Interaction and Intelligent Behavior

We introduce basic behaviors as primitives for control and learning in situated, embodied agents interacting in complex domains. We propose methods for selecting, formally specifying, algorithmically implementing, empirically evaluating, and combining behaviors from a basic set. We also introduce a general methodology for automatically constructing higher--level behaviors by learning to select from this set. Based on a formulation of reinforcement learning using conditions, behaviors, and shaped reinforcement, out approach makes behavior selection learnable in noisy, uncertain environments with stochastic dynamics. All described ideas are validated with groups of up to 20 mobile robots performing safe--wandering, following, aggregation, dispersion, homing, flocking, foraging, and learning to forage.

The use of trajectory cluster analysis to interpret trace gas measurements at Mace Head, Ireland

A first step in interpreting the wide variation in trace gas concentrations measured over time at a given site is to classify the data according to the prevailing weather conditions. In order to classify measurements made during two intensive field campaigns at Mace Head, on the west coast of Ireland, an objective method of assigning data to different weather types has been developed. Air-mass back trajectories calculated using winds from ECMWF analyses, arriving at the site in 1995–1997, were allocated to clusters based on a statistical analysis of the latitude, longitude and pressure of the trajectory at 12 h intervals over 5 days. The robustness of the analysis was assessed by using an ensemble of back trajectories calculated for four points around Mace Head. Separate analyses were made for each of the 3 years, and for four 3-month periods. The use of these clusters in classifying ground-based ozone measurements at Mace Head is described, including the need to exclude data which have been influenced by local perturbations to the regional flow pattern, for example, by sea breezes. Even with a limited data set, based on 2 months of intensive field measurements in 1996 and 1997, there are statistically significant differences in ozone concentrations in air from the different clusters. The limitations of this type of analysis for classification and interpretation of ground-based chemistry measurements are discussed.

A multinomial model of applying recognition to judge between multiple alternatives

Proponents of the “fast and frugal” approach to decision-making suggest that inferential judgments are best made on the basis of limited information. For example, if only one of two cities is recognized and the task is to judge which city has the larger population, the recognition heuristic states that the recognized city should be selected. In preference choices with >2 options, it is also standard to assume that a “consideration set”, based upon some simple criterion, is established to reduce the options available. A multinomial processing tree model is outlined which provides the basis for estimating the extent to which recognition is used as a criterion in establishing a consideration set for inferential judgments.

A data assimilation method for using low-resolution Earth observation data in heterogeneous ecosystems

We present an approach for dealing with coarse-resolution Earth observations (EO) in terrestrial ecosystem data assimilation schemes. The use of coarse-scale observations in ecological data assimilation schemes is complicated by spatial heterogeneity and nonlinear processes in natural ecosystems. If these complications are not appropriately dealt with, then the data assimilation will produce biased results. The “disaggregation” approach that we describe in this paper combines frequent coarse-resolution observations with temporally sparse fine-resolution measurements. We demonstrate the approach using a demonstration data set based on measurements of an Arctic ecosystem. In this example, normalized difference vegetation index observations are assimilated into a “zero-order” model of leaf area index and carbon uptake. The disaggregation approach conserves key ecosystem characteristics regardless of the observation resolution and estimates the carbon uptake to within 1% of the demonstration data set “truth.” Assimilating the same data in the normal manner, but without the disaggregation approach, results in carbon uptake being underestimated by 58% at an observation resolution of 250 m. The disaggregation method allows the combination of multiresolution EO and improves in spatial resolution if observations are located on a grid that shifts from one observation time to the next. Additionally, the approach is not tied to a particular data assimilation scheme, model, or EO product and can cope with complex observation distributions, as it makes no implicit assumptions of normality.

Inferring the biggest and best: a measurement model for applying recognition to evoke consideration sets and judge between multiple alternatives

It has long been supposed that preference judgments between sets of to-be-considered possibilities are made by means of initially winnowing down the most promising-looking alternatives to form smaller “consideration sets” (Howard, 1963; Wright & Barbour, 1977). In preference choices with >2 options, it is standard to assume that a “consideration set”, based upon some simple criterion, is established to reduce the options available. Inferential judgments, in contrast, have more frequently been investigated in situations in which only two possibilities need to be considered (e.g., which of these two cities is the larger?) Proponents of the “fast and frugal” approach to decision-making suggest that such judgments are also made on the basis of limited, simple criteria. For example, if only one of two cities is recognized and the task is to judge which city has the larger population, the recognition heuristic states that the recognized city should be selected. A multinomial processing tree model is outlined which provides the basis for estimating the extent to which recognition is used as a criterion in establishing a consideration set for inferential judgments between three possible options.

