%PDF-1.2 % 8 0 obj << /Length 9 0 R >> stream BT 303.36 748.8 TD 0 0 0 rg /F0 23.04 Tf 0 Tc 0 Tw ( ) Tj 0 -26.4 TD ( ) Tj -219.6 -26.52 TD -0.0118 Tc -0.0082 Tw (Stability of Coordination Requires Mutuality of ) Tj 13.32 -26.4 TD -0.0235 Tc 0.0235 Tw (Interaction in a Model of Embodied Agents) Tj 401.16 0 TD 0 Tc 0 Tw ( ) Tj -194.88 -19.8 TD /F0 15.96 Tf -0.03 Tw ( ) Tj 0 -18.36 TD ( ) Tj -122.04 -18.36 TD 0.0158 Tc -0.0458 Tw (Tom Froese) Tj 76.8 0 TD 0 Tc -0.03 Tw ( ) Tj 3.96 0 TD 0.032 Tc -0.032 Tw (and Ezequiel A. Di Paolo) Tj 163.2 0 TD 0 Tc -0.03 Tw ( ) Tj -121.92 -12.96 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -11.4 TD ( ) Tj 0 -11.52 TD ( ) Tj T* ( ) Tj -33.6 -17.04 TD /F0 15.96 Tf 0.0374 Tc -0.0674 Tw (CSRP 597) Tj 67.2 0 TD 0 Tc -0.03 Tw ( ) Tj -33.6 -12.84 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -11.52 TD ( ) Tj -32.64 -17.04 TD /F0 15.96 Tf 0.0465 Tc -0.0765 Tw (June 200) Tj 57.36 0 TD 0.06 Tc 0 Tw (8) Tj 7.92 0 TD 0 Tc -0.03 Tw ( ) Tj -32.64 -12.84 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -11.52 TD ( ) Tj T* ( ) Tj T* ( ) Tj -54 -16.92 TD /F0 15.96 Tf 0.0268 Tc -0.0568 Tw (ISSN 1350) Tj 70.68 0 TD -0.0347 Tc 0 Tw (-) Tj 5.28 0 TD 0.06 Tc (3162) Tj 32.04 0 TD 0 Tc -0.03 Tw ( ) Tj -54 -12.96 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -11.52 TD ( ) Tj 0 -11.4 TD ( ) Tj ET q 266.28 0 0 -118.44 170.16 404.4 cm /im1 Do endstream endobj 9 0 obj 1345 endobj 11 0 obj << /Type /XObject /Subtype /Image /Name /im1 /Width 308 /Height 138 /BitsPerComponent 8 /ColorSpace [ /Indexed /DeviceRGB 255 10 0 R ] /Length 12 0 R >> stream K O!* %'!5 @q & 7C // KK .!  *K>4V4].*H|-4)94w}~ #a#4?RHU+)62E34?('9?{#)Fk49448+)449Z*B))-$4248<.M)!KM+)))),aJ.R(0+'*? (66*9>!A82IH4>+C+'2'4?3*64A(M))#/R80UBUkX)4/8(">!?U$!0444M'00'9'(002 8,)9#"1U?)2{-,)IA'L61*9 0 ,  k2)3I44!8#CCf)O?RK')xT`)DyC8 Nk?5M9 z    4Lk$!K9a'>,K>Hw8<!?,))8&'X)8$$6)I* Kv)% ! F9 #4"Fwq^)?N4#E+$4)O(-)<*5?+AK, )*))4 U5j,3m(MK#4)A ,JI)u+$I' )  )  7H 4k?? `4I84k^k4U#4";'48**"fVF/)0$43 C/J8)I)#U 4f*+JK b 84$+SR+T)> K0))A4J9 #0*##  5I!/(?/42S?(0XJ)O081)X'+!AI  $?)+ 54#L#'M4  6/"(>6)'A6)*2)/'MK+M*`/*?,)9;(S)4*S)4++$'2-Z4>&;tR!)))0S)9)) #)&!)3KV ;))4 ;V#;4$<4S<J949BL6XO?<:I;,)(()C'  4?Ns'** !d lE,)) /M2   #)%C<,A,;   )) o)(W) $rU.8b'*0,  )<!)OIBRS//0  q( ,)!4?24.C4404'    !C?,6' ;/p7 C 5!  ) N 8))))A%o4:K  (;/`,)S(++nX$   N-),+'68  m")))?';O!0e!   '<))h$?I  ))#O 5K))+;U# )')))-(% /! '!/ ** ( )))U4)TR)A*kKI6/>95l))+l+08^8+<+KF+ !#  C))4 A> Cj)A<,EB!M8>F)#'`,RL) @-R5)@8. "  9))))`,KS'4  ) E4*R*<)M7h/);Oi<KHa)B T)))>/M#ghB 4C)4 F)L) 9.)))4)$  )MNYc4) 4 %)4fa #0*'! 8  #B0BR ) ")0 54CB4A+*E8R84K& 4/ 4) 4) BS>!