RESUMO
Specifying and solving Constraint-based Optimization Problems (COP) has become a mainstream technology for advanced motion control of mobile robots. COP programming still requires expert knowledge to transform specific application context into the right configuration of the COP parameters (i.e., objective functions and constraints). The research contribution of this paper is a methodology to couple the context knowledge of application developers to the robot knowledge of control engineers, which, to our knowledge, has not yet been carried out. The former is offered a selected set of symbolic descriptions of the robots' capabilities (its so-called "behavior semantics") that are translated in control actions via "templates" in a "semantic map"; the latter contains the parameters that cover contextual dependencies in an application and robot vendor-independent way. The translation from semantics to control templates takes place in an "interaction layer" that contains 1) generic knowledge about robot motion capabilities (e.g., depending on the kinematic type of the robots), 2) spatial queries to extract relevant COP parameters from a semantic map (e.g., what is the impact of entering different types of "collision areas"), and 3) generic application knowledge (e.g., how the robots' behavior is impacted by priorities, emergency, safety, and prudence). This particular design of, and interplay between, the application, interaction, and control layers provides a structured, conceptually simple approach to advance the complexity of mobile robot applications. Eventually, industry-wide cooperation between representatives of the application and control communities should result in an interaction layer with different standardized versions of semantic complexity.
RESUMO
Wildlife is exposed to parasites from the environment. This parasite pressure, which differs among areas, likely shapes the immunological strategies of animals. Individuals differ in the number of parasites they encounter and host, and this parasite load also influences the immune system. The relative impact of parasite pressure vs. parasite load on different host species, particularly those implicated as important reservoirs of zoonotic pathogens, is poorly understood. We captured bank voles (Myodes glareolus) and wood mice (Apodemus sylvaticus) at four sites in the Netherlands. We sampled sub-adult males to quantify their immune function, infestation load for ecto- and gastrointestinal parasites, and infection status for vector-borne microparasites. We then used regression trees to test if variation in immune indices could be explained by among-site differences (parasite pressure), among-individual differences in infestation intensity and infection status (parasite load), or other intrinsic factors. Regression trees revealed splits among sites for haptoglobin, hemagglutination, and body-mass corrected spleen size. We also found splits based on infection/infestation for haptoglobin, hemolysis, and neutrophil to lymphocyte ratio. Furthermore, we found a split between species for hemolysis and splits based on body mass for haptoglobin, hemagglutination, hematocrit, and body-mass corrected spleen size. Our results suggest that both parasite pressure and parasite load influence the immune system of wild rodents. Additional studies linking disease ecology and ecological immunology are needed to understand better the complexities of host-parasite interactions and how these interactions shape zoonotic disease risk.
