Learning and adaptation in physical heterogeneous teams of robots

In this paper we present a novel approach to assigning roles to robots in a team of physical heterogeneous robots. Its members compete for these roles and get rewards for them. The rewards are used to determine each agent’s preferences and which agents are better adapted to the environment. These aspects are included in the decision making process. Agent interactions are modelled using the concept of an ecosystem in which each robot is a species, resulting in emergent behaviour of the whole set of agents. One of the most important features of this approach is its high adaptability. Unlike some other learning techniques, this approach does not need to start a whole exploitation process when the environment changes. All this is exemplified by means of experiments run on a simulator. In addition, the algorithm developed was applied as applied to several teams of robots in order to analyse the impact of heterogeneity in these systems

Learning and adaptation in physical heterogeneous teams of robots

In this paper we present a novel approach to assigning roles to robots in a team of physical heterogeneous robots. Its members compete for these roles and get rewards for them. The rewards are used to determine each agent’s preferences and which agents are better adapted to the environment. These aspects are included in the decision making process. Agent interactions are modelled using the concept of an ecosystem in which each robot is a species, resulting in emergent behaviour of the whole set of agents. One of the most important features of this approach is its high adaptability. Unlike some other learning techniques, this approach does not need to start a whole exploitation process when the environment changes. All this is exemplified by means of experiments run on a simulator. In addition, the algorithm developed was applied as applied to several teams of robots in order to analyse the impact of heterogeneity in these systems

Indústria têxtil e crescimento econômico: uma abordagem geográfica da evolução, estrutura e dinâmica da aglomeração produtiva de redes de dormir em Jaguaruana - CE

Pós-graduação em Geografia - IGCE

Cooperativismo e precarização do trabalho: um estudo aplicado na Cooperativa Recicla Conquista em Vitória da Conquista/BA

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Ecoturismo Subacuático. Aplicación al Caso Particular de la Evaluación de un Sendero Submarino en las Costas de Maitencillo, V Región, Valparaíso, Chile.

La siguiente tesis nace a partir de la implementación de la actividad de buceo deportivo en el año 2002 en la Caleta de pescadores artesanales de Maitencillo, quinta región, Chile. Los pescadores administran, para su explotación, un tipo de área marina protegida llamada área de manejo y explotación de recursos bentónicos (AMERB), por lo que se hizo indispensable implementar un Plan de Gestión para el buceo deportivo con la finalidad de regular y controlar la actividad para proteger los recursos existentes en el área, sus ecosistemas y su biodiversidad. Para ello, se construyó un Sendero Submarino con 3 circuitos para el buceo. La tesis contextualiza el desarrollo y ejecución del proyecto y evalúa el Plan de Gestión y la utilización del Sendero Submarino y, para ello, se desarrolla una metodología para el cálculo de la capacidad de carga del Sendero y para la evaluación del Plan de Gestión, a través de indicadores biofísicos, socioeconómicos y de gobernabilidad. Esta tesis plantea un modelo de desarrollo a partir del principio del Ecodesarrollo, destacando, principalmente, que es la comunidad local de pescadores artesanales quien ejecuta y administra el proyecto, sin necesidad de recurrir a operadores privados de buceo y, por tanto, logrando para si los beneficios y el control de la actividad; por otro lado, destaca también que es una actividad a baja escala, con bajos impactos ambientales y por tanto sustentable y replicable para otras organizaciones de pescadores. Los resultados indican que con la información biofísica obtenida se pueden tomar medidas de gestión para la actividad de buceo de acuerdo al estado de los recursos bentónicos principales explotados por los pescadores, ya sea restringiendo la actividad, o suspendiéndola por algún período. Los resultados muestran que la cantidad de buceadores que utilizan el Sendero Submarino está muy por debajo de la capacidad de carga calculada, lo que hace que la presión de esta actividad sobre los recursos y el ecosistema marino sea muy baja. Los resultados socioeconómicos y de gobernabilidad indican que esta actividad ha generado ingresos adicionales para los pescadores que trabajan en esta actividad y también ha generado nuevos puestos de trabajo; además, la organización sindical se ha ido fortaleciendo al crear la comisión de ecoturismo y dar responsabilidades a otros pescadores en la gestión de la actividad. La tesis confirma la hipótesis de que “Los Senderos Submarinos pueden ser una forma de turismo sostenible en áreas marinas protegidas”. The present thesis is based on the implementation of scuba diving activities in the year 2002, in the local fishing cove of Maitencillo, Fifth region, Chile. The local fishermen manage the exploitation process of a type of protected marine area called benthic resource management and exploitation area (BRMEA); for this reason, the implementation of a Management programme for scuba diving to regulate and control this activity to protect the resources in the area, their ecosystems and biodiversity, became a priority. In 2002, an Underwater Path was built, with three tracks for scuba diving practice. This thesis contextualises the development and implementation of the Management programme and the use of the Underwater Path. It also develops a methodology to calculate the payload for the Underwater Path, and to assess the Management project through biophysical, economic and governance indicators. This thesis also proposes a development model by the principle of Sustainable development, with the local community of fishermen implementing and handling the project, without the intervention of private diving agencies, generating economic and social benefits, keeping environmental impact to a minimum level, and making it sustainable and worth emulating for other fishermen organisations. The results indicate, through the biophysical data obtained, that it is possible to take managerial measures regarding the scuba diving activity, according to the state of the most exploited benthic resources, by either restricting the activity or plainly suspending it for some time. The results show that the amount of divers using the Underwater path are way below the calculated payload, which keeps the strain that scuba diving causes on these resources and marine ecosystem to the minimum. The results of the socioeconomic and governance issues indicate that this activity has generated additional profits for the fishermen working in this activity, and also new jobs. Furthermore, the syndicate has strengthened thanks to the creation of an ecotourism commission and by assigning other local fishermen with responsibilities in the organisation of the activity. The thesis confirms the hypothesis that states, “Underwater Paths can become a form of sustainable tourism in protected marine areas”

