. The modular nature of the design allows interchangeable and configurable simulation pods to be attached to the end effectors.

Videogame technology re-purposed: towards interdisciplinary design environments for engineering and architecture

The author and associated researchers have in previous projects adapted videogame technology for design in the context of architectural design education. This paper reflects on this body of research: the original motivations and aspirations; what threads may be productively revisited; how contemporary shifts to parametric design and building information modelling may be incorporated; and considers how some aspects of game play, in particular competition, may seed Interdisciplinary Design environments for Engineering and Architecture (IDeEA).

Next generation robotic counter IED technology : A step change in capability

Improvised Explosive Devices (IEDs) are reported as the number one cause of injury and death for allied troops in the current theater of operation. Deakin University’s Centre for Intelligent Systems Research (CISR) is working on next-generation technology to combat the threat. In 2006 CISR was awarded funding through the Capability and Technology Demonstrator (CTD) Program managed by the Australian Defence Force. The objective was to investigate the use of haptics or force feedback technology for Counter-IED (CIED) tasks. Over the past six years, engineers from CISR have worked alongside Defence stakeholders to develop a series of robotic platforms designed to immerse a soldier in the remote environment. Utilising a natural user interface, haptic force feedback and stereovision, the technology has undergone initial trials in Sydney, Canberra, Woomera and at the CISR testing facility in Geelong, Australia. The technology has proved popular among operators allowing them increased fidelity and manipulation speed while significantly reducing required training. CISR has a history of rapidly delivering technology to meet the needs of police and law enforcement in Australia. The OzBot™ series of robots developed in conjunction with the Victorian Police is currently in service and used extensively for hostage negotiation and first responder roles. The CISR robotics group works on technologies that reduce operator fatigue, minimise training liability and maintenance. Over 55 engineers develop simulation environments for increased training availability and continuous improvement to the current range of mobile platforms, including communications range, payload, manipulator reach and capability. This paper describes a number of the technologies, methods and systems developed by CISR for IED neutralisation, with the aim to increasing military awareness of Australian capability.

Contemporary learning environments: designing e-learning for education in the professions

Designing e-learning environments for quality professional education is a challenge for education designers, as the continuing practice of simply moving courses online can be surprisingly disabling. We argue that as universities strive to educate for excellence in professional practice, design approaches for the e-learning components must be conceptualized in a broader view of a contemporary learning environment involving integrated virtual and physical dimensions. These are comprehensively considered in an integrated way to facilitate learning experiences providing an emphasis on grounded practice. Our paper considers learning environments in the service of a broader understanding of a professional "practicum." In providing the more flexible, immediate and evolving virtual experiences, e-learning as a feature must take account of a range of education design considerations we model in a framework of elements. These are outlined, and broader issues are illuminated through a comparative case analysis of educational technology developments at Deakin University in the two professional fields of teaching and journalism. The Education Studies Online (ESO) project and the HOTcopy newsroom simulation project exemplify elements of the approach recommended in addressing the challenges of quality professional education. We highlight the generative role of the education designer in adopting an integrative and strategic stance, when creating such environments. Implications for the selection and use of various e-learning resources and corporate e-learning systems become evident as we highlight the dangers of a returning "instructional industrialism" as we risk allowing courses to "move online", rather than moving towards proposed features of contemporary learning environments.

Placement of file replicas in data grid environments

In this paper, we address the problem of file replica placement in Data Grids given a certain traffic pattern. We propose a new file replica placement algorithm and compare its performance with a standard replica placement algorithm using simulation. The results show that file replication improve the performance of the data access but the gains depend on several factors including where the file replicas are located, burstness of the request arrival, packet loses and file sizes.

Soft tissue modelling for haptic rendering in virtual environments

This paper focuses on the development of a haptic recording and modelling system. Currently being evaluated for multiple uses in surgery and manufacturing, this recording system evaluates haptic data captured via a robotic ann coupled with real time high-resolution load cell. This data is then analysed and validated against previous samples and a generated model before being logged for playback during simulation and training of a human operator. 3D models of point force interactions are created allowing unique visuals to be presented to a user. Primarily designed for the medical field, recorded results of soft tissue cutting have been presented.

Towards a digital representation of physical phenomena to assess comfort in future environments

This paper presents the concept and a test implementation of a digital representation of the physical world designed to assess comfort quality in
future environments. An integrated set of physical phenomena is modeled three-dimensionally to investigate the dynamic behavior of design objects
holistically.

The formulation supports the integration of computational simulation in the performance-based design process. It employs the principles of
geometrical and physical selfcontainedness to avoid that complex geometrical and physical circumstances have to be specified at design time. The concepts of congeneric cells and congeneric conjunctions are
introduced to simulate various physical phenomena simultaneously with a uniformly structured set of equations.

The concept, the prototype implementation and selected test cases are presented. Although it was not possible to implement all features and model parts completely, the research and the discussion of its achievements make valuable contributions towards more effective integration of computational simulation in the performance-based design process.

Towards a universal and integrated digital representation of physical phenomena: a model to investigate comfort and energy efficiency in future environments

This thesis describes the exploration and the development of computational means to investigate the behaviour of design objects before they are available for investigation in the physical world. The motivation is to inform the design process about the design object's performance in order to achieve better--more performance-oriented--design outcomes in the sense of energy efficiency and comfort performance than can be achieved by conventional design techniques.

