As the unmanned weap system-of systems(UWSoS)becomes complex,the inevitable uncertain interference gradu-ally increases,which leads to a strong emphasis on the resilience of UWSoS.Hence,this paper presents a resilienc...As the unmanned weap system-of systems(UWSoS)becomes complex,the inevitable uncertain interference gradu-ally increases,which leads to a strong emphasis on the resilience of UWSoS.Hence,this paper presents a resilience-driven cooperative reconfiguration strategy to enhance the resilience of UWSoS.First,a unified resilience-driven coopera-tive reconfiguration strategy framework is designed to guide the UWSoS resilience enhancement.Subsequently,a cooperative reconfiguration strategy algorithm is proposed to identify the optimal cooperative reconfiguration sequence,combining the cooperative pair resilience contribution index(CPRCI)and coop-erative pair importance index(CPII).At last,the effectiveness and superiority of the proposed algorithm are demonstrated through various attack scenario simulations that include differ-ent attack modes and intensities.The analysis results can pro-vide a reference for decision-makers to manage UWSoS.展开更多
The contribution rate of equipment system-of-systems architecture(ESoSA)is an important index to evaluate the equipment update,development,and architecture optimization.Since the traditional ESoSA contribution rate ev...The contribution rate of equipment system-of-systems architecture(ESoSA)is an important index to evaluate the equipment update,development,and architecture optimization.Since the traditional ESoSA contribution rate evaluation method does not make full use of the fuzzy information and uncertain information in the equipment system-of-systems(ESoS),and the Bayesian network is an effective tool to solve the uncertain information,a new ESoSA contribution rate evaluation method based on the fuzzy Bayesian network(FBN)is proposed.Firstly,based on the operation loop theory,an ESoSA is constructed considering three aspects:reconnaissance equipment,decision equipment,and strike equipment.Next,the fuzzy set theory is introduced to construct the FBN of ESoSA to deal with fuzzy information and uncertain information.Furthermore,the fuzzy importance index of the root node of the FBN is used to calculate the contribution rate of the ESoSA,and the ESoSA contribution rate evaluation model based on the root node fuzzy importance is established.Finally,the feasibility and rationality of this method are validated via an empirical case study of aviation ESoSA.Compared with traditional methods,the evaluation method based on FBN takes various failure states of equipment into consideration,is free of acquiring accurate probability of traditional equipment failure,and models the uncertainty of the relationship between equipment.The proposed method not only supplements and improves the ESoSA contribution rate assessment method,but also broadens the application scope of the Bayesian network.展开更多
For the rapidly developing unmanned aerial vehicle(UAV)swarm,the system-of-systems(SoS)oriented design is a prospective conceptual design methodology due to the competence for complex mission requirements and subsyste...For the rapidly developing unmanned aerial vehicle(UAV)swarm,the system-of-systems(SoS)oriented design is a prospective conceptual design methodology due to the competence for complex mission requirements and subsystems interactions.In the SoS oriented design,the subsystems performance trade-off is the basis of design decisions.In the trade-off for surveillance missions,most previous works do not consider track reporting and mainly focus on the design of platforms.An improved method for the subsystems performance trade-off in the SoS oriented UAV swarm design is proposed.Within an improved design framework with subsystems disaggregation,this method is characterized by treating platforms,sensors,and communications as equally important subsystems,integrating operational strategies into the trade-off,and enabling the trade-off for track reporting.Those advantages are achieved by a behavior-based modular model structure for agent-based operational modeling and simulation.In addition,a method of analyzing the bounds of the communication range is also presented.Simulation experiments are conducted by using precision-based simulation replication rules and surrogate modeling methods.The results demonstrate the effectiveness of the proposed method,and show that the configuration of area partitioning changes the trade space of subsystems performances,indicating the necessity of integrating operational strategies into the conceptual design.展开更多
To makesystem-of-systems combat simulation models easy to be developed and reused, simulation model formal specification and representation are researched. According to the view of system-of-systems combat simulation,...To makesystem-of-systems combat simulation models easy to be developed and reused, simulation model formal specification and representation are researched. According to the view of system-of-systems combat simulation, and based on DEVS, the simulation model's fundamental formalisms are explored. It includes entity model, system-of-systems model and experiment model. It also presents rigorous formal specification. XML data exchange standard is combined to design the XML based language, SCSL, to support simulation model representation. The corresponding relationship between SCSL and simulation model formalism is discussed and the syntax and semantics of elements in SCSL are detailed. Based on simulation model formal specification, the abstract simulation algorithm is given and SCSL virtual machine, which is capable of automatically interpreting and executing simulation model represented by SCSL, is designed. Finally an application case is presented, which can show the validation of the theory and verification of SCSL.展开更多
