Generation and interpretation of parsimonious predictive models for load forecasting in smart heating networks

Applied Intelligence - Forecasting future heat load in smart district heating networks is a key problem for utility companies that need such predictions for optimizing their operational activities....     

Interacting with team oriented plans in multi-robot systems

Team oriented plans have become a popular tool for operators to control teams of autonomous robots to pursue complex objectives in complex environments. Such plans allow an operator to specify high level directives and allow the team to autonomously determine how to implement such directives. However, the operators will often want to interrupt the activities of individual team members to deal with particular situations, such as a danger to a robot that the robot team cannot perceive. Previously, after such interrupts, the operator would usually need to restart the team plan to ensure its success. In this paper, we present an approach to encoding how interrupts can be smoothly handled within a team plan. Building on a team plan formalism that uses Colored Petri Nets, we describe a mechanism that allows a range of interrupts to be handled smoothly, allowing the team to efficiently continue with its task after the operator intervention. We validate the approach with an application of robotic watercraft and show improved overall efficiency. In particular, we consider a situation where several platforms should travel through a set of pre-specified locations, and we identify three specific cases that require the operator to interrupt the plan execution: (i) a boat must be pulled out; (ii) all boats should stop the plan and move to a pre-specified assembly position; (iii) a set of boats must synchronize to traverse a dangerous area one after the other. Our experiments show that the use of our interrupt mechanism decreases the time to complete the plan (up to 48 % reduction) and decreases the operator load (up to 80 % reduction in number of user actions). Moreover, we performed experiments with real robotic platforms to validate the applicability of our mechanism in the actual deployment of robotic watercraft.     

Cycling reliability of RF-MEMS switches with Gold–Platinum multilayers as contact material

Microsystem Technologies - Contact resistance is the main parameter used for assessing the high cycling reliability of RF microelectromechanical (RF-MEMS) switches. In this paper the use of a...     

Agent-based decentralised coordination for sensor networks using the max-sum algorithm

In this paper, we consider the generic problem of how a network of physically distributed, computationally constrained devices can make coordinated decisions to maximise the effectiveness of the whole sensor network. In particular, we propose a new agent-based representation of the problem, based on the factor graph, and use state-of-the-art DCOP heuristics (i.e., DSA and the max-sum algorithm) to generate sub-optimal solutions. In more detail, we formally model a specific real-world problem where energy-harvesting sensors are deployed within an urban environment to detect vehicle movements. The sensors coordinate their sense/sleep schedules, maintaining energy neutral operation while maximising vehicle detection probability. We theoretically analyse the performance of the sensor network for various coordination strategies and show that by appropriately coordinating their schedules the sensors can achieve significantly improved system-wide performance, detecting up to 50 % of the events that a randomly coordinated network fails to detect. Finally, we deploy our coordination approach in a realistic simulation of our wide area surveillance problem, comparing its performance to a number of benchmarking coordination strategies. In this setting, our approach achieves up to a 57 % reduction in the number of missed vehicles (compared to an uncoordinated network). This performance is close to that achieved by a benchmark centralised algorithm (simulated annealing) and to a continuously powered network (which is an unreachable upper bound for any coordination approach).     

Cooperative situation assessment in a maritime scenario

In large‐scale, complex domains such as space defense and security systems, situation assessment and decision making are evolving from centralized models to high‐level, net‐centric models. In this context, collaboration among the many actors involved in the situation assessment process is critical to achieve a prompt reaction as needed in the operational scenario. In this paper, we propose a multiagent‐based approach to situation assessment, where agents cooperate by sharing local information to reach a common and coherent assessment of situations. Specifically, we characterize situation assessment as a classification process based on OWL ontology reasoning, and we provide a protocol for cooperative multiagent situation assessment, which allows the agents to achieve coherent high‐level conclusions. We validate our approach in a real maritime surveillance scenario, where our prototype system effectively supports the user in detecting and classifying potential threats; moreover, our distributed solution performs comparably to a centralized method, while preserving independence of decision makers and dramatically reducing the amount of communication required. © 2012 Wiley Periodicals, Inc.     