Cortical hot spots and labyrinths: why cortical neuromodulation for episodic migraine with aura should be personalized

Stimulation protocols for medical devices should be rationally designed. For episodic migraine with aura we outline model-based design strategies toward preventive and acute therapies using stereotactic cortical neuromodulation. To this end, we regard a localized spreading depression (SD) wave segment as a central element in migraine pathophysiology. To describe nucleation and propagation features of the SD wave segment, we define the new concepts of cortical hot spots and labyrinths, respectively. In particular, we firstly focus exclusively on curvature-induced dynamical properties by studying a generic reaction-diffusion model of SD on the folded cortical surface. This surface is described with increasing level of details, including finally personalized simulations using patient's magnetic resonance imaging (MRI) scanner readings. At this stage, the only relevant factor that can modulate nucleation and propagation paths is the Gaussian curvature, which has the advantage of being rather readily accessible by MRI. We conclude with discussing further anatomical factors, such as areal, laminar, and cellular heterogeneity, that in addition to and in relation to Gaussian curvature determine the generalized concept of cortical hot spots and labyrinths as target structures for neuromodulation. Our numerical simulations suggest that these target structures are like fingerprints, they are individual features of each migraine sufferer. The goal in the future will be to provide individualized neural tissue simulations. These simulations should predict the clinical data and therefore can also serve as a test bed for exploring stereotactic cortical neuromodulation.

Revisiting Swiss temperature trends 1959-2008

Temperature is a key variable for monitoring global climate change. Here we perform a trend analysis of Swiss temperatures from 1959 to 2008, using a new 2 × 2 km gridded data-set based on carefully homogenised ground observations from MeteoSwiss. The aim of this study is twofold: first, to discuss the spatial and altitudinal temperature trend characteristics in detail, and second, to quantify the contribution of changes in atmospheric circulation and local effects to these trends. The seasonal trends are all positive and mostly significant with an annual average warming rate of 0.35 °C/decade (∼1.6 times the northern hemispheric warming rate), ranging from 0.17 in autumn to 0.48 °C/decade in summer. Altitude-dependent trends are found in autumn and early winter where the trends are stronger at low altitudes (<800 m asl), and in spring where slightly stronger trends are found at altitudes close to the snow line. Part of the trends can be explained by changes in atmospheric circulation, but with substantial differences from season to season. In winter, circulation effects account for more than half the trends, while this contribution is much smaller in other seasons. After removing the effect of circulation, the trends still show seasonal variations with higher values in spring and summer. The circulation-corrected trends are closer to the values simulated by a set of ENSEMBLES regional climate models, with the models still tending towards a trend underestimation in spring and summer. Our results suggest that both circulation changes and more local effects are important to explain part of recent warming in spring, summer, and autumn. Snow-albedo feedback effects could be responsible for the stronger spring trends at altitudes close to the snow line, but the overall effect is small. In autumn, the observed decrease in fog frequency might be a key process in explaining the stronger temperature trends at low altitudes.

Systematic and random errors between collocated satellite ice water path observations

There remains large disagreement between ice-water path (IWP) in observational data sets, largely because the sensors observe different parts of the ice particle size distribution. A detailed comparison of retrieved IWP from satellite observations in the Tropics (!30 " latitude) in 2007 was made using collocated measurements. The radio detection and ranging(radar)/light detection and ranging (lidar) (DARDAR) IWP data set, based on combined radar/lidar measurements, is used as a reference because it provides arguably the best estimate of the total column IWP. For each data set, usable IWP dynamic ranges are inferred from this comparison. IWP retrievals based on solar reflectance measurements, in the moderate resolution imaging spectroradiometer (MODIS), advanced very high resolution radiometer–based Climate Monitoring Satellite Applications Facility (CMSAF), and Pathfinder Atmospheres-Extended (PATMOS-x) datasets, were found to be correlated with DARDAR over a large IWP range (~20–7000 g m -2 ). The random errors of the collocated data sets have a close to lognormal distribution, and the combined random error of MODIS and DARDAR is less than a factor of 2, which also sets the upper limit for MODIS alone. In the same way, the upper limit for the random error of all considered data sets is determined. Data sets based on passive microwave measurements, microwave surface and precipitation products system (MSPPS), microwave integrated retrieval system (MiRS), and collocated microwave only (CMO), are largely correlated with DARDAR for IWP values larger than approximately 700 g m -2 . The combined uncertainty between these data sets and DARDAR in this range is slightly less MODIS-DARDAR, but the systematic bias is nearly an order of magnitude.

