Cognitive theories of timing and conditioned reinforcement provide two different theoretical perspectives on choice between delayed rewards. The primary objective of this research was to identify the process that generates choice in the concurrent-chains procedure and to characterize its relationship with temporal control. Experiments 1-3 investigated the relationship between the dynamics of pigeons’ preference and temporal control in concurrent chains using an arrangement in which the delays to reinforcement changed unpredictably across sessions. To obtain convergent measures of choice and timing behavior, occasional ‘no-food’ terminal links lasted longer than the schedule values and ended without reinforcement. Measures of choice (log initial-link response ratios) and timing (start and stop times from no-food terminal links) stabilized within individual sessions. Sensitivity of log response ratios to relative immediacy increased as initial-link duration decreased or absolute terminal-link delays increased, but absolute initial- and terminal-link duration did not affect temporal control. Residual covariation analyses of log response ratios with log start and stop time ratios confirmed that measures of choice and timing were interdependent. Experiments 4 and 5 used concurrent-chains procedures in which immediacy, magnitude (and probability, in Experiment 5) ratios for left and right keys were 2:1 or 1:2, determined across sessions by independent, random series. Experiment 6 was a concurrent schedule in which relative reinforcement rate and magnitude were 2:1 or 1:2, determined the same way. Multiple regression analyses showed that pigeons’ response allocation in Experiments 4-6 was sensitive to multiple dimensions of reinforcement. Levels of preference within individual sessions and initial links or interfood intervals was more extreme when all dimensions favored the same key than when at least one dimension favored each key, consistent with assumptions of the generalized matching law. Within individual sessions, changes in response allocation in all experiments tended to be abrupt, consistent with the assumptions of Rate Estimation Theory (Gallistel & Gibbon, 2000). A decision model that posits a comparison between delayed outcomes with a criterion delay (Grace & McLean, 2006) described initial-link responding in Experiments 1-3. A modified decision model in which outcome expectancy is compared to an expectancy criterion described responding in Experiments 4-6.

The quantification of choice has been a major area of research for behavioural scientists for several decades. This is, in part, due to the discovery of the matching law (Herrnstein, 1961) which stipulates that relative response rates on concurrently available alternatives “match” the available relative reinforcement rates. This theoretical construct has been developed to describe response allocation in more complex situations, such as concurrent chains, and successfully describes both human and non-human behaviour. Typically, this phenomenon becomes evident when behaviour settles at an asymptote after several sessions of training where contingencies are held constant, and is often called “steady-state” behaviour. However, a fundamental question still remains: what causes matching – that is, what are the underlying momentary process(es) that produce matching? Researchers have suggested that what is necessary to answer this question is to take a molecular approach to the analysis of choice behaviour, thereby assessing choice in transition (Grace, 2002a). Recently, a new model of choice acquisition has been developed that appears to offer promise. It combines two separate mechanisms; a “winner-takes-all” categorical discrimination, and a linear-operator acquisition process (Grace & McLean, 2006). The initial results suggest this model could provide an alternative explanation for what underlies matching – that two separate processes are cooccurring in the acquisition of choice behaviour – allowing response allocation to be either linear or non-linear. This thesis extends the Grace and McLean model to include the situation of response strength ‘carrying-over’ from session to session to describe the process of acquisition gradually accumulating with experience. Moreover, additional assumptions have been added to describe temporal phenomena 2 and presumed discounting of previous experience on current choice behaviour. A steady-state version of the extended model was derived and, when fitted to published data sets, describes choice behaviour equally well when compared to existing models of steady-state choice. As a consequence of these additions, the Extended Decision Model (EDM) predicts a unique response allocation pattern – choice behaviour follows a bitonic function when initial-link durations were increased and the terminallink delays were held constant. The results from experiments presented in this thesis support this prediction, whilst steady-state analyses found the EDM was parameter invariant – differences between parameters from two schedule types across several archival data sets were non-significant, while existing steady-state models had significant differences. These findings provide further support for the claim that the EDM and the Decision Model (DM) mechanisms provide unique and accurate descriptions of the molecular processes governing choice behaviour. Moreover, the implication from these results is that the underlying assumption of the EDM and DM – that choice is determined by the propensity to respond rather than conditioned reinforcement – appears to have further foundation. This challenges the assumptions of existing models of choice behaviour and presents the possibility that probabilistic approaches are perhaps more appropriate for describing response allocations than discrete estimates of relative value when contingencies change.

