Спутник ДЗЗ. Swarm A. [Редактировать]

22 ноября 2013 года в 16:02 по московскому времени (12:02 UTC) с космодрома «Плесецк» ракетой-носителем «Рокот» с разгонным блоком «Бриз-КМ» осуществлён запуск трёх европейских спутников Swarm A, Swarm B и SwarmC. Swarm – является очередным проектом Европейского космического агентства, предусматривающим создание серии спутников Earth Explorer, задача которых – изучение важнейших параметров Земли и их изменений под воздействием деятельности человека. Космические аппараты предназначены для измерения магнитных сигналов, исходящих из ядра, мантии, коры, океанов, ионосферы и магнитосферы Земли.

Дополнительные наименования

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Дополнительная классификация

#Наименования
1Страна оператор(владелец) - Европа
2Тип оператора(владельца) - государственный
3Тип орбиты - НОО
4Страна производитель - Франция
5Все спутники ДЗЗ

Технические характеристики

#ХарактеристикаЗначение
1Масса, кг468

Характеристики орбиты

#ХарактеристикаЗначение
1Наклонение, град87.4
2Апогей, км475.2
3Перигей, км470.6
4Период, минут93.9
5Длинный диаметр эллипса, км6843

Пусковые характеристики

#ХарактеристикаЗначение
1Код NSSDC2013-067B

Информация об удачном запуске

#ХарактеристикаЗначение
1Дата пуска2013-11-22 at 12:02:00 UTC
2Полезная нагрузка 1xSwarm B
3Полезная нагрузка 1xSwarm A
4Полезная нагрузка 1xSwarm C
5Ракета-носитель 1xРокот

Найдено 1000 документов по запросу «Swarm A». [Перейти к поиску]