From creative ideas to new emerging ventures: the process of identification and exploitation among finnish design entrepreneurs

This study focuses on identification and exploitation processes among Finnish design entrepreneurs (i.e. selfemployed industrial designers). More specifically, this study strives to find out what design entrepreneurs do when they create new ventures, how venture ideas are identified and how entrepreneurial processes are organized to identify and exploit such venture ideas in the given industrial context. Indeed, what does educated and creative individuals do when they decide to create new ventures, where do the venture ideas originally come from, and moreover, how are venture ideas identified and developed into viable business concepts that are introduced on the markets? From an academic perspective: there is a need to increase our understanding of the interaction between the identification and exploitation of emerging ventures, in this and other empirical contexts. Rather than assuming that venture ideas are constant in time, this study examines how emerging ideas are adjusted to enable exploitation in dynamic market settings. It builds on the insights from previous entrepreneurship process research. The interpretations from the theoretical discussion build on the assumption that the subprocesses of identification and exploitation interact, and moreover, they are closely entwined with each other (e.g. McKelvie & Wiklund, 2004, Davidsson, 2005). This explanation challenges the common assumption that entrepreneurs would first identify venture ideas and then exploit them (e.g. Shane, 2003). The assumption is that exploitation influences identification, just as identification influences exploitation. Based on interviews with design entrepreneurs and external actors (e.g. potential customers, suppliers and collaborators), it appears as identification and exploitation of venture ideas are carried out in close interaction between a number of actors, rather than alone by entrepreneurs. Due to their available resources, design entrepreneurs have a desire to focus on identification related activities and to find external actors that take care of exploitation related activities. The involvement of external actors may have a direct impact on decisionmaking and various activities along the processes of identification and exploitation, which is something that previous research does not particularly emphasize. For instance, Bhave (1994) suggests both operative and strategic feedback from the market, but does not explain how external parties are actually involved in the decisionmaking, and in carrying out various activities along the entrepreneurial process.

