Autonomy-oriented computing (AOC): formulating computational systems with autonomous components

Autonomous multientity systems are plentiful in natural and artificial worlds. Many systems have been studied in depth and some models of them have been built as computational systems for problem solving. Central to these computational systems is the notion of autonomy. This article surveys research work done along this direction and presents autonomy-oriented computing (AOC) as a paradigm to describe systems for solving hard computational problems and for characterizing the behaviors of a complex system. AOC differs from major complex-system-related studies such as artificial life, simulated evolution, and multiagent systems in that AOC is not just intended to replicate complex behavior, emulate evolution, or coordinate the functioning of many interacting agents. AOC emphasizes the modeling of autonomy in the entities of a complex system and the self-organization of them in achieving a specific goal. Through implemented applications, we describe three main approaches to AOC, as well as an AOC framework with formal definitions of essential constructs and their interrelationships, including the notions of emergent autonomy, self-organization, and the interactions among entities and environment.     

Review of floating object manipulation by autonomous multi-vessel systems

The regulatory endorsement of the International Maritime Organization (IMO) and the support of pivotal shipping market players in recent years motivate the investigation of the potential role that autonomous vessels play in the shipping industry. As the complexity and scale of the envisioned applications increase, research works gradually transform the focus from single-vessel systems to multi-vessel systems. Thus, autonomous multi-vessel systems applied in the shipping industry are becoming a promising research direction. One of the typical research directions is floating object manipulation by multiple tugboats.This paper offers a comprehensive literature review of the existing research on floating object manipulation by autonomous multi-vessel systems. Based on the prior knowledge of object manipulation problems in multi-robot systems, four typical ways of maritime object manipulation are summarized: attaching, caging, pushing, and towing. The advantages and disadvantages of each manipulation way are discussed, including its typical floating object and application scenarios. Moreover, the aspects of control objective, control architecture, collision avoidance operation, disturbances consideration, and role of each involved vessel are analyzed for gaining insight into the approaches for solving these problems. Finally, challenges and future directions are highlighted to give possible inspiration.     

Adaptive systems: from intelligent tutoring to autonomous agents

Computer systems which can automatically alter aspects of their functionality or interface to suit the needs of individuals or groups of users have appeared over the years in a variety of guises. Most recently, attention has focused on intelligent interface agents, which are seen as specialised, knowledge-based systems acting on behalf of the user in some aspect of the interaction. Similar requirements for automatic adaptation have been noted in intelligent tutoring systems, natural-language systems and intelligent interfaces. The paper brings together the research which has emanated from a number of backgrounds, and provides a unifying perspective on adaptive systems in general. An architecture for adaptive systems and a methodology for their development are presented. The paper also describes software support for producing adaptive systems, and offers some experimental evidence to justify both the desirability and feasibility of exploiting an adaptive system approach to human-computer interaction     

New approaches to generalized Hamiltonian realization of autonomous nonlinear systems

The Hamiltonian function method plays an important role in stability analysis and stabilization. The key point in applying the method is to express the system under consideration as the form of dissipative Hamiltonian systems, which yields the problem of generalized Hamiltonian realization. This paper deals with the generalized Hamiltonian realization of autonomous nonlinear systems. First, this paper investigates the relation between traditional Hamiltonian realizations and first integrals, proposes a new method of generalized Hamiltonian realization called the orthogonal decomposition method, and gives the dissipative realization form of passive systems. This paper has proved that an arbitrary system has an orthogonal decomposition realization and an arbitrary asymptotically stable system has a strict dissipative realization. Then this paper studies the feedback dissipative realization problem and proposes a control-switching method for the realization. Finally, this paper proposes several sufficient     

Correction to: Granular computing in mosaicing of images from capsule endoscopy

Natural Computing - In the original publication, Acknowledgments was published incorrectly. The correct Acknowledgments is provided in this correction.     

Simulating belief systems of autonomous agents

Autonomous agents in computer simulations do not have the usual mechanisms to acquire information as do their human counterparts. In many such simulations, it is not desirable that the agent have access to complete and correct information about its environment. We examine how imperfection in available information may be simulated in the case of autonomous agents. We determine probabilistically what the agent may detect, through hypothetical sensors, in a given situation. These detections are combined with the agent's knowledge base to infer observations and beliefs. Inherent in this task is a degree of uncertainty in choosing the most appropriate observation or belief. We describe and compare two approaches — a numerical approach and one based on defeasible logic — for simulating an appropriate belief in light of conflicting detection values at a given point in time. We discuss the application of this technique to autonomous forces in combat simulation systems.     

Biochemical flip-flop memory systems: essential additions to autonomous biocomputing and biosensing systems

This review article is an overview of the current state of the development of biochemical flip-flop memory systems for use with biocomputing. Of particular interest are those developed using chemical and biochemical systems and components, capable of the complete integration into existing biocomputing information processing systems. The integration of memory systems with sophisticated logic “machines” is essential to the advancement of the field of biocomputing, since this combination would allow for the synthesis of a new regime of molecular “devices” capable of real-time biochemical analysis, coupled with long-term data storage. The specific biochemical realizations of the SR, T and D flip-flops are discussed and further explanations are provided for their use of specifically chosen enzyme pathways. Lastly, perspectives are given on the concept of scalability, and the intercalation of these memory units into existing chemical and biochemical information processing paradigms.     