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...@gold.ac.uk 1 Introduction Particle Swarm Optimization (PSO) is a versatile population... an interacting super-swarm of charged swarms . A charged swarm is inspired by... a self-adapting multi-swarm, a multi-population with swarm birth and death. 2 Canonical... discretization of particle motion v(t + 1) = v(t) + a(t + 1) x(t + 1) = x(t) + v(t + 1) (1) (2) Particle Swarm Optimization in Dynamic Environments 3 where... velocity clamping. Moreover the constricted swarm is replete with a convergence proof... function evaluations per iteration. Particle Swarm Optimization in Dynamic Environments 5 3.3 The... of swarm diversity (Fig. 1). Loss of diversity arises when a swarm is converging... and the swarm will successfully track the moving target. The swarm as... in effect the swarm leader (frame 3). After a while, the swarm oscillates along... model, a swarm is comprised of a ‘charged’ and a ‘neutral’ sub-swarm. The model... charged sub-swarm will be rapidly re-optimized by the swarm as... nichePSO, if a particle’s fitness Particle Swarm Optimization in Dynamic Environments 9 changes... THEN Re-initialize worst swarm. FOR EACH swarm n // Test for Change Evaluate... particle attractor. Update swarm attractor. FOR EACH particle i of swarm n // Update Particle... := xni // Exclusion. FOR EACH swarm m = n IF swarm attractor png is within rexcl...-initialize swarm n ELSE Re-initialize swarm m FOR EACH particle in re-initialized swarm Re-evaluate function value. Update swarm attractor. UNTIL..., p(x, dv) = ρ(x)dv = const. In Particle Swarm Optimization in Dynamic Environments 11... as a many-swarm. A many-swarm has M swarms, and each swarm, for symmetrical configurations has N 0 neutral and N − charged particles. Such a many-swarm... by the swarm, f (pg ). The configuration of the interacting multi-swarm is... one free swarm in the multi-swarm at all times. A free swarm is... a peak. A swarm is assumed to be converging when the neutral swarm diameter... that a swarm immediately tracks a shifted peak. This means that the swarm size at the shift is about s and the swarm has... at the swarm level , as enforced by exclusion, enables a single swarm to... at the multi-swarm level enables the multi-swarm as a whole to find new peaks. 5.4 Multi-swarm cardinality The multi-swarm... place a swarm on each peak, and to maintain multi-swarm diversity with (at least one) patrolling swarm. The multi-swarm therefore needs a new swarm if all swarms... 3 Self-adapting multi-swarm Begin with a single free swarm, randomized in X d At... swarm ELSE If Mf ree > nexcess , remove worst free swarm FOR EACH swarm n test for change IF swarm n is excluded... M (t) = M (0) = 1 M (t − 1) + 1, Mf ree = 0 M (t − 1) − 1, Mf ree > nexcess (5) Swarm convergence and exclusion are now... the multi-swarm size and the number of converging swarms. A swarm is...: suppose a swarm (swarm A) has started to converging on a peak. A new free swarm, swarm B, will..., fluctuations in the swarm size may cause the swarm to appear to... swarms and 1 free swarm. Offline error Particle Swarm Optimization in Dynamic Environments... a previously converged swarm to vaporize through exclusion (the better swarm remains). Or... the multi-swarm; a multi-swarm is a colony of swarms, where each swarm, drawing... at the multi-swarm level, where a mechanism for swarm birth and death..., 2002. 6. T. M. Blackwell and J. Branke. Multi-swarm optimization in dynamic environments. In... Evolutionary Computation, to appear. 8. T.M. Blackwell. Swarm music: Improvised music with multi.... A. Carlisle and G. Dozier. Adapting particle swarm optimisationto dynamic environments. In Proc... locally - a framework for adaptive particle swarm optimizers. Technical report, 2002. http.... M. Clerc and J. Kennedy. The particle swarm: explosion, stability and convergence in.... X. Hu and R.C. Eberhart. Adaptive particle swarm optimisation: detection and response to.... S. Janson and M. Middendorf. A hierachical particle swarm optimizer for dynamc optimization problems.... 26. J. Kennnedy. Stereotyping: improving particle swarm performance with cluster analysis. In... choosing neighborhood bests in a particle swarm optimizer for multimodal function optimization... global optimization problems through particle swarm optimization. Natural Computing, pages 235.... J. Vesterstrom T. Krink and J. Riget. Particle swarm optimisation with spatial particle extension... A. P. Englebrecht. A cooperative approach to particle swarm optimization. IEEE transactions on Evolutionary..., 9 quantum, 7, 10 update equations, 2 particle swarm optimization, 1 PSO, 1 algorithm, 4 canonical, 2 linear collapse, 5 re-diversification, 7 many-swarm, 11 moving peaks benchmark, 1, 3 offline... settings, 12 MPB, 1 multi-swarm, 2, 9 star topology, 2 swarm birth and death, 14..., 2 diameter, 5 free, 14 diversity multi-swarm, 9, 12 swarm, 5, 12 diversity loss, 1, 5 diversity...