Exploitation of a single interface flow system for on-line aqueous biphasic extraction

The exploitation of aqueous biphasic extraction is proposed for the first time in flow analysis This extraction strategy stands out for being environmentally attractive since it is based in the utilization of two immiscible phases that are intrinsically aqueous The organic solvents of the traditional liquid-liquid extractions ale no longer used, being replaced by non-toxic, non-flammable and non-volatile ones. A single interface flow analysis (SIFA) system was implemented to carry out the extraction process due to its favourable operational characteristics that include the high automation level and simplicity of operation, the establishment of a dynamic interface where the mass transfer occurred between the two immiscible aqueous phases, and the versatile control over the extraction process namely the extraction time The application selected to demonstrate the feasibility of SIFA to perform this aqueous biphasic extraction was the pre-concentration of lead. After extraction, lead reacted with 8-hydroxyquinoline-5-sulfonic acid and the resulting product was determined by a fluorimetric detector included in the flow manifold. Therefore, the SIFA single interface was used both as extraction (enrichment) and reaction interface. (C) 2010 Elsevier B.V All rights reserved.

Agar extraction from integrated multitrophic aquacultured Gracilaria vermiculophylla: Evaluation of a microwave-assisted process using response surface methodology

Microwave-assisted extraction (MAE) of agar from Gracilaria vermiculophylla, produced in an integrated multitrophic aquaculture (IMTA) system, from Ria de Aveiro (northwestern Portugal), was tested and optimized using response surface methodology. The influence of the MAE operational parameters (extraction time, temperature, solvent volume and stirring speed) on the physical and chemical properties of agar (yield, gel strength, gelling and melting temperatures, as well as, sulphate and 3,6-anhydro-Lgalactose contents) was evaluated in a 2^4 orthogonal composite design. The quality of the extracted agar compared favorably with the attained using traditional extraction (2 h at 85ºC) while reducing drastically extraction time, solvent consumption and waste disposal requirements. Agar MAE optimum results were: an yield of 14.4 ± 0.4%, a gel strength of 1331 ± 51 g/cm2, 40.7 ± 0.2 _C gelling temperature, 93.1 ± 0.5ºC melting temperature, 1.73 ± 0.13% sulfate content and 39.4 ± 0.3% 3,6-anhydro-L-galactose content. Furthermore, this study suggests the feasibility of the exploitation of G. vermiculophylla grew in IMTA systems for agar production.

Chaînes opératoires and resource-exploitation strategies in chimpanzee (Pan troglodytes) nut cracking

Journal of Human Evolution, V. 55, pp. 148-163

Exploitation of parasite derived antigen in therapeutic success of human cutaneous leishmaniasis in Brazil

In a complete study in 25 patients with American cutaneous leishmaniasis, caused by Leishmania braziliensis complex, immunotherapeutic efficacy of parasite derived antigen (94-67 KD) has been compared to antimonial therapy. Additionally, to delineate the mechanism of therapeutic success, microscopical features of immune response in active lesions and healed or non-healed lesions following therapy were analyzed. The results showed that cure rates in immunotherapy and chemoterapy were equal (>83 por cento). The immunohistochemical changes in two therapeutic groups were also largely similar. The analysis of humoral and cellular immune response suggest that appropriate stimulation of T helper cells in the lesion site, in association with one or more cytokines, play a key role in the healing process.

A Reply to comments by D. Bar-Yosef M. Stiner on "Prehistoric exploitation of marine resources in Southern Africa with particular reference to shellfish gathering: opportunities and continuities"

I am very grateful to Daniella E. Bar-Yosef Mayer and Mary Stiner for their comments on an article I published in the previous issue of Pyrenae. Having spent many years working with coastal sites in South Africa and now settling in the Mediterranean academic landscape, I value the feedback from these two well-known archaeologists who have dedicated years of hard work in this later part of the world. Their opinions are very much appreciated for they allow me to bring new contexts to some of the (old) questions I have pursued in South Africa, an exercise that would help me with the process of broadening my research interests to the Mediterranean region.