+) )`%4`e2 #,c7# 4 )U/>X3444#B44#O)L?4d*8 A+(bI91! 4C)  #R4$`,)<  M) !<IKBL)*(?E#)/"N) 4)#^, 54/)._`?AV")6C) ))U>Ja#&))O]# 6)& ,4+.U,%,FQ!> ?OEB ').U,%?,/?VFHR8W9448,S&IX6*LY 06NZ MKS[';)\%5?*!!9PC,;# "83>Q9,'K9B",0.4<'(R+44 $SC*0?23R0#T0)+J"+)?A/M*+4K4 $ ''C 5 H%    !N  * OE/L ;'!K! E3   $/J) $5)5K#)L#EF.,FG;  )(  H'I4 <)))) (@4)A * B C)4 &D/478),,,)).8))9): ;2<, =>?(4 )  ))* +,)-./"0)123-456        !"#$ %  !&' (  endstream endobj 12 0 obj 42504 endobj 10 0 obj << /Length 13 0 R /Filter /ASCII85Decode >> stream !!!$!s8W&rrVQHfr;6Bfq>&F[`l>[%NduJ;JUEH,HB<]+SrelK\[LJOg%kFu=>+XJeTN4/\L3((qK9,q*G2#of[@h]IjRuE0&S!RG[:6C-W90kb4 O,=P\(=pdSeBH$L?!2i'EN,IqRuN8=>Zfk8f!h]XT9>0]+XD2C@m`79dE':2:eV#q %]5YY5r^g)T::LWEM&AP5W:TTGB-h]8mkUpFD#&3+si4tH#mP)q"OM9-n;9hRbcQE )&4+Nh:rSP'jjm8d)X)pmd2\W.r8Qso'c%XXf2L.&(SqIJ9#Ku5Zg%TUalje]>J:zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzzz~> endstream endobj 13 0 obj 594 endobj 14 0 obj << /Length 15 0 R >> stream Q BT 436.44 285.96 TD ( ) Tj -133.08 -9.12 TD ( ) Tj 0 -11.52 TD ( ) Tj -70.08 -11.4 TD 0.0257 Tc 0 Tw (____________________________) Tj 140.04 0 TD 0 Tc 0.03 Tw ( ) Tj -69.96 -11.52 TD ( ) Tj -73.08 -20.88 TD /F0 20.04 Tf -0.0164 Tc 0.0464 Tw (Cognitive Science) Tj 146.04 0 TD 0 Tc 0.03 Tw ( ) Tj -138.72 -23.04 TD -0.0195 Tc 0.0495 Tw (Research Papers) Tj 131.52 0 TD /F0 9.96 Tf 0 Tc 0.03 Tw ( ) Tj -65.76 -13.56 TD ( ) Tj -72.48 -11.52 TD 0.036 Tc 0 Tw (__________) Tj 50.04 0 TD 0.0158 Tc (___________________) Tj 94.92 0 TD 0 Tc 0.03 Tw ( ) Tj ET endstream endobj 15 0 obj 588 endobj 4 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R >> /XObject << /im1 11 0 R >> /ProcSet 2 0 R >> /Contents [ 8 0 R 14 0 R ] >> endobj 17 0 obj << /Length 18 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (2) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 707.64 TD /F0 15.96 Tf 0.0139 Tc 1.4228 Tw (Stability of coordination requires mutuality of interaction in a model) Tj 0 Tc -0.03 Tw ( ) Tj 0 -18.36 TD 0.0213 Tc -0.0513 Tw (of embodied agents) Tj 125.28 0 TD 0 Tc -0.03 Tw ( ) Tj -125.28 -14.76 TD /F0 12 Tf 0 Tw ( ) Tj 0 -13.8 TD ( ) Tj T* 0.0008 Tc -0.0008 Tw (Tom Froese and Ezequiel A. Di Paolo) Tj 183 3 TD 0 Tc 0 Tw ( ) Tj -183 -16.8 TD ( ) Tj 231.36 -11.16 TD /F0 9 Tf 0.03 Tw ( ) Tj -231.36 -12.96 TD /F0 12 Tf 0.0028 Tc -0.0028 Tw (Centre for Computational Neuroscience and Robotics \(CCNR\)) Tj 301.32 0 TD 0 Tc 0 Tw ( ) Tj -301.32 -13.8 TD -0.012 Tc (Centre) Tj 31.92 0 TD 0 Tc ( ) Tj 3 0 TD 0.001 Tc -0.001 Tw (for Research in Cognitive Science \(COGS\)) Tj 207 0 TD 0 Tc 0 Tw ( ) Tj -241.92 -13.8 TD -0.0012 Tc 0.0212 