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... with the flight of a honeybee swarm toward a new nest site. The... directional information and steer the swarm to the new home. This coordinated flight of a honeybee swarm contrasts sharply with most migration... [9]). Upon leaving the nest, the swarm first settles into a beard-like... name “streaker bees”) through the swarm. The streaker bee hypothesis has...] performed a video analysis of a flying swarm using computer tracking algorithms and... trajectories of bees in the swarm. They measured each bee’s position... of the swarm. Another field experiment [18] considered a migrating bee swarm exposed... in a direction perpendicular to the swarm’s intended flight path. The heavy... disrupted the flight of the swarm, hence supporting the streaker bee..., informed bees streak through the swarm and fly back (with lower... a different approach and model the swarm flight with a system of ordinary... former performing streaks through the swarm. We present two mathematical models... model, streakers accelerate through the swarm with constant acceleration, while in... the flight of a real bee swarm. Various numerical results are presented... experiments. 2 The mathematical model Consider a swarm of N individuals with Nf follower... constant (high) speeds 3 through the swarm. The recent video processing study... flying individuals only, and in a swarm, these individuals are typically the... the desired location, reach the swarm’s front, then return to the... I: Streaker bees accelerate through the swarm with constant acceleration: dxi = vi... to the back of the swarm. We also consider different magnitudes...: Streaker bees fly through the swarm with constant speed: dxi = v0... in order to make the swarm flight more realistic. 8 Random flying... the swarm. Consider a generic streaker bee s. Bee s flies through the swarm by... We consider a two dimensional horizontal swarm of size N = 630, where Ns... numerical experiments for the bee swarm model (1) and (5)/(6) in order to... of flight guidance, speed of swarm versus speed of streakers. Unless... equivalently, the speed of the swarm in the desired direction of... II. Time evolution of the swarm, flight angle distribution. In the... lowest1 bee locations in the swarm, from t = 0 to t = 800, for the... initialization phase, during which the swarm expands, the bees remain confined... their locations within the swarm, however the swarm translates as a whole in the desired direction. Snapshots of the swarm... Figures 8 and 9) show that the swarm reaches a circular shape which it... the distance travelled by the swarm. For instance, with Cal = 0.2, the... is achieved. However, a too aligned swarm may not be realistic, and... highest and lowest locations” or “swarm height” refer to the horizontal... the average velocities of the swarm. (b) Trajectories of the centre of... in the swarm. The plot shows the confinement of the swarm within... from [15] show a generally chaotic swarm, with bees flying in all... 5(b)). For a better visualization of the swarm states and their evolution, we... the snapshots of the entire swarm. See Figures 6, 8 for plots corresponding... variance is low (t = 600), the swarm flight is fairly chaotic. The... acceleration) would slow down the swarm (results not shown here). Decreasing... (see Figure 5(b)). Snapshots of the swarm at these time instances are.... The previous numerical experiments concern a swarm of size N = 630 with Ns... 1% of the size of the swarm)! Efficiency drops sharply however if... (see Figure 5(b)). Snapshots of the swarm at these time instances are... task of choosing a nest site. Swarm split. There are rare occurrences... location. When this happens, the swarm takes off with approximately half... different initial conditions. The entire swarm either follows one single group... streak in the y-direction. The swarm starts off moving diagonally (in... distance travelled by the entire swarm (shown in columns 2 and 3) for... cases better) guidance to the swarm. Even Ns = 6 streaker bees (less... 1% of the size of the swarm) can achieve reasonably good efficiency.... During the final 30 m, the swarm moved slowly and eventually came... the bees streaked through the swarm, in straight and level flights... are qualitatively consistent with the swarm flight and description above. First... initial flight segment, when the swarm organizes itself from a a very chaotic... sense of direction, but the swarm as a group moves consistently in... achieved average speed of the swarm. For instance (see Figure 4(a)), corresponding... 6 and 7, as well as the swarm snapshots from Figures 8 and 9), a feature... scouts does not brake the swarm significantly (this was discussed above... swarms in terms of average swarm speed, flight angle distribution, individual... swarms: How do scouts guide a swarm of uninformed bees?, Animal Behaviour... red dwarf honeybee apis florea, Swarm Intell. 5 (2011) 121–141. [18... = 600 Figure 8: Snapshots of the swarm at various times (Cal = 0.1): t = 0, 462... = 546 Figure 9: Snapshots of the swarm at various times (Cal = 0.5): t = 0, 454... steady acceleration of a real bee swarm, due to a chain reaction and...



