Modelling the Provenance of Data in Autonomous Systems

Determining the provenance of data, i.e. the process that led to that data, is vital in many disciplines. For example, in science, the process that produced a given result must be demonstrably rigorous for the result to be deemed reliable. A provenance system supports applications in recording adequate documentation about process executions to answer queries regarding provenance, and provides functionality to perform those queries. Several provenance systems are being developed, but all focus on systems in which the components are textitreactive, for example Web Services that act on the basis of a request, job submission system, etc. This limitation means that questions regarding the motives of autonomous actors, or textitagents, in such systems remain unanswerable in the general case. Such questions include: who was ultimately responsible for a given effect, what was their reason for initiating the process and does the effect of a process match what was intended to occur by those initiating the process? In this paper, we address this limitation by integrating two solutions: a generic, re-usable framework for representing the provenance of data in service-oriented architectures and a model for describing the goal-oriented delegation and engagement of agents in multi-agent systems. Using these solutions, we present algorithms to answer common questions regarding responsibility and success of a process and evaluate the approach with a simulated healthcare example.

Evolutionary Testing of Autonomous Software Agents

A system built in terms of autonomous agents may require even greater correctness assurance than one which is merely reacting to the immediate control of its users. Agents make substantial decisions for themselves, so thorough testing is an important consideration. However, autonomy also makes testing harder; by their nature, autonomous agents may react in different ways to the same inputs over time, because, for instance they have changeable goals and knowledge. For this reason, we argue that testing of autonomous agents requires a procedure that caters for a wide range of test case contexts, and that can search for the most demanding of these test cases, even when they are not apparent to the agents’ developers. In this paper, we address this problem, introducing and evaluating an approach to testing autonomous agents that uses evolutionary optimization to generate demanding test cases.

Asymptomatic hypoechoic regions on patellar tendon ultrasound : a 4-year clinical and ultrasound followup of 46 tendons

Patellar tendon ultrasound appearance is commonly used in clinical practice to diagnose patellar tendinopathy and guide management. Using a longitudinal study design we examined whether or not the presence of a hypoechoic ultrasonographic lesion in an asymptomatic patellar tendon conferred a risk for developing jumper's knee compared with a tendon that was ultrasonographically normal. Ultrasonographic, symptomatic and anthropometric assessment was completed at baseline and followup. Magnetic resonance imaging was performed on four tendons that resolved ultrasonographically in the study period. Forty-six patellar tendons were followed over 47±11.8 months. Eighteen tendons were hypoechoic at baseline and 28 were ultrasonographically normal. Five tendons resolved ultrasonographically in the study period. Magnetic resonance imaging in four of these tendons was normal. Seven normal patellar tendons at baseline developed a hypoechoic area but only two became symptomatic. Analysis of ultrasonography at baseline and clinical outcome with Fisher's exact test shows there is no association between baseline ultrasound changes and symptoms at followup. In this study there is no statistically significant relationship between ultrasonographic patellar tendon abnormalities and clinical outcome in elite male athletes. Management of jumper's knee should not be solely based on ultrasonographic appearance; clinical assessment remains the cornerstone of appropriate management.

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.

Discovery of late Changhsingian (latest Permian) brachiopod Attenuatella species from South China

Attenuatella mengi sp. nov. and ?Attenuatella sp. from the Talung Formation, southern Guangxi Zhuang Autonomous Region, South China, are described herein. This discovery represents the first report of Attenuatella from the late Changhsingian (latest Permian) in South China and provides evidence that Attenuatella expanded its range from high-latitude cold-water regions to palaeoequatorial warm water areas in the Late Permian. Attenuatella
species appear to have been pseudoplanktonic, judging from their hair-like spinose ornamentation, which could have contributed to the global palaeogeographical distribution of Attenuatella.

Biophysical Regions of Maine

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