the reaction between ni(ii), co(ii), cr(iii) bitrates, ni(ii) chloride and ambidentate a-keto ylide benzoylmethylenetriphenylphosphine (bppy) resulted in isolation of [ni(bppy)2](no3)2.2h2o, [ni(bppy)2]cl2, [co(bppy)2](no3)2 and [cr(bppy)3](no3)3; 2h2o. the compounds were characterized by elemental analyses and infrared 1hnmr spectroscopy, molar conductivity in solution and molecular weight mea...

This paper explores the possibility of providing robots with an ‘inner world’ based on internal simulation of perception rather than an explicit representational world model. First a series of initial experiments is discussed, in which recurrent neural networks were evolved to control collision-free corridor following behavior in a simulated Khepera robot and predict the next time step’s sensor...

This paper describes a set of tools developed at our laboratory that provide a reliable setup for conducting bio-inspired experiments with real robots. We focus on the hardware tools needed to monitor team performances as well as those to achieve collective adaptive behaviours. We propose concrete solutions to some of the main problems in collective robotics. The four main results we derive are...

heavy metals such as cu(ii) and pb(ii) are among the hazardous pollutants that lead to severe ecological problems and have a toxic effect on living organisms. the removal of cu(ii) and pb(ii) by iranian bentonite experiment were conducted in single component and multi component systems. the bentonite from the birjand area was characterized by x-ray diffraction pattern and ftir spectroscopy. the...

Biology has produced living creatures that exhibit remarkable fault tolerance. The immune system is one feature that enables this. The acquired immune system learns during the life of the individual to differentiate between self (that which is normally present) and non-self (that which is not normally present). This paper describes a artificial immune system (AIS) that is used as an error detec...

This paper presents an approach to the optimal method for behavior generation of mobile robot. Recently, a hybrid system that supplements gap between reactive and plan-based approaches by employing a reactive system for lower level control for fast reaction and a planner for higher level for generation of optimal sequence of behaviors has gained popularity. Behavior network structures may gener...