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...Dynamic Archive Based Niching Particle Swarm Optimizer Using a Small Population Size... optima. This paper presents a particle swarm optimizer (PSO) niching algorithm only... a small population size. Keywords: Particle Swarm Optimization, Multimodal Optimization, Evolutionary Computation...) (Back et al. 1997), Particle swarm optimization (PSO) (Kennedy & Eberhart 1995... conclusions in Section 7. 2 Particle Swarm Optimization Particle swarm optimization (PSO) is a recently... particles, to form a swarm. Each particle in the swarm represents a candidate solution... the ith particle in the swarm as xi , which is evaluated... is obtained from the entire swarm. In the local best (lbest... to multimodal problems by partitioning a swarm into a number of subs-swarms... multiple subswarms generated from a main swarm. A sub-swarm is created around a particle... PSO algorithm is species particle swarm optimizer (SPSO) proposed by Li... of mapping 8 particles in the swarm to a ring topology. Assuming two... problems is that a large particle swarm is more likely to generate... less than 3. For instance, sub-swarm C only contains 2 particles, shown in... only belongs to one sub-swarm. Multiple formed sub-swarms in.... Firstly, members in each sub-swarm remain unchanged throughout a run. Secondly... have chances to form a sub-swarm, as LPRT creates sub-swarms... shown in Figure 1. Sub-swarm B Sub-swarm A 2 3 1 4 8 5 7 6 Sub-swarm C Figure 2: An example of... and they are overlapped. Sub-swarm A 2 3 1 4 8 5 7 Step 1: Initialize particles to random... found by the converged sub-swarm is checked with the DA... any particle in the sub-swarm approximately reduces to 0. The reason.... Assume that a particle in a sub-swarm stops moving in the search... met, rpso−sp terminates. 6 Sub-swarm C sp and LP RT clear... of members in each sub-swarm. Like LP RT , rpso−sp... several variants with varying sub-swarm sizes. r3pso − sp and r3pso... in the following steps: Sub-swarm B The detailed algorithm for building... a PSO niching method partitions the swarm into and s are similar ||p − s|| ≤ R, and..., consisting of n particles in the swarm. ||ki − kj || mal solutions in... losing found optimal solutions. the swarm. We assume that the most... no matter how big sub-swarm sizes are. It is clear...), ‘Locating multiple optima using particle swarm optimization’, Applied Mathematics and Computation.... Clerc, M. & Kennedy, J. (2002), ‘The particle swarm explosion, stability, and convergence in... Algorithms. Kennedy, J. & Eberhart, R. (1995), Particle swarm optimization, in ‘Proc. Conf. IEEE... bests using species in a particle swarm optimizer for multimodal function optimization...), ‘Niching without niching parameters: Particle swarm optimization using a ring topology’, Evolutionary..., M. (2001), Modification of the particle swarm optimizer for locating all the... den Bergh, F. (2002), A niching particle swarm optimizer, in ‘Proc. of the..., I. & Engelbrecht, A. (2005), ‘A parallel vectorbased particle swarm optimizer’, pp. 268–271.



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...-only] enable-guest-multicast multi-swarm no… no airgroup Description This... policies in guest VLAN. multi-swarm Enables inter cluster mobility. When...-guest-multicast AP)(airgroup)# multi-swarm AP)(airgroup)# end AP)# commit... within the IAPs within the swarm. bad-snr The clients with... | servers [dlna| mdns| verbose]| status | swarm-info| users [dlna| mdns| verbose... the AirGroup feature activation status. swarm-info Displays information about the... show airgroup cppm entries command: swarm id = fc6520ad018ee6eb13bdc6b985e0fe6361bd37f7d25212a77e -------------------------------------------------------------------ap id = d8... the following information: Column Description swarm id Indicates the cluster ID... master status :TRUE Airgroup multi swarm status :TRUE Aruba Instant 6.5.1.0-4.3.1.0 | CLI... 1580(1580) swarm update counter rx 1(1) mdns recieved valid swarm packet 11978... to my swarm hello tx 2354(2354) mdns ap to swarm hello... the slave IAP. Airgroup multi swarm status Indicates the status of... Feature ---------------------Status -----Disabled AirGroup Multi Swarm -------------------Status -----Disabled AirGroup Guest Multicast... support is enabled. AirGroup Multi Swarm status Indicates if the inter... AirGroup services configuration. show airgroup swarm-info The following output is... show airgroup swarm-info command: AirGroup Swarm info -------------------Swarm id -------ef7501af01cd098223100f6d02733552765515ffcd7712c41c AirGroup Swarm AP... 10.17.141.137 AirGroup Swarm AP's Client info -------------------------------Mac Ip... of show all monitor command. Swarm Active Laser Beam Sources ------------------------------bssid....17.161.1 10.13.6.110 "" swarm-mode cluster wifi0-mode access... Wifi0 (5G) ------------------------------------MAC RSSI In Swarm Flags ------ -------- ----00:27:10:a9...; C - Client Match Enabled; I - In Same Swarm Total 21 Neighbors 00:24... of connections monitored in the swarm by cluster security dtls. peers...:50m:48s Type::AN OS:: Swarm Client Stats -----------------Timestamp Signal (dB... the show stats global command: Swarm Global Stats -----------------Timestamp Clients Frames... the show stats network command: Swarm Network Stats ------------------Timestamp Clients Frames... show summary | 587 show swarm show swarm {state|mode|image-sync} Description... various entities associated with the swarm. Syntax Parameter Description state Displays... the output of show swarm state command: AP Swarm State :swarm_config_sync_complete mesh... output for the show swarm mode command: Swarm Mode :Cluster Command History... Privileged EXEC mode 588 | show swarm Aruba Instant 6.5.1.0-4.3.1.0 | CLI Reference Guide... Instant 6.5.1.0-4.3.1.0 | CLI Reference Guide swarm-mode swarm-mode Description This command allows... mode. standalone or cluster The swarm-mode standalone command converts the... the standalone mode, whereas the swarm-mode cluster command converts it... to a standalone IAP: (Instant AP)# swarm-mode standalone Command History Version.... Aruba Instant 6.5.1.0-4.3.1.0 | CLI Reference Guide swarm-mode | 631 syslocation syslocation no...