Tw (Dept. of Informatics, պ, UK) Tj 227.04 0 TD 0 Tc 0 Tw ( ) Tj -227.04 -13.8 TD -0.0132 Tc 0.0132 Tw ({t.froese, ) Tj 47.28 0 TD 0.0044 Tc 0 Tw (ezequiel}@sussex.ac.uk) Tj 116.88 0 TD 0 Tc ( ) Tj -135.84 -41.16 TD /F0 9 Tf 0.03 Tw ( ) Tj -28.32 -18.96 TD /F1 12 Tf -0.0147 Tc 0 Tw (Abstract.) Tj 47.52 0 TD /F0 12 Tf 0 Tc ( ) Tj 5.52 0 TD -0.002 Tc 2.582 Tw (We used an evolutionary robotics methodology to generate pairs of simulated) Tj 0 Tc 0.12 Tw ( ) Tj -53.04 -13.8 TD -0.0047 Tc 1.8266 Tw (agents capable of reliably establishing and maintaining a coordination pattern under no) Tj 437.28 0 TD 0.012 Tc -0.252 Tw (isy ) Tj -437.28 -13.8 TD -0.0009 Tc 0.0009 Tw (conditions. Unlike previous related work, agents were only evolved for this ability and not for ) Tj 0 -13.8 TD -0.0065 Tc 1.5865 Tw (their capacity to discriminate social contingency \(i.e., a live responsive partner\) from non) Tj 447.36 0 TD -0.036 Tc 0 Tw (-) Tj -447.36 -13.8 TD -0.0086 Tc 0.4286 Tw (contingent engagements \(i.e) Tj 135.6 0 TD 0 Tc 0 Tw (.) Tj 3 0 TD -0.0091 Tc 0.3691 Tw (, a recording\). However, when they) Tj 0 Tc -0.24 Tw ( ) Tj 174.84 0 TD -0.0094 Tc 0.2894 Tw (were made to interact with a ) Tj -313.44 -13.8 TD -0.0044 Tc 2.1644 Tw (recording of their partner made during a successful previous interaction, the coordination) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0088 Tc 1.2088 Tw (pattern could not be established. An analysis of the system\222s underlying dynamics revealed) Tj 0 Tc 0 Tw ( ) Tj T* -0.0105 Tc 0.4905 Tw (\(i\) that stability of the coordination patter) Tj 201.12 0 TD -0.0102 Tc 0.4902 Tw (n requires ongoing mutuality of interaction, and \(ii\)) Tj 0 Tc -0.12 Tw ( ) Tj -201.12 -13.8 TD -0.0053 Tc 2.1653 Tw (that the interaction process is not only constituted by, but also constitutive of, individual) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.012 Tc 0 Tw (behavior.) Tj 44.88 0 TD 0 Tc ( ) Tj 6 0 TD 0 Tc 0.0317 Tw (We suggest that this stability of coordination is a general property of a certain class ) Tj -50.88 -13.8 TD -0.015 Tc 0.615 Tw (of intera) Tj 40.92 0 TD 0.002 Tc 0.6247 Tw (ctively coupled dynamical systems, and conclude that psychological explanations of) Tj 0 Tc 0 Tw ( ) Tj -40.92 -13.8 TD -0.0129 Tc 2.1815 Tw (an individual\222s sensitivity to social contingency need to take into account the role of the) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0038 Tc 0.0038 Tw (interaction process.) Tj 93.36 0 TD 0 Tc 0 Tw ( ) Tj -93.36 -14.04 TD /F1 12 Tf ( ) Tj 0 -13.56 TD -0.008 Tc 0.008 Tw (Keywords: ) Tj 58.92 0 TD /F0 12 Tf -0.0041 Tc 0.0281 