From insect to Internet: Situated control for networked robot teams

Ant-like systems take advantage of agents' situatedness to reduce or eliminate the need for centralized control or global knowledge. This reduces the need for complexity of individuals and leads to robust, scalable systems. Such insect-inspired situated approaches have proven effective both for task performance and task allocation. The desire for general, principled techniques for situated interaction has led us to study the exploitation of abstract situatedness – situatedness in non-physical environments. The port-arbitrated behavior-based control approach provides a well-structured abstract behavior space in which agents can participate in situated interaction. We focus on the problem of role assumption, distributed task allocation in which each agent selects its own task-performing role. This paper details our general, principled Broadcast of Local Eligibility (BLE) technique for role-assumption in such behavior-space-situated systems, and provides experimental results from the CMOMMT target-tracking task. This revised version was published online in August 2006 with corrections to the Cover Date.     

AutoTutor: Incorporating Back-Channel Feedback and Other Human-Like Conversational Behaviors into an Intelligent Tutoring System

This paper describes our recent attempts to incorporate human-like conversational behaviors into the dialog moves delivered by an animated pedagogical agent that simulates human tutors. We first present a brief overview of the modules comprising AutoTutor, an intelligent tutoring system. The second section describes a set of conversational behaviors that are being incorporated into AutoTutor. The behaviors of interest involve variations in intonation, head movements, arm and hand movements, facial expressions, eye blinking, gaze direction, and back-channel feedback. The final section presents a recent empirical study concerned with back-channel feedback events during human-to-human tutoring sessions. The back-channel feedback events emitted by tutors are mostly positive (63%), mostly verbal (77%), and immediately follow speech-act boundaries or noun-phrase boundaries (83%). Tutors also deliver back-channelevents at a very high rate when students are emitting dialog, about 13 events per minute. Conversely, 88% of students' back-channel feedback events are head nods, and they occur at unbounded locations (63%).     

Nonsystematic Search and No-Good Learning

Nonsystematic search algorithms seem, in general, to be well suited to large-scale problems with many solutions. However, they tend to perform badly for problems with few solutions, and they cannot be used for insoluble problems, since they are incomplete.Here we present a new algorithm, learn-SAT, that, although based on nonsystematic search, is complete. Completeness is realized through a process of no-good learning, learning-by-merging. This requires exponential space in the worst case. We show, nevertheless, that learn-SAT performs very well on certain SAT problems that are tightly constrained or insoluble. Indeed, its performance generally approximates the best SAT algorithms and does much better at lower clause densities. Learn-SAT also maintains much of the efficient performance of nonsystematic search for large-scale problems with many solutions, at least relative to backtrack search algorithms.These results indicate that the burden on memory, imposed by no-good learning, is not generally a problem for learn-SAT. This is perhaps surprising in view of previous work. What is even more surprising is the scalability of learn-SAT. For some types of problem it scales very much better than the nearest competitive algorithm. There are other types, however, for which this is not the case.The performance profile of learn-SAT emerges from an experimental methodology related to the one outlined by Mammen and Hogg in 1997.     

IRS-III: A broker-based approach to semantic Web services

A factor limiting the take up of Web services is that all tasks associated with the creation of an application, for example, finding, composing, and resolving mismatches between Web services have to be carried out by a software developer. Semantic Web services is a combination of semantic Web and Web service technologies that promise to alleviate these problems. In this paper we describe IRS-III, a framework for creating and executing semantic Web services, which takes a semantic broker-based approach to mediating between service requesters and service providers. We describe the overall approach and the components of IRS-III from an ontological and architectural viewpoint. We then illustrate our approach through an application in the eGovernment domain.     

Analysis of the human immune response to vaccinia by use of a novel protein microarray suggests that antibodies recognize less than 10% of the total viral proteome

Control of smallpox by mass vaccination was one of the most effective public health measures ever employed for eradicating a devastating infectious disease. However, new methods are needed for monitoring smallpox immunity within current vulnerable populations, and for the development of replacement vaccines for use by immunocompromized or low-responding individuals. As a measure for achieving this goal, we developed a protein microarray of the vaccinia virus proteome by using high-throughput baculovirus expression and purification of individual elements. The array was validated with therapeutic-grade, human hyperimmune sera, and these data were compared to results obtained from individuals vaccinated against smallpox using Dryvax. A high level of reproducibility with a very low background were apparent in repetitive assays that confirmed previously reported antigens and identified new proteins that may be important for neutralizing viral infection. Our results suggest that proteins recognized by antibodies from all vaccinees constituted <10% of the total vaccinia proteome.     

