Search results for "Omou"
showing 10 items of 195 documents
Designing a Simulation Model of a Self-Maintaining Cellular System
1999
This paper deals with the problem of finding a suitable framework for designing computer simulations that could help us determine the minimal requirements (both material and organizational) for the origin of the first full-fledged autonomous systems. The design of a particular model that takes into account some fundamental thermodynamic requirements is offered and discussed. Behind this work, there is a belief that Artificial Life models can inform biology on several fundamental questions (such as the origin and definition of life) but only provided that they assume more realistic and grounded premises to lead us to more conclusive results.
Semantic Approach to Dynamic Coordination in Autonomous Systems
2009
In open systems where the components, i.e. the agents and the resources, may be unknown at design time, or in dynamic and self-organizing systems evolving with time, there is a need to enable the agents to communicate their intentions with respect to future activities and resource utilization to resolve coordination issues dynamically. Ideally, we would like to allow ad-hoc interaction, where two standalone independently-designed systems are able to coordinate whenever a need arises. The Semantic Web based approach presented in this paper aims at enabling agents to coordinate without assuming any design-time ontological alignment of them. An agent can express an action intention using own v…
HR1 Robot: An Assistant for Healthcare Applications
2022
According to the World Health Organization1,2 the percentage of healthcare dependent population, such as elderly and people with disabilities, among others, will increase over the next years. This trend will put a strain on the health and social systems of most countries. The adoption of robots could assist these health systems in responding to this increased demand, particularly in high intensity and repetitive tasks. In a previous work, we compared a Socially Assistive Robot (SAR) with a Virtual Agent (VA) during the execution of a rehabilitation task. The SAR consisted of a humanoid R1 robot, while the Virtual Agent represented its simulated counter-part. In both cases, the agents evalua…
Latency factor in worldwide IP routed networks
2014
Current Border Gateway Protocol (BGP) serves for worldwide internet backbone connections between different Autonomous Systems (AS) on the routing level. Continuously in real-time changing environment core routers calculate routing decisions based on path-vector database entries. AS path-vector database may contain multiple paths for various Internet Protocol (IP) prefix destinations where smallest entity in the path-vector is AS. In real world AS can be internet service operator, university or any other organization willing to participate in internet network via multi-homed uplinks. Unfortunately, internal part of AS is hidden in path-vector database thus excluding factors like latency, pac…
A hybrid bio-inspired approach to solving the routing problem in mobile ad hoc networks
2018
A mobile ad hoc network (MANET) is an autonomous system of mobile hosts (nodes) connected by a wireless link. However, the problem of designing routing protocols poses challenges to researchers due to the unpredictable and dynamic nature of ad hoc networks. Hence, bio-inspired algorithms are widely used to design adaptive routing strategies for MANETs. This paper proposes a routing protocol based on the hybridisation of ant colony optimisation (ACO) and 2-opt heuristic with the optimisation of ACO parameters. Given the vast scope of the parameters, a genetic algorithm is used to minimise the complexity of the problem. The implementation of the method is realised by MATLAB. To valid the resu…
Intelligent Energy Management System
2009
Energy management is nowadays a subject of great importance and complexity. It consists in choosing among a set of sources able to produce energy that will give energy to a set of loads by minimising losses and costs. The sources and loads are heterogeneous, distributed and the reaction of the system, the choice of sources, must be done in real-time to avoid power outage. The goal of this paper is to present a system able to self-regulate a heterogeneous set of power sources and loads organised as a coherent group of entities that is called micro-grid, in order to optimize several criteria such as: cost and efficiency. This system is based upon the Multi-Agent Systems paradigm. Each micro-g…
ROAD SAFETY PERFORMANCES FROM MICRO-SIMULATION CONSIDERING AUTONOMOUS VEHICLES OPERATIONS
2019
Introduction of Autonomous Vehicles in road traffic will remove the impact of the human factor from the driver’s decision-making process, and will transform the criteria for road network design, road infrastructure administration, traffic modeling and assessment tools for road safety management. The paper presents a microsimulation-based approach for safety performance evaluation of roundabouts where different percentages of Autonomous Vehicles are mixed with Conventional Vehicles. The simulated vehicle trajectories exported from VISSIM were used as a basis to estimate traffic conflicts through the Surrogate Safety Assessment Model (SSAM) for a sample of European roundabouts. In order to be…
Adding Autonomy to Robotic Enabled Sensing
2022
The capabilities of most non-destructive testing methods have been combined with some degree of automation in recent years, to enhance data acquisition speed, part coverage and inspection reliability. A plethora of automated or semi-automated inspection systems have been engineered to enable the robotic manipulation of specific types of sensors. Robotic inspection systems are usually operated through off-line programmed tool-paths. This approach works well when an accurate model of the part is available and the robotic inspection takes place in a well-structured environment, where the part position is precisely registered with respect to the robot reference system. However, it makes the ins…
Autonomous Robotic Sensing for Simultaneous Geometric and Volumetric Inspection of Free-Form Parts
2022
Robotic sensing is used in many sectors to improve the inspection of large and/or complex parts, enhancing data acquisition speed, part coverage and inspection reliability. Several automated or semi-automated solutions have been proposed to enable the automated deployment of specific types of sensors. The trajectory to be followed by a robotic manipulator is typically obtained through the offline programmed tool paths for the inspection of a part. This method is acceptable for a part with known geometry in a well-structured and controlled environment. The part undergoing assessment needs to be precisely registered with respect to the robot reference system. It implies the need for a setup p…
Robust Discrete-Time Lateral Control of Racecars by Unknown Input Observers
2023
This brief addresses the robust lateral control problem for self-driving racecars. It proposes a discrete-time estimation and control solution consisting of a delayed unknown input-state observer (UIO) and a robust tracking controller. Based on a nominal vehicle model, describing its motion with respect to a generic desired trajectory and requiring no information about the surrounding environment, the observer reconstructs the total force disturbance signal, resulting from imperfect knowledge of the time-varying tire-road interface characteristics, presence of other vehicles nearby, wind gusts, and other model uncertainty. Then, the controller actively compensates the estimated force and as…