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High-frequency microsatellite haplotypes of the male-specific Y-chromosome can signal past episodes of high reproductive success of particular men and their patrilineal descendants. Previously, two examples of such successful Y-lineages have been described in Asia, both associated with Altaic-speaking pastoral nomadic societies, and putatively linked to(More)
OATAO is an open access repository that collects the work of Toulouse researchers and makes it freely available over the web where possible. Abstract—Metamorphic robots are robots that can change their shape by reorganizing the connectivity of their modules to adapt to new environments, perform new tasks, or recover from damages. In this paper we present a(More)
In order to produce diversity in virtual creatures to populate virtual worlds, different techniques exist. Some of these use blocks or sticks. In this morphological approach, blocks and sticks can be considered as organs, which means body parts able to perform different functions. Another approach, artificial embryogenesis, consists in developing organisms(More)
We show in this article 1 how the Weighted CSP framework can be used to solve an optimisation version of numerical planning. The WCSP finds an optimal plan in the planning graph containing all solution plans of minimum length. Experimental trials were performed to study the impact of soft arc consistency techniques (FDAC and EDAC) on the efficiency of the(More)
This paper explores temporal and spatial dynamics of a population of Genetic Regulatory Networks (GRN). In order to so, a GRN model is spatially distributed to solve a multi-cellular Artificial Embryogeny problem, and Evolutionary Computation is used to optimize the developmental sequences. An in-depth analysis is provided and show that such a population of(More)
Optimizing a wind farm layout is a very complex problem that involves many local and global constraints such as inter-turbine wind interference or terrain peculiarities. Existing methods are either inefficient or, when efficient, take days or weeks to execute. Solutions are contextually sensitive to the specific values of the problem variables; when one(More)
This paper presents a new method to generate the body plans of modular robots. In this work, we use a developmental model where cells are controlled by a gene regulatory network. Instead of using morphogens as in many existing works, we evolve a more flexible "hormonal system" that controls the inputs of the regulatory network. By evolving the regulatory(More)
We present DevoII, an improved cell-based developmental model for wind farm layout optimization. To address the shortcomings of discretization, DevoII's gene regulatory networks control cells that act in a continuous rather than discretized grid space. We find that DevoII is competitive, and in some cases, superior with respect to state-of-the-art global,(More)