Tw (evolutionary robotics, social cognition, social c) Tj 226.92 0 TD -0.0262 Tc 0 Tw (ontingency.) Tj 56.4 0 TD 0 Tc ( ) Tj -342.24 -14.04 TD /F1 12 Tf ( ) Tj 0 -13.8 TD ( ) Tj 0 -11.76 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -13.56 TD /F1 12 Tf 0 Tw ( ) Tj T* /F0 12 Tf -0.0131 Tc 0.2531 Tw (To appear in: ) Tj 67.92 0 TD -0.0137 Tc 0.1937 Tw (M. Asada ) Tj 50.28 0 TD /F2 12 Tf 0 Tc 0.36 Tw (et al.) Tj 24.36 0 TD /F0 12 Tf 0 Tw ( ) Tj 3.36 0 TD -0.0154 Tc 0.0154 Tw (\(eds.\), ) Tj 33.24 0 TD /F2 12 Tf -0.0089 Tc 0.2969 Tw (From animals to animats 10: ) Tj 144.6 0 TD -0.014 Tc 0.374 Tw (Proc. of the 10) Tj 72.24 5.52 TD /F2 8.04 Tf -0.0676 Tc 0 Tw (th) Tj 6.24 -5.52 TD /F2 12 Tf 0 Tc ( ) Tj 3.36 0 TD -0.0347 Tc 0.1547 Tw (Int. Conf. ) Tj -405.6 -13.8 TD 0 Tc 0 Tw (o) Tj 6 0 TD 0.0074 Tc -0.0074 Tw (n Simulation of ) Tj 76.44 0 TD -0.0158 Tc 0.0158 Tw (Adaptive Behavior) Tj 89.4 0 TD /F0 12 Tf 0.0035 Tc 0.0365 Tw (, Berlin, Germany: Springer) Tj 134.4 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.009 Tc -0.009 Tw (Verlag, pp. 52) Tj 68.76 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (61) Tj 12 0 TD ( ) Tj ET endstream endobj 18 0 obj 4844 endobj 16 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R >> /ProcSet 2 0 R >> /Contents 17 0 R >> endobj 26 0 obj << /Length 27 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (3) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.36 TD /F0 12 Tf 0 Tw ( ) Tj 0 -14.04 TD /F1 12 Tf (1) Tj 6 0 TD /F3 12 Tf 0.024 Tw ( ) Tj 16.68 0 TD /F1 12 Tf 0.005 Tc 0 Tw (Introduction) Tj 65.4 0 TD 0 Tc ( ) Tj -88.08 -11.76 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -13.32 TD /F0 12 Tf -0.002 Tc 1.682 Tw (Evolutionary robotics is typically employed to investigate simulation models of minimally) Tj 0 Tc -0.24 Tw ( ) Tj 0 -13.8 TD -0.0042 Tc 2.7642 Tw (cognitive behavior, namely the simplest behavior that raises issues of genuine cognitive) Tj 0 Tc 0 Tw ( ) Tj T* -0.006 Tc 0.006 Tw (interest ) Tj 39.36 0 TD -0.036 Tc 0 Tw (\() Tj 3.96 0 TD 0.018 Tc 0.102 Tw (e.g. ) Tj 21.48 0 TD 0.0008 Tc 1.0792 Tw (Beer 1997; Harvey) Tj 0 Tc -0.24 Tw ( ) Tj 97.56 0 TD /F2 12 Tf 1.08 Tw (et al.) Tj 25.08 0 TD /F0 12 Tf 0 Tw ( ) Tj 4.08 0 TD -0.0028 Tc 1.1428 Tw (2005; Harvey 2001\).) Tj 101.88 0 TD 0 Tc 0 Tw ( ) Tj 4.08 0 TD 0.0091 Tc 1.0709 Tw (Recently there have been some) Tj 153.84 0 TD 0 Tc 0 Tw ( ) Tj -451.32 -13.8 TD -0.0023 Tc 0.8423 Tw (initial efforts to extend this methodology into the domain of social cognition) Tj 0 Tc 0 Tw ( ) Tj 379.92 0 TD -0.036 Tc (\() Tj 3.96 0 TD -0.012 Tc 0.012 Tw (e.g. ) Tj 21.12 0 TD 