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Hydrologic Impacts Of Clmate Change : Quantification Of UncertaintiesRaje, Deepashree 12 1900 (has links)
General Circulation Models (GCMs), which are mathematical models based on principles of fluid dynamics, thermodynamics and radiative transfer, are the most reliable tools available for projecting climate change. However, the spatial scale on which typical GCMs operate is very coarse as compared to that of a hydrologic process and hence, the output from a GCM cannot be directly used in hydrologic models. Statistical Downscaling (SD) derives a statistical or empirical relationship between the variables simulated by the GCM (predictors) and a point-scale meteorological series (predictand). In this work, a new downscaling model called CRF-downscaling model, is developed where the conditional distribution of the hydrologic predictand sequence, given atmospheric predictor variables, is represented as a conditional random field (CRF) to downscale the predictand in a probabilistic framework. Features defined in the downscaling model capture information about various factors influencing precipitation such as circulation patterns, temperature and pressure gradients and specific humidity levels. Uncertainty in prediction is addressed by projecting future cumulative distribution functions (CDFs) for a number of most likely precipitation sequences. Direct classification of dry/wet days as well as precipitation amount is achieved within a single modeling framework, and changes in the non-parametric distribution of precipitation and dry and wet spell lengths are projected. Application of the method is demonstrated with the case study of downscaling to daily precipitation in the Mahanadi basin in Orissa, with the A1B scenario of the MIROC3.2 GCM from the Center for Climate System Research (CCSR), Japan.
An uncertainty modeling framework is presented in this work, which combines GCM, scenario and downscaling uncertainty using the Dempster-Shafer (D-S) evidence theory for representing and combining uncertainty. The methodology for combining uncertainties is applied to projections of hydrologic drought in terms of monsoon standardized streamflow index (SSFI-4) from streamflow projections for the Mahanadi river at Hirakud. The results from the work indicate an increasing probability of extreme, severe and moderate drought and decreasing probability of normal to wet conditions, as a result of a decrease in monsoon streamflow in the Mahanadi river due to climate change.
In most studies to date, the nature of the downscaling relationship is assumed stationary, or remaining unchanged in a future climate. In this work, an uncertainty modeling framework is presented in which, in addition to GCM and scenario uncertainty, uncertainty in the downscaling relationship itself is explored by linking downscaling with changes in frequencies of modes of natural variability. Downscaling relationships are derived for each natural variability cluster and used for projections of hydrologic drought. Each projection is weighted with the future projected frequency of occurrence of that cluster, called ‘cluster-linking’, and scaled by the GCM performance with respect to the associated cluster for the present period, called ‘frequency scaling’. The uncertainty modeling framework is applied to a case study of projections of hydrologic drought or SSFI-4 classifications, using projected streamflows for the Mahanadi river at Hirakud. It is shown that a stationary downscaling relationship will either over- or under-predict downscaled hydrologic variable values and associated uncertainty. Results from the work show improved agreement between GCM predictions at the regional scale, which are validated for the 20th century, implying that frequency scaling and cluster-linking may indeed be a valid method for constraining uncertainty.
To assess the impact of climate change on reservoir performance, in this study, a range of integrated hydrologic scenarios are projected for the future. The hydrologic scenarios incorporate increased irrigation demands; rule curves dictated by increased need for flood storage and downscaled projections of streamflow from an ensemble of GCMs and emission scenarios. The impact of climate change on multipurpose reservoir performance is quantified, using annual hydropower and RRV criteria, under GCM and scenario uncertainty. The ‘business-as-usual’ case using Standard Operating Policy (SOP) is studied initially for quantifying impacts. Adaptive Stochastic Dynamic Programming (SDP) policies are subsequently derived for the range of future hydrologic scenarios, with the objective of maximizing reliabilities with respect to multiple reservoir purposes of hydropower, irrigation and flood control. It is shown that the hydrologic impact of climate change is likely to result in decreases in performance criteria and annual hydropower generation for Hirakud reservoir. Adaptive policies show that a marginal reduction in irrigation and flood control reliability can achieve increased hydropower reliability in future. Hence, reservoir rules for flood control may have to be revised in the future.
