Pub Date : 2019-01-01DOI: 10.4018/978-1-4666-4225-6.CH001
Ken Saito, M. Takato, Y. Sekine, F. Uchikoba
Insect type 4.0, 2.7, 2.5 mm. width, length, height size silicon micro-robot system with active hardware neural networks locomotion controlling system is presented in this chapter. The micro-robot system was made from a silicon wafer fabricated by Micro-Electro Mechanical Systems (MEMS) technology. The mechanical system of the robot equipped with millimeter-size rotary type actuators, link mechanisms, and six legs to realize the insect-like switching behavior. In addition, the authors constructed the active hardware neural networks by analog CMOS circuits as a locomotion controlling system. Hardware neural networks consisted of pulse-type hardware neuron models as basic components. Pulse-type hardware neuron model has same basic features of biological neurons such as threshold, refractory period, spatio-temporal summation characteristics, and enables the generation of continuous action potentials. The hardware neural networks output the driving pulses using synchronization phenomena such as biological neural networks. Four output signal ports are extracted from hardware neural networks, and they are connected to the actuators. The driving pulses can operate the actuators of silicon micro-robot directly. Therefore, the hardware neural networks realize the robot control without using any software programs or A/D converters. The micro-robot emulates the locomotion method and the neural networks of an insect with rotary type actuators, link mechanisms, and hardware neural networks. The micro-robot performs forward and backward locomotion, and also changes direction by inputting an external trigger pulse. The locomotion speed was 26.4 mm/min when the step width was 0.88 mm.
{"title":"Silicon Micro-Robot With Neural Networks","authors":"Ken Saito, M. Takato, Y. Sekine, F. Uchikoba","doi":"10.4018/978-1-4666-4225-6.CH001","DOIUrl":"https://doi.org/10.4018/978-1-4666-4225-6.CH001","url":null,"abstract":"Insect type 4.0, 2.7, 2.5 mm. width, length, height size silicon micro-robot system with active hardware neural networks locomotion controlling system is presented in this chapter. The micro-robot system was made from a silicon wafer fabricated by Micro-Electro Mechanical Systems (MEMS) technology. The mechanical system of the robot equipped with millimeter-size rotary type actuators, link mechanisms, and six legs to realize the insect-like switching behavior. In addition, the authors constructed the active hardware neural networks by analog CMOS circuits as a locomotion controlling system. Hardware neural networks consisted of pulse-type hardware neuron models as basic components. Pulse-type hardware neuron model has same basic features of biological neurons such as threshold, refractory period, spatio-temporal summation characteristics, and enables the generation of continuous action potentials. The hardware neural networks output the driving pulses using synchronization phenomena such as biological neural networks. Four output signal ports are extracted from hardware neural networks, and they are connected to the actuators. The driving pulses can operate the actuators of silicon micro-robot directly. Therefore, the hardware neural networks realize the robot control without using any software programs or A/D converters. The micro-robot emulates the locomotion method and the neural networks of an insect with rotary type actuators, link mechanisms, and hardware neural networks. The micro-robot performs forward and backward locomotion, and also changes direction by inputting an external trigger pulse. The locomotion speed was 26.4 mm/min when the step width was 0.88 mm.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"83 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89788030","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.CH035
Beverly B. Ray, C. Faure
The chapter proposes to outline best practices in the use of a set of mini-robots (i.e., smart gadgets) to promote active and meaningful learning in the Social Sciences. Key K-12 social science skills supported by their use include coding, sequencing, including time lining, map making, planning, organizing, peer collaboration, and the comprehension and interpretation of maps and written texts. The theoretical foundation supporting the use in the Social Sciences of is examined in this chapter. Next, barriers to use are explored before moving into an examination of one strategy for integration into the Social Sciences. Finally, the chapter concludes with an exploration of issues and recommendations for mitigating those issues will be discussed along with linkage of use to specific Social Science concept (i.e., discovery, exploration, and technology).
{"title":"Mini-Robots as Smart Gadgets","authors":"Beverly B. Ray, C. Faure","doi":"10.4018/978-1-5225-8060-7.CH035","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.CH035","url":null,"abstract":"The chapter proposes to outline best practices in the use of a set of mini-robots (i.e., smart gadgets) to promote active and meaningful learning in the Social Sciences. Key K-12 social science skills supported by their use include coding, sequencing, including time lining, map making, planning, organizing, peer collaboration, and the comprehension and interpretation of maps and written texts. The theoretical foundation supporting the use in the Social Sciences of is examined in this chapter. Next, barriers to use are explored before moving into an examination of one strategy for integration into the Social Sciences. Finally, the chapter concludes with an exploration of issues and recommendations for mitigating those issues will be discussed along with linkage of use to specific Social Science concept (i.e., discovery, exploration, and technology).","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88924301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.ch067
Lennart Asbach, H. Hungar, M. Meyer zu Hörste
The need for time- and cost-efficient tests is highly relevant for state-of-the-art safety-related train control and rail traffic management systems. Those systems get increasingly more complex and so testing becomes a more and more and important cost factor. This chapter discusses some approaches to relocate tests from the field to the lab, reduce cost and duration while improving quality of lab tests. The European Train Control System (ETCS) is used as an example, but the approaches and results can be applied to other systems as well, for instance interlocking.
