Architecture and Task Plan Co-Adaptation with Metaplan for Unmanned Underwater Vehicles

Unmanned Underwater Vehicles (UUVs) operate in complex environments and need to be able to adapt to sudden failures, or changes in the environment. To achieve autonomous operation, UUVs must have the ability to self-adapt in such cases. To effectively handle component failures and unexpected events, self-adaptation must be applied to both the...

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this paper presents SUAVE, an exemplar for two-layered system-level adaptation of AUVs, which clearly...

MROS: A framework for robot self-adaptation

Self-adaptation can be used in robotics to increase system robust- ness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework implements and pack- ages Metacontrol, and it demonstrate how MROS can be applied in a navigation...

Designing next-generation cyber-physical systems: Why is it an issue?

Cyber-physical systems (CPSs) are seen as one of the tangible results of the convergence of advanced information technology, nanotechnology, biotechnology, cognitive science, and social science in addition to conventional systems science, engineering, and technologies. Designing next-generation cyber-physical systems (NG-CPSs) is a...

Adoptable Coastal Remote Sensing Using Wave-field Observations: Instruments, Techniques and Application

The aim of this study is to innovate wave-based depth-inversion towards smarter and faster algorithms to be used with various remote sensing instruments for broad community use. Wave-based depth inversion describes a branch of coastal remote sensing, which uses video recordings of a wave-field to derive depths and thereby create digital maps of...

A Modeling Tool for Reconfigurable Skills in ROS

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been...

Designing Cyber-Physical Systems for Runtime Self-Adaptation: Knowing More about What We Miss...

Cyber-physical systems (CPSs) represent practical examples of the integration of bits and atoms in human and social contexts and contribute to the integration of neurons and genes into system implementation. Many experts believe that a deeper theoretical understanding of system adaptation will lead to the development of autonomous systems and...

Situation-Aware Self-Adaptive Localisation Framework: A Knowledge Representation and Reasoning approach

Substantial efforts are being made to make robots more reliable and safe to work around humans. Robots often perform flawless demos in a controlled environment under the supervision of an operator but tend to fail in the real world when deployed for a long period of time due to faults and environmental disturbances. A robotic system is composed...

Improving safety and performance for mobile robot navigation using self-adaptation in retail environments

There is a growing demand for autonomous mobile robots in industry. The robots need to solve, among other things, the problem of navigation. Since the robots operate in semi-structured and (partially) unknown environments, the local path planning sub-problem has received a lot of attention from researchers. The result is a large variety of...

Self-organizing topology for energy-efficient ad-hoc communication networks of mobile devices

When physical communication network infrastructures fail, infrastructure-less communication networks such as mobile ad-hoc networks (MANET), can provide an alternative. This, however, requires MANETs to be adaptable to dynamic contexts characterized by the changing density and mobility of devices and availability of energy sources. To address...

Self-adaptive Executors for Big Data Processing

The demand for additional performance due to the rapid increase in the size and importance of data-intensive applications has considerably elevated the complexity of computer architecture. In response, systems offer pre-determined behaviors based on heuristics and then expose a large number of configuration parameters for operators to adjust...

A Review of the Principles of Designing Smart Cyber-Physical Systems for Run-Time Adaptation: Learned Lessons and Open Issues

Smart cyber-physical systems (S-CPSs) are complex engineered systems empowered by cyber-physical computing and equipped with the capability of reasoning, learning, adapting, and evolving. As an outcome of data-driven dynamic computing, reasoning capabilities, and the run-time obtained own knowledge, nonlinear and emergent behavior of S-CPSs...

Past, Present and Future of Behaviourally Adaptive Engineered Systems

A Computational Framework for Procedural Abduction Done by Smart Cyber-Physical Systems

To be able to provide appropriate services in social and human application contexts, smart cyber-physical systems (S-CPSs) need ampliative reasoning and decision-making (ARDM) mechanisms. As one option, procedural abduction (PA) is suggested for self-managing S-CPSs. PA is a knowledge-based computation and learning mechanism. The objective of...

Meta-control and Self-Awareness for the UX-1 Autonomous Underwater Robot

Autonomous underwater robots, such as the UX-1 developed in the UNEXMIN project, need to maintain reliable autonomous operation in hazardous and unknown environments. Because of the lack of any kind of real-time communications with a human operated command and control station, the control architecture needs to be enhanced with mission-level...

A self-adaptation framework based on functional knowledge for augmented autonomy in robots

Robot control software endows robots with advanced capabilities for autonomous operation, such as navigation, object recognition or manipulation, in unstructured and dynamic environments. However, there is a steady need for more robust operation, where robots should perform complex tasks by reliably exploiting these novel capabilities. Mission...

Plants as concept generators for biomimetic self-healing and self-adaptive materials, structures and surfaces

Plants have inspired the development of numerous novel (self-)adaptive and selfhealing materials, structures and surfaces over the last decade. Examples include: (1) self-repairing elastomers for sealing gaskets and dampers inspired by self-healing processes in latex bearing plants, (2) self-adaptive biomimetic attachment systems inspired by...

ASH: Tackling node mobility in large-scale networks

With the increased adoption of technologies likewireless sensor networks by real-world applications, dynamic network topologies are becoming the rule rather than the exception. Node mobility, however, introduces a range of problems (communication interference, path uncertainty, low quality of service and information loss, etc.) that are not...