Spiders are host to a plethora of heritable endosymbiotic bacteria. Broad-taxa screening studies indicate that endosymbionts are particularly common among spiders, however, little is known about how these bacteria affect their spider hosts. In insects these bacteria ensure vertical transmission by either conveying a benefit to the host or manipulating host reproduction to eliminate males that serve as evolutionary dead-ends for maternally-inherited bacteria. Common modes of reproductive manipulation include parthenogenesis, male killing, feminization, and cytoplasmic incompatibility. Screening an assemblage of Mermessus genus spiders, I detected a high frequency and diversity of endosymbiont infection. Within a single species, M. fradeorum, I detected three endosymbionts in multiple combinations. Rearing two natural infection types of M. fradeorum demonstrated two distinct endosymbiotic reproductive manipulations. Mothers infected with Rickettsia and Wolbachia produced extremely female-biased offspring, and antibiotic elimination of the symbionts successfully restored the sex ratio to the expected 1:1 in subsequent generations. A two-way factorial mating assay detected strong cytoplasmic incompatibility induced by a different strain of Wolbachia: cured females mated with infected males produced 70% fewer offspring than all other pairings. These results show that M. fradeorum is subject to multiple layers of reproductive manipulation that likely drive host evolution and ecology.

This thesis presents a geometric approach to studying kinematics, dynamics and controls of open-chain multi-body systems with non-zero momentum and multi-degree-of-freedom joints subject to holonomic and nonholonomic constraints. Some examples of such systems appear in space robotics, where mobile and free-base manipulators are developed. The proposed approach introduces a unified framework for considering holonomic and nonholonomic, multi-degree-of-freedom joints through: (i) generalization of the product of exponentials formula for kinematics, and (ii) aggregation of the dynamical reduction theories, using differential geometry. Further, this framework paves the ground for the input-output linearization and controller design for concurrent trajectory tracking of base-manipulator(s). In terms of kinematics, displacement subgroups are introduced, whose relative configuration manifolds are Lie groups and they are parametrized using the exponential map. Consequently, the product of exponentials formula for forward and differential kinematics is generalized to include multi-degree-of-freedom joints and nonholonomic constraints in open-chain multi-body systems. As for dynamics, it is observed that the action of the relative configuration manifold corresponding to the first joint of an open-chain multi-body system leaves Hamilton's equation invariant. Using the symplectic reduction theorem, the dynamical equations of such systems with constant momentum (not necessarily zero) are formulated in the reduced phase space, which present the system dynamics based on the internal parameters of the system. In the nonholonomic case, a three-step reduction process is presented for nonholonomic Hamiltonian mechanical systems. The Chaplygin reduction theorem eliminates the nonholonomic constraints in the first step, and an almost symplectic reduction procedure in the unconstrained phase space further reduces the dynamical equations. Consequently, the proposed approach is used to reduce the dynamical equations of nonholonomic open-chain multi-body systems. Regarding the controls, it is shown that a generic free-base, holonomic or nonholonomic open-chain multi-body system is input-output linearizable in the reduced phase space. As a result, a feed-forward servo control law is proposed to concurrently control the base and the extremities of such systems. It is shown that the closed-loop system is exponentially stable, using a proper Lyapunov function. In each chapter of the thesis, the developed concepts are illustrated through various case studies.

Una característica fundamental de los sistemas de software es que se construyen desde el principio sabiendo que deberán incorporar cambios a lo largo de su ciclo de vida. Todos los libros que tratan sobre ingeniería de software coinciden en que los sistemas son evolutivos. Incluso al evaluar el esfuerzo que se debe invertir en un proyecto de software, se considera que un 20% está en el desarrollo y 80% se aplica al mantenimiento (Pfleeger & Atlee, 2009). Ian Sommerville estima que el 17% del esfuerzo de mantenimiento se invierte en localizar y eliminar los posibles defectos de los programas (Sommerville, 2006). Por ello, conseguir programas libres de errores es uno de los principales objetivos que se plantea (o se debería plantear) el desarrollador frente a cualquier proyecto de software. Por otro lado, las limitaciones a la integración impuestas por factores físicos como son la temperatura y el consumo de energía, se han traducido en la integración de unidades de cómputo en un único chip, dando lugar a los procesadores de múltiples núcleos. Para obtener la máxima eficiencia de estas arquitecturas, es necesario el desarrollo de programas concurrentes (Grama, Gupta, Karypis, & Kumar, 2003). A diferencia de los programas secuenciales, en un programa concurrente existen múltiples hilos en ejecución accediendo a datos compartidos. El orden en que ocurren estos accesos a memoria puede variar entre ejecuciones, haciendo que los errores sean más difíciles de detectar y corregir. En cómputo de altas prestaciones donde los tiempos de ejecución de las aplicaciones pueden variar de un par de horas hasta días, la presencia de un error no detectado en la etapa de desarrollo adquiere una importancia mayor. Por este motivo, resulta indispensable contar con herramientas que ayuden al programador en la tarea de verificar los algoritmos concurrentes y desarrollar tecnología robusta para tolerar los errores no detectados. En este contexto, la eficiencia de los programas monitorizados se ve comprometida por el overhead que introduce el proceso de monitorización. Este trabajo forma parte de las investigaciones para la tesis doctoral del autor en el tema "Software para arquitecturas basadas en procesadores de múltiples núcleos. Detección automática de errores de concurrencia". Como tal, su aporte constituye un estudio de las técnicas y métodos vigentes en la comunidad científica aplicados a la detección y corrección de errores de programación en programas concurrentes. Las siguientes secciones constituyen una introducción al proceso de detectar, localizar y corregir errores de software en programas secuenciales y se explican las complicaciones introducidas por los programas concurrentes. El Capítulo 2 trata los distintos errores que se pueden manifestar en programas concurrentes. El Capítulo 3 resume los antecedentes en técnicas de detección y corrección de errores de concurrencia y se justifica la elección de las violaciones de atomicidad como caso de error más general. El Capítulo 4 explica las características de un algoritmo de detección de violaciones de atomicidad, y da detalles de su implementación. El Capítulo 5 contiene las características de la plataforma de experimentación y de la metodología empleada. El Capítulo 6 proporciona los resultados del trabajo experimental. Finalmente, se presentan las conclusiones del trabajo y se proponen las líneas de investigación futuras.

