Learning and adaptation in physical heterogeneous teams of robots

In this paper we present a novel approach to assigning roles to robots in a team of physical heterogeneous robots. Its members compete for these roles and get rewards for them. The rewards are used to determine each agent’s preferences and which agents are better adapted to the environment. These aspects are included in the decision making process. Agent interactions are modelled using the concept of an ecosystem in which each robot is a species, resulting in emergent behaviour of the whole set of agents. One of the most important features of this approach is its high adaptability. Unlike some other learning techniques, this approach does not need to start a whole exploitation process when the environment changes. All this is exemplified by means of experiments run on a simulator. In addition, the algorithm developed was applied as applied to several teams of robots in order to analyse the impact of heterogeneity in these systems

Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments

This paper shows the impact of the atomic capabilities concept to include control-oriented knowledge of linear control systems in the decisions making structure of physical agents. These agents operate in a real environment managing physical objects (e.g. their physical bodies) in coordinated tasks. This approach is presented using an introspective reasoning approach and control theory based on the specific tasks of passing a ball and executing the offside manoeuvre between physical agents in the robotic soccer testbed. Experimental results and conclusions are presented, emphasising the advantages of our approach that improve the multi-agent performance in cooperative systems

A formalization for multi-agent decision support in cooperative environments. A framework for situated agents

La tesis propone un marco de trabajo para el soporte de la toma de decisiones adecuado para soportar la ejecución distribuida de acciones cooperativas en entornos multi-agente dinámicos y complejos. Soporte para la toma de decisiones es un proceso que intenta mejorar la ejecución de la toma de decisiones en escenarios cooperativos. Este proceso ocurre continuamente en la vida diaria. Los humanos, por ejemplo, deben tomar decisiones acerca de que ropa usar, que comida comer, etc. En este sentido, un agente es definido como cualquier cosa que está situada en un entorno y que actúa, basado en su observación, su interpretación y su conocimiento acerca de su situación en tal entorno para lograr una acción en particular.Por lo tanto, para tomar decisiones, los agentes deben considerar el conocimiento que les permita ser consientes en que acciones pueden o no ejecutar. Aquí, tal proceso toma en cuenta tres parámetros de información con la intención de personificar a un agente en un entorno típicamente físico. Así, el mencionado conjunto de información es conocido como ejes de decisión, los cuales deben ser tomados por los agentes para decidir si pueden ejecutar correctamente una tarea propuesta por otro agente o humano. Los agentes, por lo tanto, pueden hacer mejores decisiones considerando y representando apropiadamente tal información. Los ejes de decisión, principalmente basados en: las condiciones ambientales, el conocimiento físico y el valor de confianza del agente, provee a los sistemas multi-agente un confiable razonamiento para alcanzar un factible y exitoso rendimiento cooperativo.Actualmente, muchos investigadores tienden a generar nuevos avances en la tecnología agente para incrementar la inteligencia, autonomía, comunicación y auto-adaptación en escenarios agentes típicamente abierto y distribuidos. En este sentido, esta investigación intenta contribuir en el desarrollo de un nuevo método que impacte tanto en las decisiones individuales como colectivas de los sistemas multi-agente. Por lo tanto, el marco de trabajo propuesto ha sido utilizado para implementar las acciones concretas involucradas en el campo de pruebas del fútbol robótico. Este campo emula los juegos de fútbol real, donde los agentes deben coordinarse, interactuar y cooperar entre ellos para solucionar tareas complejas dentro de un escenario dinámicamente cambiante y competitivo, tanto para manejar el diseño de los requerimientos involucrados en las tareas como para demostrar su efectividad en trabajos colectivos. Es así que los resultados obtenidos tanto en el simulador como en el campo real de experimentación, muestran que el marco de trabajo para el soporte de decisiones propuesto para agentes situados es capaz de mejorar la interacción y la comunicación, reflejando en un adecuad y confiable trabajo en equipo dentro de entornos impredecibles, dinámicos y competitivos. Además, los experimentos y resultados también muestran que la información seleccionada para generar los ejes de decisión para situar a los agentes, es útil cuando tales agentes deben ejecutar una acción o hacer un compromiso en cada momento con la intención de cumplir exitosamente un objetivo colectivo. Finalmente, algunas conclusiones enfatizando las ventajas y utilidades del trabajo propuesto en la mejora del rendimiento colectivo de los sistemas multi-agente en situaciones tales como tareas coordinadas y asignación de tareas son presentadas.