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... of the Kverkfjöll fissure swarm (Figure 1). The present plate boundary... centered at the Askja fissure swarm (Sturkell et al., 2006, Árnad... of the Kverkfjöll fissure swarm, spreading at a full rate of... Hálslón in Figure 1). A swarm, similar to the Upptyppingar swarm, would have been..., the seismic activity in the swarm was confined to a small area... of hours to days, a new swarm initiated with similar characteristics. At... May, after a few days quiescence, swarm activity resumed with greater intensity.... On December 7th, an intensive swarm began in Álftadalsdyngja, producing ~1,500... the end of February when swarm-like activity resumed in Álftadalsdyngja... consistent with the sustained VT swarm, which immediately follows the velocity... of the epicentres within each swarm were analysed in relation to... analysed doublets from an intense swarm of local earthquakes that occurred... them occur along an elongated swarm, exhibiting a clear SW-NE trend.... In this case, the LP swarm begins 2 hours before the explosion... content dominated by preceding a LP swarm merging into tremor. frequencies between... earthquakes locations of the seismic swarm preceding the 2001 Mt Etna... determined from the April 2003 swarm indicate that it could be... range is between 1 day (swarm 6) and 19 months (swarm 1). HypoDD (Waldhauser, 2001... of 18 months or more. Swarm 4 was located W of Furnas. Swarms... the opposite was apparent in swarm 1 (strike-slip with a normal component... swarm 1 (top left) to swarm 6 (bottom right). Composite fault solution of each swarm... regional extensional regime (evident in swarm 1), the behaviour presented by swarms... in the upper crust, but a swarm near the base of the... and has an E-W striking fissure swarm (Jónsson, 1985; 1988), which joins... volcano and an associated fissure swarm extending northeast along the EVZ... fissures within the associated fissure swarm. The eruptions can melt through... AD 2000 Izu islands earthquake swarm that stressing rate governs seismicity...., 1991). The seismicity consisted of swarm-type activity, characterised by 22... extrusion Lava emission An intensive swarm of seismic events produced by...



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..., R., Hulot, G., Kuvshinov, A. (2016): Special issue “Swarm science results after 2 years in...-6 Open Access PREFACE Special issue “Swarm science results after 2 years in..., Gauthier Hulot4 and Alexey Kuvshinov5 Swarm is a three-satellite constellation mission... spacecraft, two of which (Swarm Alpha and Swarm Charlie) are flying almost... the equator. The third satellite (Swarm Bravo) is in a slightly higher... on each of the three Swarm spacecraft is shown in Fig... at http://earth.esa.int/ swarm. The 21 articles collected in...-Association Symposium “JA4 Results from Swarm, Ground Based Data and Earlier... the magnetometry package of the Swarm satellites. Finlay et al. (2016... Pignalberi et  al. (2016) using Swarm plasma density measurements, and by... ground and Swarm. Calibration of the electric field instrument of Swarm is...) combine ground magnetic data and Swarm TEC observations to study possible... al. (2016) used GPS and Swarm plasma observations to study equatorial...  al. (2016) describe improvements of Swarm GPS antenna settings to enhance... board each of the three Swarm satellites (ESA/AOES Medialab) snapshot... field from Swarm GPS observations. Finally, the processing of the Swarm accelerometer... to the success of the Swarm mission. With great enthusiasm he... establishment of Swarm SCARF, the Swarm Level-2 data processing facility. Swarm SCARF was... polar ionospheric electrojet currents from Swarm satellite constellation magnetic data. Earth... storm as seen by the Swarm constellation. Earth Planets Space 68... G (2016) First results from the Swarm dedicated ionospheric field inversion chain...) Gravity field models derived from Swarm GPS data. Earth Planets Space...) Recent geomagnetic secular variation from Swarm and ground observatories as estimated... (2016) Calibration and assessment of Swarm ion drift measurements using a compari... complete magnetic gradiometry with the Swarm mission. Earth Planets Space 68... during St. Patrick’s Day Storm: Swarm and SuperDARN measurements. Earth Planets... field derived from 2 years of Swarm satellite constellation data. Earth Planets...) Comparison between IRI and preliminary Swarm langmuir probe measurements dur‑ ing...-0466-5 Siemes C et al (2016) Swarm accelerometer data processing from raw...ébault E, Vigneron P, Langlais B, Hulot G (2016) A Swarm lithospheric magnetic field model to... calibration and characterisation of the Swarm magnetometry package. Earth Planets Space... J, Forte B, Montenbruck O (2016) Impact of Swarm GPS receiver updates on POD... equatorial plasma irregularities derived from Swarm constellation. Earth Planets Space 68... I (2016) GPS and in situ Swarm observa‑ tions of the equatorial...