Increasing complexity of today’s software systems is one of the major challenges software engineers have to face. This is aggravated by the fact that formerly isolated systems have to be interconnected to more comple...Increasing complexity of today’s software systems is one of the major challenges software engineers have to face. This is aggravated by the fact that formerly isolated systems have to be interconnected to more complex systems, called System-of-Systems (SoS). Those systems are in charge to provide more functionality to the user than all of their independent sub-systems could do. Reducing the complexity of such systems is one goal of the software engineering paradigm called component-based software engineering (CBSE). CBSE enables the developers to treat individual sub-systems as components which interact via interfaces with a simulated environment. Thus those components can be developed and implemented independently from other components. After the implementation a system integrator is able to interconnect the components to a SoS. Despite this much-used approach it is possible to show that constraints, which are valid in an isolated sub-system, are broken after this system is integrated into a SoS. To emphasize this issue we developed a technique based on interconnected timed automata for modelling sub-systems and System-of-Systems in the model checking tool UPPAAL. The presented modelling technique allows it to verify the correctness of single sub-systems as well as the resulting SoS. Additionally we developed a tool which abstracts the complicated timed automata to an easy to read component based language with the goal to help system integrators building and verifying complex SoS.展开更多
To balance the contradiction between comprehensiveness of system-of systems (SOS) description and cost of modeling and simulation, a non-uniform hybrid strategy (NUHYS) is pro- posed. NUHYS groups elements of an S...To balance the contradiction between comprehensiveness of system-of systems (SOS) description and cost of modeling and simulation, a non-uniform hybrid strategy (NUHYS) is pro- posed. NUHYS groups elements of an SoS operation into system community or relatively indepen- dent system based on contributors complexity and focus relationship according to the focus of SoS problem. Meanwhile, modeling methods are categorized based on details attention rate and dynamic attention rate, seeking for matching contributors. Taking helicopter rescue in earthquake relief as an example, the procedure of applying NUHYS and its effectiveness are verified.展开更多
Global Change challenges are now systematically recognized and tackled in a growingly coordinated manner by intergovernmental organizations such as the United Nations.Heterogeneous observing networks provide the found...Global Change challenges are now systematically recognized and tackled in a growingly coordinated manner by intergovernmental organizations such as the United Nations.Heterogeneous observing networks provide the founded data sources to assess the Earth environmental status and take sound decisions to achieve a sustainable development.WMO Hydrological Observing System(WHOS)allows to discover and access historical and near real time hydrological observations.WHOS represents the hydrological contribution to the wider WIGOS-WIS system of WMO.It is a digital ecosystems framework contributed by a set of data providers and technical support centers.In this framework,three regional pilots were successfully completed.The WHOS architecture applies the services brokering style,implemented through the Discovery and Access Broker technology.A brokering approach makes a global system of systems possible and sustainable,where the different enterprise systems are enabled to interoperate,despite they implement heterogeneous communication interfaces and data models.In this manuscript,the WHOS brokering solution is detailed by recurring to the definition of a set of transversal viewpoints to describe the important aspects of the complex ecosystem–namely:enterprise,information,computational,engineering,and technological views.Finally,the three regional pilot ecosystems are described as successful cases of WHOS implementation.展开更多
Finding equitable policy solutions is critical for developing sustainable energy use. This paper presents a system-of-systems (SOS) formalism for addressing the equity issue in multi-actor policymaking. In a SoS, th...Finding equitable policy solutions is critical for developing sustainable energy use. This paper presents a system-of-systems (SOS) formalism for addressing the equity issue in multi-actor policymaking. In a SoS, the control of the overall system performance is shared among a network of actors. In contrast to a single optimal solution that aggregates objectives of actors, the solution conCept of iso-performance is formulated and employed to illuminate multiple solutions and hence the 'space' for actors to compromise. By specifically accounting for the equity issue, the level of sacrifice each actor makes for each iso-performance solution is computed. To demonstrate the approach, a case study is presented about policymaking to reduce fuel life cycle aviation emissions in the United States based on the year 2020 reduction target, involving government, airlines, jet fuel refinery companies, and aircraft and engine manufacturers. A resource allocation mixed integer programming model is employed to calculate carbon emissions resulting from airlines' deployment of aircraft fleet to meet changing air transport demand. The paper discusses three iso-performance solutions; each of them requires a different level of sacrifice from each actor. Such an insight can inform policymaking in determining the magnitude of compensation required when a particular solution is pursued.展开更多
