Response threshold models, stochastic learning automata and ant colony optimization-based decentralized self-coordination algorithms for heterogeneous multi-tasks distribution in multi-robot systems

In recent decades, there has been an increasing interest in systems comprised of several autonomous mobile robots, and as a result, there has been a substantial amount of development in the eld of Articial Intelligence, especially in Robotics. There are several studies in the literature by some researchers from the scientic community that focus on the creation of intelligent machines and devices capable to imitate the functions and movements of living beings. Multi-Robot Systems (MRS) can often deal with tasks that are dicult, if not impossible, to be accomplished by a single robot. In the context of MRS, one of the main challenges is the need to control, coordinate and synchronize the operation of multiple robots to perform a specic task. This requires the development of new strategies and methods which allow us to obtain the desired system behavior in a formal and concise way. This PhD thesis aims to study the coordination of multi-robot systems, in particular, addresses the problem of the distribution of heterogeneous multi-tasks. The main interest in these systems is to understand how from simple rules inspired by the division of labor in social insects, a group of robots can perform tasks in an organized and coordinated way. We are mainly interested on truly distributed or decentralized solutions in which the robots themselves, autonomously and in an individual manner, select a particular task so that all tasks are optimally distributed. In general, to perform the multi-tasks distribution among a team of robots, they have to synchronize their actions and exchange information. Under this approach we can speak of multi-tasks selection instead of multi-tasks assignment, which means, that the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation ix of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. In addition, it is very interesting the evaluation of the results in function in each approach, comparing the results obtained by the introducing noise in the number of pending loads, with the purpose of simulate the robot's error in estimating the real number of pending tasks. The main contribution of this thesis can be found in the approach based on self-organization and division of labor in social insects. An experimental scenario for the coordination problem among multiple robots, the robustness of the approaches and the generation of dynamic tasks have been presented and discussed. The particular issues studied are: Threshold models: It presents the experiments conducted to test the response threshold model with the objective to analyze the system performance index, for the problem of the distribution of heterogeneous multitasks in multi-robot systems; also has been introduced additive noise in the number of pending loads and has been generated dynamic tasks over time. Learning automata methods: It describes the experiments to test the learning automata-based probabilistic algorithms. The approach was tested to evaluate the system performance index with additive noise and with dynamic tasks generation for the same problem of the distribution of heterogeneous multi-tasks in multi-robot systems. Ant colony optimization: The goal of the experiments presented is to test the ant colony optimization-based deterministic algorithms, to achieve the distribution of heterogeneous multi-tasks in multi-robot systems. In the experiments performed, the system performance index is evaluated by introducing additive noise and dynamic tasks generation over time.

Approximations on minimum weight pseudo-triangulation problem using ant colony optimization

In this work, we consider the Minimum Weight Pseudo-Triangulation (MWPT) problem of a given set of n points in the plane. Globally optimal pseudo-triangulations with respect to the weight, as optimization criteria, are difficult to be found by deterministic methods, since no polynomial algorithm is known. We show how the Ant Colony Optimization (ACO) metaheuristic can be used to find high quality pseudo-triangulations of minimum weight. We present the experimental and statistical study based on our own set of instances since no reference to benchmarks for these problems were found in the literature. Throughout the experimental evaluation, we appraise the ACO metaheuristic performance for MWPT problem.

Decentralized multi-tasks distribution in heterogeneous robot teams by means of ant colony optimization and learning automata

This paper focuses on the general problem of coordinating multiple robots. More specifically, it addresses the self-election of heterogeneous specialized tasks by autonomous robots. In this paper we focus on a specifically distributed or decentralized approach as we are particularly interested on decentralized solution where the robots themselves autonomously and in an individual manner, are responsible of selecting a particular task so that all the existing tasks are optimally distributed and executed. In this regard, we have established an experimental scenario to solve the corresponding multi-tasks distribution problem and we propose a solution using two different approaches by applying Ant Colony Optimization-based deterministic algorithms as well as Learning Automata-based probabilistic algorithms. We have evaluated the robustness of the algorithm, perturbing the number of pending loads to simulate the robot’s error in estimating the real number of pending tasks and also the dynamic generation of loads through time. The paper ends with a critical discussion of experimental results.

The application of inverse-dispersion and gradient methods to estimate ammonia emissions from a penguin colony.

