Autonomous robotic fish for a swarm environment

Developments and advances in ground and aerial robotics have presented many end user, 'off the shelf' products for use in areas such as search and rescue, recreation, filming, defense forces and sporting. Advances in underwater robotics however have not yet become as established and widespread as their ground and aerial counterparts, though this field is emerging very quickly. Many underwater robotic vessels are built from expensive, complex components and circuitry which are often tethered to a power source and controlled remotely. This greatly limits their effectiveness and potential range. The Goal was to construct two or more simple robotic fish made from 'off the shelf' products, making use of modern technologies such as 3D printing to assist in the design and manufacture process. And further that each fish is capable of swarming with other fish and interacting with objects in water. Two points of note is the calibration of IR sensors for use underwater and the magnetic coupling of the tail foil to the fish body.

Eiffel assertions and the external structure of classes and objects

The “external structure” in an object oriented system refers here to the  graphs of objects and classes. The class structure graph or class model is derived from the object structure graph or object model, and in this operation structural information is lost, or never made explicit. Although object oriented programming languages capture the class model as declarations,  contradictory assumptions about object model properties may be made introducing faults into the design. Consistent assumptions about the object model can be specified in the code using assertions such as Eiffel’s  invariants, preconditions and postconditions. Three examples specifying the external structure are considered.

Performance and narrative, bodies and movement in the construction of places and objects, spaces and knowledges: The case of the Maltese megaliths

The article explores the ways knowledge and space are co-produced performatively through bodily movement in an examination of the Maltese megaliths the first complex stone structures in the world. It is argued that knowledge is best seen as spatialized narratives of human actions and objects as materialized forms of those spatial narratives. Rewriting our social and historical narratives so that the performativity of place, space and knowledge is restored opens new possibilities for rethinking the social and material order.

A token-based independent update protocol for managing replicated objects

This paper presents the design and evaluation of a token-based protocol supporting independent updates of replicated objects. The paper makes three major contributions. Firstly, a token is used to simplify the control of update propagation and ordering. Secondly a partial commit state is introduced to support independent updates and to enhance the efficiency of transaction processing. Thirdly, a data partition methodology based on priorities is adopted to reduce update conflicts. We evaluate our protocol in comparison of two existing replication-control protocols in terms of transaction processing efficiency.

Automating the construction of replicated objects in a cluster of workstations

This paper describes a tool that mimics the design of the remote procedure call (RPC) system to support the building of replicated objects in a cluster of workstations (COW). The tool includes an interface definition language for describing a replica group, a language preprocessor and a runtime library system. The paper also presents one example and discusses some performance issues for replicated objects.

Grid-based method for ranking images with multiple objects

One of the content-based image retrieval techniques is the shape-based technique, which allows users to ask for objects similar in shape to a query object. Sajjanhar and Lu proposed a method for shape representation and similarity measure called the grid-based method [1]. They have shown that the method is effective for the retrieval of segmented objects based on shape. In this paper, we describe a system which uses the grid-based method for retrieval of images with multiple objects. We perform experiments on the prototype system to compare the performance of the grid-based method with the Fourier descriptors method [2]. Preliminary results have been presented.

An autonomous trimming system of large glass fiber reinforced plastics parts using an omni-directional mobile robot and its control

This paper describes an automated trimming system of large glass fiber reinforced plastic (GFRP) using an omni-directional wheeled mobile robot (WMR) and its path control method. In trimming GFRP parts, much glass fiber and plastic powder dust occur and it becomes bad visible in environment. It is necessary to correct dead-reckoning errors of the WMR in order to control its moving path. We have discussed an external correction method of the dead-reckoning errors for the WMR using ultrasonic sensor.

Terminal approach navigation for autonomous robots in a sensory network

In this paper we present a technique based on precision guidance approach for the sensor delivery and reception problem between two mobile robots. A slave robot is employed to collect sensors and slack them on a tray carried by the mobile master robot. We define the terminal attitude of the slave robot with respect to the master and present a LQR control approach to solving the problem of achieving a desired terminal approach angle necessary for the appropriate sensor delivery. The approach criteria is defined in terms of both minimizing the miss distance and controlling the slave robot's body attitude with respect to the master robot at the terminal point.

Robust terminal attitude navigation for autonomous vehicles

Here we define the terminal attitude of the pursuer with respect to a target and present a LQR and H¿ control approach to solving the problem of pursuer achieving a desired terminal attack/approach angle. The intercept or engagement criteria is defined in terms of both minimizing the miss distance and controlling the pursuer's body attitude with respect to the target at the terminal point. This approach in comparison to previous approaches consider the relativistic approach of the pursuer with respect to the target as opposed the absolute velocities of the two dynamic bodies, and have possible applications ranging from autonomous vehicle entry in to a mother craft to nossle engagements in on-flight refuelling or even in precision missile guidance. Here we also suitably formulate the H¿ control ideas directly applicable to the underlying problem and presents both state feedback and output feed back results for the case of finite horizon and non-zero initial conditions together with a optimal parameter value to achieve a desired terminal characteristic in terms of the original weighting parameters.

Using autonomous mobile agents for efficient data collection in sensor networks

Sensor networks are emerging as the new frontier in sensing technology, however there are still issues that need to be addressed. Two such issues are data collection and energy conservation. We consider a mobile robot, or a mobile agent, traveling the network collecting information from the sensors themselves before their onboard memory storage buffers are full. A novel algorithm is presented that is an adaptation of a local search algorithm for a special case of the Asymmetric Traveling Salesman Problem with Time-windows (ATSPTW) for solving the dynamic scheduling problem of what nodes are to be visited so that the information collected is not lost. Our algorithms are given and compared to other work.

A comparative study of computational value in visual cues used in positioning 3D objects

This paper explores the comparative computational values of using a variety of visual cues in 3D environments. The authors reflect upon the possible repercussions of computationally less expensive visual cues on users' ability to efficiently and accurately interact with three-dimensional images. This study compares the effectiveness of expensive soft shadows against less expensive hard shadows and expensive partial-occlusion (obtained by semi-transparent surface) against less expensive occlusion on users' ability to accurately position objects in imminent contact with other objects in a three-dimensional environment.

Alternating heat transfer between objects of large geometrical difference

The heat transfer on the surface of an object in a gas fluidised bed is sequentially and alternately induced by particle-packet and gas bubble. This phenomenon is studied with computational simulation. The particle-packet and bubble are modelled by a double particle-layers and porous medium model and a hemispherical model, respectively. The heat transfer to and within the object is simulated concurrently. Different grid schemes are applied and different grid sizes are used in meshing the particle-packet and the object as there is a very large difference in their geometrical sizes. Based on theoretical analysis, an approximate method is developed to calculate the heat flux at the surface of the object. The simulation is implemented in a CFD package and the results are compared with experiments.