How groups of cooperative foragers can achieve efficient and robust collective foraging is of interest both to biologists studying social insects and engineers designing swarm robotics systems. Of particular interest are distance-quality trade-offs and swarm-size-dependent foraging strategies. Here, we present a collective foraging system based on virtual pheromones, tested in simulation and in swarms of up to 200 physical robots. Our individual agent controllers are highly simplified, as they are based on binary pheromone sensors. Despite being simple, our individual controllers are able to reproduce classical foraging experiments conducted with more capable real ants that sense pheromone concentration and follow its gradient. One key feature of our controllers is a control parameter which balances the trade-off between distance selectivity and quality selectivity of individual foragers. We construct an optimal foraging theory model that accounts for distance and quality of resources, as well as overcrowding, and predicts a swarm-size-dependent strategy. We test swarms implementing our controllers against our optimality model and find that, for moderate swarm sizes, they can be parameterised to approximate the optimal foraging strategy. This study demonstrates the sufficiency of simple individual agent rules to generate sophisticated collective foraging behaviour.

The enhancement of vehicle passenger safety is a central theme for car manufacturers. Since the introduction of Electronic Stability Control (ESC) in the late 90s, researchers in industry and academia have kept striving for continuously enhancing vehicle safety. However, despite significant efforts, the literature shows that a significant number of these endeavors have not advanced beyond theoretical formulations and software simulations. This paper presents the testing journey of an individual-wheel-torque-based vehicle stability controller through the major milestones of its development cycle. First, the controller is formulated based on specific vehicle dynamics design requirements. Then, an offline co-simulation is put in place to validate the controller along relevant maneuvers, with the controller running on Matlab-Simulink concurrently with the software Amesim running a 15-dof vehicle model of Siemens' SimRod battery electric vehicle. Next, a real-time co-simulation is achieved, running both the controller and the vehicle model on a real-time platform. Finally, an experimental hardware-in-the-loop setup is built, incorporating a dedicated Electronic Control Unit (ECU), and successfully tested.

This paper presents an analysis of the energy consumption of a continuous flow ohmic heater (CFOH) with advanced process controls for heating operations in the food and drinks industry. The study was carried out by using operational data collected from a CFOH pilot plant that was designed and constructed at the National Centre of Excellence for Food Engineering (NCEFE), Sheffield Hallam University. The CFOH is controlled by a PC and includes an onboard Programmable Logic Controller (PLC) and a Human Machine Interface (HMI) so that it can be operated as a stand-alone unit with basic on/off and power setting control but without any advanced control features. The technical solution presented in this paper for heating foods demonstrates significant energy saving compared with conventional heating methods. Using the CFOH, the electric current generated in the food products by the Joule effect produces a rapid temperature increase with very high energy efficiency. This technique eliminates the low efficiency of heat transfer from the surface of vessels typically used to heat and cook food products. The analysis presented in this paper describes the energy consumption of the CFOH and compares the efficiency of the CFOH when different advanced process control techniques are used. Experimental results and analysis have shown that the CFOH can achieve an energy efficiency conversion of at least 87.9%. It has also shown that the energy conversion percentage can be increased by applying advanced controllers such as model predictive control (MPC) or adaptive model predictive control (AMPC).

Dynamical system models typically involve numerous input parameters whose “effects” and orthogonality need to be quantified through sensitivity analysis, to identify inputs contributing the greatest uncertainty. Whilst prior art has compared total-order estimators’ role in recovering “true” effects, assessing their ability to recover robust parameter orthogonality for use in identifiability metrics has not been investigated. In this paper, we perform: (i) an assessment using a different class of numerical models representing the cardiovascular system, (ii) a wider evaluation of sampling methodologies and their interactions with estimators, (iii) an investigation of the consequences of permuting estimators and sampling methodologies on input parameter orthogonality, (iv) a study of sample convergence through resampling, and (v) an assessment of whether positive outcomes are sustained when model input dimensionality increases. Our results indicate that Jansen or Janon estimators display efficient convergence with minimum uncertainty when coupled with Sobol and the lattice rule sampling methods, making them prime choices for calculating parameter orthogonality and influence. This study reveals that global sensitivity analysis is convergence driven. Unconverged indices are subject to error and therefore the true influence or orthogonality of the input parameters are not recovered. This investigation importantly clarifies the interactions of the estimator and the sampling methodology by reducing the associated ambiguities, defining novel practices for modelling in the life sciences.