Energy Management and Control for Islanded Microgrid Using Multi-Agents

This paper presents a multi-agent system for real-time operation of simulated microgrid using the Smart-Grid Test Bed at Washington State University. The multi-agent system (MAS) was developed in JADE (Java Agent DEvelopment Framework) which is a Foundation for Intelligent Physical Agents (FIPA) compliant open source multi-agent platform. The proposed operational strategy is mainly focused on using an appropriate energy management and control strategies to improve the operation of an islanded microgrid, formed by photovoltaic (PV) solar energy, batteries and resistive and rotating machines loads. The focus is on resource management and to avoid impact on loads from abrupt variations or interruption that changes the operating conditions. The management and control of the PV system is performed in JADE, while the microgrid model is simulated in RSCAD/RTDS (Real-Time Digital Simulator). Finally, the outcome of simulation studies demonstrated the feasibility of the proposed multi-agent approach for real-time operation of a microgrid.

Short-term efficacy of physical interventions in osteoarthritic knee pain. A systematic review and meta-analysis of randomised placebo-controlled trials

Abstract Background Treatment efficacy of physical agents in osteoarthritis of the knee (OAK) pain has been largely unknown, and this systematic review was aimed at assessing their short-term efficacies for pain relief. Methods Systematic review with meta-analysis of efficacy within 1–4 weeks and at follow up at 1–12 weeks after the end of treament. Results 36 randomised placebo-controlled trials (RCTs) were identified with 2434 patients where 1391 patients received active treatment. 33 trials satisfied three or more out of five methodological criteria (Jadad scale). The patient sample had a mean age of 65.1 years and mean baseline pain of 62.9 mm on a 100 mm visual analogue scale (VAS). Within 4 weeks of the commencement of treatment manual acupuncture, static magnets and ultrasound therapies did not offer statistically significant short-term pain relief over placebo. Pulsed electromagnetic fields offered a small reduction in pain of 6.9 mm [95% CI: 2.2 to 11.6] (n = 487). Transcutaneous electrical nerve stimulation (TENS, including interferential currents), electro-acupuncture (EA) and low level laser therapy (LLLT) offered clinically relevant pain relieving effects of 18.8 mm [95% CI: 9.6 to 28.1] (n = 414), 21.9 mm [95% CI: 17.3 to 26.5] (n = 73) and 17.7 mm [95% CI: 8.1 to 27.3] (n = 343) on VAS respectively versus placebo control. In a subgroup analysis of trials with assumed optimal doses, short-term efficacy increased to 22.2 mm [95% CI: 18.1 to 26.3] for TENS, and 24.2 mm [95% CI: 17.3 to 31.3] for LLLT on VAS. Follow-up data up to 12 weeks were sparse, but positive effects seemed to persist for at least 4 weeks after the course of LLLT, EA and TENS treatment was stopped. Conclusion TENS, EA and LLLT administered with optimal doses in an intensive 2–4 week treatment regimen, seem to offer clinically relevant short-term pain relief for OAK.

Robot building for preschoolers

This paper describes Electronic Blocks, a new robot construction element designed to allow children as young as age three to build and program robotic structures. The Electronic Blocks encapsulate input, output and logic concepts in tangible elements that young children can use to create a wide variety of physical agents. The children are able to determine the behavior of these agents by the choice of blocks and the manner in which they are connected. The Electronic Blocks allow children without any knowledge of mechanical design or computer programming to create and control physically embodied robots. They facilitate the development of technological capability by enabling children to design, construct, explore and evaluate dynamic robotics systems. A study of four and five year-old children using the Electronic Blocks has demonstrated that the interface is well suited to young children. The complexity of the implementation is hidden from the children, leaving the children free to autonomously explore the functionality of the blocks. As a consequence, children are free to move their focus beyond the technology. Instead they are free to focus on the construction process, and to work on goals related to the creation of robotic behaviors and interactions. As a resource for robot building, the blocks have proved to be effective in encouraging children to create robot structures, allowing children to design and program robot behaviors.

Development of distributed fuzzy systems with a runtime-adaptable mobile components framework

A distributed fuzzy system is a real-time fuzzy system in which the input, output and computation may be located on different networked computing nodes. The ability for a distributed software application, such as a distributed fuzzy system, to adapt to changes in the computing network at runtime can provide real-time performance improvement and fault-tolerance. This paper introduces an Adaptable Mobile Component Framework (AMCF) that provides a distributed dataflow-based platform with a fine-grained level of runtime reconfigurability. The execution location of small fragments (possibly as little as few machine-code instructions) of an AMCF application can be moved between different computing nodes at runtime. A case study is included that demonstrates the applicability of the AMCF to a distributed fuzzy system scenario involving multiple physical agents (such as autonomous robots). Using the AMCF, fuzzy systems can now be developed such that they can be distributed automatically across multiple computing nodes and are adaptable to runtime changes in the networked computing environment. This provides the opportunity to improve the performance of fuzzy systems deployed in scenarios where the computing environment is resource-constrained and volatile, such as multiple autonomous robots, smart environments and sensor networks.

