• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.155.3-155
• /
• 2001

Researches of multi-robot system are active in these days. The most remarkable characteristic of multirobot system is that the robots work cooperatively and achieve the task which a single robot cannot do. It is essential to investigate number effect of multi-robot system. In this paper, we chose foraging task and investigated their behavior. At first, we investigated the foraging behavior in case that interaction range is Infinite. Secondly, we investigated the behavior in case that interaction range is finite. In both case, we find out there is an optimum interaction duration.

• Animal cells and systems
• /
• 제9권1호
• /
• pp.41-46
• /
• 2005

This study was conducted to reveal tree species preference and inter-specific difference of foraging behavior among four canopy-dwelling birds at forest dominated by Quercus mongolica, Acer pseudosieboldian and Carpinus cordata at 1,000 meters above sea level during breeding season of birds from 1995 to 1997 in Mt. Jumbongsan. Breeding birds were about 25 species and dominant birds were Erithacus cyane, Parus ater and Parus palustris. A relatively high number of bush-nesters can be a characteristic of breeding bird community at study area. Three gleaners (Tits, P. varius, P. palustris and P. ater) selectively preferred the trees irrespective of dominant tree species, whereas bark foragers (Nuthatch, Sitta europaea) utilized the dominant trees. The four birds showed significant inter-specific difference in use of foraging location, but the three tits did not show significant inter-specific difference in use of foraging maneuver and trees. Closely related tits may coexist with each other by inter-specific different use of foraging location determined by foliage structure and leaf arrangement.

• International Journal of Control, Automation, and Systems
• /
• 제4권5호
• /
• pp.624-636
• /
• 2006

This paper proposes a hybrid approach involving Genetic Algorithm (GA) and Bacterial Foraging (BF) for tuning the PID controller of an AVR. Recently the social foraging behavior of E. coli bacteria has been used to solve optimization problems. We first illustrate the proposed method using four test functions and the performance of the algorithm is studied with an emphasis on mutation, crossover, variation of step sizes, chemotactic steps, and the life time of the bacteria. Further, the proposed algorithm is used for tuning the PID controller of an AVR. Simulation results are very encouraging and this approach provides us a novel hybrid model based on foraging behavior with a possible new connection between evolutionary forces in social foraging and distributed non-gradient optimization algorithm design for global optimization over noisy surfaces.

• 한국어류학회지
• /
• 제20권2호
• /
• pp.123-128
• /
• 2008

2000년 10월부터 11월까지 일본 Aomori현 Mutu만에서 다섯동갈망둑, Pterogobius zacalles의 섭식행동에 관하여 연구를 실시하였다. 다섯동갈망둑은 돌 틈에서 펄과 함께 먹이를 채식하는 쪼기와 돌 표면에서 먹이생물을 흡입하는 두 가지 유형의 채식방법이 있지만, 주로 돌 틈에서 먹이를 채식하는 방법을 이용한다. 다섯동갈망둑의 두 가지 채식방법 모두는 먹이를 찾아 유영하는 찾기, 섭식장소에서 먹이생물을 발견하고 먹는 섭식, 섭식한 후에 먹이를 씹고 이물질을 뱉어내는 씹기의 3단계로 구성된다. 다섯동갈망둑은 두 가지 채식방법 중에서 돌 틈에서 섭식하는 쪼기를 이용할 때 더 먼 거리를 유영하여 먹이를 찾으며, 긴 시간동안 먹이를 씹는다. 다섯동갈망둑은 채식방법에 상관없이 단각류가 주요 먹이생물이지만, 돌 표면에서 채식하였을 때보다 돌 틈에서 채식하였을 때 상대적으로 크기가 큰 단각류나 십각류를 섭식한다. 이들은 돌 틈에서 먹이를 섭식할 때 더 많은 에너지와 시간을 소비하지만, 높은 칼로리의 먹이를 섭식한다. 따라서 먹이생물의 크기는 이들의 섭식방법을 결정하는 요인으로 사료된다.

• 한국지능시스템학회논문지
• /
• 제18권3호
• /
• pp.392-400
• /
• 2008

This paper proposes a novel optimization algorithm inspired by bacteria behavior patterns for foraging. Most bacteria can trace attractant chemical molecules for foraging. This tracing capability of bacteria called chemotaxis might be optimized for foraging because it has been evolved for few millenniums. From this observation, we developed a new optimization algorithm based on the chemotaxis of bacteria in this paper. We first define behavior and decision rules based on the behavior patterns of bacteria and then devise an optimization algorithm with these behavior and decision rules. Generally bacteria have a quorum sensing mechanism that makes it possible to effectively forage, but we leave its implementation as a further work for simplicity. Thereby, we call our algorithm a simple bacteria cooperative optimization (BCO) algorithm. Our simple BCO is tested with four function optimization problems on various' parameters of the algorithm. It was found from experiments that the simple BCO can be a good framework for optimization.