Aerobic exercise (AE) may interfere with muscle adaptations induced by resistance exercise (RE). Three experimental campaigns were conducted to explore the influence of AE on molecular, functional and muscular adaptations to acute and chronic RE. Twenty-nine men performed unilateral knee extensor RE preceded by AE (AE+RE). The contralateral leg did RE only. First, the influence of acute AE on muscle molecular responses to RE performed 6 h later was studied. Subsequently, this exercise regimen was implemented over 5 weeks training. The relationships between acute and chronic outcomes were examined and molecular responses to acute exercise were assessed in untrained and trained muscle. Finally, acute and chronic responses to AE+RE, interspersed by only 15 min recovery, were investigated.Phosphorylation of mTOR and p70S6K was greater after AE+RE than after RE. In parallel, myostatin was suppressed for a longer time after AE+RE. These results suggest that AE+RE enhance skeletal muscle anabolic environment more than RE alone (Paper I). After 5 weeks training, improvements in muscle strength and power were similar across legs. However, AE+RE prompted a greater increase in muscle size than RE, suggesting that AE potentiates the hypertrophic stimulus to RE training without altering muscle function progress (Paper II). Consistent with changes in whole-muscle size, AE+RE showed greater anabolic molecular responses than RE. As chronic training blunted this effect, it appears that AE offers a synergistic hypertrophic stimulus to RE only during short-term training (Paper III). Although putative regulators of hypertrophy such as p70S6K, myostatin and PGC-1a4 were examined, no molecular marker correlated with changes in muscle size, strength or power induced by training. Hence, this study challenges the concept that single molecular markers are viable predictors of training-induced muscle adaptations (Paper III–IV). When recovery time between exercise bouts was reduced to 15 min, AE+RE still produced a more substantial increase in muscle size than RE. However, progression of concentric strength was blunted. Thus, while restored muscle function between exercise bouts is a prerequisite for achieving maximal gains in strength and power, incomplete recovery appears not to compromise muscle hypertrophy (Paper V).Collectively, the results suggest that outcomes of AE+RE are impacted by chronic training and time allowed for recovery between exercise modes. Yet, the current study offers no support to the view that AE interferes with muscle hypertrophy induced by RE.

