Entropy as a Geometrical Source of Information in Biological Organizations.

Considering both biological and non-biological polygonal shape organizations, in this paper we introduce a quantitative method which is able to determine informational entropy as spatial differences between heterogeneity of internal areas from simulation and experimental samples. According to these data (i.e., heterogeneity), we are able to establish levels of informational entropy using statistical insights of spatial orders using discrete and continuous values. Given a particular state of entropy, we establish levels of information as a novel approach which can unveil general principles of biological organization. Thirty-five geometric aggregates are tested (biological, non-biological, and polygonal simulations) in order to obtain the theoretical and experimental results of their spatial heterogeneity. Geometrical aggregates (meshes) include a spectrum of organizations ranging from cell meshes to ecological patterns. Experimental results for discrete entropy using a bin width of 0.5 show that a particular range of informational entropy (0.08 to 0.27 bits) is intrinsically associated with low rates of heterogeneity, which indicates a high degree of uncertainty in finding non-homogeneous configurations. In contrast, differential entropy (continuous) results reflect negative entropy within a particular range (-0.4 to -0.9) for all bin widths. We conclude that the differential entropy of geometrical organizations is an important source of neglected information in biological systems.

Sensor Information Sharing Using a Producer-Consumer Algorithm on Small Vehicles.

There are several tools, frameworks, and algorithms to solve information sharing from multiple tasks and robots. Some applications such as ROS, Kafka, and MAVLink cover most problems when using operating systems. However, they cannot be used for particular problems that demand optimization of resources. Therefore, the objective was to design a solution to fit the resources of small vehicles. The methodology consisted of defining the group of vehicles with low performance or are not compatible with high-level known applications; design a reduced, modular, and compatible architecture; design a producer-consumer algorithm that adjusts to the simultaneous localization and communication of multiple vehicles with UWB sensors; validate the operation with an interception task. The results showed the feasibility of performing architecture for embedded systems compatible with other applications managing information through the proposed algorithm allowed to complete the interception task between two vehicles. Another result was to determine the system's efficiency by scaling the memory size and comparing its performance. The work's contributions show the areas of opportunity to develop architectures focusing on the optimization of robot resources and complement existing ones.