Evolution and Analysis of Embodied Spiking Neural Networks Reveals Task-Specific Clusters of Effective Networks

Elucidating principles that underlie computation in neural networks is currently a major research topic of interest in neuroscience. Transfer Entropy (TE) is increasingly used as a tool to bridge the gap between network structure, function, and behavior in fMRI studies. Computational models allow us to bridge the gap even further by directly associating individual neuron activity with behavior. However, most computational models that have analyzed embodied behaviors have employed non-spiking neurons. On the other hand, computational models that employ spiking neural networks tend to be restricted to disembodied tasks. We show for the first time the artificial evolution and TE-analysis of embodied spiking neural networks to perform a cognitively-interesting behavior. Specifically, we evolved an agent controlled by an Izhikevich neural network to perform a visual categorization task. The smallest networks capable of performing the task were found by repeating evolutionary runs with different network sizes. Informational analysis of the best solution revealed task-specific TE-network clusters, suggesting that within-task homogeneity and across-task heterogeneity were key to behavioral success. Moreover, analysis of the ensemble of solutions revealed that task-specificity of TE-network clusters correlated with fitness. This provides an empirically testable hypothesis that links network structure to behavior.Comment: Camera ready version of accepted for GECCO'1

Soft Pneumatic Gelatin Actuator for Edible Robotics

We present a fully edible pneumatic actuator based on gelatin-glycerol composite. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the composite mechanical characteristics similar to those of silicone elastomers, the actuator exhibits a bending angle of 170.3 {\deg} and a blocked force of 0.34 N at the applied pressure of 25 kPa. These values are comparable to elastomer based pneumatic actuators. As a validation example, two actuators are integrated to form a gripper capable of handling various objects, highlighting the high performance and applicability of the edible actuator. These edible actuators, combined with other recent edible materials and electronics, could lay the foundation for a new type of edible robots.Comment: Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems 201

The order-disorder transition of the (3x3)Sn/Ge(111) phase

Growing attention has been drawn in the past years to the \alpha-phase (1/3 monolayer) of Sn on Ge(111), which undergoes a transition from the low temperature (3x3) phase to the room temperature (\sqrt3 x \sqrt3)R30 one. On the basis of scanning tunnelling microscopy experiments, this transition was claimed to be the manifestation of a surface charge density wave (SCDW), i.e. a periodic redistribution of charge, possibly accompanied by a periodic lattice distortion, which determines a change of the surface symmetry. As further experiments with different techniques were being performed, increasing doubts were cast about the SCDW model. We have measured by He scattering the long range order of the 1/3 monolayer phase of Sn on the Ge(111) surface throughout the phase transition. The transition has been found of the order-disorder type with a critical temperature Tc=220 K. The expected 3-State Potts critical exponents are shown to be consistent with the observed power law dependence of the (3x3) order parameter and its correlation length close to Tc, thus excluding a charge density wave driven phase transition.Comment: 6 pages with 4 figures; updated reference

The influence of interview as a technique in the development of speaking skills in eighth graders.

This study aims to improve oral skills in eighth-grade students from Unidad Educativa Virgen del Cisne using the interview technique and provide a possible solution to the problem in the development of the speaking skill, evaluating the influence of the interview technique and based on the data collection obtained, finding engaging and relevant topics during interviews can have a positive impact on students' motivation and contribute to creating a more enjoyable and conducive learning environment. For the purpose of this research work, several antecedents have been reviewed that show the validity of the proposed proposal and in the same way, the current literature that supports its development. The methodological design is qualitative, to collect information in relation to the current treatment of the study variables. The data collection instruments and techniques applied in the study allowed the researcher to gather more information about how this problem affects students and how to find a possible solution and improve fluency in speech production

Insect Vision: A Few Tricks to Regulate Flight Altitude

SummaryA recent study sheds new light on the visual cues used by Drosophila to regulate flight altitude. The striking similarity with previously identified steering mechanisms provides a coherent basis for novel models of vision-based flight control in insects and robots

Task-dependent influence of genetic architecture and mating frequency on division of labour in social insect societies

Division of labour is one of the most prominent features of social insects. The efficient allocation of individuals to different tasks requires dynamic adjustment in response to environmental perturbations. Theoretical models suggest that the colony-level flexibility in responding to external changes and internal perturbation may depend on the within-colony genetic diversity, which is affected by the number of breeding individuals. However, these models have not considered the genetic architecture underlying the propensity of workers to perform the various tasks. Here, we investigated how both within-colony genetic variability (stemming from variation in the number of matings by queens) and the number of genes influencing the stimulus (threshold) for a given task at which workers begin to perform that task jointly influence task allocation efficiency. We used a numerical agent-based model to investigate the situation where workers had to perform either a regulatory task or a foraging task. One hundred generations of artificial selection in populations consisting of 500 colonies revealed that an increased number of matings always improved colony performance, whatever the number of loci encoding the thresholds of the regulatory and foraging tasks. However, the beneficial effect of additional matings was particularly important when the genetic architecture of queens comprised one or a few genes for the foraging task's threshold. By contrast, a higher number of genes encoding the foraging task reduced colony performance with the detrimental effect being stronger when queens had mated with several males. Finally, the number of genes encoding the threshold for the regulatory task only had a minor effect on colony performance. Overall, our numerical experiments support the importance of mating frequency on efficiency of division of labour and also reveal complex interactions between the number of matings and genetic architectur

Study of the isotropic contribution to the analysis of photoelectron diffraction experiments at the ALOISA beamline

The angular distribution of the intensity in photoemission experiments is affected by electron diffraction patterns and by a smoothly varying ISO contribution originated by both intrumental details and physical properties of the samples. The origin of the various contributions to the ISO component has been identified since many years. Nonetheless in this work we present original developement of the ED analysis, which arises from the evolution of instrumental performance, in terms of analyzers positioning and angular resolution, as well as collimation and size of X-ray beams in third generation synchrotron sources. The analytical treatement of the instrumental factors is presented in detail for the end station of the ALOISA beamline (Trieste Synchrotron), where a wide variety of scattering geometries is available for ED experiments. We present here the basic formulae and their application to experimental data taken on the Fe/Cu3Au(001) system in order to highlight the role of the various parameters included in the distribution function. A specific model for the surface illumination has been developed as well as the overlayer thickness and surface roughness have been considered.Comment: RevTex, nine pages with five eps figures; to be published in J. Electron Spectrosc. Relat. Pheno