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... potential for GMES/Copernicus [4‐1‐1] ....................................... 114  Swarm: Geomagnetism and the Near‐Earth... Atmosphere Missions .................................................................................... 155  Thu‐P‐26 Swarm ....................................................................................................................... 156  13 September ....................................................................................................................................... 158  SMOS...:10 10:30 10:50 Swarm Vessels 11:10 CoReH2O and... ‐  Data Assimilation ‐ Future Atmosphere Missions ‐ Swarm 17:30 19:00 FRIDAY...  as  Revealed  in  GOCE  and Swarm Accelerometer Measurements  J. Forbes (1) X. Zhang (1) E. Doornbos... Follow‐on: the Potential of SWARM and SLR  to Detect Time... September 12, from page 137  Swarm: Geomagnetism and the Near-Earth...:30    ESA's Magnetic Field Mission Swarm  R.  Haagmans  (1)  Y.  Menard  (1)  R.  Floberghagen  (1)  J.  Piñeiro... Swarm  H. Lühr (1) J. Park (1) P. Ritter (1) 1: Deutsches GeoForschungsZentrum GFZ, DE  Opportunities for the Swarm... 1 8: ESA, NL  Science Opportunities from Swarm Cluster Synergies  C.  Stolle  (1)  O.  Amm  (2)  K.  Kauristie... ESA Data Quality Assurance of Swarm Data  G.  Ottavianelli  (1)  I.  Coco  (2)  I.  Di  Lodovico... Spa, IT 3: ESA ‐ ESTEC, NL  Swarm: User Interface & Data Access  G. Plank... Thu-P-26 Swarm 4‐P‐332  A  Proposal  to  Cross‐Validate  ESA's  Swarm  Level  1b... and Magnetic field Effects on Swarm Electric Field Instrument (EFI)  R. Marchand...  Balloon  Missions  as  a  Complement  to  SWARM  Mission?  S. Filippov (1) Y. Tsvetkov (1) 1: IZMIRAN, RU... Geomagnetic Observatory Data during the Swarm Mission  V. Ridley (1) S. Macmillan (1) B. Hamilton (1) 1: British... Survey, GB  4‐P‐337 SCARF ‐ The Swarm Satellite Constellation Application and Research... Rapid Magnetospheric Field Modelling using Swarm Data  B. Hamilton (1) 1: British Geological Survey... Core Magnetic Field Models From Swarm Data Set  M.  Rother  (1)  V.  Lesur  (1)  R.  Schachtschneider... Planet Symposium – Programme Guide 4‐P‐343 SWARM L2PS Dedicated Lithospheric Field Inversion... Science and Technology, NO  4‐P‐346 SWARM L2PS Equatorial Electric Field Inversion... Globe de Paris, FR  4‐P‐347 SWARM L2PS Dedicated Ionospheric Field Inversion...