Analysis and prevention of extreme vibration in high speed craft - A research framework

Extreme vibration has been reported for small, high speed craft in the maritime sector, with performance and health threatening effects on boat operators and crew. Musculoskeletal injuries are an enduring problem for high speed craft passengers. Spinal or joint injuries and neurological disorders may occur from repetitive pounding over rough water, continued vibration and single impact events. The risk from whole body vibration (WBV) induced through the small vessels mainly depends on time spent on the craft, which can’t be changed in a military scenario; as well as the number of shocks and jolts, and their magnitude and frequency. In the European Union for example, physical agents directives require all employers to control exposure to a number of physical agents including noise and vibration. The EC Vibration Directive 2002/44/EC then sets out regulations for the control of health and safety risks from the exposure of workers to hand arm vibration (HAV) and WBV in the workplace. Australia has exposure standards relating to WBV, AS 2670.1-2001 – Evaluation of human exposure to whole body vibration. This standard is identical to the ISO 2631-1:1997, Mechanical vibration and shock – Evaluation of human exposure to whole-body vibration. Currently, none of the jurisdictions in Australia have specific regulations for vibration exposures in workplaces. However vibration is mentioned to varying degrees in their general regulations, codes of practice and guidance material. WBV on high speed craft is normally caused by “continuous 'hammering' from short steep seas or wind against tide conditions. Shock on High Speed Craft is usually caused by random impacts. Military organisations need the knowledge to make informed decisions regarding their marine operations, compliance with legislation and potentially harmful health effects, and develop and implement appropriate counter-measures. Marine case studies in the UK such as published MAIB (Marine Accident Investigation Branch) reports show injuries that have occurred in operation, and subsequent MCA (Maritime Coastguard Agency) guidance is provided (MGN 436 (M+F), WHOLE-BODY VIBRATION: Guidance on Mitigating Against the Effects of Shocks and Impacts on Small Vessels. MCA, 2011). This paper proposes a research framework to study the origin, impact and pathways for prevention of WBV in small, high speed craft in a maritime environment.

Scalable fault tolerant agent grooming environment-SAGE

Multi-agent systems (MAS) advocate an agent-based approach to software engineering based on decomposing problems in terms of decentralized, autonomous agents that can engage in flexible, high-level interactions. This chapter introduces scalable fault tolerant agent grooming environment (SAGE), a second-generation Foundation for Intelligent Physical Agents (FIPA)-compliant multi-agent system developed at NIIT-Comtec, which provides an environment for creating distributed, intelligent, and autonomous entities that are encapsulated as agents. The chapter focuses on the highlight of SAGE, which is its decentralized fault-tolerant architecture that can be used to develop applications in a number of areas such as e-health, e-government, and e-science. In addition, SAGE architecture provides tools for runtime agent management, directory facilitation, monitoring, and editing messages exchange between agents. SAGE also provides a built-in mechanism to program agent behavior and their capabilities with the help of its autonomous agent architecture, which is the other major highlight of this chapter. The authors believe that the market for agent-based applications is growing rapidly, and SAGE can play a crucial role for future intelligent applications development. © 2007, IGI Global.

可重构装配系统中智能体的开发

为了实现可重构装配系统的快速重构能力,在分析了传统控制结构的基础上,结合分层递阶和分布式控制的优点,提出了基于多智能体系统的混合控制体系结构。这种结构具有低复杂性、强鲁棒性、易维护性、可扩展性以及可重用性等特点,能够适应重构系统的要求。在遵守智能物理代理基金会规范的前提下,以Java智能体开发平台进行了装配系统中各层智能体的实例开发。

The Importance of Religious Displays for Belief Acquisition and Secularization

Both the sociology and the cognitive science of religion seek to explain the acquisition of religious beliefs. In this article, I offer an account of the acquisition and distribution of religious beliefs using the findings of both fields. In the process, I seek to illustrate the potential of interdisciplinary dialogue for improving our understanding of religion and its absence. More specifically, I present a prima facie case—based on existing work in the social and cognitive sciences, exploratory online surveys, and participant observation—that witnessing actions attesting to religious claims is one of the most crucial variables determining whether or not an individual will explicitly believe such claims. Further, I argue that the connection between action and belief can help produce an improved account of secularization and non-theism, defined here as the lack of explicit belief in the existence of non-physical agents.

