As a sequel to our recent work [1], in which a control framework was developed for large-scale joint swarms of unmanned ground (UGV) and aerial (UAV) vehicles, the present paper proposes cognitive and meta-cognitive s...As a sequel to our recent work [1], in which a control framework was developed for large-scale joint swarms of unmanned ground (UGV) and aerial (UAV) vehicles, the present paper proposes cognitive and meta-cognitive supervisor models for this kind of distributed robotic system. The cognitive supervisor model is a formalization of the recently Nobel-awarded research in brain science on mammalian and human path integration and navigation, performed by the hippocampus. This is formalized here as an adaptive Hamiltonian path integral, and efficiently simulated for implementation on robotic vehicles as a pair of coupled nonlinear Schr?dinger equations. The meta-cognitive supervisor model is a modal logic of actions and plans that hinges on a weak causality relation that specifies when atoms may change their values without specifying that they must change. This relatively simple logic is decidable yet sufficiently expressive to support the level of inference needed in our application. The atoms and action primitives of the logic framework also provide a straight-forward way of connecting the meta-cognitive supervisor with the cognitive supervisor, with other modules, and to the meta-cognitive supervisors of other robotic platforms in the swarm.展开更多
This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW;for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of c...This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW;for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of classical Lanchester-type combat equations, entropic Lie-dragging and commutators for modeling warfare uncertainty and symmetry, and various delta-strikes and missiles (both deterministic and random). The present paper gives a unique synthesis of the Red vs. Blue vectorfields into a single complex battle-vectorfield, using dynamics on Kähler manifolds as a rigorous framework for extending the TCW concept. The global Kähler dynamics framework, with its rigorous underpinning called the Kähler-Ricci flow, provides not only a new insight into the “geometry of warfare”, but also into the “physics of warfare”, in terms of Lagrangian and Hamiltonian structures of the battlefields. It also provides a convenient and efficient computational framework for entropic wargaming.展开更多
Smart City is an emerging concept in global urban development.A Smart City applies ICT technologies to provide greater efficiencies for its urban areas and civilian population.One of the key requirements for a Smart C...Smart City is an emerging concept in global urban development.A Smart City applies ICT technologies to provide greater efficiencies for its urban areas and civilian population.One of the key requirements for a Smart City is to exploit data from its ICT infrastructure(such as Internet of Things connected sensors)to improve city services and features such as accessibility and sustainability.To address this requirement,the City of Melbourne(COM)Smart City office maintains several hundred data sets relating to urban activity and development.These datasets address parking,mobility,land use,3D data,statistics,environment,and major city developments such as rail projects.One promising dataset relates to pedestrian traffic.Data are obtained from sensors and updated on the COM website(City of Melbourne Open Data Platform:https://data.melbourne.vic.gov.au/.)at regular intervals.These data include the number of pedestrians passing 53 specific locations in the central business district and also their times and directions of travel.In a 24 h period,over 650,000 pedestrians were counted passing all locations.Peak rates of several thousand pedestrians per minute are regularly recorded during city rush hours at hotspots making the data amenable to Big Data analysis techniques.Results are obtained in graphical format as heatmaps and charts of city pedestrian traffic using both Microsoft Excel^(■)for static analysis and PowerBI^(■)for more advanced interactive visualisation and analysis.These findings can identify pedestrian hotspots and inform future locations of traffic lights and street configurations to make the city more pedestrian friendly.Further,the experience gained can be used to examine other data sets such as bicycle traffic that can be analysed to inform city infrastructure projects.Future work is suggested that could link these pedestrian flow data with social media data from smartphones and potentially wearable devices such as fitness monitors to correlate pedestrian satisfaction with traffic flow.The‘happiness’effect of pedestrians passing through green areas such as city parks can also be quantified.This research was undertaken with the assistance of Swinburne University under its Capstone Project scheme.展开更多
文摘As a sequel to our recent work [1], in which a control framework was developed for large-scale joint swarms of unmanned ground (UGV) and aerial (UAV) vehicles, the present paper proposes cognitive and meta-cognitive supervisor models for this kind of distributed robotic system. The cognitive supervisor model is a formalization of the recently Nobel-awarded research in brain science on mammalian and human path integration and navigation, performed by the hippocampus. This is formalized here as an adaptive Hamiltonian path integral, and efficiently simulated for implementation on robotic vehicles as a pair of coupled nonlinear Schr?dinger equations. The meta-cognitive supervisor model is a modal logic of actions and plans that hinges on a weak causality relation that specifies when atoms may change their values without specifying that they must change. This relatively simple logic is decidable yet sufficiently expressive to support the level of inference needed in our application. The atoms and action primitives of the logic framework also provide a straight-forward way of connecting the meta-cognitive supervisor with the cognitive supervisor, with other modules, and to the meta-cognitive supervisors of other robotic platforms in the swarm.
文摘This paper presents the complex dynamics synthesis of the combat dy-namics series called tensor-centric warfare (TCW;for the first three parts of the series, see [1] [2] [3]), which includes tensor generalization of classical Lanchester-type combat equations, entropic Lie-dragging and commutators for modeling warfare uncertainty and symmetry, and various delta-strikes and missiles (both deterministic and random). The present paper gives a unique synthesis of the Red vs. Blue vectorfields into a single complex battle-vectorfield, using dynamics on Kähler manifolds as a rigorous framework for extending the TCW concept. The global Kähler dynamics framework, with its rigorous underpinning called the Kähler-Ricci flow, provides not only a new insight into the “geometry of warfare”, but also into the “physics of warfare”, in terms of Lagrangian and Hamiltonian structures of the battlefields. It also provides a convenient and efficient computational framework for entropic wargaming.
基金The authors acknowledge the support of Dr Gilbert Ravalli from Swinburne University of Tech-nology with assistance in obtaining funding for a Capstone Project.
文摘Smart City is an emerging concept in global urban development.A Smart City applies ICT technologies to provide greater efficiencies for its urban areas and civilian population.One of the key requirements for a Smart City is to exploit data from its ICT infrastructure(such as Internet of Things connected sensors)to improve city services and features such as accessibility and sustainability.To address this requirement,the City of Melbourne(COM)Smart City office maintains several hundred data sets relating to urban activity and development.These datasets address parking,mobility,land use,3D data,statistics,environment,and major city developments such as rail projects.One promising dataset relates to pedestrian traffic.Data are obtained from sensors and updated on the COM website(City of Melbourne Open Data Platform:https://data.melbourne.vic.gov.au/.)at regular intervals.These data include the number of pedestrians passing 53 specific locations in the central business district and also their times and directions of travel.In a 24 h period,over 650,000 pedestrians were counted passing all locations.Peak rates of several thousand pedestrians per minute are regularly recorded during city rush hours at hotspots making the data amenable to Big Data analysis techniques.Results are obtained in graphical format as heatmaps and charts of city pedestrian traffic using both Microsoft Excel^(■)for static analysis and PowerBI^(■)for more advanced interactive visualisation and analysis.These findings can identify pedestrian hotspots and inform future locations of traffic lights and street configurations to make the city more pedestrian friendly.Further,the experience gained can be used to examine other data sets such as bicycle traffic that can be analysed to inform city infrastructure projects.Future work is suggested that could link these pedestrian flow data with social media data from smartphones and potentially wearable devices such as fitness monitors to correlate pedestrian satisfaction with traffic flow.The‘happiness’effect of pedestrians passing through green areas such as city parks can also be quantified.This research was undertaken with the assistance of Swinburne University under its Capstone Project scheme.