Penguin colonies represent some of the most concentrated sources of ammonia emissions to the atmosphere in the world. The ammonia emitted into the atmosphere can have a large influence on the nitrogen cycling of ecosystems near the colonies. However, despite the ecological importance of the emissions, no measurements of ammonia emissions from penguin colonies have been made. The objective of this work was to determine the ammonia emission rate of a penguin colony using inverse-dispersion modelling and gradient methods. We measured meteorological variables and mean atmospheric concentrations of ammonia at seven locations near a colony of Adélie penguins in Antarctica to provide input data for inverse-dispersion modelling. Three different atmospheric dispersion models (ADMS, LADD and a Lagrangian stochastic model) were used to provide a robust emission estimate. The Lagrangian stochastic model was applied both in ‘forwards’ and ‘backwards’ mode to compare the difference between the two approaches. In addition, the aerodynamic gradient method was applied using vertical profiles of mean ammonia concentrations measured near the centre of the colony. The emission estimates derived from the simulations of the three dispersion models and the aerodynamic gradient method agreed quite well, giving a mean emission of 1.1 g ammonia per breeding pair per day (95% confidence interval: 0.4–2.5 g ammonia per breeding pair per day). This emission rate represents a volatilisation of 1.9% of the estimated nitrogen excretion of the penguins, which agrees well with that estimated from a temperature-dependent bioenergetics model. We found that, in this study, the Lagrangian stochastic model seemed to give more reliable emission estimates in ‘forwards’ mode than in ‘backwards’ mode due to the assumptions made.

Purification and Characterization of AsES Protein A Subtilisin Secreted by Acremonium Strictum is a Novel Plant Defense Elicitor.

In this work, the purification and characterization of an extracellular elicitor protein, designated AsES, produced by an avirulent isolate of the strawberry pathogen Acremonium strictum, are reported. The defense eliciting activity present in culture filtrates was recovered and purified by ultrafiltration (cutoff, 30 kDa), anionic exchange (Q-Sepharose, pH 7.5), and hydrophobic interaction (phenyl-Sepharose) chromatographies. Two-dimensional SDS-PAGE of the purified active fraction revealed a single spot of 34 kDa and pI 8.8. HPLC (C2/C18) and MS/MS analysis confirmed purification to homogeneity. Foliar spray with AsES provided a total systemic protection against anthracnose disease in strawberry, accompanied by the expression of defense-related genes (i.e. PR1 and Chi2-1). Accumulation of reactive oxygen species (e.g. H2O2 and O2̇̄) and callose was also observed in Arabidopsis. By using degenerate primers designed from the partial amino acid sequences and rapid amplification reactions of cDNA ends, the complete AsES-coding cDNA of 1167 nucleotides was obtained. The deduced amino acid sequence showed significant identity with fungal serine proteinases of the subtilisin family, indicating that AsES is synthesized as a larger precursor containing a 15-residue secretory signal peptide and a 90-residue peptidase inhibitor I9 domain in addition to the 283-residue mature protein. AsES exhibited proteolytic activity in vitro, and its resistance eliciting activity was eliminated when inhibited with PMSF, suggesting that its proteolytic activity is required to induce the defense response. This is, to our knowledge, the first report of a fungal subtilisin that shows eliciting activity in plants. This finding could contribute to develop disease biocontrol strategies in plants by activating its innate immunity.

STONE: a stream-based DDoS defense framework

An effective Distributed Denial of Service (DDoS) defense mechanism must guarantee legitimate users access to an Internet service masking the effects of possible attacks. That is, it must be able to detect threats and discard malicious packets in a online fashion. Given that emerging data streaming technology can enable such mitigation in an effective manner, in this paper we present STONE, a stream-based DDoS defense framework, which integrates anomaly-based DDoS detection and mitigation with scalable data streaming technology. With STONE, the traffic of potential targets is analyzed via continuous data streaming queries maintaining information used for both attack detection and mitigation. STONE provides minimal degradation of legitimate users traffic during DDoS attacks and it also faces effectively flash crowds. Our preliminary evaluation based on an implemented prototype and conducted with real legitimate and malicious traffic traces shows that STONE is able to provide fast detection and precise mitigation of DDoS attacks leveraging scalable data streaming technology.