Control of biofilm growth through photodynamic treatments combined with chemical inhibitors: in vitro evaluation methods

The rock/atmosphere interface is inhabited by a complex microbial community including bacteria, algae and fungi. These communities are prominent biodeterioration agents and remarkably influence the status of stone monuments and buildings. Deeper comprehension of natural biodeterioration processes on stone surfaces has brought about a concept of complex microbial communities referred to as "subaerial biofilms". The practical implications of biofilm formation are that control strategies must be devised both for testing the susceptibility of the organisms within the biofilm and treating the established biofilm. Model multi-species biofilms associated with mineral surfaces that are frequently refractory to conventional treatment have been used as test targets. A combination of scanning microscopy with image analysis was applied along with traditional cultivation methods and fluorescent activity stains. Such a polyphasic approach allowed a comprehensive quantitative evaluation of the biofilm status and development. Effective treatment strategies incorporating chemical and physical agents have been demonstrated to prevent biofilm growth in vitro. Model biofilm growth on inorganic support was significantly reduced by a combination of PDT and biocides

Caractérisation du rôle de l’amyline (IAPP) dans le diabète de type 2 : études de dérivés peptidiques et de composés inhibiteurs de la formation d’amyloïde

L’amyloïdose, une maladie progressive et incurable, implique une vaste panoplie de pathologies et de pathogénèses, qui est expliquée par la grande variabilité biologique et structurale des protéines responsables de la formation des dépôts d’amyloïde. L’amyline (polypeptide amyloïde des îlots pancréatiques, IAPP) est une protéine très susceptible de subir des changements de conformation impliquant les feuillets bêta et conférant aussi des propriétés physicochimiques distinctes. Cette protéine prend alors une forme fibrillaire et se dépose dans les îlots de Langerhans chez les humains atteints de diabète de type 2 ou d’insulinome. Ces dépôts d’amyloïde pancréatique (AIAPP) ont été décrits chez certaines espèces animales telles que les félins domestiques, les grands félins, le raton laveur et les primates non humains. La formation de dépôts d’amyloïde contribue à la pathogénèse du diabète de type 2, mais les mécanismes qui induisent la conversion de l’amyline (IAPP) en amyloïde (AIAPP) ne sont pas complètement compris. Les hypothèses du projet sont que certaines variations présentes dans les séquences peptidiques de l’IAPP provenant de différentes espèces animales jouent un rôle critique pour la formation de fibrilles et que plusieurs composés chimiques aromatiques/phénoliques sont capables d’abroger la formation de dépôts d’amyloïde. Le projet de recherche consiste donc à caractériser la propension des différentes isoformes animales d’IAPP à former de l’amyloïde in vitro afin d’identifier les acides aminés jouant un rôle clé dans cette transformation structurale et ultimement d’inhiber la formation d’amyloïde pancréatique. Le projet se divise en deux volets principaux. Le premier consiste à identifier les différentes séquences peptidiques de l’IAPP retrouvées chez les espèces animales. L’objectif est d’identifier les acides aminés jouant un rôle clé dans la formation d’amyloïde. Le gène de l’IAPP a été séquencé chez plus d’une quarantaine d’espèces. Le potentiel d’agrégation des séquences obtenues a été simulé à l’aide d’outils bioinformatique. Une librairie de 23 peptides a été commandée afin de procéder à des analyses physicochimiques in vitro permettant d’évaluer le potentiel amyloïdogénique (test fluorimétrique à la thioflavine T, essai de liaison au rouge Congo, dichroïsme circulaire, microscopie électronique à transmission) et cytotoxique (sur une lignée cellulaire provenant d’insulinome : INS-1). Les analyses effectuées à partir de la librairie constituée de 23 peptides ont permis d’identifier trois séquences ne formant pas d’amyloïde et qui proviennent des espèces animales suivantes : le tamarin lion doré (Leontopithecus rosalia), le grand dauphin (Tursiops truncatus) et l’alpaga (Vicugna pacos). Un site potentiellement critique est le segment 8-20 présentant le motif NFLVH qui ne forme plus d’amyloïde lorsqu’il est remplacé par le motif DFLGR ou KFLIR. Les acides aminés 29P, 14K et 18R sont également impliqués dans l’inhibition de la transformation structurale en fibrille. La dernière partie du projet consiste à inhiber la formation de l’amyloïde en utilisant des composés chimiques commercialisés (hypoglycémiants, anti-inflammatoires non stéroïdiens) ou nouvellement synthétisés dans notre laboratoire (les aryles éthyles urées). Un criblage d’une soixantaine de composés chimiques a été conduit dans cette étude. Leur efficacité a été testée sur l’IAPP humaine, qui possède un fort potentiel amyloïdogénique. Les techniques utilisées sont les mêmes que celles exploitées précédemment. L’essai de liaison croisée photo-induite ("photo-induced cross-linking of unmodified proteins", PICUP) a été réalisé afin d’étudier les formes intermédiaires (monomères, oligomères). Un total de 11 composés chimiques a démontré un potentiel à inhiber l’agrégation des fibrilles. Pour la classe des hypoglycémiants, le glyburide, le répaglinide et la troglitazone ont montré l’activité thérapeutique la plus élevée pour retarder et réduire la formation de fibrilles. Les anti-inflammatoires antiamyloïdogènes actifs incluaient le diclofenac, le méloxicam, le phénylbutazone, le sulindac et le ténoxicam. Les aryles étyles urées les plus intéressantes étaient la EU-362 et la EU-418. Tous ces composés ont conféré une protection cellulaire contre l’activité cytotoxique des fibrilles. Les molécules actives possèdent des éléments structuraux communs tels des substituants donneurs d’électrons (alcool, amine, halogène) sur un noyau benzène. En conclusion, ce projet de recherche a permis de caractériser l’IAPP chez diverses espèces animales, dont plusieurs chez lesquelles elle n’avait pas encore été décrite, de déterminer les sites jouant un rôle clé dans sa transformation en amyloïde et, ultimement, de tester le potentiel thérapeutique de nouveaux agents antiamyloïdogènes dans le diabète de type 2. Nous espérons que ce projet ouvrira ainsi la porte à de nouvelles stratégies de traitement.

