HLA_ACTOR_REPAST: An approach to distributing RePast models for high-performance simulations

RePast is a popular agent toolkit with proven capabilities to fulfil the modelling challenges of large multi-agent systems (MASs). The toolkit, though, is normally used on a standalone workstation and therefore its practical use can be constrained (in space and time) by the limited available computing resources. This paper proposes an original approach – HLA_ACTOR_REPAST – aimed to distributing RePast models for high-performance simulation of complex scalable models. Novel in HLA_ACTOR_REPAST is an exploitation of a lean actor infrastructure implemented in Java. Actors bring to RePast agents such features as migration, location-transparent naming, efficient communications, and a control-centric framework. Actors can be orchestrated by an in-the-large custom control structure which is in charge of ensuring the necessary message causality constraints. Distribution and time management concerns depend on the IEEE standard HLA middleware. The paper first discusses details of the software engineering process underlying the development of HLA_ACTOR_REPAST. The mapping techniques, assisted by Java text annotations and aspect-oriented programming, try to minimize “code intrusions” in the original model and favour model transparency. The paper then furnishes some experimental data which witness the good performance results achieved by applying HLA_ACTOR_REPAST to a distributed version of a classic MAS benchmark model.     

Interactive teaching of task-oriented robot grasps

This paper focuses on the problem of grasp stability and grasp quality analysis. An elegant way to evaluate the stability of a grasp is to model its wrench space. However, classical grasp quality measures suffer from several disadvantages, the main drawback being that they are not task related. Indeed, constructive approaches for approximating the wrench space including also task information have been rarely considered. This work presents an effective method for task-oriented grasp quality evaluation based on a novel grasp quality measure. We address the general case of multifingered grasps with point contacts with friction.The proposed approach is based on the concept of programming by demonstration and interactive teaching, wherein an expert user provides in a teaching phase a set of exemplar grasps appropriate for the task. Following this phase, a representation of task-related grasps is built. During task planning and execution, a grasp could be either submitted interactively for evaluation by a non-expert user or synthesized by an automatic planning system. Grasp quality is then assessed based on the proposed measure, which takes into account grasp stability along with its suitability for the task. To enable real-time evaluation of grasps, a fast algorithm for computing an approximation of the quality measure is also proposed. Finally, a local grasp optimization technique is described which can amend uncertainties arising in supplied grasps by non-expert users or assist in planning more valuable grasps in the neighborhood of candidate ones.The paper reports experiments performed in virtual reality with both an anthropomorphic virtual hand and a three-fingered robot hand. These experiments suggest the effectiveness and task relevance of the proposed grasp quality measure.     

Sensitivity analysis of the rice model WARM in Europe: Exploring the effects of different locations,climates and methods of analysis on model sensitivity to crop parameters

Sensitivity analysis studies how the variation in model outputs can be due to different sources of variation. This issue is addressed, in this study, as an application of sensitivity analysis techniques to a crop model in the Mediterranean region. In particular, an application of Morris and Sobol' sensitivity analysis methods to the rice model WARM is presented. The output considered is aboveground biomass at maturity, simulated at five rice districts of different countries (France, Greece, Italy, Portugal, and Spain) for years characterized by low, intermediate, and high continentality. The total effect index of Sobol' (that accounts for the total contribution to the output variation due a given parameter) and two Morris indices (mean μ and standard deviation σ of the ratios output changes/parameter variations) were used as sensitivity metrics. Radiation use efficiency (RUE), optimum temperature (T_opt), and leaf area index at emergence (LAI_ini) ranked in most of the combinations site × year as first, second and third most relevant parameters. Exceptions were observed, depending on the sensitivity method (e.g. LAI_ini resulted not relevant by the Morris method), or site-continentality pattern (e.g. with intermediate continentality in Spain, LAI_ini and T_opt were second and third ranked; with low continentality in Portugal, RUE was outranked by T_opt). Low σ values associated with the most relevant parameters indicated limited parameter interactions. The importance of sensitivity analyses by exploring site × climate combinations is discussed as pre-requisite to evaluate either novel crop-modelling approaches or the application of known modelling solutions to conditions not explored previously. The need of developing tools for sensitivity analysis within the modelling environment is also emphasized.     