Automatic design of Ant Colony Optimization for permutation problems

In this study, we present a framework based on ant colony optimization (ACO) for tackling combinatorial problems. ACO algorithms have been applied to many diferent problems, focusing on algorithmic variants that obtain high-quality solutions. Usually, the implementations are re-done for various problem even if they maintain the same details of the ACO algorithm. However, our goal is to generate a sustainable framework for applications on permutation problems. We concentrate on understanding the behavior of pheromone trails and specific methods that can be combined. Eventually, we will propose an automatic offline configuration tool to build an efective algorithm. ---RESUMEN---En este trabajo vamos a presentar un framework basado en la familia de algoritmos ant colony optimization (ACO), los cuales están dise~nados para enfrentarse a problemas combinacionales. Los algoritmos ACO han sido aplicados a diversos problemas, centrándose los investigadores en diversas variantes que obtienen buenas soluciones. Normalmente, las implementaciones se tienen que rehacer, inclusos si se mantienen los mismos detalles para los algoritmos ACO. Sin embargo, nuestro objetivo es generar un framework sostenible para aplicaciones sobre problemas de permutaciones. Nos centraremos en comprender el comportamiento de la sendas de feromonas y ciertos métodos con los que pueden ser combinados. Finalmente, propondremos una herramienta para la configuraron automática offline para construir algoritmos eficientes.

A Multi Ant Colony Optimization algorithm for a Mixed Car Assembly Line

This paper presents an ant colony optimization algorithm to sequence the mixed assembly lines considering the inventory and the replenishment of components. This is a NP-problem that cannot be solved to optimality by exact methods when the size of the problem growth. Groups of specialized ants are implemented to solve the different parts of the problem. This is intended to differentiate each part of the problem. Different types of pheromone structures are created to identify good car sequences, and good routes for the replenishment of components vehicle. The contribution of this paper is the collaborative approach of the ACO for the mixed assembly line and the replenishment of components and the jointly solution of the problem.

Jasmonate-dependent modifications of the pectin matrix during potato development function as a defense mechanism targeted by Dickeya dadantii virulence factors

The plant cell wall constitutes an essential protection barrier against pathogen attack. In addition, cell-wall disruption leads to accumulation of jasmonates (JAs), which are key signaling molecules for activation of plant inducible defense responses. However, whether JAs in return modulate the cell-wall composition to reinforce this defensive barrier remains unknown. The enzyme 13-allene oxide synthase (13-AOS) catalyzes the first committed step towards biosynthesis of JAs. In potato (Solanum tuberosum), there are two putative St13-AOS genes, which we show here to be differentially induced upon wounding. We also determine that both genes complement an Arabidopsis aos null mutant, indicating that they encode functional 13-AOS enzymes. Indeed, transgenic potato plants lacking both St13-AOS genes (CoAOS1/2 lines) exhibited a significant reduction of JAs, a concomitant decrease in wound-responsive gene activation, and an increased severity of soft rot disease symptoms caused by Dickeya dadantii. Intriguingly, a hypovirulent D. dadantii pel strain lacking the five major pectate lyases, which causes limited tissue maceration on wild-type plants, regained infectivity in CoAOS1/2 plants. In line with this, we found differences in pectin methyl esterase activity and cell-wall pectin composition between wild-type and CoAOS1/2 plants. Importantly, wild-type plants had pectins with a lower degree of methyl esterification, which are the substrates of the pectate lyases mutated in the pel strain. These results suggest that, during development of potato plants, JAs mediate modification of the pectin matrix to form a defensive barrier that is counteracted by pectinolytic virulence factors from D. dadantii.

Tower of Martín González or castle of La Raya (Soria): territory, history, defense and construction / La torre de Martín González o castillo de La Raya (Soria): territorio, historia, defensa y construcción

Abstract The Tower of Martín González, also known as castle of La Raya, is placed in the actual border between the Spanish provinces of Soria and Zaragoza and in the historical limit between the Crowns of Castile and Aragon: this is the reason for its name. The castle dominates the hedge of the plain-moors that surround the Valley of Nágima River. It is a castle with courtyard and a high tower in the western flank. The paper analyzes the castle in four main levels. All references about the castle are studied to draw a historical narration and to relate with the territory and other fortifications, both Castilian and Aragonese. Despite its advanced state of ruin, it preserves many rests that allow making an analysis of its defensive elements and constructive aspects. Resumen La torre de Martín González, también conocida como el castillo de La Raya, se sitúa en el límite actual entre las provincias de Soria y Zaragoza y en el límite histórico entre las coronas de Castilla y Aragón. Domina el extremo de los páramos que circundan el río Nágima. Es un castillo de tipo torrejón con patio de armas y una torre del homenaje adosada a su flanco occidental. El análisis contempla cuatro niveles fundamentales para el entendimiento de la arquitectura fortificada. La comunicación revisa la documentación existente sobre los elementos históricos que se ponen en relación, mediante el análisis territorial, con el sistema fortificado de frontera. A pesar de su avanzado estado de ruina, conserva restos que permiten realizar una lectura interpretativa de sus elementos defensivos y de sus aspectos constructivos.