L'exploitation des peintures en spray en criminalistique: mise en place d'une procédure de gestion et de comparaison des spectres infrarouges à l'aide des statistiques multivariées

La spectroscopie infrarouge (FTIR) est une technique de choix dans l'analyse des peintures en spray (traces ou bonbonnes de référence), grâce à son fort pouvoir discriminant, sa sensibilité, et ses nombreuses possibilités d'échantillonnage. La comparaison des spectres obtenus est aujourd'hui principalement faite visuellement, mais cette procédure présente des limitations telles que la subjectivité de la prise de décision car celle-ci dépend de l'expérience et de la formation suivie par l'expert. De ce fait, de faibles différences d'intensités relatives entre deux pics peuvent être perçues différemment par des experts, même au sein d'un même laboratoire. Lorsqu'il s'agit de justifier ces différences, certains les expliqueront par la méthode analytique utilisée, alors que d'autres estimeront plutôt qu'il s'agit d'une variabilité intrinsèque à la peinture et/ou à son vécu (par exemple homogénéité, sprayage, ou dégradation). Ce travail propose d'étudier statistiquement les différentes sources de variabilité observables dans les spectres infrarouges, de les identifier, de les comprendre et tenter de les minimiser. Le deuxième objectif principal est de proposer une procédure de comparaison des spectres qui soit davantage transparente et permette d'obtenir des réponses reproductibles indépendamment des experts interrogés. La première partie du travail traite de l'optimisation de la mesure infrarouge et des principaux paramètres analytiques. Les conditions nécessaires afin d'obtenir des spectres reproductibles et minimisant la variation au sein d'un même échantillon (intra-variabilité) sont présentées. Par la suite une procédure de correction des spectres est proposée au moyen de prétraitements et de sélections de variables, afin de minimiser les erreurs systématiques et aléatoires restantes, et de maximiser l'information chimique pertinente. La seconde partie présente une étude de marché effectuée sur 74 bonbonnes de peintures en spray représentatives du marché suisse. Les capacités de discrimination de la méthode FTIR au niveau de la marque et du modèle sont évaluées au moyen d'une procédure visuelle, et comparées à diverses procédures statistiques. Les limites inférieures de discrimination sont testées sur des peintures de marques et modèles identiques mais provenant de différents lots de production. Les résultats ont montré que la composition en pigments était particulièrement discriminante, à cause des étapes de corrections et d'ajustement de la couleur subies lors de la production. Les particularités associées aux peintures en spray présentes sous forme de traces (graffitis, gouttelettes) ont également été testées. Trois éléments sont mis en évidence et leur influence sur le spectre infrarouge résultant testée : 1) le temps minimum de secouage nécessaire afin d'obtenir une homogénéité suffisante de la peinture et, en conséquence, de la surface peinte, 2) la dégradation initiée par le rayonnement ultra- violet en extérieur, et 3) la contamination provenant du support lors du prélèvement. Finalement une étude de population a été réalisée sur 35 graffitis de la région lausannoise et les résultats comparés à l'étude de marché des bonbonnes en spray. La dernière partie de ce travail s'est concentrée sur l'étape de prise de décision lors de la comparaison de spectres deux-à-deux, en essayant premièrement de comprendre la pratique actuelle au sein des laboratoires au moyen d'un questionnaire, puis de proposer une méthode statistique de comparaison permettant d'améliorer l'objectivité et la transparence lors de la prise de décision. Une méthode de comparaison basée sur la corrélation entre les spectres est proposée, et ensuite combinée à une évaluation Bayesienne de l'élément de preuve au niveau de la source et au niveau de l'activité. Finalement des exemples pratiques sont présentés et la méthodologie est discutée afin de définir le rôle précis de l'expert et des statistiques dans la procédure globale d'analyse des peintures. -- Infrared spectroscopy (FTIR) is a technique of choice for analyzing spray paint speciments (i.e. traces) and reference samples (i.e. cans seized from suspects) due to its high discriminating power, sensitivity and sampling possibilities. The comparison of the spectra is currently carried out visually, but this procedure has limitations such as the subjectivity in the decision due to its dependency on the experience and training of the expert. This implies that small differences in the relative intensity of two peaks can be perceived differently by experts, even between analysts working in the same laboratory. When it comes to justifying these differences, some will explain them by the analytical technique, while others will estimate that the observed differences are mostly due to an intrinsic variability from the paint sample and/or its acquired characteristics (for example homogeneity, spraying, or degradation). This work proposes to statistically study the different sources of variability observed in infrared spectra, to identify them, understand them and try to minimize them. The second goal is to propose a procedure for spectra comparison that is more transparent, and allows obtaining reproducible answers being independent from the expert. The first part of the manuscript focuses on the optimization of infrared measurement and on the main analytical parameters. The necessary conditions to obtain reproducible spectra with a minimized variation within a sample (intra-variability) are presented. Following that a procedure of spectral correction is then proposed using pretreatments and variable selection methods, in order to minimize systematic and random errors, and increase simultaneously relevant chemical information. The second part presents a market study of 74 spray paints representative of the Swiss market. The discrimination capabilities of FTIR at the brand and model level are evaluated by means of visual and statistical procedures. The inferior limits of discrimination are tested on paints coming from the same brand and model, but from different production batches. The results showed that the pigment composition was particularly discriminatory, because of the corrections and adjustments made to the paint color during its manufacturing process. The features associated with spray paint traces (graffitis, droplets) were also tested. Three elements were identified and their influence on the resulting infrared spectra were tested: 1) the minimum shaking time necessary to obtain a sufficient homogeneity of the paint and subsequently of the painted surface, 2) the degradation initiated by ultraviolet radiation in an exterior environment, and 3) the contamination from the support when paint is recovered. Finally a population study was performed on 35 graffitis coming from the city of Lausanne and surroundings areas, and the results were compared to the previous market study of spray cans. The last part concentrated on the decision process during the pairwise comparison of spectra. First, an understanding of the actual practice among laboratories was initiated by submitting a questionnaire. Then, a proposition for a statistical method of comparison was advanced to improve the objectivity and transparency during the decision process. A method of comparison based on the correlation between spectra is proposed, followed by the integration into a Bayesian framework at both source and activity levels. Finally, some case examples are presented and the recommended methodology is discussed in order to define the role of the expert as well as the contribution of the tested statistical approach within a global analytical sequence for paint examinations.

