Multiagent learning with cooperative coevolutionary algorithms is a critical area of research, and is relevant to many real-world applications including air traffic control, distributed sensor network control, and game-theoretic applications such as border patrol. A key difficulty in multiagent learning is the credit assignment problem, where the impact of each...
This paper addresses the adequacy and perspectives of multi-agent system (MAS) models in the context of policy sup-port for agricultural policy makers. The paper starts illustrating what MAS are and how they may be used. The general presenta-tion is followed by the description of an exemplary spatial dynamic model of...
Current research into path planning for Unmanned Aerial Vehicles (UAVs) has placed a major focus on accomplishing the goals of various agents while avoiding collisions between each other. However, there has been little focus on whether the planned trajectories are fair for each agent.
This work provides an answer to...
Efficient coordination is desired for multi-robot systems in many scenarios. In this research, we first provide a multi-robot system to help human workers during tree fruit harvest. We present an auction-based method to coordinate a team of self-propelled bin carriers to retrieve fruit bins. Second, we propose a more general...
Transportation systems are facing safety and operational challenges with a cost of billions of dollars annually in lost production time and wasted fuel. Infrastructure expansion, previously held as a panacea to most transportation challenges has lost its appeal due to financial, land-use and environmental constraints. Interest is surging in intelligent...
There is growing commercial interest in the use of unmanned aerial vehicles (UAVs) in urban environments, specifically for package delivery applications. However, the size, complexity and sheer numbers of expected UAVs makes conventional air traffic management that relies on human air traffic controllers infeasible. To enable UAVs to safely and...
Multiagent approaches are well suited to designing autonomous solutions for systems that feature complex interactions between many individuals such as in autonomous traffic systems and multi-robot exploration systems. However, creating autonomous agents that function effectively in these systems is a challenging task. In these complex environments, agents need informative reward...
The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism;...
Autonomous vehicles (AVs) at varying market penetrations will change traffic flow and highway performance. At AV market penetrations between 0% and 100%, human driven vehicles (HVs) will be interacting with AVs. However, little is known about how HVs interact with AVs. This study attempts to quantify HV headways when following...
Uninhabited aerial vehicles, also called UAVs are currently controller by a combination of a human pilot at a remote location, and autopilot systems similar to those found on commercial aircraft. As UAVs transition from remote piloting to fully autonomous operation, control laws must be developed for the tasks to be...
The relationship of intracellular drug levels and resultant drug activity to intracellular pH (pHi) was studied in the experimental tumors. Glucose (5 g/kg) and/or sodium oxamate (0.1 mmol) were administered to Walker 256 ascites cells and Ehrlich ascites cells, in an attempt to alter pHi as measured by the distribution...
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Product formulation and in vitro dissolution characteristics of sustained-release chewable tablet dosage
forms are presented in chapter one of this thesis. In vivo
single dose and multiple dose studies of two
sustained-release formulations as well as one conventional
dyphylline formulation are described in chapter two. The
pharmacokinetics of dyphylline following...
Previous investigation showed that 20 mg/kg BCNU
caused inhibition of sulfobromophthalein (BSP) excretion
and inhibited bile salt independent bile flow (BSIF) in
rats by 48 h after treatment (Hoyt, 1984).
The present investigation demonstrated that BCNU
inhibited the canalicular step in the excretion of BSP.
This was indicated by the...
Coordination in large multiagent systems in order to achieve a system level goal is a critical challenge. Given the agents' intention to cooperate, there is no guarantee that the agent actions will lead to good system objective especially when the system becomes large. One of the primary difficulties in such...
Underwater monitoring and manipulation with autonomous underwater vehicles (AUVs) are active avenues of research in the Field Robotics Community. The purpose of this document is to briefly summarize some of the more promising research applications as well as provide information from four companies working in the area of marine renewable...
Natural disasters could result in unnecessary loss of life and disproportionate suffering to families and communities if evacuation plans are not in place or understood by the public. In the Pacific Northwest, a magnitude 9.0 earthquake and tsunami from the Cascadia Subduction Zone (CSZ) represents one of the most pressing...
Air traffic flow management over the U.S. airpsace is a difficult problem. Current management approaches lead to hundreds of thousands of hours of delay, costing billions of dollars annually. Weather and airport conditions may instigate this delay, but routing decisions balancing delay with congestion contribute significantly to the propagation of...
Many real world problems have partial solutions or intermediary steps which can lead toward solving the problem. When assembling robotic teams to solve these problems, we have intuition about which intermediary steps are more useful than others. We examine methods to identify and apply our designer intuition onto tightly coupled...