Evaluation of thermal and visual comfort in offices considering realistic input data and user behaviour in building simulation

Thermal and visual comfort play a very important role regarding the satisfaction of occupants with their working environments. The most effective method to achieve thermal comfort in offices is to reduce cooling loads in order to avoid additional energy-consuming devices for cooling. Building simulation software can be a helpful tool for optimisation, and typically standard values for the influencing parameters are used in order to ensure compliance to norms and regulations.

In practice many of those parameters turn out to be different compared to the simulation assumptions and the reasons may be the chosen room or building related properties as well as the user behaviour influenced by the task and the corporate culture of the company.

This paper investigates exemplary for the climate of Hamburg, Germany and a naturally ventilated typical office room, the optimisation potential of the building- and user-related parameters for thermal comfort, daylighting and view when using realistic input data for building simulation. The study has been conducted with the EnergyPlus based simulation software “Primero-Komfort” [1].

A generalised cost-aware caching scheme for caching continuous media objects in best-effort network environments

In this paper, we investigate the potential of caching to improve QoS in the context of continuous media applications over wired best-effort networks. We propose the use of a flexible caching scheme, called GD-Multi in caching continuous media (CM) objects. An important novel feature of our scheme is the provision of user or system administrator inputs in determining the cost function. Based on the proposed flexible cost function, Multi, an improvised Greedy Dual (GD) replacement algorithm called GD-multi (GDM) has been developed for layered multi-resolution multimedia streams. The proposed Multi function takes receiver feedback into account. We investigate the influence of parameters such as loss rate, jitter, delay and area in determining a proxy’s cache contents so as to enhance QoS perceived by clients. Simulation studies show improvement in QoS perceived at the clients in accordance to supplied optimisation metrics. From an implementation perspective, signalling requirements for carrying QoS feedback are minimal and fully compatible with existing RTSP-based Internet applications.

E-Simulations for educating the professions in blended learning environments

This chapter introduces digital, role-based simulations as an emerging and powerful educational approach for the professions and for broader workforce development purposes. It is acknowledged that simulations used for education, professional development, and training, have a long history of development and use. The focus is on digital simulations (e-simulations) situated in blended learning environments and the improved affordances of the newer digital media used via the web to enhance the value of their contribution to learning and teaching in professional and vocationally-oriented fields. This is an area which has received less attention in the whole “e-learning” literature compared with the voluminous body of knowledge and practice on computer-mediated communication, online community building, social networking, and various forms of online (usually automated) assessment. A framework of blended e-simulation design is outlined. The chapter concludes by examining what the future might hold for simulations in further and higher education, and ongoing work-based learning.

Fuzzy simulation of pedestrian walking path considering local environmental stimuli

Pedestrian steering activity is a perception-based decision making process that involves interaction with the surrounding environment and insight into environmental stimuli. There are many stimuli within the environment that influence pedestrian wayfinding behaviour during walking activities. However, compelling factors such as individual physical and psychological characteristics and trip intention cause the behaviour become a very fuzzy concept. In this paper pedestrian steering behaviour is modelled using a fuzzy logic approach. The objective of this research is to simulate pedestrian walking paths in indoor public environments during normal and non-panic situations. The proposed algorithm introduces a fuzzy logic framework to predict the impact of perceived attractive and repulsive stimuli, within the pedestrian's field of view, on movement direction. Environmental stimuli are quantified using the social force method. The algorithm is implemented in a simulated area of an office corridor consist of a printer and exit door. Stochastic simulation using the proposed fuzzy algorithm generated realistic walking trajectories, contour map of dynamic change of environmental effects in each step of movement and high flow areas in the corridor.

Undergraduate nursing students' performance in recognising and responding to sudden patient deterioration in high psychological fidelity simulated environments: an Australian multi-centre study

Objectives
This paper reports the quantitative findings of the first phase of a larger program of ongoing research: Feedback Incorporating Review and Simulation Techniques to Act on Clinical Trends (FIRST2ACTTM). It specifically aims to identify the characteristics that may predict primary outcome measures of clinical performance, teamwork and situation awareness in the management of deteriorating patients.

Design
Mixed-method multi-centre study.

Setting
High fidelity simulated acute clinical environment in three Australian universities.

Participants
A convenience sample of 97 final year nursing students enrolled in an undergraduate Bachelor of Nursing or combined Bachelor of Nursing degree were included in the study.

Method
In groups of three, participants proceeded through three phases: (i) pre-briefing and completion of a multi-choice question test, (ii) three video-recorded simulated clinical scenarios where actors substituted real patients with deteriorating conditions, and (iii) post-scenario debriefing. Clinical performance, teamwork and situation awareness were evaluated, using a validated standard checklist (OSCE), Team Emergency Assessment Measure (TEAM) score sheet and Situation Awareness Global Assessment Technique (SAGAT). A Modified Angoff technique was used to establish cut points for clinical performance.

Results
Student teams engaged in 97 simulation experiences across the three scenarios and achieved a level of clinical performance consistent with the experts' identified pass level point in only 9 (1%) of the simulation experiences. Knowledge was significantly associated with overall teamwork (p = .034), overall situation awareness (p = .05) and clinical performance in two of the three scenarios (p = .032 cardiac and p = .006 shock). Situation awareness scores of scenario team leaders were low overall, with an average total score of 41%.

Conclusions
Final year undergraduate nursing students may have difficulty recognising and responding appropriately to patient deterioration. Improving pre-requisite knowledge, rehearsal of first response and team management strategies need to be a key component of undergraduate nursing students' education and ought to specifically address clinical performance, teamwork and situation awareness.

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.