Social facilitation and food partitioning in the queenless ant Dinoponera quadriceps (Hymenoptera: Formicidae)

Social facilitation occurs when an animal is more likely to behave in a certain way in response to other animals engaged in the same behaviour. For example, an individual returning to the nest with food stimulates other ants to leave and to forage. In the present study we demonstrate the existence of new facets in the colony organization of Dinoponera quadriceps: a positive feedback between the incoming food and the activation of new foragers, and the occurrence of incipient task partitioning during the food sharing. Lower-ranked workers located inside the nest process protein resources and higher-ranked workers handle smaller pieces and distribute them to the larvae. In conclusion, D. quadriceps has a decentralized pattern of task allocation with a double regulatory mechanism, which can be considered a sophisticated aspect of division of labour in ponerine ants.

Multifemale nests and social behavior in Euglossa melanotricha (Hymenoptera,Apidae, Euglossini)

The nesting biology and social behavior of the euglossine bee species Euglossa melanotricha was analyzed based on the monitoring of eight nests found in man-made cavities and transferred to observation boxes. Euglossa melanotricha females usually construct their nests in cavities in the ground, in buildings, or in mounds. In this study, we present new data on the nesting biology of E. melanotricha. The process of reactivation of nests was commonly observed with one to three females participating in the reactivation. The duration of the process of reactivation ranged from 10 to 78 days (n = 31) and were longer during the rainy season. Time spent (in days) for provisioning, oviposition and closing a single cell was higher in reactivations that occurred during the dry period. 151 emergences were observed (39 males and 112 females). 90 (80.3%) of the emerged females returned to the natal nest, but only 35(38.9%) remained and actively participated in the construction and provisioning of cells. The other 55 abandoned the nests after several days without performing any work in the nest. Matrifilial nest structure was regulated by dominance-subordinate aggressive behavior among females, where the dominant female laid almost all eggs. Task allocation was recognized by behavioral characteristics, namely, agonism and oophagy in cells oviposited by other females. Euglossa melanotricha is multivoltine and its nesting is asynchronous with respect to season. Our observations suggest a primitively eusocial organization. These observations of E. melanotricha provide valuable information for comparison with other species of Euglossa in an evolutionary context.

Detecting an abnormality in a recovery boiler using dynamic multivariate data analysis with parallel coordinate plots

Data visualization techniques are powerful in the handling and analysis of multivariate systems. One such technique known as parallel coordinates was used to support the diagnosis of an event, detected by a neural network-based monitoring system, in a boiler at a Brazilian Kraft pulp mill. Its attractiveness is the possibility of the visualization of several variables simultaneously. The diagnostic procedure was carried out step-by-step going through exploratory, explanatory, confirmatory, and communicative goals. This tool allowed the visualization of the boiler dynamics in an easier way, compared to commonly used univariate trend plots. In addition it facilitated analysis of other aspects, namely relationships among process variables, distinct modes of operation and discrepant data. The whole analysis revealed firstly that the period involving the detected event was associated with a transition between two distinct normal modes of operation, and secondly the presence of unusual changes in process variables at this time.

A contribution for developing more efficient dynamic modelling algorithms of parallel robots

Parallel kinematic structures are considered very adequate architectures for positioning and orienti ng the tools of robotic mechanisms. However, developing dynamic models for this kind of systems is sometimes a difficult task. In fact, the direct application of traditional methods of robotics, for modelling and analysing such systems, usually does not lead to efficient and systematic algorithms. This work addre sses this issue: to present a modular approach to generate the dynamic model and through some convenient modifications, how we can make these methods more applicable to parallel structures as well. Kane’s formulati on to obtain the dynamic equations is shown to be one of the easiest ways to deal with redundant coordinates and kinematic constraints, so that a suitable c hoice of a set of coordinates allows the remaining of the modelling procedure to be computer aided. The advantages of this approach are discussed in the modelling of a 3-dof parallel asymmetric mechanisms.