Search Results (8)

Path planning in complex environments presents a substantial research challenge for mobile robots. This study introduces an enhanced ant colony algorithm based on islands (EACI) for mobile robot path planning. First, the original map’s grid cells—which could potentially cause ants to become trapped in deadlocks—are transformed into obstacles. This process generates an auxiliary map, where a specified number of islands are evenly distributed between the starting and end grids. Second, an irregular pheromone initialization strategy is employed to enhance the information transmission between neighboring islands. Concurrently, the heuristic function is refined, and an adaptive evaporation coefficient is incorporated to facilitate dynamic adjustments in pheromone updates. These modifications effectively reduce the number of iterations required and decrease the incidence of deadlock among the ants. Third, the performance and advantages of the EACI are validated in various grid maps. Simulation results demonstrate that, compared to other optimization algorithms, the EACI method provides superior path solutions, achieves faster convergence, and reduces the number of lost ants. In 20 × 20, 30 × 30, 40 × 40, and 50 × 50 environments, the average numbers of iterations are 1, 1.4, 6.2, and 7.1, respectively, while the average numbers of lost ants are 9.85, 27.5, 47.6, and 99.2, respectively—demonstrating strong stability and adaptability. Finally, real-world experiments validate the algorithm’s effectiveness. Full article

Visual navigation is a key capability for robots and animals. Inspired by the navigational prowess of social insects, a family of insect-inspired route navigation algorithms—familiarity-based algorithms—have been developed that use stored panoramic images collected during a training route to subsequently derive directional information during route recapitulation. However, unlike the ants that inspire them, these algorithms ignore the sequence in which the training images are acquired so that all temporal information/correlation is lost. In this paper, the benefits of incorporating sequence information in familiarity-based algorithms are tested. To do this, instead of comparing a test view to all the training route images, a window of memories is used to restrict the number of comparisons that need to be made. As ants are able to visually navigate when odometric information is removed, the window position is updated via visual matching information only and not odometry. The performance of an algorithm without sequence information is compared to the performance of window methods with different fixed lengths as well as a method that adapts the window size dynamically. All algorithms were benchmarked on a simulation of an environment used for ant navigation experiments and showed that sequence information can boost performance and reduce computation. A detailed analysis of successes and failures highlights the interaction between the length of the route memory sequence and environment type and shows the benefits of an adaptive method. Full article

In this essay I explain that the Christian doctrine of the Trinity was first developed as a response to Jewish claims of Christian apostasy and polytheism. At the beginning of Christianity, most of its converts were observant Jews. The Jewish authorities took steps to reclaim their lost sheep and to stem the flow of departures. Their primary intellectual ammunition in that effort was the claim that the Christians were polytheists, because they claimed to believe in two Gods–the Father and His Son, Jesus Christ. The Christians’ apostasy was manifest by simple referring to the Mosaic commandment that righteous Israel should have only one God. This Jewish accusation of polytheism also neatly answered the inflammatory Christian charge that the Jews had crucified God and raised significant doubt about their claims of a special resurrection. The doctrine of the Trinity answered all those criticisms. God and Jesus Christ together were the one true God. But the nature of that oneness took some time to work out, and it is within a process of contending with pagan philosophical arguments and intra-Christian heretical positions, that a Christian doctrine of the Trinity begins to congeal. The work of Ante-Nicene Fathers—Justin Martyr, Theophilus of Antioch, Clement of Alexandria, Tertullian, Origen, Novatian, and others—whose voices we allow to be heard below—contain a trajectory of ideas that explain how the tri-unity is expressed in the momentous Creeds of Nicaea (AD 325) and Constantinople (381). Full article

Receptor-interference (Receptor-i) is a novel technology used to identify bioactive peptides as agonists or antagonists against a specific receptor, primarily targeting G-protein-coupled receptors (GPCRs). Using Receptor-i methodology, we targeted the pheromone biosynthesis activating neuropeptide receptor (PBAN-R) of the red imported fire ant (Solenopsis invicta). Based on previous studies, we selected four bioactive peptides cyclized with two cysteines: CVKLGSHFC, CIQQGSHFC, CERVGSHFC, and CMARYMSAC, and we conducted small-scale feeding bioassays, measuring fire ant worker mortality. All peptides reduced ant survival; however, CMARYMSAC (MARY) and CIQQGSHFC (IQQG) were the most effective and were selected for feeding trials against large, fully functional fire ant field colonies containing queen, brood, and up to 8000 workers. At the end of the experiment, day 84, synthetic peptide MARY killed over 80% of the workers and two of four queens. IQQG killed over 70% of the workers and three of four queens. The surviving two MARY queens lost an average of 21% of their starting weight. The surviving IQQG queen lost 31% of its weight. In contrast, control colony queens gained an average of 11% of their starting weight. These results provide proof-of-concept for the Receptor-i technology and will synergize applications to other agricultural and medical pests. Full article