Cooperative control through objective achievement

Cooperative control is a key issue for multirobot systems in many practical applications. In this paper, we address the problem of coordinating a set of mobile robots in the RoboCup soccer middle-size league. We show how the coordination problem that we face can be cast as a specific coalition formation problem, and we propose a distributed algorithm to efficiently solve it. Our approach is based on the distributed computation of a measure of satisfaction (called Agent Satisfaction) that each agent computes for each task. We detail how each agent computes the Agent Satisfaction by acquiring sensor perceptions through an omnidirectional vision system, extracting aggregated information from the acquired perception, and integrating such information with that communicated by the teammates. We empirically validate our approach in a simulated scenario and within RoboCup competitions. The experiments in the simulated scenario allow us to analyse the behaviour of the algorithm in different situations, while the use of the algorithm in real competitions validates the applicability of our approach to robotic platforms involved in a dynamic and complex scenario.     

Multirobot systems: a classification focused on coordination

Multirobot systems (MRS) are, nowadays, an important research area within robotics and artificial intelligence and a growing number of systems have recently been presented in the literature. Since application domains and tasks that are faced by MRS are of increasing complexity, the ability of the robots to cooperate can be regarded as a fundamental feature. In this paper, we present a survey of the recent work in the area by specifically examining the forms of cooperation and coordination realized in the MRS. In particular, we propose a new taxonomy for classification of the approaches to coordination in MRS and we describe some systems, which we consider representative in our taxonomy. We finally discuss the outcomes of our analysis and try to highlight future trends of the research on MRS.     

Antimicrobial activity of fluoroquinolones and other antibiotics on 1,116 clinical gram-positive and gram-negative isolates

A total of 1,116 clinically isolated strains belonging to Staphylococcus aureus (200), Staphylococcus epidermidis (200), Streptococcus pneumoniae (20), Escherchia coli (200), Klebsiella spp. (177), Serratia marcescens (22), Pseudomonas aeruginosa (224), Haemophilus influenzae (35) and Salmonella (38) from the Department of Infectious Diseases, La Sapienza University in Rome (Italy) were tested against three fluoroquinolones (ofloxacin, ciprofloxacin and levofloxacin) and 10 other antibiotics (augmentin, ampicillin, cefaclor, cefixime, cefotaxime, cotrimoxazole, gentamicin, minocycline, oxacillin and vancomycin). Fluoroquinolones inhibited essentially about 100% of H. influenzae, Salmonella and S. pneumoniae, more than 75% of Staphylococcus including methicillin-resistant strains, and about 90% of Enterobacteriaceae and 50% of P. aeruginosa. Minimal inhibitory concentration values ranged from < 0.015 to > 32 micrograms/ml for Klebsiella, S. aureus and epidermidis, E. coli and P. aeruginosa; from < 0.015 to 2 micrograms/ml for Salmonella; from 0.03 to 16 micrograms/ml for Serratia; from < 0.015 to 1 microgram/ml for Haemophilus; and from 0.5 to 2 micrograms/ml for S. pneumoniae. Levofloxacin and to a lesser extent ofloxacin and ciprofloxacin, generally exhibited a greater activity than the other agents against both Gram-positive and Gram-negative bacteria. Regarding the distribution of resistant strains in Italy, we found a peculiar pattern of resistance as far as E. coli and P. aeruginosa were concerned. Quality control parameters are also summarized. S. epidermidis resulted as a new emergent pathogen especially in immunocompromised patients and its level of sensitivity has been modified over the last few years. In fact, the percentage of resistant strains to antibiotics or the percentage of methicillin-resistant isolates (in our study 35%), has gradually increased. Levofloxacin and ofloxacin showed good activity against staphylococcal strains compared with the majority of other antibiotics. These results suggest that the newer quinolones are promising antimicrobial agents for various infections.