Electrochemical Characterisation of Filter Media Properties and Their Exploitation in Enhanced Filtration

Streaming potential measurements for the surface charge characterisation of different filter media types and materials were used. The equipment was developed further so that measurements could be taken along the surfaces, and so that tubular membranes could also be measured. The streaming potential proved to be a very useful tool in the charge analysis of both clean and fouled filter media. Adsorption and fouling could be studied, as could flux, as functions of time. A module to determine the membrane potential was also constructed. The results collected from the experiments conducted with these devices were used in the study of the theory of streaming potential as an electrokinetic phenomenon. Several correction factors, which are derived to take into account the surface conductance and the electrokinetic flow in very narrow capillaries, were tested in practice. The surface materials were studied using FTIR and the results compared with those from the streaming potentials. FTIR analysis was also found to be a useful tool in the characterisation of filters, as well as in the fouling studies. Upon examination of the recorded spectra from different depths in a sample it was possible to determine the adsorption sites. The influence of an external electric field on the cross flow microflltration of a binary protein system was investigated using a membrane electroflltration apparatus. The results showed that a significant improvement could be achieved in membrane filtration by using the measured electrochemical properties to help adjust the process conditions.

Salted lamb meat blanket of Petrolina-Pernambuco, Brazil: process and quality

Salted lamb meat blanket, originated from boning, salting, and drying of whole lamb carcass, was studied aiming at obtaining information that support the search for guarantees of origin for this typical regional product from the city of Petrolina-Pernambuco-Brazil. Data from three processing units were obtained, where it was observed the use of a traditional local technology that uses salting, an ancient preservation method; however, with a peculiar boning technique, resulting in a meat product with great potential for exploitation in the form of meat blanket. Based on the values of pH (6.22 ± 0.22), water activity (0.97 ± 0.02), and moisture (69.86 ± 2.26) lamb meat blanket is considered a perishable product, and consequently it requires the use of other preservation methods combined with salt, which along with the results of the microbiological analyses (absence of Salmonella sp, score <10 MPN/g of halophilic bacteria, total coliforms between 6.7 × 10³ and 5.2 × 10(6) FUC/g, and Staphylococcus from 8.1 × 10³ CFU/g at uncountable) reinforce the need of hygienic practices to ensure product safety. These results, together with the product notoriety and the organization of the sector are important factors in achieving Geographical Indication of the Salted lamb Meat blanket of Petrolina.

