@misc{DykaVogelKabinetal., author = {Dyka, Zoya and Vogel, Elisabeth and Kabin, Ievgen and Klann, Dan and Shamilyan, Oxana and Langend{\"o}rfer, Peter}, title = {No Resilience without Security}, series = {International Conference on Cyber-Physical Systems and Internet-of-Things (CPS \& IoT 2020)}, journal = {International Conference on Cyber-Physical Systems and Internet-of-Things (CPS \& IoT 2020)}, isbn = {978-1-7281-6949-1}, doi = {10.1109/MECO49872.2020.9134179}, pages = {5}, language = {en} } @misc{ShamilyanKabinDykaetal., author = {Shamilyan, Oxana and Kabin, Ievgen and Dyka, Zoya and Kuba, Michael and Langend{\"o}rfer, Peter}, title = {Octopuses: Biological Facts and Technical Solutions}, series = {2021 10th Mediterranean Conference on Embedded Computing (MECO)}, journal = {2021 10th Mediterranean Conference on Embedded Computing (MECO)}, isbn = {978-1-6654-2989-4}, issn = {2637-9511}, doi = {10.1109/MECO52532.2021.9459727}, language = {en} } @misc{ShamilyanKabinDykaetal., author = {Shamilyan, Oxana and Kabin, Ievgen and Dyka, Zoya and Sudakov, Oleksandr and Cherninskyi, Andrii and Brzozowski, Marcin and Langend{\"o}rfer, Peter}, title = {Intelligence and Motion Models of Continuum Robots: an Overview}, series = {IEEE Access}, journal = {IEEE Access}, number = {11}, issn = {2169-3536}, doi = {10.1109/ACCESS.2023.3286300}, pages = {60988 -- 61003}, abstract = {Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-to-access. Continuum robot missions are bounded with their motions, whereby the motion of the robots is controlled by humans via wireless communication. In case of a lost connection, robot autonomy is required. Distributed control and distributed decision-making mechanisms based on artificial intelligence approaches can be a promising solution to achieve autonomy of technical systems and to increase their resilience. However these methods are not well investigated yet. Octopuses are the living example of natural distributed intelligence but their learning and decision-making mechanisms are also not fully investigated and understood yet. Our major interest is investigating mechanisms of Distributed Artificial Intelligence as a basis for improving resilience of complex systems. We decided to use a physical continuum robot prototype that is able to perform some basic movements for our research. The idea is to research how a technical system can be empowered to combine movements into sequences of motions by itself. For the experimental investigations a suitable physical prototype has to be selected, its motion control has to be implemented and automated. In this paper, we give an overview combining different fields of research, such as Distributed Artificial Intelligence and continuum robots based on 98 publications. We provide a detailed description of the basic motion control models of continuum robots based on the literature reviewed, discuss different aspects of autonomy and give an overview of physical prototypes of continuum robots.}, language = {en} } @misc{ShamilyanKabinDykaetal., author = {Shamilyan, Oxana and Kabin, Ievgen and Dyka, Zoya and Langend{\"o}rfer, Peter}, title = {Distributed Artificial Intelligence as a Means to Achieve Self-X-Functions for Increasing Resilience: the First Steps}, series = {11th Mediterranean Conference on Embedded Computing (MECO), Budva, Montenegro, 07-10 June 2022}, journal = {11th Mediterranean Conference on Embedded Computing (MECO), Budva, Montenegro, 07-10 June 2022}, isbn = {978-1-6654-6828-2}, issn = {2637-9511}, doi = {10.1109/MECO55406.2022.9797193}, pages = {6}, language = {en} } @misc{ShamilyanKabinDykaetal., author = {Shamilyan, Oxana and Kabin, Ievgen and Dyka, Zoya and Langend{\"o}rfer, Peter}, title = {Resilient movement planning for continuum robots}, series = {MODeM 2024 : Multi-Objective Decision Making Workshop at ECAI 2024, 20 October 2024, Santiago de Compostela, Spain}, journal = {MODeM 2024 : Multi-Objective Decision Making Workshop at ECAI 2024, 20 October 2024, Santiago de Compostela, Spain}, doi = {10.48550/arXiv.2404.06178}, pages = {1 -- 7}, abstract = {The paper presents an experimental study of resilient path planning for con-tinuum robots taking into account the multi-objective optimisation problem. To do this, we used two well-known algorithms, namely Genetic algorithm and A* algorithm, for path planning and the Analytical Hierarchy Process algorithm for paths evaluation. In our experiment Analytical Hierarchy Process algorithm considers four different criteria, i.e. distance, motors damage, mechanical damage and accuracy each considered to contribute to the resilience of a continuum robot. The use of different criteria is necessary to increasing the time to maintenance operations of the robot. The experiment shows that on the one hand both algorithms can be used in combination with Analytical Hierarchy Process algorithm for multi criteria path-planning, while Genetic algorithm shows superior performance in the comparison of the two algorithms.}, language = {en} }