Although numerous advances have been made in information technology in the past decades,there is still a lack of progress in information systems dynamics(ISD),owing to the lack of a mathematical foundation needed to d...Although numerous advances have been made in information technology in the past decades,there is still a lack of progress in information systems dynamics(ISD),owing to the lack of a mathematical foundation needed to describe information and the lack of an analytical framework to evaluate information systems.The value of ISD lies in its ability to guide the design,development,application,and evaluation of largescale information system-of-systems(So Ss),just as mechanical dynamics theories guide mechanical systems engineering.This paper reports on a breakthrough in these fundamental challenges by proposing a framework for information space,improving a mathematical theory for information measurement,and proposing a dynamic configuration model for information systems.In this way,it establishes a basic theoretical framework for ISD.The proposed theoretical methodologies have been successfully applied and verified in the Smart Court So Ss Engineering Project of China and have achieved significant improvements in the quality and efficiency of Chinese court informatization.The proposed ISD provides an innovative paradigm for the analysis,design,development,and evaluation of large-scale complex information systems,such as electronic government and smart cities.展开更多
The GEOSS Platform is a key contribution to the goal of building the Global Earth Observation System of Systems(GEOSS).It enables a harmonized discovery and access of Earth observation data,shared online by heterogene...The GEOSS Platform is a key contribution to the goal of building the Global Earth Observation System of Systems(GEOSS).It enables a harmonized discovery and access of Earth observation data,shared online by heterogeneous organizations worldwide.This work analyzes both what is made available in the GEOSS Platform by the data providers and how users are utilizing it including multiyear trends,updating a previous analysis published in 2017.The present statistics derive from a 2021 EOValue report funded by the European Commission.The offer of GEOSS Platform data has been the object of various analyses,including data provider characterization,data sharing trends,and data characterization(comprising metadata quality analysis,thematic analysis,responsible party identification,spatial–temporal coverage).GEOSS data demand has also been the object of several analyses,including data consumer characterization,utilization trends,and requested data characterization(comprising thematic analysis,spatial–temporal coverage,and popularity).Among thefindings,a large amount of shared data,mostly from satellite sources,emerges with an issue of low metadata quality and related discovery match.Moreover,the trend in usage is decreasing.Therefore,the progressive disconnection of the GEOSS platform from its data Providers and Users and other possible causes are also reported.展开更多
In order to obtain the optimized aircraft design concept which meets the increasingly complex operation environment at the conceptual design stage,System-of-systems(So S)engineering must be considered.This paper propo...In order to obtain the optimized aircraft design concept which meets the increasingly complex operation environment at the conceptual design stage,System-of-systems(So S)engineering must be considered.This paper proposes a novel optimization method for the design of aircraft Mission Success Space(MSS)based on Gaussian fitting and Genetic Algorithm(GA)in the So S area.First,the concepts in the design and evaluation of MSS are summarized to introduce the Contribution to System-of-Systems(CSS)by using a conventional effectiveness index,Mission Success Rate(MSR).Then,the mathematic modelling of Gaussian fitting technique is noted as the basis of the optimization work.After that,the proposed optimal MSS design is illustrated by the multiobjective optimization process where GA acts as the search tool to find the best solution(via Pareto front).In the case study,a simulation system of penetration mission was built.The simulation results are collected and then processed by two MSS design schemes(contour and neural network)giving the initial variable space to GA optimization.Based on that,the proposed optimization method is implemented under both schemes whose optimal solutions are compared to obtain the final best design in the case study.展开更多
Development of mesoscale robots is gaining interest in security and surveillance domains due to their stealth and portable nature in achieving tasks.Their design and development require a host of hardware,controls,and...Development of mesoscale robots is gaining interest in security and surveillance domains due to their stealth and portable nature in achieving tasks.Their design and development require a host of hardware,controls,and behavioral innovations to yield fast,energy-efficient,distributed,adaptive,robust,and scalable systems.We extensively describe one such design and development process by:(1)the genealogy of our embedded platforms;(2)the key system architecture and functional layout;(3)the developed and implemented design principles for mesoscale robotic systems;(4)the various key algorithms developed for effective collective operations of mesoscale robotic swarms,with applications to urban sensing and mapping.This study includes our perception of the embedded hardware requirements for reliable operations of mesoscale robotic swarms and our description of the key innovations made in magnetic sensing,indoor localization,central pattern generator control,and distributed autonomy.Although some elements of the design process of such a complex robotic system are inevitably ad-hoc,we focus on the system-of-systems design process and the component design integration.This system-of-systems process provides a basis for developing future systems in the field,and the designs represent the state-of-the-art development that may be benchmarked against and adapted to other applications.展开更多
基金This work was supported by Ph.D.Intelligent Innovation Foundation Project(201-CXCY-A01-08-19-01)Science and Technology on Information System Engineering Laboratory(05202007).