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Modelagem anal?tica e experimental da filtra??o em meios porososBarros, Paulo Henrique de Lima 12 December 2008 (has links)
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Previous issue date: 2008-12-12 / Deep bed filtration occurs in several industrial and environmental processes like water filtration and soil contamination. In petroleum industry, deep bed filtration occurs near to injection wells during water injection, causing injectivity reduction. It also takes place during well drilling, sand production control, produced water disposal in aquifers,
etc. The particle capture in porous media can be caused by different physical mechanisms (size exclusion, electrical forces, bridging, gravity, etc). A statistical model
for filtration in porous media is proposed and analytical solutions for suspended and retained particles are derived. The model, which incorporates particle retention
probability, is compared with the classical deep bed filtration model allowing a physical interpretation of the filtration coefficients. Comparison of the obtained analytical solutions for the proposed model with the classical model solutions allows concluding that the larger the particle capture probability, the larger the discrepancy between the
proposed and the classical models / A filtra??o profunda de suspens?es particuladas ocorre em muitos processos industriais e ambientais, como filtra??o de ?gua e contamina??o do solo. Na ind?stria petrol?fera, a
filtra??o profunda ocorre pr?ximo ao po?o injetor durante a inje??o de ?gua, causando redu??o de injetividade. Este processo tamb?m ocorre durante a perfura??o de po?os de
petr?leo, o controle da produ??o de areia, o descarte de ?gua produzida em aq??feros, etc. A captura de part?culas no meio poroso pode ser causada por diferentes mecanismos
f?sicos (exclus?o pelo tamanho, for?as el?tricas, gravidade, etc.). Neste trabalho, um modelo estat?stico para a filtra??o em meios porosos ? proposto e solu??es anal?ticas para as concentra??es de part?culas em suspens?o e retidas s?o obtidas. O modelo, que incorpora a probabilidade de captura de part?culas, foi comparado com o modelo cl?ssico permitindo uma interpreta??o f?sica dos coeficientes de filtra??o. As solu??es anal?ticas encontradas para o modelo proposto foram comparadas com a modelagem cl?ssica, mostrando que quanto maior a probabilidade de captura de part?culas durante o transporte em meios porosos, maior ? a discrep?ncia entre a modelagem cl?ssica e o modelo proposto
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Intégration monolithique en 3D : étude du potentiel en termes de consommation, performance et surface pour le nœud technologique 14nm et au-delà / 3D Monolithic Integration : performance, Power and Area Evaluation for 14nm and beyondAyres de sousa, Alexandre 16 October 2017 (has links)
L'intégration 3DVLSI, également connue sous le nom d'intégration monolithique ou séquentielle, est présentée et évaluée dans cette thèse comme une alternative à la réduction du nœud technologique des circuits logiques CMOS. L’avantage principal de cette technologie par rapport à l'intégration parallèle 3D, déjà existante, est l'alignement précis entre les niveaux, ce qui permet des contacts 3D réduits et plus proches. Un autre avantage, extrêmement favorable à l’approche 3DVLSI, est l’amélioration du placement et du routage par rapport aux circuits planaires, notamment parce qu’elle permet des interconnexions plus courtes et qu’elle offre a un degré de liberté supplémentaire dans la direction Z pour la conception. Par exemple, les fils les plus longs dans les circuits planaires peuvent ainsi être réduits grâce aux contacts 3DCO, en diminuant les éléments parasites d'interconnexion. Il est ainsi possible d’augmenter la vitesse du circuit et de réduire la puissance électrique. Dans ce contexte, la thèse a été divisée en deux parties. La première partie traite de l’évaluation de la Consommation, des Performances et de la Surface (CPS) et donne des recommandations pour la conception des circuits 3D. La deuxième partie traite la variabilité des circuits 3D en utilisant un modèle statistique unifié, et en proposant une approche pour la variabilité des circuits multi-niveaux. / 3DVLSI integration, also known as monolithic or sequential integration is presented and evaluated in this thesis as a potential contender to continue the scaling for CMOS logic circuits. The main advantage of this technology compared to the already existing 3D parallel integration is its high alignment among tiers, enabling small size and pitch with the inter-tier contacts (3DCO). Another great 3DVLSI feature is its improved capability to place and route circuits, compared to the planar approach: the interconnections can be shorter as the design has an additional degree of freedom in the Z direction. For instance, long wires in planar circuits can cut thanks to 3DCO contacts, lowering the interconnection parasitic elements and speeding up the circuit as well as reducing the power. In this framework, the thesis has been divided into two parts: the first part is dedicated to the evaluation of Performance, Power and Area (PPA) of 3D circuits and gives design guidelines. The second part treats the variability in 3D circuits by using a 3D unified statistical model and propose an approach for the multi-tier variability.