Boosting learning and inference in Markov logic through metaheuristics

Markov Logic (ML) combines Markov networks (MNs) and first-order logic by attaching weights to first-order formulas and using these as templates for features of MNs. State-of-the-art structure learning algorithms in ML maximize the likelihood of a database by performing a greedy search in the space of structures. This can lead to suboptimal results because of the incapability of these approaches to escape local optima. Moreover, due to the combinatorially explosive space of potential candidates these methods are computationally prohibitive. We propose a novel algorithm for structure learning in ML, based on the Iterated Local Search (ILS) metaheuristic that explores the space of structures through a biased sampling of the set of local optima. We show through real-world experiments that the algorithm improves accuracy and learning time over the state-of-the-art algorithms. On the other side MAP and conditional inference for ML are hard computational tasks. This paper presents two algorithms for these tasks based on the Iterated Robust Tabu Search (IRoTS) metaheuristic. The first algorithm performs MAP inference and we show through extensive experiments that it improves over the state-of-the-art algorithm in terms of solution quality and inference time. The second algorithm combines IRoTS steps with simulated annealing steps for conditional inference and we show through experiments that it is faster than the current state-of-the-art algorithm maintaining the same inference quality.     

A hybrid positioning system for technology‐independent location‐aware computing

Location‐aware computing is a form of context‐aware mobile computing that refers to the ability of providing users with services that depend on their position. Locating the user terminal, often called positioning, is essential in this form of computing. Towards this aim, several technologies exist, ranging from personal area networking, to indoor, outdoor, and up to geographic area systems. Developers of location‐aware software applications have to face with a number of design choices, that typically depend on the chosen technology. This work addresses the problem of easing the development of pull location‐aware applications, by allowing uniform access to multiple heterogeneous positioning systems. Towards this aim, the paper proposes an approach to structure location‐aware mobile computing systems in a way independent of positioning technologies. The approach consists in structuring the system into a layered architecture, that provides application developers with a standard Java Application Programming Interface (JSR‐179 API), and encapsulates location data management and technology‐specific positioning subsystems into lower layers with clear interfaces. In order to demonstrate the proposed approach we present the development of HyLocSys. It is an open hybrid software architecture designed to support indoor/outdoor applications, which allows the uniform (combined or separate) use of several positioning technologies. HyLocSys uses a hybrid data model, which allows the integration of different location information representations (using symbolic and geometric coordinates). Moreover, it allows support to handset‐ and infrastructure‐based positioning approaches while respecting the privacy of the user. The paper presents a prototypal implementation of HyLocSys for heterogeneous scenarios. It has been implemented and tested on several platforms and mobile devices. Copyright © 2009 John Wiley & Sons, Ltd.     

Evaluating maps produced by urban search and rescue robots: lessons learned from RoboCup

This paper presents the map evaluation methodology developed for the Virtual Robots Rescue competition held as part of RoboCup. The procedure aims to evaluate the quality of maps produced by multi-robot systems with respect to a number of factors, including usability, exploration, annotation and other aspects relevant to robots and first responders. In addition to the design choices, we illustrate practical examples of maps and scores coming from the latest RoboCup contest, outlining strengths and weaknesses of our modus operandi. We also show how a benchmarking methodology developed for a simulation testbed effortlessly and faithfully transfers to maps built by a real robot. A number of conclusions may be derived from the experience reported in this paper and a thorough discussion is offered.     

Apparent mass matrix of standing subjects exposed to multi-axial whole-body vibration

This paper describes the experimental characterisation of the apparent mass matrix of eight male subjects in standing position and the identification of nonlinearities under both mono-axial and dual-axis whole-body vibration. The nonlinear behaviour of the response was studied using the conditioned response techniques considering models of increasing complexity. Results showed that the cross-axis terms are comparable to the diagonal terms. The contribution of the nonlinear effects are minor and can be endorsed to the change of modal parameters during the tests. The nonlinearity generated by the vibration magnitude is more evident in the subject response, since magnitude-dependent effects in the population are overlaid by the scatter in the subjects’ biometric data. The biodynamic response is influenced by the addition of a secondary vibration axis and, in case of dual-axis vibrations, the overall magnitude has a marginal contribution.

Practitioner Summary: We have measured both the diagonal and cross-axis elements of the apparent mass matrix. The effect of nonlinearities and the simultaneous presence of vibration along two axes are smaller than the inter-subject variability.     

Pairwise Registration by Local Orientation Cues

Inspired by recent work on robust and fast computation of 3D Local Reference Frames (LRFs), we propose a novel pipeline for coarse registration of 3D point clouds. Key to the method are: (i) the observation that any two corresponding points endowed with an LRF provide a hypothesis on the rigid motion between two views, (ii) the intuition that feature points can be matched based solely on cues directly derived from the computation of the LRF, (iii) a feature detection approach relying on a saliency criterion which captures the ability to establish an LRF repeatably. Unlike related work in literature, we also propose a comprehensive experimental evaluation based on diverse kinds of data (such as those acquired by laser scanners, Kinect and stereo cameras) as well as on quantitative comparison with respect to other methods. We also address the issue of setting the many parameters that characterize coarse registration pipelines fairly and realistically. The experimental evaluation vouches that our method can handle effectively data acquired by different sensors and is remarkably fast.