Swarm control designs applied to a non-ideal load transportation system

In this paper, a load transport system in platforms is considered. It is a transport device and is modelled as an inverted pendulum built on a car driven by a DC motor. The motion equations were obtained by Lagrange's equations. The mathematical model considers the interaction between the DC motor and the dynamic system. The dynamic system was analysed and a Swarm Control Design was developed to stabilize the model of this load transport system. ©2010 IEEE.

Swarm control designs applied to a micro-electro-mechanical gyroscope system (MEMS)

This paper analyzes the non-linear dynamics of a MEMS Gyroscope system, modeled with a proof mass constrained to move in a plane with two resonant modes, which are nominally orthogonal. The two modes are ideally coupled only by the rotation of the gyro about the plane's normal vector. We demonstrated that this model has an unstable behavior. Control problems consist of attempts to stabilize a system to an equilibrium point, a periodic orbit, or more general, about a given reference trajectory. We also developed a particle swarm optimization technique for reducing the oscillatory movement of the nonlinear system to a periodic orbit. © 2010 Springer-Verlag.

Age polyethism in the swarm-founding wasp Metapolybia miltoni (andena & carpenter) (Hymenoptera: Vespidae; Polistinae, epiponini)

In Epiponini division of labor is associated with age polyethism and individual task specialization. We observed worker activities in three colonies of Metapoybia miltoni in Brazil. We analyzed differences of task allocation among age groups. Old workers tend to forage more than young, but age polyethism was less evident in other tasks. Age composition of population could be a determinant factor in task allocation. Workers are probably allocating to perform tasks according to colony needs, and not to individual's age. Considering age population in studies of division of labor could help to understand how colonies respond to different situations.

Metaheurística particle swarm utilizada para alocação ótima de bancos de capacitores em sistemas de distribuição radial

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Particle swarm optimization aplicada ao planejamento da expansão de sistemas de transmissão

Pós-graduação em Engenharia Elétrica - FEIS

Age polyethism in the swarm-founding wasp Metapolybia miltoni (Andena & Carpenter) (Hymenoptera: Vespidae; Polistinae, Epiponini)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Marimbondos: a review on the neotropical swarm-founding polistines

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Morphology of Richards' gland in the swarm-founding wasp (Hymenoptera, Vespidae)

Richards' gland is known for the majority of Epiponini wasps, and despite few experimental evidences, the taxonomic distribution in swarm-founder species and the function of this gland remain rather unclear. This work presents a morphological description of Richards' gland in Protonectarina sylveirae. The gland is formed by a cluster of class 3 cells underneath the anterior margin of the fifth metasomal sternite, and a reservoir formed by the intersegmental membrane between the fourth and fifth metasomal sternites where the secretion can be stored. The secretory cells contain a branched end apparatus that carries the secretory products towards the duct cell. Externally, the cuticle of the sternite, where the duct cells penetrate, is characterized by modifications as scales with very numerous pores. The presence of Richards' gland according to the model proposed by Samacá et al. 2013 in Protonectarina corroborates the single origin of this gland in Epiponini. The occurrence of a Golgi apparatus and smooth endoplasmic reticulum suggests pheromone production.

Morphological caste studies in the neotropical swarm-founding polistinae wasp Angiopolybia pattern (Lepeletier) (hymenoptera: Vespidae)

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Swarm-based descriptor combination and its application for image classification

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Petrology and Sr-Nd characteristics of the Nova Lacerda dike swarm, SW Amazonian Craton: new insights regarding its subcontinental mantle source and Mesoproterozoic geodynamics

The NNW-trending Nova Lacerda tholeiitic dike swarm in Mato Grosso State, Central Brazil, intrudes the Nova Lacerda granite (1.46 Ga) and the Jauru granite-greenstone terrain (ca. 1.79-1.77 Ga). The swarm comprises diabases I and II and amphibolites emplaced at ca. 1.38 Ga. Geochemical data indicate that these are evolved tholeiites characterized by high LILE/HSFE and LREE/HSFE ratios. Isotopic modelling yields positive epsilon(Nd)(T) values (+0.86 to +2.65), whereas values for epsilon(Sr)(T) range from positive to negative (+1.96 to -5.56). Crustal contamination did not play a significant petrogenetic role, as indicated by a comparison of isotopic data (Sr-Nd) from both dikes and country rocks, and by the relationship between isotopic and geochemical parameters (SiO2, K2O, Rb/Sr, and La/Yb) of the dikes. We attribute the origin of these tholeiites to fractional crystallization of evolved melts derived from a heterogeneous mantle source. Comparison of the geochemical and isotopic data of the studied swarm and other tholeiitic Mesoproterozoic mafic intrusions of the SWAmazonian Craton the Serra da Providencia, Colorado, and Nova Brasilandia bimodal suites - indicates that parental melts of the Nova Lacerda swarm were derived from the most enriched mantle source. This enrichment was probably caused by the stronger influence of the EMI component on the DMM end-member. These data, coupled with trace element bulk-rock geochemistry of the country rocks, and comparisons with the Colorado Complex of similar age, suggest a continental-margin arc setting for the emplacement of the Nova Lacerda dikes.

