On the evolution of homogeneous two-robot teams: clonal versus aclonal approaches

This study compares two different evolutionary approaches (clonal and aclonal) to the design of homogeneous two-robot teams (i.e. teams of morphologically identical agents with identical controllers) in a task that requires the agents to specialise to different roles. The two approaches differ mainly in the way teams are formed during evolution. In the clonal approach, a team is formed from a single genotype within one population of genotypes. In the aclonal approach, a team is formed from multiple genotypes within one population of genotypes. In both cases, the goal is the synthesis of individual generalist controllers capable of integrating role execution and role allocation mechanisms for a team of homogeneous robots. Our results diverge from those illustrated in a similar comparative study, which supports the superiority of the aclonal versus the clonal approach. We question this result and its theoretical underpinning, and we bring new empirical evidence showing that the clonal outperforms the aclonal approach in generating homogeneous teams required to dynamically specialise for the benefit of the team. The results of our study suggest that task-specific elements influence the evolutionary dynamics more than the genetic relatedness of the team members. We conclude that the appropriateness of the clonal approach for role allocation scenarios is mainly determined by the specificity of the collective task, including the evaluation function, rather than by the way in which the solutions are evaluated during evolution.     

ROMANSEVAL: Results for Italian by SENSE

The paper describes SENSE, a word sense disambiguation system thatmakes use of different types of cues to infer the most likelysense of a word given its context. Architecture and functioning ofthe system are briefly illustrated. Results are given for theROMANSEVAL Italian test corpus of verbs.     

Short-term effects of thyroid hormones on the Na/H antiport in L-6 myoblasts: high molecular specificity for 3,3',5-triiodo-L-thyronine

The thyroid hormones L-T3 and L-T4 were shown to activate the Na/H antiport in L-6 cells from rat skeletal muscle by a rapid, nongenomic mechanism. Under pH equilibrium conditions, a significant rise in the intracellular pH, measured by the fluorescent pH indicator 2',7'-bis-(carboxyethyl)-5(6)-carboxyfluorescein was observed after the addition of physiological concentrations (10(-10) M) of either L-T3 or L-T4, but with different time courses. L-T3 at all concentrations increased the pH after a delay of 2 min, whereas L-T4 showed a concentration-dependent lag time, going from 11 min at 10(-11) M down to 5 min for a hormone concentration of 10(-6) M. The effect of L-T4 was blocked in the presence of the 5'-deiodinase inhibitor 6-n-propyl-2-thiouracil, suggesting that the difference in lag time between L-T3 and L-T4 was due to the 5'-deiodination process that transforms L-T4 into the bioactive L-T3. In short term studies (<5 min), a high molecular specificity for L-T3 was found, as L-T4, rT3, the D-isomer of T3, and the deaminated analogues were ineffective at physiological concentrations. In analogy with the results found at equilibrium, intracellular pH recovery from an acid load and set-point were increased after 2 min for L-T3 (10(-9) M) and after 10 min for L-T4 (10(-9) M). The effect of the hormones on the intracellular pH was completely blocked by the specific antiport inhibitor 5-(ethyl-N-isopropyl)amiloride. These findings suggest that thyroid hormones may play an active role in the recovery from muscular acidosis through direct stimulation of the Na/H antiport.     

Preparation and characterization of thermally conductive thermoplastic polyurethane/h‐BN nanocomposites

Polyurethane nanocomposites are versatile engineering polymers with unique properties. In this study, nano hexagonal boron nitride containing thermoplastic polyurethane elastomers were prepared via melt blending and hot‐pressing techniques. The nanocomposites were characterized using Fourier transform infrared, differential scanning calorimetry, thermal gravimetric analysis, tensile tests, and thermal conductivity measurements. The surface morphology of the TPU/h‐BN composites was characterized by scanning electron microscopy. The optical properties of the composites were determined by UV transmittance measurements and as the amount of h‐BN increased, optical transparencies decreased dramatically. Nanocomposites displayed higher E‐modulus values and lower elongation at break values than the pure TPU elastomer. Char yields of TPUs increased with increasing h‐BN percentage. Moreover, thermal conductivity of the composite materials improved with the incorporation of h‐BN. POLYM. COMPOS., 35:530–538, 2014. © 2013 Society of Plastics Engineers     

Simultaneous Flow over and under a Gate

This paper reports the results of an investigation carried out to establish the stage-discharge relationship for a flow simultaneously discharging over and under a sluice or a broad-crested gate. The stage-discharge relationship is deduced by a theoretical analysis, based on the application of the Π-theorem of the dimensional analysis and the incomplete self-similarity theory, coupled with an experimental investigation carried out by using a laboratory flume.     

Catalytic Inorganic-Membrane Reactors: Present Experience and Future Opportunities

A membrane is commonly regarded as a barrier capable of being selectively permeated by some components of a mixture or, at least, of changing the composition of a fluid stream that flows through it due to a certain driving force (a pressure, concentration, or electric potential gradient). Permselectivity is thus considered as the most distinctive property of a membrane.     

Deacidification of sulfur olive oil. I. Single-stage liquid-liquid extraction of miscella with ethyl alcohol

In this study, a systematic and detailed investigation on liquid-liquid extraction of sulfur olive oil miscella in hexane with aqueous ethanol solutions was performed. Optimal extraction conditions for recovery of free fatty acids (FFA) with a minor loss of neutral oil were determined in bench-scale single-stage extractions. It was concluded that, to ensure deacidification with a low triglycerides loss, it is appropriate to extract the miscella with 30% or more dilute ethanol solutions. It was also noted that under these circumstances the free fatty acid percentage extracted is not affected by increases in contents of FFA and partial glycerides of sulfur olive oil, and the solvent must be saturated with hexane before extraction. Changing the oil:hexane ratio in miscella from 1:2 to 2:1 by weight did not have any significant effect on extraction results.     

Overcurrent Protection Criteria in Large AC to DC Thyristor Converters

The paper refers to thyristor ac to dc converters for industrial applications, nonreversing and reversing, in full-controlled three-phase bridge connection, as used for armature supply of dc motors and excitation of large ac generators. The possible causes of incorrect operation as well as the types of fault currents produced are investigated; the means available to interrupt or limit the value and the duration of these fault currents are recalled. Having in mind the performance required from the protective means in the various practical applications, a few different protection classes are defined. The criteria are then illustrated upon which selection of the protective means and their operating logic is based, in order to reach the targets put forward for each class of protection.