Structural basis for selective inhibition of purine nucleoside phosphorylase from Schistosoma mansoni: Kinetic and structural studies

Selectivity plays a crucial role in the design of enzyme inhibitors as novel antiparasitic agents, particularly in cases where the target enzyme is also present in the human host. Purine nucleoside phosphorylase from Schistosoma mansoni (SmPNP) is an attractive target for the discovery of potential antischistosomal agents. In the present work, kinetic studies were carried out in order to determine the inhibitory potency, mode of action and enzyme selectivity of a series of inhibitors of SmPNP. In addition, crystallographic studies provided important structural insights for rational inhibitor design, revealing consistent structural differences in the binding mode of the inhibitors in the active sites of the SmPNP and human PNP (HsPNP) structures. The molecular information gathered in this work should be useful for future medicinal chemistry efforts in the design of new inhibitors of SmPNP having increased affinity and selectivity. (C) 2010 Elsevier Ltd. All rights reserved.

Desenvolvimento do saltar à horizontal : uma análise topológica

O objetivo deste estudo foi investigar a organização espaço-temporal dos segmentos da perna e da coxa no saltar à horizontal, verificando as infiuências do organismo e do ambiente (dois tipos de piso: concreto e areia). Participaram do estudo 21 sujeitos, 3 de cada faixa etária: 4, 5, 7, 9, 11, 13 e adulta (X = 19 anos de idade). Os sujeitos foram filmados realizando o saltar à horizontal com marcas desenhadas no centro das articulações do tornozelo, joelho e quadril. Estes pontos foram digitalizados e processados obtendo a posição e velocidade angular dos segmentos da perna e da coxa. A partir da posição e velocidade angular foi possível delinear os gráficos dos atratores (retratos de fase) e calcular os valores dos ângulos de fase para cada segmento, durante a realização da tarefa. Duas reversões para cada segmento, na posição angular, foram identificadas e nestes momentos os valores dos ângulos de fase foram capturados. Analisando as trajetórias dos retratos de fase verificou-se que os segmentos da perna e da coxa apresentaram um conjunto específico de características topológicas, na realização do saltar à horizontal. A análise dos valores dos ângulos de fase, nas duas reversões, indicou que ao longo das faixas etárias e nos dois tipos de piso os segmentos da perna e da coxa apresentaram organização espaço-temporal semelhante, indicando coordenação invariante.

Unidades técnico-científicas da Polícia Federal: um estudo de caso do processo de descentralização da perícia criminal federal

Este estudo buscou identificar e analisar como foi planejado e executado o processo de descentralização da perícia criminal federal, bem assim, identificar a razão para os desvios havidos entre o planejamento e a implementação e as consequências advindas. Uma revisão da teoria precedeu a análise dos dados, obtidos através de pesquisa de campo constituída por oito entrevistas, sendo cinco entre os planejadores e executores do processo de descentralização, e três com os responsáveis por unidades descentralizadas. O planejamento do processo de descentralização foi realizado por equipes intermediárias do escalão dirigente do Departamento de Polícia Federal. Conforme levantamento empreendido por esses idealizadores, constatou-se uma alta demanda por assistência pericial em investigações conduzidas em cidades afastadas das capitais dos estados, onde residia o único centro forense disponível em cada unidade da federação. A distância do local da demanda para as capitais e a limitada capacidade de atendimento das unidades estaduais prevenia o atendimento tempestivo das requisições, situação que, por vezes, comprometia toda a eficácia da investigação policial. A par dessas constatações e tendo sido identificadas as principais especialidades requeridas, o volume de solicitações, a infraestrutura local disponível e outras características associadas à demanda e aos seus locais de origem, foram delimitados requisitos para a identificação de cidades que receberiam unidades técnico-científicas e delimitação das características dessas unidades. Os parâmetros fixados para dimensionar as unidades descentralizadas, como requisitos de infraestrutura, recursos humanos e equipamentos, acabaram por ser flexibilizados durante o processo de implementação devido à insuficiência de recursos financeiros para a implementação concebida. Como resultado, houve instalação de unidades incompletas; com corpo técnico carente das expertises requeridas; com infraestrutura física inadequada; em localidades não previstas; sem os laboratórios e equipamentos necessários. Os empecilhos indicados sinalizam que o plano foi estabelecido sem a análise precisa das forças e fraquezas, oportunidades e desafios que impactariam a sua execução. A ausência do envolvimento da alta administração da Polícia Federal pode explicar parte das deficiências encontradas no processo. Embora a descentralização tenha melhorado as condições para a atuação das equipes de investigação, diversas deficiências ainda precisam ser suprimidas para garantir melhor efetividade da assistência da perícia. Conclui-se pela necessidade de uma completa revisão do processo de descentralização da estrutura pericial, a fim de se identificar os ajustes necessários para o aprimoramento das condições de operação das unidades técnico-científicas descentralizadas.