文摘As the unmanned weap system-of systems(UWSoS)becomes complex,the inevitable uncertain interference gradu-ally increases,which leads to a strong emphasis on the resilience of UWSoS.Hence,this paper presents a resilience-driven cooperative reconfiguration strategy to enhance the resilience of UWSoS.First,a unified resilience-driven coopera-tive reconfiguration strategy framework is designed to guide the UWSoS resilience enhancement.Subsequently,a cooperative reconfiguration strategy algorithm is proposed to identify the optimal cooperative reconfiguration sequence,combining the cooperative pair resilience contribution index(CPRCI)and coop-erative pair importance index(CPII).At last,the effectiveness and superiority of the proposed algorithm are demonstrated through various attack scenario simulations that include differ-ent attack modes and intensities.The analysis results can pro-vide a reference for decision-makers to manage UWSoS.
基金supported by the National Key Research and Development Project(2018YFB1700802)the National Natural Science Foundation of China(72071206)the Science and Technology Innovation Plan of Hunan Province(2020RC4046).
文摘The contribution rate of equipment system-of-systems architecture(ESoSA)is an important index to evaluate the equipment update,development,and architecture optimization.Since the traditional ESoSA contribution rate evaluation method does not make full use of the fuzzy information and uncertain information in the equipment system-of-systems(ESoS),and the Bayesian network is an effective tool to solve the uncertain information,a new ESoSA contribution rate evaluation method based on the fuzzy Bayesian network(FBN)is proposed.Firstly,based on the operation loop theory,an ESoSA is constructed considering three aspects:reconnaissance equipment,decision equipment,and strike equipment.Next,the fuzzy set theory is introduced to construct the FBN of ESoSA to deal with fuzzy information and uncertain information.Furthermore,the fuzzy importance index of the root node of the FBN is used to calculate the contribution rate of the ESoSA,and the ESoSA contribution rate evaluation model based on the root node fuzzy importance is established.Finally,the feasibility and rationality of this method are validated via an empirical case study of aviation ESoSA.Compared with traditional methods,the evaluation method based on FBN takes various failure states of equipment into consideration,is free of acquiring accurate probability of traditional equipment failure,and models the uncertainty of the relationship between equipment.The proposed method not only supplements and improves the ESoSA contribution rate assessment method,but also broadens the application scope of the Bayesian network.
基金supported by the National Natural Science Foundation of China(11872314)the National Key Research and Development Program of China(2017YFB1300102)
文摘For the rapidly developing unmanned aerial vehicle(UAV)swarm,the system-of-systems(SoS)oriented design is a prospective conceptual design methodology due to the competence for complex mission requirements and subsystems interactions.In the SoS oriented design,the subsystems performance trade-off is the basis of design decisions.In the trade-off for surveillance missions,most previous works do not consider track reporting and mainly focus on the design of platforms.An improved method for the subsystems performance trade-off in the SoS oriented UAV swarm design is proposed.Within an improved design framework with subsystems disaggregation,this method is characterized by treating platforms,sensors,and communications as equally important subsystems,integrating operational strategies into the trade-off,and enabling the trade-off for track reporting.Those advantages are achieved by a behavior-based modular model structure for agent-based operational modeling and simulation.In addition,a method of analyzing the bounds of the communication range is also presented.Simulation experiments are conducted by using precision-based simulation replication rules and surrogate modeling methods.The results demonstrate the effectiveness of the proposed method,and show that the configuration of area partitioning changes the trade space of subsystems performances,indicating the necessity of integrating operational strategies into the conceptual design.
文摘To makesystem-of-systems combat simulation models easy to be developed and reused, simulation model formal specification and representation are researched. According to the view of system-of-systems combat simulation, and based on DEVS, the simulation model's fundamental formalisms are explored. It includes entity model, system-of-systems model and experiment model. It also presents rigorous formal specification. XML data exchange standard is combined to design the XML based language, SCSL, to support simulation model representation. The corresponding relationship between SCSL and simulation model formalism is discussed and the syntax and semantics of elements in SCSL are detailed. Based on simulation model formal specification, the abstract simulation algorithm is given and SCSL virtual machine, which is capable of automatically interpreting and executing simulation model represented by SCSL, is designed. Finally an application case is presented, which can show the validation of the theory and verification of SCSL.