Cash balance management: A comparison between genetic algorithms and particle swarm optimization

This work aimed to apply genetic algorithms (GA) and particle swarm optimization (PSO) in cash balance management using Miller-Orr model, which consists in a stochastic model that does not define a single ideal point for cash balance, but an oscillation range between a lower bound, an ideal balance and an upper bound. Thus, this paper proposes the application of GA and PSO to minimize the Total Cost of cash maintenance, obtaining the parameter of the lower bound of the Miller-Orr model, using for this the assumptions presented in literature. Computational experiments were applied in the development and validation of the models. The results indicated that both the GA and PSO are applicable in determining the cash level from the lower limit, with best results of PSO model, which had not yet been applied in this type of problem.

Shape differences rather than size differences between castes in the Neotropical swarm-founding wasp Metapolybia docilis (Hymenoptera: Vespidae, Epiponini)

Abstract Background Swarm-founding epiponine wasps are an intriguing group of social insects in which colonies are polygynic (several queens share reproduction) and differentiation between castes is often not obvious. However, caste differences in some may be more pronounced in later phases of the colony cycle. Results Using morphometric analyses and multivariate statistics, it was found that caste differences in Metapolybia docilis are slight but more distinct in latter stages of the colony cycle. Conclusions Because differences in body parts are so slight, it is proposed that such variation may be due to differential growth rates of body parts rather than to queens being larger in size, similar to other previously observed epiponines.

Swarm intelligence in computer vision: an application to object tracking

Tesis en inglés. Eliminadas las páginas en blanco del pdf

On the Design of a Boolean-network Robot Swarm: Collective Recognition of Ground Patterns.

Uno dei principali ambiti di ricerca dell’intelligenza artificiale concerne la realizzazione di agenti (in particolare, robot) in grado di aiutare o sostituire l’uomo nell’esecuzione di determinate attività. A tal fine, è possibile procedere seguendo due diversi metodi di progettazione: la progettazione manuale e la progettazione automatica. Quest’ultima può essere preferita alla prima nei contesti in cui occorra tenere in considerazione requisiti quali flessibilità e adattamento, spesso essenziali per lo svolgimento di compiti non banali in contesti reali. La progettazione automatica prende in considerazione un modello col quale rappresentare il comportamento dell’agente e una tecnica di ricerca (oppure di apprendimento) che iterativamente modifica il modello al fine di renderlo il più adatto possibile al compito in esame. In questo lavoro, il modello utilizzato per la rappresentazione del comportamento del robot è una rete booleana (Boolean network o Kauffman network). La scelta di tale modello deriva dal fatto che possiede una semplice struttura che rende agevolmente studiabili le dinamiche tuttavia complesse che si manifestano al suo interno. Inoltre, la letteratura recente mostra che i modelli a rete, quali ad esempio le reti neuronali artificiali, si sono dimostrati efficaci nella programmazione di robot. La metodologia per l’evoluzione di tale modello riguarda l’uso di tecniche di ricerca meta-euristiche in grado di trovare buone soluzioni in tempi contenuti, nonostante i grandi spazi di ricerca. Lavori precedenti hanno gia dimostrato l’applicabilità e investigato la metodologia su un singolo robot. Lo scopo di questo lavoro è quello di fornire prova di principio relativa a un insieme di robot, aprendo nuove strade per la progettazione in swarm robotics. In questo scenario, semplici agenti autonomi, interagendo fra loro, portano all’emergere di un comportamento coordinato adempiendo a task impossibili per la singola unità. Questo lavoro fornisce utili ed interessanti opportunità anche per lo studio delle interazioni fra reti booleane. Infatti, ogni robot è controllato da una rete booleana che determina l’output in funzione della propria configurazione interna ma anche dagli input ricevuti dai robot vicini. In questo lavoro definiamo un task in cui lo swarm deve discriminare due diversi pattern sul pavimento dell’arena utilizzando solo informazioni scambiate localmente. Dopo una prima serie di esperimenti preliminari che hanno permesso di identificare i parametri e il migliore algoritmo di ricerca, abbiamo semplificato l’istanza del problema per meglio investigare i criteri che possono influire sulle prestazioni. E’ stata così identificata una particolare combinazione di informazione che, scambiata localmente fra robot, porta al miglioramento delle prestazioni. L’ipotesi è stata confermata applicando successivamente questo risultato ad un’istanza più difficile del problema. Il lavoro si conclude suggerendo nuovi strumenti per lo studio dei fenomeni emergenti in contesti in cui le reti booleane interagiscono fra loro.