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Biodiversidade de Culicidae e sua interação com arboviroses e malária na Mata Atlântica / Biodiversity of Culicidae and its interaction with arboviruses and malaria in the Atlantic ForestGabriel Zorello Laporta 24 April 2012 (has links)
Introdução - Interações complexas estão presentes entre a biodiversidade de mosquitos (Diptera, Culicidae) e as dinâmicas de transmissão de arbovírus e plasmódios que são agentes infecciosos que podem causar moléstias em humanos e outros animais. Objetivos - Aplicar método de distribuição potencial de habitats para mosquitos vetores de arbovírus e de plasmódios no Vale do Ribeira, sudeste do Estado de São Paulo, sub-região Serra do Mar da Mata Atlântica. Em escala local nessa região, relacionar a heterogeneidade espacial com a biodiversidade e esta com a dinâmica de transmissão de malária no Parque Estadual da Ilha do Cardoso. Métodos - Foram elaborados mapas de distribuição espacial dos vetores de arbovírus: Aedes serratus, Aedes scapularis e Psorophora ferox. Os mapas gerados para Anopheles cruzii, Anopheles bellator e Anopheles marajoara foram correlacionados com a distribuição espacial de malária. As correlações entre heterogeneidade espacial e biodiversidade de mosquitos foram estabelecidas com o emprego de modelos estatísticos de regressão. Foi elaborado modelo matemático para explicar o efeito da biodiversidade na transmissão de plasmódios. Resultados - As pessoas estão mais expostas às picadas de Ae. serratus, Ae. scapularis e Ps. ferox em áreas mais quentes e chuvosas. A correlação entre An. marajoara e o padrão espacial da malária foi positiva e significativa, enquanto que An. cruzii e An. bellator não foram importantes. Demonstrou-se que o aumento da heterogeneidade espacial está correlacionado, positivamente, com a biodiversidade de mosquitos. Níveis mais elevados de diversidade de mosquitos e de aves e mamíferos foram associados com risco menor de transmissão de plasmódios. Conclusões - A modelagem de distribuição potencial de habitats é uma ferramenta para a vigilância de vetores de arbovírus. Recomenda-se maior atenção ao An. marajoara que poderia ser vetor secundário de plasmódios em áreas abertas, naturais e desmatadas, da Mata Atlântica. A diversidade de plantas aumenta a heterogeneidade espacial e, esta pode ter efeito positivo à biodiversidade de mosquitos. Maiores diversidades de mosquitos, aves e mamíferos poderiam diminuir o número de picadas infectivas de An. cruzii. Pesquisas futuras sobre a epidemiologia dessas doenças deveriam incluir os seguintes temas: mudanças climáticas e arboviroses, heterogeneidade espacial e mosquitos, e biodiversidade e malária / Introduction - Complex interactions are present between biodiversity of mosquitoes (Diptera, Culicidae) and the dynamics of vector-borne arboviruses and malaria-parasites, which are infectious agents that can cause diseases in humans and other animals. Objectives - to apply habitat-suitability modelling for arboviral and malarial mosquito vectors in Vale do Ribeira, southeastern São Paulo state, sub-region of Serra do Mar of Atlantic Forest. In a local scale of this region, to relate the spatial heterogeneity with biodiversity and the role of this with dynamics of malarial transmission in the Parque Estadual da Ilha do Cardoso. Methods - Potential distribution maps were generated for the vectors of arboviruses, such as Aedes serratus, Aedes scapularis and Psorophora ferox. Distribution maps generated for Anopheles cruzii, Anopheles bellator and Anopheles marajoara were correlated with spatial distribution of human malaria. Regression models were applied to correlate the spatial heterogeneity with biodiversity of mosquitoes. It was elaborated a mathematical model to explain the effect of biodiversity on the transmission of Plasmodium. Results - People are more exposed to bites of Ae. serratus, Ae. scapularis and Ps. ferox in warmer and wetter areas. Correlations between An. marajoara and spatial pattern of malaria were positive and significant, while An. cruzii and An. bellator were not important. Spatial heterogeneity was positively associated with biodiversity of mosquitoes. Higher levels of biodiversity of both mosquitoes and vertebrates (birds and mammals) was associated with low risk of Plasmodium transmission. Conclusions - Habitat-suitability modelling is a tool for the surveillance of vector-borne arboviruses. It is recommended greater attention to An. marajoara which can be a potential secondary vector of Plasmodium parasites in natural or deforested open areas of the Atlantic Forest. Plant diversity could increase spatial heterogeneity which can be associated with higher mosquito diversity. Higher levels of mosquito, avian and mammalian diversities may decrease the number of infectious bites of An. cruzii. Future research on the epidemiology of malaria and arboviruses should include the following combinations of subjects: climate change and arboviruses, mosquito and spatial heterogeneity, and biodiversity and malaria