Projeto e implementação de uma plataforma MP-SoC usando SystemC

This work presents the concept, design and implementation of a MP-SoC platform, named STORM (MP-SoC DirecTory-Based PlatfORM). Currently the platform is composed of the following modules: SPARC V8 processor, GPOP processor, Cache module, Memory module, Directory module and two different modles of Network-on-Chip, NoCX4 and Obese Tree. All modules were implemented using SystemC, simulated and validated, individually or in group. The modules description is presented in details. For programming the platform in C it was implemented a SPARC assembler, fully compatible with gcc s generated assembly code. For the parallel programming it was implemented a library for mutex managing, using the due assembler s support. A total of 10 simulations of increasing complexity are presented for the validation of the presented concepts. The simulations include real parallel applications, such as matrix multiplication, Mergesort, KMP, Motion Estimation and DCT 2D

Crystal structure of human PNP complexed with guanine

Purine nucleoside phosphorylase (PNP) catalyzes the phosphorolysis of the N-ribosidic bonds of purine nucleosides and deoxynucleosides. PNP is a target for inhibitor development aiming at T-cell immune response modulation and has been submitted to extensive structure-based drug design. More recently, the 3-D structure of human PNP has been refined to 2.3 Angstrom resolution, which allowed a redefinition of the residues involved in the substrate-binding sites and provided a more reliable model for structure-based design of inhibitors. This work reports crystallographic study of the complex of Human PNP:guanine (HsPNP:Gua) solved at 2.7 Angstrom resolution using synchrotron radiation. Analysis of the structural differences among the HsPNP:Gua complex, PNP apoenzyme, and HsPNP:immucillin-H provides explanation for inhibitor binding, refines the purine-binding site, and can be used for future inhibitor design. (C) 2003 Elsevier B.V. All rights reserved.

Structural bioinformatics study of PNP from Schistosoma mansoni

The parasite Schistosoma mansoni lacks the de novo pathway for purine biosynthesis and depends on salvage pathways for its purine requirements. Schistosomiasis is endemic in 76 countries and territories and amongst the parasitic diseases ranks second after malaria in terms of social and economic impact and public health importance. The PNP is an attractive target for drug design and it has been submitted to extensive structure-based design. The atomic coordinates of the complex of human PNP with inosine were used as template for starting the modeling of PNP from S. mansoni complexed with inosine. Here we describe the model for the complex SmPNP-inosine and correlate the structure with differences in the affinity for inosine presented by human and S. mansoni PNPs. (C) 2004 Elsevier B.V. All rights reserved.

Crystal structure of human PNP complexed with hypoxanthine and sulfate ion

Purine nucleoside phosphorylase (PNP) is a ubiquitous enzyme, which plays a key role in the purine salvage pathway, and PNP deficiency in humans leads to an impairment of T-cell function, usually with no apparent effects on B-cell function. Human PNP has been submitted to intensive structure-based design of inhibitors, most of them using low-resolution structures of human PNP. Here we report the crystal structure of human PNP in complex with hypoxanthine, refined to 2.6 Angstrom resolution. The intermolecular interaction between ligand and PNP is discussed. (C) 2004 Elsevier B.V. All rights reserved.