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... of Asia (VANDAME R., 1996). Photo 3 Swarm of bees Apis cerana - Apiary... of the honey of a wild swarm, one or several combs containing... with the homeostasis of the swarm. The process of desertion engendered... preparation for a hypothetical departure of a swarm. Bees have less inclination to... to direct it towards the swarm. Bamboo Drilled canned food Figure... maintain the homeostasis of the swarm. On the contrary, an exposure... in the temperature of the swarm, implying an important ventilation of... of the atmosphere in the swarm. Beyond this limit, often exceeded... of the temperature of the swarm as well as the frequency... Assist the development of the swarm Verify the disponibility for laying... colony. Control of swarming (& and swarm collection) The end of the... swarming. As soon as the swarm is formed, the beekeeper can... a straw bowl placed over the swarm. Beforehand, the inside of this.... Illustration: PDDP Figure 6 Capture of a swarm by means of a "straw bowl... then easy to transfer this swarm in a hive prepared for that... a top bar hive for a new swarm Preparation of top bars To... beeswax Top bar Before placing a swarm there, the hive must be... a top bar hive for a new swarm 30 Beyond this minimal control..., its morphology, the organization of a swarm, the communication within the colony... inclination to abscond and to swarm. Another apiarian alternative, the stingless... super-organism 3. Social Organization in a swarm - 3 castes - The activities of the... Chapter 9: Practice 1. The transfer of a swarm to the beehive 2. Selective harvest...



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... Summary....................................................................................................................................... 1 Introduction .................................................................................................................................................. 2 Background ................................................................................................................................................... 5 Swarm Robotics ........................................................................................................................................ 5 Swarm Intelligence.................................................................................................................................... 6 Swarm Advantages.................................................................................................................................... 7 Swarm Disadvantages ............................................................................................................................... 9 Swarm Topologies ................................................................................................................................... 10 Coverage Algorithms ............................................................................................................................... 11 Previous Hierarchical Swarm Attempts .................................................................................................. 12 Hierarchal Swarm... traditional swarm communications which often utilize the interconnected topology. A hierarchical swarm mimics... robots in the swarm. The combination of a working physical swarm, a working and... the HST. Specifically, the swarm Hierarchical Swarm Robotics Worcester Polytechnic Institute 2011... to be valid. Background Swarm Robotics Swarm robotics is the study of... results. Hierarchical Swarm Robotics Worcester Polytechnic Institute 2011 5 Swarm Intelligence Swarm intelligence is... to the particular model of swarm intelligence. Swarm intelligence in general has... moderator.’ Hierarchical Swarm Robotics Worcester Polytechnic Institute 2011 6 Swarm Advantages The advantages and disadvantages of using a robotic swarm versus... of a single swarm. Increasing the size of the swarm can also be...-tolerance. Implementing a swarm provides the possibility to make swarm members simpler. To... cost Hierarchical Swarm Robotics Worcester Polytechnic Institute 2011 8 Swarm Disadvantages While swarm systems... the cons of using swarm robotics: Hierarchical Swarm Robotics Worcester Polytechnic Institute... task is not parallelizable Swarm Topologies While swarm robotics is still a fairly... of the tests. Hierarchal Swarm Topology A hierarchal swarm topology works off the... structure of a hierarchal swarm topology splits the swarm into various levels, and... a robot in a normal swarm system. In a non-hierarchical swarm, every robot has... a new robot in the swarm. In a hierarchical swarm, the new robot's parent... simpler than regular swarm systems. Application Ideas Hierarchical swarm systems can be... of each level in the swarm. The swarm consists of three levels... the Hierarchical Swarm Robotics Worcester Polytechnic Institute 2011 46 swarm, or the... the various robots in the swarm. Hierarchical Swarm Robotics Worcester Polytechnic Institute... hierarchical swarm. This was successfully achieved by creating a three tiered swarm consisting.... This swarm was considerably different than other attempts at swarm mapping solutions... of a hierarchical swarm when compared to already existing swarm topologies, it did show that a hierarchical swarm can in... Topologies in Swarm Intelligence. 8. Chen, Hanning, et al. Hierarchical Swarm Model: A New...