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Desenvolvimento de um modelo estatístico para aplicação no estudo de fadiga em emendas dentadas de madeira / not availableMariano Martinez Espinosa 27 November 2001 (has links)
Madeira laminada colada (MLC) é um material de construção muito empregado em estruturas. Este produto é composto de lâminas classificadas de madeira, coladas horizontalmente, para formar peças estruturais de madeira grandes dimensões. A união das lâminas é realizada através de distintos tipos de emendas longitudinais, sendo as emendas dentadas as mais utilizadas. Considerando que os componentes estruturais de MLC, em geral, são solicitadas a carregamentos cíclicos, este trabalho tem por finalidade a proposta de um modelo estatístico para a determinação da vida à fadiga em menos dentadas de madeira. O trabalho foi realizado no Laboratório de Madeiras e de Estruturas de madeira (LaMEM), com o estudo teórico e experimental da fadiga em corpos-de-prova tracionados de ligações com emendas dentadas, baseado em um planejamento estatístico de experimentos e na NBR 7190/97. Os resultados contidos mostram que o modelo Polinomial Ortogonal Múltiplo da distribuição de Birnbaum-Saunders é de grande precisão e o mais adequado ao estudo da fadiga. O uso deste modelo pode ser de grande benefício, já que com ele se poderá estimar e caracterizar com maior confiabilidade e precisão a um menor custo a vida à fadiga em emendas dentadas de madeira, considerando as variáveis independentes de tensão e freqüência. / In the production of structural elements of Glued Laminated Timber (GLULAM), the horizontal union of lumbers are made with finger joints. Considering that the structural components of GLULAM need a great number of finger joints, and some of these structures are subject to cyclic loading, the objective of this work is to present a statistical model to estimate the fatigue life in lumber tension finger joints. The theoretical and experimental work was made in the Laboratory of Wood and Timber Structures (LaMEM), based on a statistical experiment design using tension tests and in agreement with the NBR 7190/97 code. The estimation procedure was based on the multiple orthogonal polynomial Birnbaum-Saunders model and the results show that the parameter estimates of the multiple orthogonal polynomial Birnbaum-Saunders model are obtained with at good accuracy and the most appropriate for the wood fatigue study. The use of the model can be of great benefit, since with it can be fit and characterize with greater reliability and precision at a smaller cost the fatigue life in finger joints of wood, considering the independent variables stress and frequency.
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Modelos de contato com probabilidades aperiódicas. / Models of contact with aperiodic probabilities.Darielder Jesus Ribeiro 31 October 2005 (has links)
A análise de modelos de contato na presença de elementos de desordem fixa indica o surgimento de desvios em relação ao comportamento crítico do modelo uniforme subjacente. Nesse trabalho consideramos o efeito da aperiodicidade, que também é capaz de produzir flutuações de natureza geométrica. Utilizamos distri buições aperiódicas de probabilidades, definidas através de regras de substituição determinísticas, a fim de analisar o comportamento crítico desses modelos de con tato. Realizamos simulações de Monte Carlo para modelos definidos por três regras distintas, caracterizadas por um expoente w, associado à intensidade das flutuações geométricas. Nos modelos A e B, com w = -1 e w = 0, não constatamos qualquer mudança em relação à classe de universalidade crítica da percolação direcionada. Já no Modelo C, com w = 0.6309, as flutuações geométricas alteram a classe de universalidade crítica. / The analysis of contact models in the presence of quenched disorder indicates the onset of deviations with respect to the critical behavior of the underlying uniform system. In the present work, we consider the effects of aperiodicity, which are also known to produce fluctuation of geometric nature. We use aperiodic distributions of probabilities, given by deterministic substitution rules, in order to analyze the critical behavior. We performed Monte Carlo simulations for three different rules, characterized by an exponent w, which gauges the intensity of the geometric fluc tuations. For models A and B, with w = -1and w = 0, we have not detected any changes with respect to the universality class of directed percolation. For model C, with w = 0.6309, the geometric fluctuations change the critical universality class.
