초록 ▼

Systems and techniques are described for distributed control and coordination of autonomous agents in a system. A protocol for distributed control allows autonomous agents to negotiate a group task for the agents, such as locomotion or self-reconfiguration in a robot application, and to synchronize

Systems and techniques are described for distributed control and coordination of autonomous agents in a system. A protocol for distributed control allows autonomous agents to negotiate a group task for the agents, such as locomotion or self-reconfiguration in a robot application, and to synchronize individual agent actions to effect the group task. A protocol for adaptive communication allows autonomous agents, such as physically coupled self-sufficient robot modules, to continuously discover changes in their local topology. In general, in one implementation, the technique includes: discovering a local topology, which includes a type of a communication connection to autonomous agents in the reconfigurable network topology, and determining an action based upon a received control message and the determined local topology.

대표청구항 ▼

Systems and techniques are described for distributed control and coordination of autonomous agents in a system. A protocol for distributed control allows autonomous agents to negotiate a group task for the agents, such as locomotion or self-reconfiguration in a robot application, and to synchronize

Systems and techniques are described for distributed control and coordination of autonomous agents in a system. A protocol for distributed control allows autonomous agents to negotiate a group task for the agents, such as locomotion or self-reconfiguration in a robot application, and to synchronize individual agent actions to effect the group task. A protocol for adaptive communication allows autonomous agents, such as physically coupled self-sufficient robot modules, to continuously discover changes in their local topology. In general, in one implementation, the technique includes: discovering a local topology, which includes a type of a communication connection to autonomous agents in the reconfigurable network topology, and determining an action based upon a received control message and the determined local topology. he low frequency signals moving in a first direction and exceeding a first threshold; detecting in response to the low frequency signals exceeding the first threshold, the low frequency signals moving in an opposite direction and exceeding a second threshold; detecting in response to the low frequency signals exceeding the second threshold, the low frequency signals moving in the first direction and exceeding a third threshold; and providing a control signal identifying an eye glance gesture being made by the user in response to low frequency signals exceeding the third threshold. 3. A method of controlling a device in response to biopotentials produced by a short eye brow lift gesture made by a user comprising: detecting biopotentials at a location on a user; filtering the biopotentials with a high frequency bandpass filter to produce high frequency signals in a bandwidth of from approximately 70 Hz to approximately 3000 Hz; detecting the high frequency signals moving in a first direction and exceeding a first threshold; detecting in response to the high frequency signals exceeding the first threshold, the high frequency signals moving in an opposite direction and dropping below the first threshold; measuring the time that the high frequency signals continuously exceed the first threshold; measuring the time that the high frequency signals are continuously below the first threshold; and providing a control signal identifying a short eye brow lift being made by the user in response to the high frequency signals continuously exceeding the first threshold for a first period of time, and the high frequency signals being below the first threshold for a second period of time. 4. A method of controlling a cursor in a video display in response to biopotentials produced by gestures made by a user comprising: detecting biopotentials at a location on a user; filtering the biopotentials to produce frequency signals; analyzing the frequency signals to provide a control signal representing a first frequency bandwidth; and initiating motion of the cursor in a first direction in response to the control signal being below a magnitude threshold for a period of time determinable by the user. 5. The method of claim 4 further comprising establishing a null amplitude representing a zero valued midpoint between negative and positive magnitude limits of the control signal determined by respective relaxed and active states of the user during a calibration process. 6. The method of claim 5 further comprising initiating motion of the cursor in response to the control signal having a magnitude below the null amplitude for a period of time determinable by the user. 7. The method of claim 6 further comprising incrementing a speed of the cursor in accordance with user determinable parameters. 8. The method of claim 7 further comprising reversing motion of the cursor in response to the control signal exceeding the magnitude threshold. prising: measuring a second subsequent heart rate. 6. The method of claim 1, further comprising: indicating a potential heart failure with the heart failure value when the subsequent heart rate change value is higher than the baseline heart rate change value. 7. The method of claim 1, further comprising: indicating a potential heart failure with the heart failure value when the subsequent heart rate change value is lower than the baseline heart rate change value. 8. The method of claim 1, further comprising: storing the baseline heart rate change value. 9. The method of claim 1, further comprising: storing the subsequent heart rate change value. 10. The method of claim 1, further comprising: storing the heart failure value. 11. The method of claim 1, further comprising: determining at least one significant heart failure value. 12. The method of claim 11, further comprising: indicating a potential heart failure with the heart failure value when the heart failure value matches the significant heart failure value. 13. The method of claim 12 further comprising: providing an alert of the potential heart failure. 14. The method of claim 1, further comprising: administering therapy based on the heart failure value. 15. The method of claim 1, further comprising: pacing at the first initial heart rate. 16. The method of claim 1 further comprising: determining an average heart rate change value from the baseline heart rate change and a plurality of subsequent heart rate changes. 17. The method of claim 1 further comprising: determining a maximum heart rate change value from the baseline heart rate change and a plurality of subsequent heart rate changes. 18. The method of claim 1 further comprising: determining a minimum heart rate change value from the baseline heart rate change and a plurality of subsequent heart rate changes. 19. An implantable medical device, comprising: a processor; at least one sensing circuit operably connected to the processor; at least one sensing electrode operably connected to the processor and adapted for placement within a heart wherein a first initial heart rate and a second initial heart rate are measured, a baseline heart rate change value is determined for a speed at which the first initial heart rate changes to the second initial heart rate, a subsequent heart rate change value is determined for a subsequent speed at which a first subsequent heart rate changes to a second subsequent heart rate and the subsequent heart rate change value is compared to the baseline heart rate change value to obtain at least one heart failure value. 20. The device of claim 19 further comprising: at least one pacing electrode. 21. The device of claim 19 further comprising: a memory location operably connected to the processor for storing the baseline heart rate change value. 22. The device of claim 19 further comprising: a memory location operably connected to the processor for storing a subsequent heart rate change value. 23. The device of claim 19 further comprising: a memory location operably connected to the processor for storing the heart failure value. 24. The device of claim 19 further comprising: an alert operably connected to the processor for providing an alert when the heart failure value indicates potential heart failure. 25. The device of claim 19 further comprising: at least one pacing electrode operably connected to the process for administering therapy based on the heart failure value. 26. The device of claim 19 further comprising: a memory location operably connected to the processor for storing an average heart rate change value. 27. The device of claim 19 further comprising: a memory location operably connected to the processor for storing a maximum heart rate change value. 28. The device of claim 19 further comprising: a memory location operably connected to the processor for storin