A case-based approach for coordinated action selection in robot soccer

Designing coordinated robot behaviors in uncertain, dynamic, real-time, adversarial environments, such as in robot soccer, is very challenging. In this work we present a case-based reasoning approach for cooperative action selection, which relies on the storage, retrieval, and adaptation of example cases. We focus on cases of coordinated attacking passes between robots in the presence of the defending opponent robots. We present the case representation explicitly distinguishing between controllable and uncontrollable indexing features, corresponding to the positions of the team members and opponent robots, respectively. We use the symmetric properties of the domain to automatically augment the case library. We introduce a retrieval technique that weights the similarity of a situation in terms of the continuous ball positional features, the uncontrollable features, and the cost of moving the robots from the current situation to match the case controllable features. The case adaptation includes a best match between the positions of the robots in the past case and in the new situation. The robots are assigned an adapted position to which they move to maximize the match to the retrieved case. Case retrieval and reuse are achieved within the distributed team of robots through communication and sharing of own internal states and actions. We evaluate our approach, both in simulation and with real robots, in laboratory scenarios with two attacking robots versus two defending robots as well as versus a defender and a goalie. We show that we achieve the desired coordinated passing behavior, and also outperform a reactive action selection approach.     

Immunological determination of gliadin 33‐mer equivalent peptides in beers as a specific and practical analytical method to assess safety for celiac patients

BACKGROUND: Cereals used for beer manufacturing contain gluten, which is immunotoxic for celiac patients. The gluten remaining after processes of malting and brewing is mostly hydrolyzed, which makes practical evaluation of the immunotoxicity of the gluten pools challenging. RESULTS: We analyzed the presence of gluten peptides equivalent to the major immunotoxic protease‐resistant gliadin 33‐mer in 100 Belgium beers, using monoclonal antibodies (G12/A1). Immunochromatographic strips and enzyme‐linked immonosorbent assay G12/A1 methods estimated at least 20 ppm gluten equivalents in 90 beers and gluten‐free in 10 beers. The G12/A1 reactivity of beer high‐performance liquid chromatographic fractions correlated to the presence of T‐cell‐reactive epitopes identified by peptide sequencing. CONCLUSION: The determination of equivalent gliadin 33‐mer epitopes in beers has been shown to be practical, specific, and sensitive for the measurement of potential immunotoxicity for celiac patients. Copyright © 2012 Society of Chemical Industry     

NiMo/C Used as Magnetic Support for SILP Catalysts

In this work, supported ionic liquid (IL) phases catalysts were prepared based on Pd dispersed in IL phases supported on magnetic particles of nickel/molybdenum covered with carbon (NiMo/C). The magnetic support was prepared via CVD method at 800 °C. XRD analysis showed the phases of metallic nickel and molybdenum carbide. The presence of carbon in these materials was confirmed by TEM/EDS and thermogravimetric analysis (TG) analysis. Pd particles were dispersed in 1 and 2.5 wt% of the IL 1-butyl-3-methylimidazolium tetrafluoroborate (BMIm·BF₄), which were immobilized on the support surface via impregnation method. TG analysis shows a weight loss between 300 and 420 °C attributed to the BMIm·BF₄, confirming the existence of IL on the support surface. The prepared materials were investigated in hydrogenations reactions of 1,5-cyclooctadiene and nitrobenzene, and the influence of IL on the activity and selectivity of these catalysts were observed. These materials have great potential for catalysis applications, because they bring together the advantages of the IL in the catalyst surface and the facility of magnetic materials separation.     

Crosslinking kinetics of SBR composites containing vulcanized ground scraps as filler

The aim of this study was to characterize the cure reaction of styrene–butadiene rubber (SBR) composites containing industrial rubber scraps. Different proportions of SBR ground scraps (SBR-r), varying from 10 to 80 parts per hundred of rubber, were incorporated into a base formulation of identical composition. Crosslink formation and the kinetics of the cure reaction were evaluated through oscillatory disk rheometry, differential scanning calorimetry, and crosslink density. Cure characteristics, such as scorch time and cure time, decreased with increasing SBR-r content. Minimum torque indicated only a small variation in the viscosity with the incorporation of SBR-r. The maximum torque decreased with the addition of scrap rubber, as a consequence of the reduction in virgin rubber content where crosslinks had been formed. Crosslink density values corroborated these findings, presenting a slight decrease with the increase in the SBR-r content. The kinetic study indicated lower enthalpy values for SBR-r composites compared to those of the control sample. The kinetic parameters, such as activation energy and reaction order, indicated a change in the mechanism of reaction, related to the increased complexity of the systems.     

Isotopic identification of the sources of lead contamination for white storks (Ciconia ciconia) in a marshland ecosystem (Doñana,S.W. Spain)

White storks (Ciconia ciconia) fed in contaminated waters resulting from the Aznacollar acid mining-sludge spillage into the R. Guadiamar, which feeds the eastern flank of the Guadalquivir marshes (Do?ana), S.W. Spain. The sludge was rich in a range of toxic elements, and in organic pollutants such as the aromatic amines. Storks did not exhibit elevated metals in their blood immediately following the accident, but chick blood collected the year following the accident showed genotoxic damage compared to the controls. In this study lead isotope analysis was used to assess if the storks had ingested sludge-derived contaminants. The sludge lead isotope ratio was distinct from that of the Do?ana sediments. The stork blood lead isotope ratios exactly matched that of the sludge. It was concluded that the storks had ingested sludge-derived contaminants. A detailed study of the lead contamination along the R. Guadiamar and the R. Guadalquivir (of which the Guadiamar is a tributary) was also conducted to place the white stork colony lead exposure in the context of the spatial contamination of the storks' habitat.     

The European project trust—reconfigurable terminals and supporting networks

To date, research into reconfigurable mobile communications has predominantly focussed on the software radio concept, and specifically on the hardware technologies required to move physical layer processing into a programmable environment [1, 2, 3]. Although an interesting and necessary challenge, this only represents a fraction of the overall support and technology required to realise the potential of the concept. Other necessary developments include network/terminal cooperation for seamless inter-standard handoff, QoS management for software download and reconfiguration, a secure software download mechanism, terminal software and mobile radio network architecture supporting terminal reconfiguration, management for software downloads, configuration management, capability negotiation, radio resource management and spectrum allocation policies etc… This paper describes results from the EuropeanIst Trust (Transparently Reconfigurable UbiquitouS Terminal) [4] project concerning user and operator requirements, the proposed overall system environment, security issues, concerted radio resource management, and expected time frame for the development of reconfigurable terminals.     

Study of the aromatic by-products formed from ozonation of anilines in aqueous solution

Aqueous solutions of aniline and p-chloroaniline were treated with ozone in order to study the reaction and oxidation by-products. Aniline solutions were ozonated at low and high pH, so as to compare both molecular and hydroxyl free radical mechanisms, respectively. The main identified aromatic by-products were nitrobenzene and azobenzene when the experiment was carried out at acid pH. Formation of nitrobenzene, azobenzene, azoxybenzene and 2-pyridine-carboxylic was observed when the ozonation was carried out at basic pH. p-Chloroaniline was treated with ozone only at high pH and the identified by-products were in accordance with those obtained in the ozonation of aniline: p-chloronitrobenzene, 4,4'-dichloroazobenzene and 4-chloro-2-pyridine-carboxylic acid. All the aromatic by-products found were less toxic than the raw materials. The pseudo-first-order constants in aniline concentration were calculated, whilst kinetic in p-chloroaniline concentration could not be adjusted to a first-order reaction.