文摘Increasing complexity of today’s software systems is one of the major challenges software engineers have to face. This is aggravated by the fact that formerly isolated systems have to be interconnected to more complex systems, called System-of-Systems (SoS). Those systems are in charge to provide more functionality to the user than all of their independent sub-systems could do. Reducing the complexity of such systems is one goal of the software engineering paradigm called component-based software engineering (CBSE). CBSE enables the developers to treat individual sub-systems as components which interact via interfaces with a simulated environment. Thus those components can be developed and implemented independently from other components. After the implementation a system integrator is able to interconnect the components to a SoS. Despite this much-used approach it is possible to show that constraints, which are valid in an isolated sub-system, are broken after this system is integrated into a SoS. To emphasize this issue we developed a technique based on interconnected timed automata for modelling sub-systems and System-of-Systems in the model checking tool UPPAAL. The presented modelling technique allows it to verify the correctness of single sub-systems as well as the resulting SoS. Additionally we developed a tool which abstracts the complicated timed automata to an easy to read component based language with the goal to help system integrators building and verifying complex SoS.
基金supported by the Research Project of Ministry of Industry and Information Technology of the People’s Republic of China
文摘To balance the contradiction between comprehensiveness of system-of systems (SOS) description and cost of modeling and simulation, a non-uniform hybrid strategy (NUHYS) is pro- posed. NUHYS groups elements of an SoS operation into system community or relatively indepen- dent system based on contributors complexity and focus relationship according to the focus of SoS problem. Meanwhile, modeling methods are categorized based on details attention rate and dynamic attention rate, seeking for matching contributors. Taking helicopter rescue in earthquake relief as an example, the procedure of applying NUHYS and its effectiveness are verified.
基金supported by European Commission,World Meteorological Organization.
文摘Global Change challenges are now systematically recognized and tackled in a growingly coordinated manner by intergovernmental organizations such as the United Nations.Heterogeneous observing networks provide the founded data sources to assess the Earth environmental status and take sound decisions to achieve a sustainable development.WMO Hydrological Observing System(WHOS)allows to discover and access historical and near real time hydrological observations.WHOS represents the hydrological contribution to the wider WIGOS-WIS system of WMO.It is a digital ecosystems framework contributed by a set of data providers and technical support centers.In this framework,three regional pilots were successfully completed.The WHOS architecture applies the services brokering style,implemented through the Discovery and Access Broker technology.A brokering approach makes a global system of systems possible and sustainable,where the different enterprise systems are enabled to interoperate,despite they implement heterogeneous communication interfaces and data models.In this manuscript,the WHOS brokering solution is detailed by recurring to the definition of a set of transversal viewpoints to describe the important aspects of the complex ecosystem–namely:enterprise,information,computational,engineering,and technological views.Finally,the three regional pilot ecosystems are described as successful cases of WHOS implementation.
基金supported through a Cooperative Agreement with the NASA Glenn Research Center (NNX07013A)
文摘Finding equitable policy solutions is critical for developing sustainable energy use. This paper presents a system-of-systems (SOS) formalism for addressing the equity issue in multi-actor policymaking. In a SoS, the control of the overall system performance is shared among a network of actors. In contrast to a single optimal solution that aggregates objectives of actors, the solution conCept of iso-performance is formulated and employed to illuminate multiple solutions and hence the 'space' for actors to compromise. By specifically accounting for the equity issue, the level of sacrifice each actor makes for each iso-performance solution is computed. To demonstrate the approach, a case study is presented about policymaking to reduce fuel life cycle aviation emissions in the United States based on the year 2020 reduction target, involving government, airlines, jet fuel refinery companies, and aircraft and engine manufacturers. A resource allocation mixed integer programming model is employed to calculate carbon emissions resulting from airlines' deployment of aircraft fleet to meet changing air transport demand. The paper discusses three iso-performance solutions; each of them requires a different level of sacrifice from each actor. Such an insight can inform policymaking in determining the magnitude of compensation required when a particular solution is pursued.
