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This paper presents a novel framework for integrating artificial empathy into robot swarms to improve communication and cooperation. The proposed model uses fuzzy state vectors to represent the knowledge and environment of individual agents, accommodating uncertainties in the real world. By utilizing similarity measures, the model compares states, enabling empathetic reasoning for synchronized swarm behavior. The paper presents a practical application example that demonstrates the efficacy of the model in a robot swarm working toward a common goal. The evaluation methodology involves the open-source physical-based experimentation platform (OPEP), which emphasizes empirical validation in real-world scenarios. The paper proposes a transitional environment that enables automated and repeatable execution of experiments on a swarm of robots using physical devices.
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The purpose of the study was to determine the role of land use, seasonality, and hydrometeorological conditions on the relationship between stream water potassium (K+) concentration and discharge during different types of floods-short- and long-duration rainfall floods as well as snowmelt floods on frozen and thawed soils. The research was conducted in small catchments (agricultural, woodland, mixed-use) in the Carpathian Foothills (Poland). In the woodland catchment, lower K+ concentrations were noted for each given specific runoff value for summer rainfall floods versus snowmelt floods (seasonal effect). In the agricultural and mixed-use catchments, the opposite was true due to their greater ability to flush K+ out of the soil in the summer. In the stream draining woodland catchment, higher K+ concentrations occurred during the rising limb than during the falling limb of the hydrograph (clockwise hysteresis) for all flood types, except for snowmelt floods with the ground not frozen. In the agricultural catchment, clockwise hystereses were produced for short- and long-duration rainfall floods caused by high-intensity, high-volume rainfall, while anticlockwise hystereses were produced for short- and long-duration rainfall floods caused by low-intensity, low-volume rainfall as well as during snowmelt floods with the soil frozen and not frozen. In the mixed-use catchment, the hysteresis direction was also affected by different lag times for water reaching stream channels from areas with different land use. K+ hystereses for the woodland catchment were more narrow than those for the agricultural and mixed-use catchments due to a smaller pool of K+ in the woodland catchment. In all streams, the widest hystereses were produced for rainfall floods preceded by a long period without rainfall.
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The purpose of the study was to identify the factors affecting stream water chemistry in the small mountain catchments deforested to varying degrees, from 98.7 to 14.1%, due to long-term acid deposition. Water samples were collected monthly in 2013 and 2014 from 17 streams flowing across three distinct elevation zones in the Skrzyczne massif (Poland): Upper, Middle and Lower Forest Zone. Chemical and physical analyses, including the pH, electrical conductivity (EC), total mineral content (Mt), water temperature, and the concentrations of Ca(2+), Mg(2+), Na(+), K(+), HCO3(-), SO4(2-), Cl(-), and NO3(-), were conducted. Based on Principal Component Analysis (PCA), the most important factor affecting water chemistry was human impact associated with changes in pH, SO4(2-) concentration, and the concentration of most of the main ions. The substantial acidity of the studied environment contributed to the exclusion of natural factors, associated with changes in discharge, from the list of major factors revealed by PCA. All of the streams were characterized by very low EC, Mt, and low concentrations of the main ions such as Ca(2+) and HCO3(-). This is the effect of continuous leaching of solutes from the soils by acidic precipitation. The lowest parameter values were measured for the streams situated in the Upper Forest Zone, which is associated with greater acid deposition at the higher elevations. In the streams located in the Upper Forest Zone, a higher percentage of SO4(2-) occurred than in the streams situated in the Middle and Lower Forest Zones. However, the largest share of SO4(2-) was measured in the most deforested catchment. The saturation of the studied deforested catchment with sulfur compounds is reflected by a positive correlation between SO4(2-) and discharge. Hence, a forest acts as a natural buffer that limits the level of acidity in the natural environment caused by acidic atmospheric deposition.