On the Invariance of Ant Colony Optimization

Ant colony optimization (ACO) is a promising metaheuristic and a great amount of research has been devoted to its empirical and theoretical analysis. Recently, with the introduction of the hypercube framework, Blum and Dorigo have explicitly raised the issue of the invariance of ACO algorithms to transformation of units. They state (Blum and Dorigo, 2004) that the performance of ACO depends on the scale of the problem instance under analysis. In this paper, we show that the ACO internal state - commonly referred to as the pheromone - indeed depends on the scale of the problem at hand. Nonetheless, we formally prove that this does not affect the sequence of solutions produced by the three most widely adopted algorithms belonging to the ACO family: ant system, MAX-MIN ant system, and ant colony system. For these algorithms, the sequence of solutions does not depend on the scale of the problem instance under analysis. Moreover, we introduce three new ACO algorithms, the internal state of which is independent of the scale of the problem instance considered. These algorithms are obtained as minor variations of ant system, MAX-MIN ant system, and ant colony system. We formally show that these algorithms are functionally equivalent to their original counterparts. That is, for any given instance, these algorithms produce the same sequence of solutions as the original ones.     

On the sensitivity of reactive tabu search to its meta-parameters

In this paper, we assess the sensitivity of reactive tabu search to its meta-parameters. Based on a thorough experimental analysis of reactive tabu search applications to the quadratic assignment and the maximum clique problem, we show that its performance is relatively insensitive to its meta-parameters. This is particularly evident when compared to the sensitivity of tabu search to its parameters: tabu search is rather penalized if used with sub-optimal parameter settings. Reactive tabu search does not strongly pay its high parameter robustness in terms of performance, although it does not improve the peak performance of tabu search.     

Environmental biochemistry of current environmental levels of heavy metals: Preparation of radiotracers with very high specific radioactivity for metallobiochemical experiments on laboratory animals

Environmental toxicology research on dose-response relationships of heavy metals requires experiments on laboratory animals exposed to “low doses” of trace elements which should reflect “present or actual environmental levels” characteristic of polluted environments. Unfortunately no criteria exist to establish the “low doses” to which laboratory animals must be exposed, in practice the choice of the level used is made in an almost arbitrary manner. In order to define the “present environmental levels” of heavy metals which should be administered to laboratory animals an approach is suggested, based upon knowledge of the concentrations of trace elements in the diet, air and food as well as the fractions absorbed. Today daily intakes of trace elements by man are of the order of few micrograms or nanograms thus requiring the use of extremely sensitive analytical techniques to determine the very low amounts of heavy metals in tissues and cellular components.In these fields of research the use of radiotracers with very specific radioactivity appears particularly advantageous but requires considerable care during their preparation and use.The first part of this paper deals with a definition of the ranges of concentrations of trace elements which should be used for metabolic studies on laboratory animals when they are exposed via different routes such as ingestion, inhalation or injection; the second part describes the production of radiotracers with very high specific radioactivity by proton activation in the cyclotron and by neutron irradiation in the nuclear reactor. Their use to label present levels of heavy metals under conditions adapted for biochemical purposes, as well as the preparation of different metal-labelled chemical species is also reported. Particular attention is directed to quality control of the radiotracer solutions which are administered to the animals including those of radioactivity concentrations, radioisotopic purity, radiochemical purity, carrier content and chemical impurities.     

Fricke gel dosimetry in boron neutron capture therapy

Gel dosimetry allows three-dimensional (3D) measurement of absorbed dose in tissue-equivalent dosemeter phantoms. Gel phantoms are imaged using optical techniques. In neutron capture therapy (NCT), properly designed gel dosemeters can give 3D dose distributions, due to the various components of the secondary radiation, in phantoms exposed in the thermal or epithermal column of a nuclear reactor. In addition to the therapeutic dose arising from the reaction 10B(n,alpha)7Li, the other dose components are also obtainable, i.e. the gamma dose (due to reactor background and to the reaction 1H(n,gamma)2H of thermal neutrons with hydrogen, the dose due to protons emitted in the reaction 14N(n,p)14C of thermal neutrons with nitrogen and the dose due to recoil protons resulting from elastic scattering of epithermal neutrons.     

On the high-resolution gamma-ray spectrometric measurement of 40K in natural and synthetic materials

Many regulatory agencies require that all building materials and industrial waste be tested for their naturally occurring radioactive material (NORM) concentrations before they can be used or thrown away. Usually the NORM concentrations of 40K, 232Th and 238U are measured by gamma-ray spectrometry using high-purity germanium or NaI(Tl) detectors. 40K is measured through its 1460.8 keV gamma line, which is mixed with 1459.2 keV line of 228Ac from the chain of 232Th. This fact ignored till now, requires a correction in the computation of 40K concentration. Although in many cases the error is <1%, there are cases where there have been higher errors. It should be emphasised that even if the correction in 40K concentration is large, the correction of the external dose index is negligible owing to the weighing factor being higher for 232Th than for 40K (by at least a factor of 10).     

Fault detection in autonomous robots based on fault injection and learning

In this paper, we study a new approach to fault detection for autonomous robots. Our hypothesis is that hardware faults change the flow of sensory data and the actions performed by the control program. By detecting these changes, the presence of faults can be inferred. In order to test our hypothesis, we collect data from three different tasks performed by real robots. During a number of training runs, we record sensory data from the robots while they are operating normally and after a fault has been injected. We use back-propagation neural networks to synthesize fault detection components based on the data collected in the training runs. We evaluate the performance of the trained fault detectors in terms of number of false positives and time it takes to detect a fault. The results show that good fault detectors can be obtained. We extend the set of possible faults and go on to show that a single fault detector can be trained to detect several faults in both a robot’s sensors and actuators. We show that fault detectors can be synthesized that are robust to variations in the task, and we show how a fault detector can be trained to allow one robot to detect faults that occur in another robot.