0.018 Tc 0.822 Tw (Di Paolo,) Tj 0 Tc 0.12 Tw ( ) Tj -405 -13.8 TD -0.0159 Tc 1.2596 Tw (Rohde & Iizuka 2008; Iizuka & Di Paolo 2007; Iizuka & Ikegam) Tj 325.32 0 TD -0.018 Tc 1.278 Tw (i 2004; Ikegami & Iizuka) Tj 0 Tc 0 Tw ( ) Tj -325.32 -13.8 TD -0.0076 Tc 1.3276 Tw (2007; Di Paolo 2000; Quinn 2001\)) Tj 173.4 0 TD -0.0096 Tc 1.3467 Tw (. While these are important advances within the) Tj 0 Tc 0 Tw ( ) Tj 241.92 0 TD -0.0446 Tc 1.3646 Tw (field of) Tj 0 Tc -0.12 Tw ( ) Tj -415.32 -13.8 TD -0.0094 Tc 0.8494 Tw (artificial life) Tj 60.36 0 TD 0.006 Tc 0.8617 Tw (, they also generate insights of relevance that could form the basis for mutually) Tj 0 Tc -0.12 Tw ( ) Tj -60.36 -13.8 TD 0.024 Tc 0 Tw (i) Tj 3.36 0 TD -0.0046 Tc 0.0179 Tw (nforming collaborations with the empirical sciences such as psychology. ) Tj 351.24 0 TD 0 Tc 0 Tw ( ) Tj -354.6 -13.8 TD ( ) Tj 0 -13.8 TD -0.0033 Tc 1.6953 Tw (One promising target for such an endeavor is Murray and Trevarthen\222s) Tj 0 Tc 0 Tw ( ) Tj 361.32 0 TD -0.012 Tc (\(1985\)) Tj 31.92 0 TD 0 Tc ( ) Tj 4.68 0 TD 0.0075 Tc 1.6725 Tw (double TV) Tj 0 Tc 0.12 Tw ( ) Tj -397.92 -13.8 TD 0.0025 Tc 0.856 Tw (monitor experiment. In this psychological study 2 month old infants were animated by their) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0034 Tc (mothers) Tj 38.64 0 TD 0 Tc ( ) Tj 3.24 0 TD -0.0075 Tc 0.2315 Tw (to engage in coordination via a live double video link. However, when the live video ) Tj -41.88 -13.8 TD -0.0047 Tc 1.8218 Tw (of the mother was replaced with a video playback of her actions recorded previously, the) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0019 Tc 0.6019 Tw (infants became distressed or removed. These results, and those of a more rigorous) Tj 400.32 0 TD 0 Tc 0 Tw ( ) Tj 3.72 0 TD -0.002 Tc (follow) Tj 31.32 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0 Tc (up ) Tj -439.32 -13.8 TD -0 Tc 0.096 Tw (study by Nadel and colleagues ) Tj 150.24 0 TD 0.028 Tc 0 Tw (\(1999\)) Tj 32.04 0 TD 0.0039 Tc 0.1161 Tw (, indicate that 2 month old infants are sensitive to social ) Tj -182.28 -13.8 TD 0.0349 Tc 0 Tw (contingency) Tj 58.56 0 TD 0 Tc (, ) Tj 9 0 TD -0.006 Tc (i.e.) Tj 14.64 0 TD 0 Tc ( ) Tj 6 0 TD 0.0026 Tc 3.0174 Tw (the mutual responsiveness during an ongoing interaction,) Tj 292.56 0 TD 0 Tc 0 Tw ( ) Tj 6 0 TD -0.0098 Tc 3.0098 Tw (and that this) Tj 0 Tc -0.12 Tw ( ) Tj -386.76 -13.8 TD -0.0023 Tc 0.1356 Tw (sensitivity plays a fundamental role in the unfolding of coord) Tj 294.72 0 TD 0.0012 Tc 0.0388 Tw (ination. Traditional explanations ) Tj -294.72 -13.8 TD 0.0023 Tc 0.6277 Tw (of this sensitivity have focused on innate abilities. For example, Gergely and Watson) Tj 0 Tc 0 Tw ( ) Tj 419.28 0 TD -0.012 Tc (\(1999\)) Tj 32.04 0 TD 0 Tc ( ) Tj -451.32 -13.8 TD -0.0057 Tc 1.4549 Tw (have postulated the presence of an innate cognitive module which enables the detection of) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0043 Tc 1.3643 Tw (social contingency, and Russell) Tj 0 Tc 0 Tw ( ) Tj 159.6 0 TD -0.012 Tc (\(1996\)) Tj 31.92 0 TD 0 Tc ( ) Tj 4.32 0 TD -0.0192 Tc (hypot) Tj 27.24 0 TD -0.0018 Tc 1.3389 Tw (hesizes that infants have an innate capacity to) Tj 0 Tc 0.12 Tw ( ) Tj -223.08 -13.8 TD -0.0153 Tc 0.0633 Tw (understand intentionality and to process agency.) Tj 231.24 0 TD 0 Tc 0 Tw ( ) Tj -231.24 -13.8 TD ( ) Tj 0 -13.8 TD -0.0025 Tc 2.0425 Tw (Are these postulations of innate capacities on the part of the infant necessary in order to) Tj 0 Tc 0 Tw ( ) Tj T* 0.0031 Tc 2.6541 Tw (explain the empirical results? Iizuka and Di Paolo) Tj 0 Tc 0 Tw ( ) Tj 264 0 TD -0.012 Tc (\(2007\)) Tj 31.92 0 TD 0 Tc ( ) Tj 5.64 0 TD -0.0013 Tc 2.7013 Tw (used an evo) Tj 62.16 0 TD -0.0092 Tc 2.7692 Tw (lutionary robotics) Tj 0 Tc 0 Tw ( ) Tj -363.72 -13.8 TD 0.0008 Tc 2.6392 Tw (approach to test whether simpler solutions could also emerge from the dynamics of the) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0013 Tc 0.7431 Tw (interaction process itself. In their simulation model the evolved agents successfully acquired) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.002 Tc 1.122 Tw (the capacity to discriminate between \221live\222 \(two) Tj 235.92 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.026 Tc 1.226 Tw (way\) an) Tj 39.36 0 TD 0.0152 Tc 1.0648 Tw (d \221recorded\222 \(one) Tj 85.56 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.003 Tc 1.077 Tw (way\) interaction.) Tj 0 Tc 0 Tw ( ) Tj -368.88 -13.8 TD 0.0024 Tc 1.4576 Tw (Moreover, an analysis of the resulting dynamics suggests that the interaction process itself) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0098 Tc 0.2273 Tw (plays an important role in enabling this behavior. Similar results were also found by the other ) Tj T* 0.0064 Tc 1.3136 Tw (simulation studies) Tj 0 Tc 0 Tw ( ) Tj 92.76 0 TD -0.0193 Tc 1.4093 Tw (\(e.g. Di Paolo, Rohde & Iizuka 2008; Ikegami & Iizuka 2007; Iizuka &) Tj 0 Tc -0.12 Tw ( ) Tj -92.76 -13.8 TD -0.01 Tc 0.01 Tw (Ikegami 2004\)) Tj 70.2 0 TD 0 Tc 0 Tw (.) Tj 3.12 0 TD ( ) Tj -73.32 -13.8 TD ( ) Tj 0 -13.68 TD -0.0095 Tc 2.3113 Tw (It could be argued that the result of Iizuka and Di Paolo\222s) Tj 0 Tc 0 Tw ( ) Tj 305.76 0 TD -0.012 