Fisioterapia en la rehabilitación del usuario con síndrome doloroso regional complejo

Por sus múltiples causas y su sintomatología inespecífica, el síndrome doloroso regional complejo es una de las situaciones clínicas que mayor dificultad genera en el tratamiento fisioterapéutico. Este síndrome se define como una disfunción vasomotora, mediada por el sistema simpático en donde su manifestación primaria es un dolor que aumenta y permanece en el tiempo y que no tolera las diferentes modalidades y técnicas utilizadas por los Fisioterapeutas como herramientas de intervención. A través del tiempo el Fisioterapeuta ha tenido una acción relevante en el manejo del usuario con dolor, sin importar la causa o consecuencia del mismo. Por esta razón con esta revisión se quiere, integrar acciones terapéuticas como la carga de peso, la desensibilización y la relajación, que han dado excelentes resultados, a las prácticas tradicionales (medios físicos, ultrasonido, masaje sedativo y diferentes tipos de corrientes) aplicables a quienes padecen dolor secundario, traumático o visceral que compromete el sistema simpático en forma refleja.

Hidrolipoclasia con solución salina hipotónica versus isotónica en adiposidad localizada

Introducción: La hidrolipoclasia es una técnica de moldeamiento corporal consistente en la infiltración de una solución en el tejido adiposo con la consiguiente aplicación de ultrasonido para producir lisis en los adipocitos y reducción del tejido adiposo en el área de tratamiento. Sin embargo, existen múltiples variaciones a la técnica, entre ellas el tipo de solución utilizada. El objetivo de este estudio fue comparar los resultados con la técnica de hidrolipoclasia en cuanto a reducción de medidas con el uso de solución salina hipotónica versus isotónica. Metodología: Estudio descriptivo de corte transversal, se analizaron historias clínicas de pacientes a los que se les realizó hidrolipoclasia entre enero de 2013 y febrero 2014 en dos centros médicos estéticos de Bogotá. Se compararon dos técnicas (utilizando solución salina isotónica versus hipotónica) en cuanto a la disminución de medidas antropométricas tomadas antes y después del tratamiento. Los datos fueron analizados mediante la comparación de medias utilizando la prueba t de Student. Resultados: Se analizaron 37 historias clínicas, 19 pacientes sometidos a hidrolipoclasia con solución salina hipotónica y 18 con isotónica. Después de la realización de un procedimiento hubo una disminución estadísticamente significativa (p: 0,000) en todas las medidas antropométricas evaluadas, siendo mayor comparativamente en los pacientes tratados con solución hipotónica en cintura, perímetro abdominal y perímetro a nivel de crestas iliacas. Los efectos secundarios incluyeron equimosis y hematomas. No se presentaron complicaciones. Conclusión: La hidrolipoclasia es segura y eficaz en el manejo de adiposidad localizada, teniendo una mayor efectividad cuando se utiliza solución salina hipotónica.