An Ant Colony System adaptation to deal with accessibility issues after a disaster

One of the main problems relief teams face after a natural or man-made disaster is how to plan rural road repair work tasks to take maximum advantage of the limited available financial and human resources. Previous research focused on speeding up repair work or on selecting the location of health centers to minimize transport times for injured citizens. In spite of the good results, this research does not take into account another key factor: survivor accessibility to resources. In this paper we account for the accessibility issue, that is, we maximize the number of survivors that reach the nearest regional center (cities where economic and social activity is concentrated) in a minimum time by planning which rural roads should be repaired given the available financial and human resources. This is a combinatorial problem since the number of connections between cities and regional centers grows exponentially with the problem size, and exact methods are no good for achieving an optimum solution. In order to solve the problem we propose using an Ant Colony System adaptation, which is based on ants? foraging behavior. Ants stochastically build minimal paths to regional centers and decide if damaged roads are repaired on the basis of pheromone levels, accessibility heuristic information and the available budget. The proposed algorithm is illustrated by means of an example regarding the 2010 Haiti earthquake, and its performance is compared with another metaheuristic, GRASP.

Vibrio cholerae O1 El Tor: Identification of a gene cluster required for the rugose colony type, exopolysaccharide production, chlorine resistance, and biofilm formation

The rugose colony variant of Vibrio cholerae O1, biotype El Tor, is shown to produce an exopolysaccharide, EPSETr, that confers chlorine resistance and biofilm-forming capacity. EPSETr production requires a chromosomal locus, vps, that contains sequences homologous to carbohydrate biosynthesis genes of other bacterial species. Mutations within this locus yield chlorine-sensitive, smooth colony variants that are biofilm deficient. The biofilm-forming properties of EPSETr may enable the survival of V. cholerae O1 within environmental aquatic habitats between outbreaks of human disease.

When defense backfires: Detrimental effect of a plant’s protective trichomes on an insect beneficial to the plant

The plant Mentzelia pumila (family Loasaceae) has leaves and stems densely covered with tiny hooked trichomes. The structures entrap and kill insects and therefore are most probably protective. But they are also maladaptive in that they incapacitate a coccinellid beetle (Hippodamia convergens) that preys upon an aphid enemy (Macrosiphum mentzeliae) of the plant. The adaptive benefit provided by the trichomes is evidently offset by a cost.

Expression of the peroxisome proliferator-activated receptor γ (PPARγ) in human atherosclerosis and regulation in macrophages by colony stimulating factors and oxidized low density lipoprotein

The peroxisome proliferator-activated receptor γ (PPARγ) is a ligand-dependent transcription factor that has been demonstrated to regulate fat cell development and glucose homeostasis. PPARγ is also expressed in a subset of macrophages and negatively regulates the expression of several proinflammatory genes in response to natural and synthetic ligands. We here demonstrate that PPARγ is expressed in macrophage foam cells of human atherosclerotic lesions, in a pattern that is highly correlated with that of oxidation-specific epitopes. Oxidized low density lipoprotein (oxLDL) and macrophage colony-stimulating factor, which are known to be present in atherosclerotic lesions, stimulated PPARγ expression in primary macrophages and monocytic cell lines. PPARγ mRNA expression was also induced in primary macrophages and THP-1 monocytic leukemia cells by the phorbol ester 12-O-tetradecanoylphorbol 13-acetate (TPA). Inhibition of protein kinase C blocked the induction of PPARγ expression by TPA, but not by oxLDL, suggesting that more than one signaling pathway regulates PPARγ expression in macrophages. TPA induced the expression of PPARγ in RAW 264.7 macrophages by increasing transcription from the PPARγ1 and PPARγ3 promoters. In concert, these observations provide insights into the regulation of PPARγ expression in activated macrophages and raise the possibility that PPARγ ligands may influence the progression of atherosclerosis.