Soils comprise the largest pool of terrestrial carbon yet have lost significant stocks due to human activity. Changes to land management in cropland and grazing systems present opportunities to sequester carbon in soils at large scales. Uncertainty in the magnitude of this potential impact is largely driven by the difficulties and costs associated with measuring near-surface (0–30 cm) soil carbon concentrations; a key component of soil carbon stock assessments. Many techniques exist to optimize sampling, yet few studies have compared these techniques at varying sample intensities. In this study, we performed ex-ante, high-intensity sampling for soil carbon concentrations at four farms in the eastern United States. We used post hoc Monte-Carlo bootstrapping to investigate the most efficient sampling approaches for soil carbon inventory: K-means stratification, Conditioned Latin Hypercube Sampling (cLHS), simple random, and regular grid. No two study sites displayed similar patterns across all sampling techniques, although cLHS and grid emerged as the most efficient sampling schemes across all sites and strata sizes. The number of strata chosen when using K-means stratification can have a significant impact on sample efficiency, and we caution future inventories from using small strata n, while avoiding even allocation of sample between strata. Our findings reinforce the need for adaptive sampling methodologies where initial site inventory can inform primary, robust inventory with site-specific sampling techniques. Full article

Self-grooming of the antennae is frequently observed in ants. This antennal maintenance behavior is presumed to be essential for effective chemical communication but, to our knowledge, this has not yet been well studied. When we removed the antenna-cleaning apparatuses of the Japanese carpenter ant (C. japonicus) to limit the self-grooming of the antennae, the worker ants demonstrated the self-grooming gesture as usual, but the antennal surface could not be sufficiently cleaned. By using scanning electron microscopy with NanoSuit, we observed the ants’ antennae for up to 48 h and found that the antennal surfaces gradually became covered with self-secreted surface material. Concurrently, the self-grooming-limited workers gradually lost their behavioral responsiveness to undecane—the alarm pheromone. Indeed, their locomotive response to the alarm pheromone diminished for up to 24 h after the antenna cleaner removal operation. In addition, the self-grooming-limited workers exhibited less frequent aggressive behavior toward non-nestmate workers, and 36 h after the operation, approximately half of the encountered non-nestmate workers were accepted as nestmates. These results suggest that the antennal sensing system is affected by excess surface material; hence, their proper function is prevented until they are cleaned. Full article

Identification of priority areas for conservation is crucial for the maintenance and protection of biodiversity, particularly in tropical forests where biodiversity continues to be lost at alarming rates. Surveys and research on umbrella species can provide efficient and effective approaches to identify potential areas for conservation at small geographical scales. Army ants of the genus Eciton are keystone species in neotropical forests due to their major role as top predators and due to the numerous vertebrate- and invertebrate associated species that depend upon their colonies for survival. These associates range from the iconic army ant-following birds to a wide range of arthropod groups, some of which have evolved intricate morphological, behavioural and/or chemical strategies to conceal their presence and integrate into the colony life. Furthermore, Eciton colonies require large forested areas that support a diverse leaf litter prey community and several field-based and genetic studies have demonstrated the negative consequences of forest fragmentation for the long-term maintenance of these colonies. Therefore, Eciton species will not only act as umbrella for their associates but also for many other species in neotropical forests, in particular for those that require a large extent of forest. This review summarises past and recent accounts of the main taxonomic groups found associated with Eciton colonies, as well research assessing the impact of forest fragmentation on this army ant, to encourage the adoption of Eciton army ants as umbrella species for the identification of priority areas for conservation and assessments of the effect of disturbance in neotropical forests. Full article

The high surface area to volume ratio of terrestrial insects makes them highly susceptible to desiccation mainly through the cuticle. Cuticular permeability (CP) is usually the most important factor limiting water loss in terrestrial insects. Water loss rate, percentage of total body water (%TBW) content, CP, and desiccation tolerance were investigated in workers of four Solenopsis species in the southeastern USA. We hypothesized that tropical/subtropical ants (S. invicta and S. geminata) will have lower CP values and tolerate higher levels of desiccation than temperate ants (S. richteri and S. invicta × S. richteri). The %TBW content was similar among species. Solenopsis invicta had a 1.3-fold and 1.1-fold lower CP value than S. invicta × S. richteri and S. richteri, respectively. Solenopsis geminata had a 1.3-fold lower CP value than S. invicta × S. richteri, and a 1.2-fold lower CP value than S. richteri. The LT₅₀ values (lethal time to kill 50% of the population) ranged from 1.5 h (small S. geminata) to 8.5 h (large S. invicta). Desiccation tolerance ranged between 36 and 50 %TBW lost at death and was not related to a species’ location of origin. This study is the first report of water relations of S. invicta × S. richteri. It demonstrates that desiccation stress differentially can affect the survival of different Solenopsis species and implies that environmental stress can affect the distribution of these species in the southeastern USA. Full article