{"title":"Automated Testing","authors":"Lennart Asbach, H. Hungar, M. Meyer zu Hörste","doi":"10.4018/978-1-5225-8060-7.ch067","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.ch067","url":null,"abstract":"The need for time- and cost-efficient tests is highly relevant for state-of-the-art safety-related train control and rail traffic management systems. Those systems get increasingly more complex and so testing becomes a more and more and important cost factor. This chapter discusses some approaches to relocate tests from the field to the lab, reduce cost and duration while improving quality of lab tests. The European Train Control System (ETCS) is used as an example, but the approaches and results can be applied to other systems as well, for instance interlocking.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"28 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78361363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-4666-2211-1.CH033
Fotios Papadopoulos, K. Dautenhahn, W. C. Ho
This book chapter describes the implementation, testing, and evaluation of the first prototype of the “AIBOcom” system, which allows remote users to play an interactive game cooperatively each using a pet-like robot as a social mediator. An exploratory pilot study tested this remote communication system with 10 pairs of participants who were exposed to two experimental conditions characterised by two different modes of synchronisation between the two robots that each interacts locally with the participant. In one mode, the robots incrementally affected each other's behaviour, while in the other, the robots mirrored each other's behaviour. Instruments used in this study include questionnaires, video observations and log files for the game state. The authors used various techniques to measure engagement and synchronization such as quantitative (e.g. rate of occurrence and average values) as well as qualitative measurements. In an exploratory data analysis, these multiple sources of data reflecting participant performance and characteristics were analyzed. Significant correlations were found and presented between the participants as well as participants' preferences and overall acceptance of such communication media. Findings indicate that participants preferred the mirroring mode, and that in this pilot study, robot-assisted remote communication was considered desirable and acceptable to the participants. Furthermore, the existence of interaction variations among different demographic groups was found, while this chapter lists and interprets the most significant effects.
{"title":"Behavioral Analysis of Human-Human Remote Social Interaction Mediated by an Interactive Robot in a Cooperative Game Scenario","authors":"Fotios Papadopoulos, K. Dautenhahn, W. C. Ho","doi":"10.4018/978-1-4666-2211-1.CH033","DOIUrl":"https://doi.org/10.4018/978-1-4666-2211-1.CH033","url":null,"abstract":"This book chapter describes the implementation, testing, and evaluation of the first prototype of the “AIBOcom” system, which allows remote users to play an interactive game cooperatively each using a pet-like robot as a social mediator. An exploratory pilot study tested this remote communication system with 10 pairs of participants who were exposed to two experimental conditions characterised by two different modes of synchronisation between the two robots that each interacts locally with the participant. In one mode, the robots incrementally affected each other's behaviour, while in the other, the robots mirrored each other's behaviour. Instruments used in this study include questionnaires, video observations and log files for the game state. The authors used various techniques to measure engagement and synchronization such as quantitative (e.g. rate of occurrence and average values) as well as qualitative measurements. In an exploratory data analysis, these multiple sources of data reflecting participant performance and characteristics were analyzed. Significant correlations were found and presented between the participants as well as participants' preferences and overall acceptance of such communication media. Findings indicate that participants preferred the mirroring mode, and that in this pilot study, robot-assisted remote communication was considered desirable and acceptable to the participants. Furthermore, the existence of interaction variations among different demographic groups was found, while this chapter lists and interprets the most significant effects.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"10 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85487039","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The aim of this study is to identify the new trends on technology use in developing critical thinking skills. By this purpose, the researches published between 2008-2014 in Science Direct database were examined by using content analysis. Also study was completed in three main parts. The first part consists of the conceptual framework about, technology use in education, critical thinking, the effect of technology on critical thinking and new technologies used to develop critical thinking skills. In the second part the content analysis method was used to examine the researches published in Science Direct database. In the final part, the conclusion and recommendations were given about the research and future studies.