• Asian-Australasian Journal of Animal Sciences
• /
• 제8권2호
• /
• pp.145-149
• /
• 1995

Validity of use of a Y-maze for determining a foraging strategy of cattle was investigated with the object of establishing a procedure of testing foraging strategies of large herbivores. Cattle were placed in a start box of a Y-maze, forced into either goal arm and allowed to consume half of the feed at the end of the arm. Then, cattle were returned to the start box and allowed to choose either arm in the second half of a trial. This time animals were allowed to deplete the feed in the goal arm they chose. A return to the previous arm was recorded a "stay" Choice of the other arm was recorded as a "shift". Shift strategy was not observed. Rather, their behavior appeared either random or stay. However, it might have been caused by inappropriateness of the application of the apparatus and/or the procedure used in the study of foraging behavior of rats. Although the existence of lateral preference was suggested, further study with an elaborated procedure will be necessary to investigate foraging strategies of cattle.

• 환경생물
• /
• 제27권2호
• /
• pp.155-163
• /
• 2009

멸종위기종 황새의 야생 방사를 위한 먹이 서식지 조성 시 필요한 정보를 제공하고 야생 황새의 먹이 서식지 보호와 보존을 위한 기초 자료를 제공하고자 연구를 시작하였다. 이를 위하여 충북 청원군 미원면 화원리에 있는 산지형 습지 일부에 울타리를 치고 황새 암수의 한 쪽 날개의 첫째날개깃 일부를 잘라 방사하여, 6월 20일부터 8월 16일까지 서식지 먹이 밀도와 수심 변화에 따른 서식지 이용률 및 섭식행동 특성을 파악하였다. 황새는 밀도가 높은 서식지에서 오랫동안 머물며 섭식시도와 섭식량을 증가시켰으며 수심에 따라 암컷은 수심이 얕은 서식지에서 그리고 수컷은 중간 깊이의 서식지에서 섭식시간과 섭식량을 증가시켰다. 그러나 섭식효율성은 밀도와 수심과 관련없이 의미있는 차이가 없었다. 단지 암수 간의 섭식효율성이 밀도에 따라 그리고 수심이 다른 서식지에서 섭식행동에 따라 다르게 나타났다. 따라서 본 연구를 통하여 반자연적 환경에 방사된 황새가 먹이 밀도에 따라 섭식 지역을 선택할 수 있음을 보여주었고 섭식효율성은 개체에 따라 혹은 섭식 방법에 따라 다르게 나타날 수 있음을 보여주었다.

• 한국산림과학회지
• /
• 제99권2호
• /
• pp.179-185
• /
• 2010

Organophosphate pesticides inhibit cholinesterase. It is likely that application of organophosphate pesticides affect behavior of arthropods. This study aimed to find changes in foraging behavior of ants due to application of fenitrothion, one of the widely used organophosphate pesticides. Foraging activity (FA) of ants was observed using bait cards in a pesticide sprayed pine stand and in an unsprayed stand before and after aerial application of fenitrothion in 2003 and 2004. Ant abundance and species richness of ants were also monitored using pitfall traps during the activity season in 2003 and 2004. There was not a significant decrease in abundance and species richness after the application of fenitrothion. However, FA of an ant, Paratrechina flavipes (Smith), which was abundant enough to be statistically compared, was depressed from 2 hours to 10 days after application of the pesticide. FA was fully recovered at day 14 in 2003, and was partially recovered at day 18 and fully at day 31 in 2004. FA of other ant species also decreased significantly during the FA depression period of P. flavipes. On the bait cards, workers of the species responded dully to baits during the FA depression period. Despite the decline in activity, alertness of P. flavipes to other species did not decrease even during the FA depression period.

• 한국응용곤충학회지
• /
• 제33권1호
• /
• pp.33-38
• /
• 1994

점박이응애 알에 대한 긴털이리응애의 전반적 채식행동을 연구하였다. 먹이가 충분히 존재할 때, 긴털이리응애는 섭식-섭식후이도.휴식-탐색 등 일련의 과정을 반복햇을며, 각각의 시간 소비(평균$\pm$표준편차)는 6.83$\pm$1.73, 3.00$\pm$1.33, 93.57$\pm$30.19 분이었고 탐색시간은 9분에 가가웠다. 섭식후이동은 이동 속도가 느리고 (초속0.09mm)한쪽 방향으로연속하여 회전하는 범위제한적 탐색행동을 보였으며 이탕행동은 속도가 빠르고(초속 0.31mm) 반응면적의 가장자리를 따라 이동하는 특징을 보였고, 탐색행동은 중간의 특징을 보였다. 또한 긴털이리응애의 섭식위치는 집중분포를 따랐다.

• 제어로봇시스템학회논문지
• /
• 제18권1호
• /
• pp.21-27
• /
• 2012

We can efficiently collect crops or minerals by operating multi-robot foraging. As foraging spaces become wider, control algorithms demand scalability and reliability. Swarm robotics is a state-of-the-art algorithm on wide foraging spaces due to its advantages, such as self-organization, robustness, and flexibility. However, high initial and operating costs are main barriers in performing multi-robot foraging system. In this paper, we propose a novel method to improve the energy efficiency of the system to reduce operating costs. The idea is to employ a new behavior model regarding role division in concert with the search space division.