基金supported by the National Key Research and Development Program of China(2016YFC0800801)the Research and Innovation Project of China University of Political Science and Law(10820356)the Fundamental Research Funds for the Central Universities。
文摘Although numerous advances have been made in information technology in the past decades,there is still a lack of progress in information systems dynamics(ISD),owing to the lack of a mathematical foundation needed to describe information and the lack of an analytical framework to evaluate information systems.The value of ISD lies in its ability to guide the design,development,application,and evaluation of largescale information system-of-systems(So Ss),just as mechanical dynamics theories guide mechanical systems engineering.This paper reports on a breakthrough in these fundamental challenges by proposing a framework for information space,improving a mathematical theory for information measurement,and proposing a dynamic configuration model for information systems.In this way,it establishes a basic theoretical framework for ISD.The proposed theoretical methodologies have been successfully applied and verified in the Smart Court So Ss Engineering Project of China and have achieved significant improvements in the quality and efficiency of Chinese court informatization.The proposed ISD provides an innovative paradigm for the analysis,design,development,and evaluation of large-scale complex information systems,such as electronic government and smart cities.
基金funded by EOValue project funds from European Commission Directorate-General for Research and InnovationDAB4EDGE project funds from European Space Agency[ESA grant agreement 4000123005/18/IT/CGD]DAB4GPP project funds from European Space Agency[ESA grant agreement 4000138128/22/I/AG].
文摘The GEOSS Platform is a key contribution to the goal of building the Global Earth Observation System of Systems(GEOSS).It enables a harmonized discovery and access of Earth observation data,shared online by heterogeneous organizations worldwide.This work analyzes both what is made available in the GEOSS Platform by the data providers and how users are utilizing it including multiyear trends,updating a previous analysis published in 2017.The present statistics derive from a 2021 EOValue report funded by the European Commission.The offer of GEOSS Platform data has been the object of various analyses,including data provider characterization,data sharing trends,and data characterization(comprising metadata quality analysis,thematic analysis,responsible party identification,spatial–temporal coverage).GEOSS data demand has also been the object of several analyses,including data consumer characterization,utilization trends,and requested data characterization(comprising thematic analysis,spatial–temporal coverage,and popularity).Among thefindings,a large amount of shared data,mostly from satellite sources,emerges with an issue of low metadata quality and related discovery match.Moreover,the trend in usage is decreasing.Therefore,the progressive disconnection of the GEOSS platform from its data Providers and Users and other possible causes are also reported.
文摘In order to obtain the optimized aircraft design concept which meets the increasingly complex operation environment at the conceptual design stage,System-of-systems(So S)engineering must be considered.This paper proposes a novel optimization method for the design of aircraft Mission Success Space(MSS)based on Gaussian fitting and Genetic Algorithm(GA)in the So S area.First,the concepts in the design and evaluation of MSS are summarized to introduce the Contribution to System-of-Systems(CSS)by using a conventional effectiveness index,Mission Success Rate(MSR).Then,the mathematic modelling of Gaussian fitting technique is noted as the basis of the optimization work.After that,the proposed optimal MSS design is illustrated by the multiobjective optimization process where GA acts as the search tool to find the best solution(via Pareto front).In the case study,a simulation system of penetration mission was built.The simulation results are collected and then processed by two MSS design schemes(contour and neural network)giving the initial variable space to GA optimization.Based on that,the proposed optimization method is implemented under both schemes whose optimal solutions are compared to obtain the final best design in the case study.
基金Project supported by the TL@SUTD-Systems Technology for Autonomous Reconnaissance & Surveillancethe SUTD-MIT International Design Center
文摘Development of mesoscale robots is gaining interest in security and surveillance domains due to their stealth and portable nature in achieving tasks.Their design and development require a host of hardware,controls,and behavioral innovations to yield fast,energy-efficient,distributed,adaptive,robust,and scalable systems.We extensively describe one such design and development process by:(1)the genealogy of our embedded platforms;(2)the key system architecture and functional layout;(3)the developed and implemented design principles for mesoscale robotic systems;(4)the various key algorithms developed for effective collective operations of mesoscale robotic swarms,with applications to urban sensing and mapping.This study includes our perception of the embedded hardware requirements for reliable operations of mesoscale robotic swarms and our description of the key innovations made in magnetic sensing,indoor localization,central pattern generator control,and distributed autonomy.Although some elements of the design process of such a complex robotic system are inevitably ad-hoc,we focus on the system-of-systems design process and the component design integration.This system-of-systems process provides a basis for developing future systems in the field,and the designs represent the state-of-the-art development that may be benchmarked against and adapted to other applications.