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Modélisation hybride du canal de propagation dans un contexte industriel / A hybrid radio channel model for industrial environmentHariri Essamlali, Kaoutar El 19 December 2014 (has links)
Ce travail de thèse concerne la modélisation du canal de propagation dans les milieux industriels. Dans ce contexte, le canal de propagation a un comportement différent de celui classiquement rencontré en indoor. Cela est dû à l'aménagement des bâtiments qui sont plus grand et ouverts ainsi qu'à la présence de machines, d'objets mobiles et d'autres matériaux métalliques rencontrés dans ces environnements. Ainsi, les modèles de canaux indoor existants ne sont plus valides. L'utilisation de modèles déterministes comme alternative est possible mais limitée en raison du temps de calcul qui en découle.Pour répondre à cette problématique, nous proposons un modèle hybride de canal s'inspirant d'une méthode à tracer de rayons 3D et du modèle WINNER. L'originalité de ce modèle repose sur son caractère hybride consistant, en prétraitement, à partitionner l'environnement en zones de visibilité ou de non-visibilité «faible» et «forte» sur des critères déterministes liés à la propagation des ondes. Un modèle statistique, type WINNER, reprenant le concept de cluster est ensuite "joué" au sein de chacune des ces zones reproduisant ainsi fidèlement l'évolution des paramètres caractéristiques des clusters identifiés. Nous avons validé notre modèle en le comparant d'abord à un modèle déterministe et ensuite à la mesure. Sa robustesse ainsi que celle de WINNER sont testées en les simulant dans trois environnements différents et en les comparant au modèle déterministe à tracer de rayons. / This thesis focuses on the modeling of the propagation channel in industrial environments. In this context, the propagation channel has a different behavior than typically encountered in indoor. This is due to the construction of buildings that are larger and open and the presence of machines, moving objects and metal materials encountered in these environments. Thus, the existing indoor channel models are not valid. Using deterministic models as an alternative is possible, but limited by the computing time.To address this problem, we propose a hybrid channel model for communications in industrial environments inspired by a ray tracing method and Winner model. The originality of this model is its hybrid nature consisting, in preprocessing, in partitionning the environment in areas of visibility or non-visibility «weak» and «strong» based on deterministic criteria related to the wave propagation. A statistical model, as WINNER , using the concept of cluster is then played in each of these areas and faithfully reproducing the evolution of the characteristic parameters of the identified clusters. We have validated our model by comparing it firstly to a deterministic model and then to measurement. Its robustness as well that of WINNER are tested by simulating them in three different environments and by comparing them with the deterministic model.
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Rare event simulation for statistical model checking / Simulation d'événements rares pour le model checking statistiqueJegourel, Cyrille 19 November 2014 (has links)
Dans cette thèse, nous considérons deux problèmes auxquels le model checking statistique doit faire face. Le premier concerne les systèmes hétérogènes qui introduisent complexité et non-déterminisme dans l'analyse. Le second problème est celui des propriétés rares, difficiles à observer et donc à quantifier. Pour le premier point, nous présentons des contributions originales pour le formalisme des systèmes composites dans le langage BIP. Nous en proposons une extension stochastique, SBIP, qui permet le recours à l'abstraction stochastique de composants et d'éliminer le non-déterminisme. Ce double effet a pour avantage de réduire la taille du système initial en le remplaçant par un système dont la sémantique est purement stochastique sur lequel les algorithmes de model checking statistique sont définis. La deuxième partie de cette thèse est consacrée à la vérification de propriétés rares. Nous avons proposé le recours à un algorithme original d'échantillonnage préférentiel pour les modèles dont le comportement est décrit à travers un ensemble de commandes. Nous avons également introduit les méthodes multi-niveaux pour la vérification de propriétés rares et nous avons justifié et mis en place l'utilisation d'un algorithme multi-niveau optimal. Ces deux méthodes poursuivent le même objectif de réduire la variance de l'estimateur et le nombre de simulations. Néanmoins, elles sont fondamentalement différentes, la première attaquant le problème au travers du modèle et la seconde au travers des propriétés. / In this thesis, we consider two problems that statistical model checking must cope. The first problem concerns heterogeneous systems, that naturally introduce complexity and non-determinism into the analysis. The second problem concerns rare properties, difficult to observe, and so to quantify. About the first point, we present original contributions for the formalism of composite systems in BIP language. We propose SBIP, a stochastic extension and define its semantics. SBIP allows the recourse to the stochastic abstraction of components and eliminate the non-determinism. This double effect has the advantage of reducing the size of the initial system by replacing it by a system whose semantics is purely stochastic, a necessary requirement for standard statistical model checking algorithms to be applicable. The second part of this thesis is devoted to the verification of rare properties in statistical model checking. We present a state-of-the-art algorithm for models described by a set of guarded commands. Lastly, we motivate the use of importance splitting for statistical model checking and set up an optimal splitting algorithm. Both methods pursue a common goal to reduce the variance of the estimator and the number of simulations. Nevertheless, they are fundamentally different, the first tackling the problem through the model and the second through the properties.