Classification of dermoscopic images using soft computing techniques

Neural Computing and Applications - Medical diagnosis using machine learning techniques has great attention over the last two decades. The detection of skin cancer based on visual information...     

On dependability of computing systems

With the rapid development and wide applications of computing systems on which more reliance has been put,a dependable system will be much more important than ever.This paper is first aimed at giving informal but precise definitions characterizing the various attributes o dependability of computing systems an then th importance of (and the relationships among)all te the attributes are explained.Dependability is first introduced as a blobal concept which subsumes the usual atributes of reliability,availability,maintainability,safety and sevurity.The basic definitions given here are then commended and supplemented by detailed material and additional explanations in the subsequent sections. The presentation has been structured as follows so as to attract the reader‘s attention to the important attributions of dependability.Search for a few number of concise concepts enabling the dependability attributes to be expressed as clearly as possible.Use of terms which are identical or as close as possible to those commonly used nowadays.This paper is also intended to provoke people‘s interest in designing a dependable computing system.     

Rapid prototyping of computing systems

Pervasive or ubiquitous computing requires the integration of multiple technologies, including software, hardware and human-computer interaction (HCI). To prepare students for this new paradigm in computing, we need multi-disciplinary academic programs and courses. Furthermore, real-world design projects, design processes and team experiences must play a primary role. The course "Rapid Prototyping of Computing Systems" at Carnegie Mellon University (CMU) combines all these elements in a single innovative course offered in multiple departments at CMU. Students learn topics in multiple disciplines and complete an industry-driven, team-based project using a well-defined design process. Although the course prepares students for a wide range of computing applications, the topics and projects focus on pervasive computing.     

Measuring robustness of computing systems

System builders are becoming increasingly interested in robust design. We believe that a methodology for generating robustness metrics will help the robust design research efforts and, in general, is an important step in the efforts to create robust computing systems. The purpose of the research in this paper is to quantify the robustness of a resource allocation, with the eventual objective of setting a standard that could easily be instantiated for a particular computing system to generate a robustness metric. The paper exposes how not considering the uncertainties can result in gross overestimation of the system capacity, and shows a method for reducing the impact of uncertainty, and even use it to our advantage if the uncertainties are correlated. We present our theoretical foundation for a robustness metric and give its instantiation for a particular system.     

Performance evaluation of peering-agreements among autonomous systems subject to peer-to-peer traffic

The interconnection of thousands of Autonomous Systems (ASs) makes up the Internet. Each AS shares trade agreements with its neighbors that regulate the costs associated with traffic exchanged on the physical links. These agreements are local, i.e., are settled only between directly connected ASs, but have a global impact by influencing the paths allowed for the routing of network packets and the costs associated with these routes. Indeed, the costs and earnings of interconnected ASs is a function of many factors, such as size of the ASs, existing agreements, routing policy, traffic pattern and AS-level topology. In this paper we present an approach that takes these factors into account to assess peering and transit agreements. Here we focus on traffic generated from P2P activities, but the approach is general enough to be applied to different traffic classes. The P2P model we present is based on the use of the generating function, it allows to perform an analytical study of the traffic associated to file-sharing. The proposed P2P model is able to consider a large number of peers sharing several resources, spread along different ASs connected through a series of links. We validate the results of our P2P model against one of the most widely used P2P simulators, i.e. PeerSim. Using both the AS-level and P2P models we evaluate how the inter-AS P2P traffic influences the AS network cost and earning.     

Stabilization of linear, autonomous differential-delay systems

Sufficient conditions for a linear, autonomous differential delay system to be stabilizable are established. The proof is constructive in that a readily computable stabilizing feedback control law is generated.     

Lyapunov stability of n-D strongly autonomous systems

In this article we look into stability properties of strongly autonomous n-D systems, i.e. systems having finite-dimensional behaviour. These systems are known to have a first-order representation akin to 1-D state-space representation; we consider our systems to be already in this form throughout. We first define restriction of an n-D system to a 1-D subspace. Using this we define stability with respect to a given half-line, and then stability with respect to collections of such half-lines: proper cones. Then we show how stability with respect to a half-line, for the strongly autonomous case, reduces to a linear combination of the state representation matrices being Hurwitz. We first relate the eigenvalues of this linear combination with those of the individual matrices. With this we give an equivalent geometric criterion in terms of the real part of the characteristic variety of the system for half-line stability. Then we extend this geometric criterion to the case of stability with respect to a proper cone. Finally, we look into a Lyapunov theory of stability with respect to a proper cone for strongly autonomous systems. Each non-zero vector in the given proper cone gives rise to a linear combination of the system matrices. Each of these linear combinations gives a corresponding Lyapunov inequality. We show that the system is stable with respect to the proper cone if and only if there exists a common solution to all of these Lyapunov inequalities.     

Stability regions of nonlinear autonomous dynamical systems

A topological and dynamical characterization of the stability boundaries for a fairly large class of nonlinear autonomous dynamic systems is presented. The stability boundary of a stable equilibrium point is shown to consist of the stable manifolds of all the equilibrium points (and/or closed orbits) on the stability boundary. Several necessary and sufficient conditions are derived to determine whether a given equilibrium point (or closed orbit) is on the stability boundary. A method for finding the stability region on the basis of these results is proposed. The method, when feasible, will find the exact stability region, rather than a subset of it as in the Lyapunov theory approach. Several examples are given to illustrate the theoretical prediction