{"title":"Critical Thinking and Digital Technologies","authors":"Şahin Gökçearslan, Ebru Solmaz, Burcu Karabulut Coskun","doi":"10.4018/978-1-5225-8060-7.ch066","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.ch066","url":null,"abstract":"The aim of this study is to identify the new trends on technology use in developing critical thinking skills. By this purpose, the researches published between 2008-2014 in Science Direct database were examined by using content analysis. Also study was completed in three main parts. The first part consists of the conceptual framework about, technology use in education, critical thinking, the effect of technology on critical thinking and new technologies used to develop critical thinking skills. In the second part the content analysis method was used to examine the researches published in Science Direct database. In the final part, the conclusion and recommendations were given about the research and future studies.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"33 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82837539","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.ch046
Yao Yao, K. Marchal, Y. Van de Peer
This work has explored the adaptive potential of simulated swarm robots that contain a genomic encoding of a bio-inspired gene regulatory network (GRN). An artificial genome is combined with a flexible agent-based system, representing the activated part of the regulatory network that transduces environmental cues into phenotypic behavior. Using an Alife simulation framework that mimics a changing environment, we have shown that separating the static from the conditionally active part of the network contributes to a better adaptive behavior. This chapter describes the biologically inspired concept of GRNs to develop a distributed robot self-organizing approach. In particular, it shows that by using this approach, multiple swarm robots can aggregate to form a robotic organism that can adapt its configuration as a response to a dynamically changing environment. In addition, through the comparison of several different simulation experiments, the results illustrate the impact of evolutionary operators such as mutations and duplications on improving the adaptability of organisms.
{"title":"Adaptive Self-Organizing Organisms Using a Bio-Inspired Gene Regulatory Network Controller","authors":"Yao Yao, K. Marchal, Y. Van de Peer","doi":"10.4018/978-1-5225-8060-7.ch046","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.ch046","url":null,"abstract":"This work has explored the adaptive potential of simulated swarm robots that contain a genomic encoding of a bio-inspired gene regulatory network (GRN). An artificial genome is combined with a flexible agent-based system, representing the activated part of the regulatory network that transduces environmental cues into phenotypic behavior. Using an Alife simulation framework that mimics a changing environment, we have shown that separating the static from the conditionally active part of the network contributes to a better adaptive behavior. This chapter describes the biologically inspired concept of GRNs to develop a distributed robot self-organizing approach. In particular, it shows that by using this approach, multiple swarm robots can aggregate to form a robotic organism that can adapt its configuration as a response to a dynamically changing environment. In addition, through the comparison of several different simulation experiments, the results illustrate the impact of evolutionary operators such as mutations and duplications on improving the adaptability of organisms.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74347430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-5225-2154-9.CH018
D. Bhargava
Over decades new technologies, algorithms and methods are evolved and proposed. We can witness a paradigm shift from typewriters to computers, mechanics to mechnotronics, physics to aerodynamics, chemistry to computational chemistry and so on. Such advancements are the result of continuing research; which is still a driving force of researchers. In the same way, the research in the field of artificial intelligence (Russell, Stuart & Norvig, 2003) is major thrust area of researchers. Research in AI have coined different concepts like natural language processing, expert systems, software agents, learning, knowledge management, robotics to name a few. The objective of this chapter is to highlight the research path from software agents to robotics. This chapter begins with the introduction of software agents. The chapter further progresses with the discussion on intelligent agent, autonomous agents, autonomous robots, intelligent robots in different sections. The chapter finally concluded with the fine line between intelligent agents and autonomous robots.
几十年来，新的技术、算法和方法不断发展和提出。我们可以见证一种范式的转变，从打字机到计算机，力学到机电，物理到空气动力学，化学到计算化学等等。这些进步是持续研究的结果;这仍然是研究人员的动力。同样，人工智能领域的研究(Russell, Stuart & Norvig, 2003)也是研究者们研究的重点领域。人工智能的研究创造了不同的概念，如自然语言处理、专家系统、软件代理、学习、知识管理、机器人等等。本章的目的是强调从软件代理到机器人的研究路径。本章首先介绍软件代理。本章在不同的章节中对智能代理、自主代理、自主机器人、智能机器人进行了进一步的讨论。本章最后总结了智能代理和自主机器人之间的细微差别。
{"title":"Intelligent Agents and Autonomous Robots","authors":"D. Bhargava","doi":"10.4018/978-1-5225-2154-9.CH018","DOIUrl":"https://doi.org/10.4018/978-1-5225-2154-9.CH018","url":null,"abstract":"Over decades new technologies, algorithms and methods are evolved and proposed. We can witness a paradigm shift from typewriters to computers, mechanics to mechnotronics, physics to aerodynamics, chemistry to computational chemistry and so on. Such advancements are the result of continuing research; which is still a driving force of researchers. In the same way, the research in the field of artificial intelligence (Russell, Stuart & Norvig, 2003) is major thrust area of researchers. Research in AI have coined different concepts like natural language processing, expert systems, software agents, learning, knowledge management, robotics to name a few. The objective of this chapter is to highlight the research path from software agents to robotics. This chapter begins with the introduction of software agents. The chapter further progresses with the discussion on intelligent agent, autonomous agents, autonomous robots, intelligent robots in different sections. The chapter finally concluded with the fine line between intelligent agents and autonomous robots.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"41 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89219075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-5225-8060-7.ch059
Murat Yaslioglu, Duygu Toplu Yaşlıoğlu
New challenge in all industries is to catch up with the digital revolution. There are some pioneers and some followers in all industries but it is inevitable that digits catch every company by its claws. Our research aims to put forward the dynamics of the digital era or in other words new economy. Companies with a good level of digital maturity and thus high digital quotient become the leaders of their industries. Of course it is in some sectors digitization has become more obvious compared to others, but it is a rising trend in every industry, one can appoint. Banking sector is casts a great example how digital quotient and its factors come into play. Our research tries to define the new concept of digital quotient and illustrate a good practice by evaluating the strategies of a leading bank in Turkey.