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Studium autenticity kávy různého geografického původu / Studying the authenticity of coffee of various geographical originsFlegr, Šimon January 2020 (has links)
This diploma thesis researches coffee authenticity problematice, mainly focusing on the authenticity of geographic origin. In the theoretical part of this work, botanical classification is described as well as production technology and processes. The work also includes chemical composition of coffee, describing the major components and changes during production phases. It describes major production areas of the world, in terms of general description and brief history. Problematics with coffee fraud and its identification are also described. Theoretical part also includes general geological description of 17 studied coffee growing regions. Experimental part is devoted to trace amount analysis of selected elements and volatile compounds. The element analysis was conducted using mass spectrometry or optical emission spectrometry, volatile compounds were determined using gas chromatography combined with mass spectrometry detection. Results were statistically described and analyzed, resulting in several discrimination models based on geographic origin.
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Proceedings of the Workshop on Membrane Computing, WMC 2016.Konur, Savas, Gheorghe, Marian 08 1900 (has links)
yes / This Workshop on Membrane Computing, at the Conference of Unconventional
Computation and Natural Computation (UCNC), 12th July 2016, Manchester,
UK, is the second event of this type after the Workshop at UCNC 2015 in
Auckland, New Zealand*. Following the tradition of the 2015 Workshop the
Proceedings are published as technical report.
The Workshop consisted of one invited talk and six contributed presentations
(three full papers and three extended abstracts) covering a broad spectrum of
topics in Membrane Computing, from computational and complexity theory to
formal verification, simulation and applications in robotics. All these papers –
see below, but the last extended abstract, are included in this volume.
The invited talk given by Rudolf Freund, “P SystemsWorking in Set Modes”,
presented a general overview on basic topics in the theory of Membrane Computing
as well as new developments and future research directions in this area.
Radu Nicolescu in “Distributed and Parallel Dynamic Programming Algorithms
Modelled on cP Systems” presented an interesting dynamic programming
algorithm in a distributed and parallel setting based on P systems enriched with
adequate data structure and programming concepts representation. Omar Belingheri,
Antonio E. Porreca and Claudio Zandron showed in “P Systems with
Hybrid Sets” that P systems with negative multiplicities of objects are less powerful
than Turing machines. Artiom Alhazov, Rudolf Freund and Sergiu Ivanov
presented in “Extended Spiking Neural P Systems with States” new results regading
the newly introduced topic of spiking neural P systems where states are
considered.
“Selection Criteria for Statistical Model Checker”, by Mehmet E. Bakir and
Mike Stannett, presented some early experiments in selecting adequate statistical
model checkers for biological systems modelled with P systems. In “Towards
Agent-Based Simulation of Kernel P Systems using FLAME and FLAME GPU”,
Raluca Lefticaru, Luis F. Macías-Ramos, Ionuţ M. Niculescu, Laurenţiu Mierlă
presented some of the advatages of implementing kernel P systems simulations in
FLAME. Andrei G. Florea and Cătălin Buiu, in “An Efficient Implementation and Integration of a P Colony Simulator for Swarm Robotics Applications" presented an interesting and efficient implementation based on P colonies for swarms of Kilobot robots.
*http://ucnc15.wordpress.fos.auckland.ac.nz/workshop-on-membrane-computingwmc-
at-the-conference-on-unconventional-computation-natural-computation/
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