Internal agent states : experiments using the swarm leader concept

In recent years, an understanding of the operating principles and stability of natural swarms has proven to be a useful tool for the design and control of artificial robotic agents. Many robotic systems, whose design or control principals are inspired by behavioural aspects of real biological systems such as leader-follower relationship, have been developed. We introduced an algorithm which successfully enhances the navigation performance of a swarm of robots using the swarm leader concept. This paper presents some applications based on that work using the simulations and experimental implementation using a swarming behaviour test-bed at the University of Strathclyde. Experimental and simulation results match closely in a way that confirms the efficiency of the algorithm as well as its applicability

A Physical Limit to the Magnetic Fields of T Tauri Stars

Recent estimates of magnetic field strengths in T Tauri stars yield values $B=1$--$4\,{\rm kG}$. In this paper, I present an upper limit to the photospheric values of $B$ by computing the equipartition values for different surface gravities and effective temperatures. The values of $B$ derived from the observations exceed this limit, and I examine the possible causes for this discrepancy

ASCA and ROSAT observations of nearby cluster cooling flows

We present a detailed analysis of the X-ray properties of the cooling flows in a sample of nearby, X-ray bright clusters of galaxies using high-quality ASCA spectra and ROSAT X-ray images. We demonstrate the need for multiphase models to consistently explain the spectral and imaging X-ray data for the clusters. The mass deposition rates of the cooling flows, independently determined from the ASCA spectra and ROSAT images, exhibit reasonable agreement. We confirm the presence of intrinsic X-ray absorption in the clusters using a variety of spectral models. We also report detections of extended $100\mu$m infrared emission, spatially coincident with the cooling flows, in several of the systems studied. The observed infrared fluxes and flux limits are in good agreement with the predicted values due to reprocessed X-ray emission from the cooling flows. We present precise measurements of the abundances of iron, magnesium, silicon and sulphur in the central regions of the Virgo and Centaurus clusters. Our results firmly favour models in which a high mass fraction (70-80 per cent) of the iron in the X-ray gas in these regions is due to Type Ia supernovae. Finally, we present a series of methods which may be used to measure the ages of cooling flows from the X-ray data. The results for the present sample of clusters indicate ages of between 2.5 and 7 Gyr. If the ages of cooling flows are primarily set by subcluster merger events, then our results suggest that in the largest clusters, mergers with subclusters with masses of approximately 30 per cent of the final cluster mass are likely to disrupt cooling flows.Comment: Final version. MNRAS, in press. 36 pages, 9 figs, 14 tables in MNRAS LaTex styl

Concordant cues in faces and voices: testing the backup signal hypothesis

Information from faces and voices combines to provide multimodal signals about a person. Faces and voices may offer redundant, overlapping (backup signals), or complementary information (multiple messages). This article reports two experiments which investigated the extent to which faces and voices deliver concordant information about dimensions of fitness and quality. In Experiment 1, participants rated faces and voices on scales for masculinity/femininity, age, health, height, and weight. The results showed that people make similar judgments from faces and voices, with particularly strong correlations for masculinity/femininity, health, and height. If, as these results suggest, faces and voices constitute backup signals for various dimensions, it is hypothetically possible that people would be able to accurately match novel faces and voices for identity. However, previous investigations into novel face–voice matching offer contradictory results. In Experiment 2, participants saw a face and heard a voice and were required to decide whether the face and voice belonged to the same person. Matching accuracy was significantly above chance level, suggesting that judgments made independently from faces and voices are sufficiently similar that people can match the two. Both sets of results were analyzed using multilevel modeling and are interpreted as being consistent with the backup signal hypothesis

New bird records for the island of Lombok

Seventeen species are recorded for the first time from the island of Lombok. Nine of these are maritime birds on passage and four are widely occurring migrant shore and land birds. Gallirallus striatus may be a local migrant, Chrysococcyx basalis is a visitor from Australia, and Anthreples malaccensis is presumed to be either a previously overlooked resident or a recent colonist. Hemiprocne longipenis, previously unrecorded from the Lesser Sundas, appears to be a recent colonist

Measuring the difference between actual and reported food intakes in the context of energy balance under laboratory conditions

Acknowledgements The present study was funded by the Food Standards Agency, UK. The Food Standards Agency had no role in the design, analysis or writing of this article. The authors’ responsibilities were as follows: R. J. S., L. M. O’R. and G. W. H. designed the research; L. M. O’R. and Z. F. conducted the research and analysed the data; G. W. H. performed the statistical analyses; P. R. carried out the DLW analysis; R. J. S. had primary responsibility for the final content; R. J. S., L. M. O’R., Z. F., S. W. and M. B. E. L. wrote the paper.Peer reviewedPublisher PD

Large Area Mapping at 850 Microns. V. Analysis of the Clump Distribution in the Orion A South Molecular Cloud

We present results from a 2300 arcmin^2 survey of the Orion A molecular cloud at 450 and 850 micron using the Submillimetre Common-User Bolometer Array (SCUBA) on the James Clerk Maxwell Telescope. The region mapped lies directly south of the OMC1 cloud core and includes OMC4, OMC5, HH1/2, HH34, and L1641N. We identify 71 independent clumps in the 850 micron map and compute size, flux, and degree of central concentration in each. Comparison with isothermal, pressure-confined, self-gravitating Bonnor-Ebert spheres implies that the clumps have internal temperatures T_d ~ 22 +/- K and surface pressures log (k^-1 P cm^-3 K) = 6.0 +/- 0.2. The clump masses span the range 0.3 - 22 Msun assuming a dust temperature T_d ~ 20 K and a dust emissivity kappa_850 = 0.02 cm^2 g^-1. The distribution of clump masses is well characterized by a power-law N(M) propto M^-alpha with alpha = 2.0 +/- 0.5 for M > 3.0 Msun, indicating a clump mass function steeper than the stellar Initial Mass Function. Significant incompleteness makes determination of the slope at lower masses difficult. A comparison of the submillimeter emission map with an H_2 2.122 micron survey of the same region is performed. Several new Class 0 sources are revealed and a correlation is found between both the column density and degree of concentration of the submillimeter sources and the likelihood of coincident H_2 shock emission.Comment: 44 pages, 17 figures, accepted by Ap

Real time measurement of intramuscular pH during routine knee arthroscopy using a tourniquet

Funding statement This research received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors.Peer reviewedPublisher PD

A Deep Look at the Emission-Line Nebula in Abell 2597

The close correlation between cooling flows and emission-line nebulae in clusters of galaxies has been recognized for over a decade and a half, but the physical reason for this connection remains unclear. Here we present deep optical spectra of the nebula in Abell 2597, one of the nearest strong cooling-flow clusters. These spectra reveal the density, temperature, and metal abundances of the line-emitting gas. The abundances are roughly half-solar, and dust produces an extinction of at least a magnitude in V. The absence of [O III] 4363 emission rules out shocks as a major ionizing mechanism, and the weakness of He II 4686 rules out a hard ionizing source, such as an active galactic nucleus or cooling intracluster gas. Hot stars are therefore the best candidate for producing the ionization. However, even the hottest O stars cannot power a nebula as hot as the one we see. Some other nonionizing source of heat appears to contribute a comparable amount of power. We show that the energy flux from a confining medium can become important when the ionization level of a nebula drops to the low levels seen in cooling-flow nebulae. We suggest that this kind of phenomenon, in which energy fluxes from the surrounding medium augment photoelectric heating, might be the common feature underlying the diverse group of objects classified as LINERS.Comment: 33 Latex pages, including 16 Postscript figures, to appear in 1997 September 1 Astrophysical Journa