Wireless networks become more and more important in modern information systems as the last mile/meter solutions, thanks to the flexibility of mobile access to facilitate Internet access anytime, anywhere. Given the limited resources, e.g., spectrum and energy supplies, to meet the ever increasing demand for wireless data services, new approaches are beckoned to enhance the spectrum and energy efficiency. We investigate this problem from three important aspects, digital modulation, clock synchronization and concurrent transmission scheduling. The contributions of this dissertation are four-fold. First, we employ the cross-layer design to explore the spatial diversity and broadcast nature of wireless links and propose a novel network modulation scheme that can superpose the information bits of different priorities into one symbol. It offers a new dimension to improve the network throughput since we can flexibly configure the transmission according to the channels among transceivers. Moreover, it is compatible with the main-stream hardware and we just need a software upgrade to implement the idea. Second, we propose modulation schemes based on hexagonal tiling, which is known to be the most compact way of two-dimensional regular tiling. In order to fully utilize the advantage of hexagonal constellation, we employ the non-binary error controlcoding since the number of constellation points of hexagonal constellation is not necessarily to be an integer power-of-two. The feasibility of these new modulation schemes is verified by the prototype system based on the software defined radio platform USRP2 and GNU Radio. Third, to facilitate a wide range of wireless communications technologies and protocols, clock synchronization among several wireless devices is a fundamental requirement. We investigated this problem by tracing to the source of clock desynchronization, which is the clock skew. However, as shown by measurement results, the clock skew is not constant and related to the working temperature. We propose a novel clock skew estimation algorithm that can leverage the temperature information to accurately estimate the clock skew. Based on the estimation results, we propose a clock synchronization scheme that can directly remove the clock skew according to the working temperature. Fourth, the traditional time-sharing based scheduling schemes usually schedule one transmission within certain area. The emerging broadband wireless devices can dynamically adjust the transmitted data rate according to the received signal to interference and noise ratio (SINR). Allowing concurrent transmissions may be more efficient, while optimal scheduling problem for concurrent transmissions is an NP-hard problem. We propose simple yet effective heuristic algorithms that can significantly improve the system throughput with moderate computational complexity. / Graduate / 0544 / yangzhe2007@gmail.com

The problems of semantics and translation for concurrent programming languages are studied in this thesis. A structural operational approach is introduced to specify the semantics of parallelism and communication. Using this approach, semantics for the concurrent programming languages CSP (Hoare's Communicating Sequential Processes), multitasking and exception handling in Ada, Brinch-Hansen's Edison and CCS (Milner's Calculus of Communicating Systems) are defined and some of their properties are studied. An operational translation theory for concurrent programming languages is given. The concept of the correctness of a translation is formalised, the problem of composing transitions is studied and a composition theorem is proved. A set of sufficient conditions for proving the correctness of a translation is given. A syntax-directed translation from CSP to CCS is given and proved correct. Through this example the proof techniques of this approach is demonstrated. Finally, as an application of operational semantics and translation, a proposal for implementing multitasking in Ada is given via a two-step syntax-directed translation.

For robots to operate in human environments they must be able to make their own maps because it is unrealistic to expect a user to enter a map into the robot’s memory; existing floorplans are often incorrect; and human environments tend to change. Traditionally robots have used sonar, infra-red or laser range finders to perform the mapping task. Digital cameras have become very cheap in recent years and they have opened up new possibilities as a sensor for robot perception. Any robot that must interact with humans can reasonably be expected to have a camera for tasks such as face recognition, so it makes sense to also use the camera for navigation. Cameras have advantages over other sensors such as colour information (not available with any other sensor), better immunity to noise (compared to sonar), and not being restricted to operating in a plane (like laser range finders). However, there are disadvantages too, with the principal one being the effect of perspective. This research investigated ways to use a single colour camera as a range sensor to guide an autonomous robot and allow it to build a map of its environment, a process referred to as Simultaneous Localization and Mapping (SLAM). An experimental system was built using a robot controlled via a wireless network connection. Using the on-board camera as the only sensor, the robot successfully explored and mapped indoor office environments. The quality of the resulting maps is comparable to those that have been reported in the literature for sonar or infra-red sensors. Although the maps are not as accurate as ones created with a laser range finder, the solution using a camera is significantly cheaper and is more appropriate for toys and early domestic robots.

Concurrent engineering is an imperative concept in the world of product development. With the globalisation of industry, the market has been demanding higher quality products at lower costs, delivered at faster pace. With most companies today accepting the concurrent engineering approach as a formula for product development success, this approach is becoming ever more popular and dominating over the slower sequential product development method. Fast changes in technology, forced design cycle time reduction, emergence of new information technology and methodologies, as well as other aspects such as organisational and behavioural basis caused the sequential design process to progress into a concurrent engineering approach. The basic concept behind the concurrent engineering approach is that all parts of the design, manufacture, production, management, finance, and marketing of the product are usually involved in the early stages of a product’s design cycle, enabling faster product development through extensive use of simulation. Its key approach is to get the right data for the right person at the right time. There are forces that govern changes in the product development, and these forces must be steered towards prompt response to competition and higher productivity in order for companies to exist and successfully expand in the global market place. Concurrent engineering is made up of four key dimensions, one of them the communication infrastructure dimension, which is the focus of this study. This study defines the information infrastructure dimension, and some of the tools and technologies that support communication and collaboration. It then discusses how to employ the concurrent engineering approach from a communication infrastructure dimension point of view, starting with assessing the current product development process and eventually envisioning the path to take to a successful concurrent engineering environment. Communication infrastructure technologies and tools can be seen as central to a company’s implementation of concurrent engineering, as shown in the case studies covered in this work.