In this study, we introduce a deep Q-network agent utilizing a dueling architecture to refine the valuation of actions through separate estimations of the state-value and action-value functions, ...adapted to facilitate concurrent multi-agent operations within a shared environment. Inspired by the self-organized, decentralized cooperation observed in natural swarms, this study uniquely integrates a centralized mechanism, or a centralized critic. This enhances performance and coherence in decision-making within the multi-agent system. This hybrid approach enables agents to execute informed and optimized decisions by considering the actions of their counterparts while maintaining an element of collective and flexible task-information sharing, thereby presenting a groundbreaking framework for cooperation and information sharing in swarm robot systems. To augment the communication capabilities, we employ low-power wide-area networks, or Long Range (LoRa), which are characterized by their low power consumption and long-range communication abilities, facilitating the sharing of task information and reducing the load on individual robots. The aim is to leverage LoRa as a communication platform to construct a cooperative algorithm that enables efficient task-information sharing among groups. This can provide innovative solutions and promote effective cooperation and communication within multi-agent systems, with significant implications for industrial and exploratory robots. In conclusion, by integrating a centralized system into the proposed model, this approach successfully enhances the performance of multi-agent systems in real-world applications, offering a balanced synergy between decentralized flexibility and centralized control.
In recent years, wet rice farming that does not use chemical herbicides has come in demand owing to the diversified consumer needs, preference for pesticide-free produce, and need to reduce the ...environmental load. In this paper, we propose a “weeding robot” that can navigate autonomously while weeding a paddy field. The weeding robot removes the weeds by churning up the soil and inhibits the growth of the weeds by blocking-off sunlight. It has two wheels, whose rotational speed is controlled by pulse width modulation (PWM) signals. Moreover, it has capacitive touch sensors to detect the rice plants and an azimuth sensor used when turning. To demonstrate its effect in wet rice culture, we conduct a navigation experiment using the proposed weeding robot in two types of paddy field: conventional and sparse planting. The experiment results demonstrate that the proposed weeding robot is effective in its herbicidal effect, promoting the rice seedling growth and increasing the crop yield.
This study describes the achievements of a program that provides technology education about radiation to develop practical core engineers, then the effects of the programed were discussed. An ...education program starting at an early age and continuous and consistent educational agendas through seven years of college has been constructed in collaboration with regional organizations. Subjects relating to atomic energy or nuclear engineering were regrouped as “Subjects Related to Atomic Power Education” for most grades in each department. These subjects were included in the syllabus and the student guide book to emphasize a continuous and consistent policy throughout the seven-year period of college study, comprising the five-year system and the additional two-year advanced course. Furthermore, the content of lectures, experiments, and internships was enriched and realigned in collaboration with the Japan Atomic Energy Agency (JAEA), Okayama University, and Chugoku Electric Power Co., Inc. Additional educational materials were developed from inspection visits by teaching staff to atomic energy facilities were also used in the classes. Two student experiment textbooks were developed to promote two of the subjects related to atomic energy: “Cloud Chamber Experiment” and “A Test of γ-ray Inverse Square Law.” In addition to the expansion and rearrangement of atomic power education, research on atomic power conducted for graduation thesis projects was undertaken to enhance educational and research activities. Some examples are as follows: “Study on the Relation between γ Dose Rate and Rainfall in Northern Okayama Area,” “Remote Sensing of Radiation Dose Rate by Customizing an Autonomous Robot,” and “Nuclear Reaction Analysis for Composition Measurement of BN Thin Films.” It should be noted that an atomic-energy-related education working group has been in place officially to continue the above activities in the college since 2011. In consequence, although government subsidy has been decreasing, both human and material resources have been enhanced, and many students with a satisfactory understanding of atomic energy are being developed.
This paper describes the achievements of a program in which technology education is provided to cultivate practical core engineers for low-level radiation. It was made possible by means of (1) an ...introductory education program starting at an early age and a continuous agenda throughout college days and (2) regional collaboration. First, with regard to the early-age introductory education program and the continuous education agenda, the subjects of study related to atomic energy or nuclear engineering were reorganized as “Subjects related to Atomic Power Education” for all grades in all departments. These subjects were included in the syllabus and the student guide book, emphasizing a continuous and consistent policy throughout seven-year college study, including the five-year system and additional two-year advanced course. Second, to promote practical education, the contents of lectures, experiments, and internships were enriched and realigned in collaboration with the Japan Atomic Energy Agency, Okayama University and The Cyugoku Electric Power Co., Inc. In addition to the expansion and rearrangement of atomic power education, research on atomic power conducted for graduation thesis projects were undertaken to enhance the educational and research activities. In consequence, it has been estimated that there is now a total of fourteen subject areas in atomic energy technology, more than eight-hundred registered students in the department, and thirteen members of the teaching staff related to atomic energy technology. Furthermore, the “Tsuyama model” is still being developed. This program was funded by the Ministry of Education, Culture, Sports, Science and Technology.
In this study, the reinforcement learning agent under the situation of communicable as multi-agent system will be improved efficiency. In reinforcement learning, this method will be supposed that ...agent is able to observe the environment, completely. However, there is a limit on the information of the sensors. Moreover, it is hard to learn the reinforcement learning agent in the actual environment cause of some noise of actual environment or source device. In addition, a time per a episode will enlarge because an agent will be explored in a given area.
In the agricultural field of Japan, there is two issues are facing; population aging and labor shortage are progressing, rapidly. In order to solve these problems, it is indispensable to create a ...method that improves productivity and labor-saving technology in agricultural works. A weeding robot is one of an approach for achievement of these problems, it can be considered that labors will be released from tough or dangerous works. In this study, autonomously controlling the weeding robot will be focused on. To achieve this, an algorithm will be proposed that autonomously constructs a state-action space based on various sensor information and can apply it to actually work.
In this paper, an estimation method of both torque coefficient and moment of inertia of the windmill by using genetic algorithm is proposed. Generally, the torque coefficient is dependent on the ...shape of the windmill and is represented as a nonlinear function of the tip speed ratio. To simulate the nonlinearity, the torque coefficient is split into the m areas with respect to the tip speed ratio and is approximated by a piecewise linear equation in each area. The gains of the piecewise linear equation in each area and the moment of inertia are regarded as the gene and adjusted by the genetic algorithm so that the estimated windmill speed and acceleration correspond to the actual values. The results demonstrate the effective of the proposed scheme for estimation of the windmill parameters.
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