Abstract: Embedded in a transport assembly are arrays of microelectromechanical sensors and actuators for detecting and propelling an object. A controller having defined therein local computational agents and a global controller controls the array of sensors and actuators. The global controller provides global operating constraints to the local computational agents. The global operating constraints are developed using an approximate specification of system behavior based on simplified assumptions of an idealized system as well as limited sensor information aggregated from the array of sensors. The local computational agents compute a desired local actuator response using sensor information from a localized grouping of sensor units. To improve the accuracy of the global operating constraints, the local computational agents reduce differences between a global actuator response, computed using the global operating constraints, and the desired local actuator response.

Abstract: A distributed market based control assembly used in conjunction with fixed or movable structures. Typically multiple actuators are attached to the structure, with each of the multiple actuators having an actuator controller to control actuator applied force. Sensors are used for measuring structure movement, and a marketwire is connected to each actuator controller to convey price information to the actuator controllers by analog fluctuations in electrical characteristics of the marketwire. Actuators can be used to stabilize a fixed structure against movement, or alternatively can be used to control movement of movable structures from defined first positions to second positions (e.g. moving a robotic arm so its tip moves from point A to point B).

Abstract: A market based learning mechanism for controlling smart matter to learn an appropriate organizational control structure for a multiple actuator-sensor dynamical system for use in optimizing system control. The more successful one or more of a plurality of control methods are in predicting system operation, the more weight the successful methods are given in controlling the system.

Abstract: A method for enabling privacy and trust in electronic communities is disclosed. A major impediment to using recommendation systems and collective knowledge for electronic commerce is the reluctance of individuals to reveal preferences in order to find groups of people that share them. An equally important barrier to fluid electronic commerce is the lack of agreed upon trusted third parties. We propose new non-third party mechanisms to overcome these barriers. Our solutions facilitate finding shared preferences, discovering communities with shared values, removing disincentives posed by liabilities, and negotiating on behalf of a group. We adapt known techniques from the cryptographic literature to enable these new capabilities.

Abstract: The present invention encompasses a control system and method for systems of producing and consuming units. The method of the invention includes the steps of setting each producing unit to have an output responsive to an analog signal representative of a market price, and connecting each producing unit to a marketwire, with the changes in the analog signal on the marketwire representing changes in the market price resulting from inputs from the consuming units and the output response of each producing unit.

Abstract: Methods of operating a robot comprised of a plurality of modules during reconfiguration, rearrangement to provide a support structure and internal manipulation, each module made of a cubic shape with six faces, each face including an arm for expansion and contraction with another module.

Abstract: A method and apparatus for clustering documents from a set of documents includes issuing a request from an electronic device for documents which are relevant to the request. The documents believed to meet the request requirements are identified and the documents are thereafter supplied to a document clustering system. The document clustering system forms clusters of the documents by operation of the clustering system. A robustness criterion, by analogy with self-assembled physical systems, is applied to select the best, most robust, clustering. Robust clusters have a higher designability feature than other clusters which are generated where designability refers to a number of ways a particular cluster can be formed.

Abstract: The present invention relates to a method for controlling non-linear coupled systems with a single output. More particularly, the present invention relates to control and coordination of force actuators that act on a single object without use of a central controller.

Abstract: The invention provides methods of operating a robot comprised of a plurality of modules during reconfiguration, rearrangement to provide a support structure and internal manipulation, each module made of a cubic shape with six faces, each face including an arm for expansion and contraction with another module.

Abstract: Distributed market based analog control of a system of actuators and sensors. The system is comprised of one or more producing units having an output responsive to a market price and one or more input units having an input responsive to a market price. Market price information is communicated through an information channel that is encoded as measurable changes in non-electrical partitionable physical properties. Such partitionable physical properties include pressure, thermal, chemical or acoustic properties.

Abstract: A market based learning mechanism for controlling smart matter learn an appropriate organizational control structure for a multiple actuator-sensor dynamical system for use in optimizing system control. The more successful one or more of a plurality of control methods are in predicting system operation, the more weight the successful methods are given in controlling the system.

Abstract: A market based controller controls the motion of an object on a transport assembly. The transport assembly is formed using sensors and actuators that are proximately coupled in physical space. To efficiently allocate a fixed amount of air pressure directed to the actuators, the market controller maps each market agent to points in space on the transport assembly, as well as, points in time relative to a system clock. Using information gathered from the sensor units, each market agent determines whether to bid on the fixed amount of air pressure each bid interval. Using the bids submitted by the market agents, a market equilibrium price and quantity are computed by a market auctioneer. The air pressure purchased by each market agent is then distributed to the actuators mapped thereto.

Abstract: Embedded in a transport assembly are arrays of microelectromechanical devices for detecting and making adjustments for perceived changes in their environment. The arrays of sensors and actuators are tightly coupled to each other so that coordinated action of neighboring actuators minimizes the cumulative effort required to move the object. The sensors and actuators are controlled using a multi-hierarchical organization of computational elements. Each computational element in lower levels of the multi-hierarchy communicates with one or more higher level computational elements to define zones of control. An object moving along the transport assembly lies principally in the domain of at least one zone of control. As an object moves along the transport assembly, dominant control over the object moves along the transport with the object.

Abstract: A multi-agent control system controls a transport assembly for moving objects. The transport assembly is formed using sensors and actuators that are proximately coupled in physical space. The multi-agent control system includes a learning mechanism which takes advantage of the proximate coupling between the sensors and actuators. The learning mechanism improves system performance by making iterative changes to an interaction matrix that represents the organizational structure of the multi-agent control system. In operation, the learning mechanism makes iterative changes to several of the elements a.sub.ij, of the interaction matrix at one time, around a randomly chosen location (i,j) in the matrix. Changes to the interaction matrix continue to be made so long as the changes result in improved performance of the transport assembly.

Abstract: An adaptive self-repairing processor array comprising a plurality of identical processing cells arranged in parallel orthogonal columns and rows to form a two dimensional matrix, each of said cells in the array having logic means and a memory for storing a memory state. The first row of the cells in the array forms a parallel input to the array. The last row of said cells in the array forms a parallel output from the array. The cells in the intermediate cells rows between the first and last rows are coupled to at least one cell in a previous cell row. The logic means in each cell computes a new data value based upon the input or inputs from such previous row cells and its present memory state. Each cell is further coupled to at least one cell in the subsequent row of cells. The computed new data value is provided as an output to the coupled cell or cells in the subsequent cell row.