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... for creating and interpreting swarm programs. The swarm structure provided by SDG... an entirely new swarm framework. Mike Hogye implemented the swarm framework in... modifications that would accommodate swarm development. Hence, the Swarm project was moved... the Swarm The Difficulties Associated with Swarm Programming A System to Facilitate Swarm Development Document Overview 1 3 6 7 CHAPTER 2: SYNTHESIZING A SWARM PROGRAM 8 1. An Overview of the Software System 2. Swarm Behaviors 8 9 CHAPTER 3: DESIGN AND IMPLEMENTATION 11 1. Object-Oriented Swarm Programming 2. The Swarm Framework 3. The Swarm Generator 11 12 13 CHAPTER 4: TESTING 21 1. Swarm Simulation... of an object • acceptable swarm program – a swarm program is acceptable if it... process used by the swarm generator to create a swarm program • information hiding... with the swarm generator • swarm – a collection of devices • swarm framework – the swarm code library... swarm application • swarm program – the computer code that runs on an individual swarm device • swarm programming – programming a collection of autonomous swarm devices • synthesizing... fundamental difference between swarm programming and traditional programming. Swarm programming requires a flexible... swarm environments and the random failure of swarm devices. This requirement makes swarm... associated with the swarm programming process. 1. PROGRAMMING THE SWARM In the last... rest of the swarm. The result is the swarm functioning as a single... of programming the swarm exist. 2. THE D IFFICULTIES ASSOCIATED WITH SWARM PROGRAMMING The... reasoning about swarm programs. The design aspect of a swarm program is complicated... description of a swarm’s behavior can we generate an acceptable swarm program? The... 2. Swarm Behavior: Disperse device d r s environment Begin Clustered swarm devices End Dispersed swarm devices... swarm programmer to implement a new swarm program to provide the new desired swarm behavior. Hence the problem: swarm... a software system that allows swarm developers to create swarm programs at a much... an acceptable swarm program from a high- level description of a swarm’s behavior o Specified... process by generating swarm programs from a set of highlevel swarm descriptions. This increases the efficiency of swarm programmers by... introduction to the swarm beha viors pertinent to synthesizing a swarm program. Chapter... 2: Synthesizing a Swarm Program CHAPTER 2: SYNTHESIZING A SWARM PROGRAM The principles for synthesizing a swarm program... of fusing multiple swarm behaviors into a single new swarm behavior, and from... interface for swarm programmers, allowing them to create new swarm programs by simply selecting a set of swarm behaviors from... by the Swarm Program Synthesizer to generate an acceptable swarm program for... as a new swarm program for each device. 2. SWARM B EHAVIORS A swarm behavior is a description... of the swarm. Let us consider some of the swarm behaviors as.... The converge swarm behavior does just that; it enables swarm devices to... an acceptable swarm program. 1. OBJECT-O RIENTED SWARM PROGRAMMING In swarm programming, a swarm is viewed....santafe.edu/projects/swarm/ swarmfest99-tutorial/ 2. THE SWARM FRAMEWORK The Swarm Programming Project... from the swarm program and shows the interactions of swarm devices with... acceptable swarm program from a high- level description of swarm behaviors. Specifying swarm behaviors... system, or swarm generator, accepts any number of swarm behaviors as input... a new swarm program for each swarm device as output. The swarm generator is... file of the swarm generator project. In this file, a swarm generator object... logical order. The Swarm Generator Class The swarm generator object in main... synthesizing an acceptable swarm program from high- level swarm behaviors. This chapter... some interpretation of the swarm program. The swarm program’s acceptability is interpreted... for visually interpreting a swarm program. The interpretation of a swarm program is based... description of a swarm’s behavior can we generate an acceptable swarm program? The... an acceptable swarm program from a set of high- level swarm behaviors is possible. The system, or swarm generator, produced...-Hill [21] The Swarm Development Group “The Swarm Development Group.” Retrieved December... ht tp://www.swarm.org 27 APPENDIX A: THE SWARM GENERATOR CLASS FILES... -- Template for swarm .cpp file */ /* HeaderConstruct.txt -- Template for swarm .h file */ /* LowPowerNewBehavior... -- Template for swarm .cpp file */ /* HeaderConstruct.txt -- Template for swarm .h file */ /* LowPowerNewBehavior... the Swarm Generator class to build a swarm */ /* program from three seperate swarm entity...