Three-dimensional spinal motion and risk of low back injury during sheep shearing

Sheep shearers are known to work in sustained flexed postures and have a high prevalence of low back pain (LBP). As sustained posture and spinal movement asymmetry under substantial loads are known risk factors for back injury our aim was to describe the 3D spinal movement of shearers while working. We hypothesised that thoraco-lumbar and lumbo-sacral movement would be tri-axial, asymmetric, and task specific. Sufficient retro-reflective markers were placed on the trunk of 12 shearers to define thoraco-lumbar and lumbo-sacral 3D motion during three tasks. Thoraco-lumbar movement consistently involved flexion, left lateral flexion, and right rotation. Lumbo-sacral movement consistently involved right lateral flexion in flexion with minimal rotation. Shearers therefore work in sustained spinal flexion where concurrent, asymmetric spinal movements into both lateral flexion and rotation occur. These asymmetric movements combined with repetitive loading may be risk factors leading to the high incidence of LBP in this occupational group.     

ProteinParser--a community based tool for the generation of a detailed protein consensus and FASTA output

Comparison of bioinformatic data is a common application in the life sciences and beyond. In this communication, a novel Java based software tool, ProteinParser, is outlined. This software tool calculates a detailed consensus, or most common, amino acid at a given position in an aligned protein set, whilst also generating a full consensus protein FASTA output. A second application of this software tool, computing a consensus amino acid given a tolerance threshold, is also demonstrated. The phytase and the common bacterial beta-lactamase proteins are analysed as 'proof of concept' examples. Consensus proteins, as generated by ProteinParser, are regularly utilised in the selection of residues for protein stabilisation mutagenesis; however, this widely applicable software tool will find many alternative applications in areas such as protein homology modelling.     

Cordierite glass-ceramics-effect of TiO2 and ZrO2 content on phase sequence during heat treatment

A series of glasses of stoichiometric composition with varying proportions of TiO₂ and/or ZrO₂ as nucleating agent have been studied to examine the effect of nucleation addition on the sequence of crystallization and transformation to the stable phase, cordierite. It is shown that TiO₂ is the most effective nucleating agent and that if large amounts of ZrO₂ are substituted for TiO₂ cristobalite forms as an intermediate phase and is associated with rapid volume changes and consequently with weak porous products. Substitution of ZrO₂ for TiO₂ also causes other changes in phase development, especially in the relative proportions of -quartz solid solution and magnesian petalite produced during the early stages of crystallization. The use of a combination of experimental techniques (dilatometry, DTA, X-ray diffraction and electron microscopy) has proved most effective in studying phase development and the relationship between processing characteristics and composition.     

Aromatic Hydrogenation Catalysis: A Review

High aromatic content in diesel fuel has been recognized both to lower the fuel quality and to contribute significantly to the formation of undesired emissions in exhaust gases [1, 2]. Because of the health hazards associated with these emissions, environmental regulations governing the composition of diesel fuels are being tightened in both Europe and the United States, leading to limitations on aromatics [3, 4].     

Current variability in a wide and open lacustrine embayment in Lake Geneva (Switzerland)

Field measurements and numerical simulations were used to determine the effects of dominant meteorological conditions on the hydrodynamics of a wide (aspect ratio ~ 2), relatively deep (seasonally stratified) and open lake embayment (Vidy Bay, Lake Geneva). A three-dimensional hydrodynamic model (Delft3D-FLOW) was employed to simulate flow in the lake. High-resolution maps of wind, temperature and humidity (over the lake) were applied as input to drive the model. Because wind was the main force driving flow in the lake, currents in the embayment were investigated systematically for different wind conditions and seasonal stratification. Satisfactory model validation was achieved using drifter and moored measurements within the embayment. Markedly different circulation patterns were measured within the embayment, with the transition from one pattern to another occurring abruptly for small changes in wind direction. These distinct patterns resulted from relatively small changes in the large gyre of Lake Geneva's main basin, especially the angle between the current in front of the embayment and the embayment shoreline. The boundary between the embayment and the pelagic zone was defined by the largest gyre within the embayment. This study shows that, (i) in a large lake, complex current patterns can occur even within a minor embayment, and (ii) that these patterns can transition rapidly over a small range of wind directions. Near-shore gyre can occur for lengthy periods, which has implications for flushing of discharges within the embayment.