Exploitation des genres de textes pour assister les pratiques textuelles dans les environnements numériques de travail : le cas du courriel chez des cadres et des secrétaires dans une municipalité et une administration fédérale canadiennes

Notre recherche a pour but de déterminer comment les genres textuels peuvent être exploités dans le design des environnements numériques de travail afin de faciliter l’accomplissement des pratiques textuelles de cadres et de secrétaires dans une municipalité et une administration fédérale canadiennes. À cet effet, le premier objectif consiste à évaluer l’aptitude des environnements numériques de travail à supporter les pratiques textuelles (lecture, écriture et manipulation des textes) de ces employés. Le deuxième objectif est de décrire les rôles des genres textuels au cours des pratiques textuelles. Avec l’exemple du courriel, le troisième objectif vise à examiner comment le genre peut être exploité dans une perspective d’assistance à la réalisation des pratiques textuelles dans les environnements numériques de travail. Cette recherche de nature qualitative comporte une méthodologie en deux étapes. La première étape consiste en un examen minutieux des pratiques textuelles, des difficultés rencontrées au cours de celles-ci, du rôle du genre dans les environnements numériques de travail, ainsi que des indices sollicités au cours de la gestion du courriel. Trois modes de collecte des données qualitatives sont utilisés auprès de 17 cadres et de 17 secrétaires issus de deux administrations publiques : l’entrevue semi-dirigée, le journal de bord et l’enquête cognitive. Les résultats sont examinés à l’aide de stratégies d’analyse de contenu qualitative. La deuxième phase comprend la mise au point d’une chaîne de traitement du courriel, visant à étayer notre réflexion sur le genre textuel et son exploitation dans la conception des environnements numériques de travail. Un corpus de 1703 messages est élaboré à partir d’un échantillon remis par deux cadres gouvernementaux. Les résultats permettent d’abord de dresser un portrait général des pratiques de lecture, d’écriture et de manipulation des textes communes et spécifiques aux cadres et aux secrétaires. L’importance du courriel, qui constitue environ 40% des systèmes notés dans les journaux de bord, est soulignée. Les difficultés rencontrées dans les environnements numériques de travail sont également décrites. Dans un deuxième temps, les rôles du genre au cours des pratiques textuelles sont examinés en fonction d’une matrice tenant à la fois compte de ses dimensions individuelles et collectives, ainsi que de ses trois principales facettes ; la forme, le contenu et la fonction. Ensuite, nous présentons un cadre d’analyse des indices affectant la gestion du courriel qui synthétise le processus d’interprétation des messages par le destinataire. Une typologie des patrons de catégorisation des cadres est également définie, puis employée dans une expérimentation statistique visant la description et la catégorisation automatique du courriel. Au terme de ce processus, on observe des comportements linguistiques marqués en fonction des catégories du courriel. Il s’avère également que la catégorisation automatique basée sur le lexique des messages est beaucoup plus performante que la catégorisation non lexicale. À l’issue de cette recherche, nous suggérons d’enrichir le paradigme traditionnel relevant de l’interaction humain-ordinateur par une sémiotique du genre dans les environnements numériques de travail. L’étude propose également une réflexion sur l’appartenance du courriel à un genre, en ayant recours aux concepts théoriques d’hypergenre, de genre et de sous-genre. Le succès de la catégorisation automatique du courriel en fonction de facettes tributaires du genre (le contenu, la forme et la fonction) offre des perspectives intéressantes sur l’application de ce concept au design des environnements numériques de travail en vue de faciliter l’accomplissement des pratiques textuelles par les employés.