{"title":"Demystifying the Power of Digital to Become a Cleverer Enterprise","authors":"Murat Yaslioglu, Duygu Toplu Yaşlıoğlu","doi":"10.4018/978-1-5225-8060-7.ch059","DOIUrl":"https://doi.org/10.4018/978-1-5225-8060-7.ch059","url":null,"abstract":"New challenge in all industries is to catch up with the digital revolution. There are some pioneers and some followers in all industries but it is inevitable that digits catch every company by its claws. Our research aims to put forward the dynamics of the digital era or in other words new economy. Companies with a good level of digital maturity and thus high digital quotient become the leaders of their industries. Of course it is in some sectors digitization has become more obvious compared to others, but it is a rising trend in every industry, one can appoint. Banking sector is casts a great example how digital quotient and its factors come into play. Our research tries to define the new concept of digital quotient and illustrate a good practice by evaluating the strategies of a leading bank in Turkey.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"256 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75393767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-5225-3468-6.CH007
Petr Jirsák
The chapter presents an impact of Industry 4.0 transformation on logistics and supply chain management. Logistics and later supply chain management discipline has gone through a number of changes in the last 50 years, namely transition among mass, lean, agile, resilient, and green. All of them are paradigm changes as each significantly reshapes the orientation of the discipline in the source of competitiveness, risk concern, customer services, productivity, process management, externalities, costs, and other aspects of the disciplines. The author presents findings gained in the exploration of these fundamental changes and provides a comparison with a previous change of paradigm. The chapter proposes a transformation that the company supply chain system has to go through to re-establish its competitive position at the time of Industry 4.0. The chapter provides a case study of 3PL perception of Industry 4.0 based on in-depth interviews conducted among the major global 3PLs operating in the Czech Republic.
{"title":"Analyzing an Impact of Industry 4.0 on Logistics and Supply Chain","authors":"Petr Jirsák","doi":"10.4018/978-1-5225-3468-6.CH007","DOIUrl":"https://doi.org/10.4018/978-1-5225-3468-6.CH007","url":null,"abstract":"The chapter presents an impact of Industry 4.0 transformation on logistics and supply chain management. Logistics and later supply chain management discipline has gone through a number of changes in the last 50 years, namely transition among mass, lean, agile, resilient, and green. All of them are paradigm changes as each significantly reshapes the orientation of the discipline in the source of competitiveness, risk concern, customer services, productivity, process management, externalities, costs, and other aspects of the disciplines. The author presents findings gained in the exploration of these fundamental changes and provides a comparison with a previous change of paradigm. The chapter proposes a transformation that the company supply chain system has to go through to re-establish its competitive position at the time of Industry 4.0. The chapter provides a case study of 3PL perception of Industry 4.0 based on in-depth interviews conducted among the major global 3PLs operating in the Czech Republic.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"33 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80271151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-01-01DOI: 10.4018/978-1-5225-4077-9.CH001
G. Yasuda
This chapter describes a method for designing decentralized simulation and control architecture for multiple robot systems based on the discrete event net models. Extended Petri nets are adopted as an effective tool to describe, design, and control cooperative behavior of multiple robots based on asynchronous, concurrent processes. By hierarchical decomposition of the net model of the overall system, global and local Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for cooperative control is also proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of multiple robot systems.
{"title":"A Decentralized Control Architecture to Achieve Synchronized Task Behaviors in Autonomous Cooperative Multi-Robot Systems","authors":"G. Yasuda","doi":"10.4018/978-1-5225-4077-9.CH001","DOIUrl":"https://doi.org/10.4018/978-1-5225-4077-9.CH001","url":null,"abstract":"This chapter describes a method for designing decentralized simulation and control architecture for multiple robot systems based on the discrete event net models. Extended Petri nets are adopted as an effective tool to describe, design, and control cooperative behavior of multiple robots based on asynchronous, concurrent processes. By hierarchical decomposition of the net model of the overall system, global and local Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for cooperative control is also proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of multiple robot systems.","PeriodicalId":50067,"journal":{"name":"Journal of Rapid Methods and Automation in Microbiology","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89169467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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