Tc (\(2007\)) Tj 31.92 0 TD 0 Tc ( ) Tj 5.28 0 TD -0.0114 Tc 2.2914 Tw (simulation study only) Tj 0 Tc -0.24 Tw ( ) Tj -342.96 -13.8 TD 0.0015 Tc 2.0477 Tw (represents a specific subset of the general solution space, in particular because they used) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0027 Tc 1.1427 Tw (evolutionary robotics to) Tj 0 Tc 0.12 Tw ( ) Tj 121.08 0 TD /F2 12 Tf 0.0048 Tc 0 Tw (explicitly) Tj 43.92 0 TD /F0 12 Tf 0 Tc ( ) Tj 4.2 0 TD 0.0013 Tc 1.0787 Tw (generate agents that terminate interacti) Tj 190.32 0 TD 0.012 Tc 1.068 Tw (on when there is a) Tj 0 Tc 0.12 Tw ( ) Tj -359.52 -13.8 TD 0.0026 Tc 4.4641 Tw (lack of social contingency. We address this issue by testing) Tj 0 Tc 0 Tw ( ) Tj 332.4 0 TD /F2 12 Tf 0.0018 Tc 4.4382 Tw (whether termination of) Tj 0 Tc -0.12 Tw ( ) Tj -332.4 -13.8 TD 0.0024 Tc 0.9576 Tw (interaction emerges under more general conditions.) Tj 254.88 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj 3.96 0 TD 0 Tc 0.9596 Tw (Answering this question is important if) Tj 0 Tc -0.12 Tw ( ) Tj -258.84 -13.8 TD 0.0018 Tc 1.9382 Tw (the argument is made that these findings) Tj 0 Tc 0.12 Tw ( ) Tj 210.6 0 TD 0.0144 Tc 0.1056 Tw (might ) Tj 33 0 TD 0.0046 Tc 1.9754 Tw (apply more gene) Tj 83.88 0 TD 0.0027 Tc 1.9473 Tw (rally and in particular to) Tj 0 Tc 0 Tw ( ) Tj -327.48 -13.8 TD -0.0111 Tc 0.6196 Tw (human interactions. By changing the simulation setup in this manner we thus move closer to) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0028 Tc 0.612 Tw (the original double TV monitor experiment: the infants presumably did not have the specific) Tj 0 Tc 0 Tw ( ) Tj T* -0.0019 Tc 0.0319 Tw (goal to detect whether they were dealing with ) Tj 222.12 0 TD -0 Tc 0 Tw (a live video or just a recording. It is more likely ) Tj -222.12 -13.8 TD -0.0069 Tc 0.4869 Tw (that they were simply attempting to establish social coordination with their mothers but were) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0028 Tc 0.0028 Tw (unable to do so. ) Tj 78.96 0 TD 0 Tc 0 Tw ( ) Tj -78.96 -13.8 TD ( ) Tj 0 -13.8 TD ( ) Tj T* ( ) Tj ET endstream endobj 27 0 obj 8841 endobj 23 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R /F3 24 0 R >> /ProcSet 2 0 R >> /Contents 26 0 R >> endobj 29 0 obj << /Length 30 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (4) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.12 TD /F1 12 Tf 0 Tw (2) Tj 6 0 TD /F3 12 Tf 0.024 Tw ( ) Tj 16.68 0 TD /F1 12 Tf -0.0034 Tc 0 Tw (Methods) Tj 44.64 0 TD 0 Tc ( ) Tj -67.32 -11.76 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -13.32 TD /F0 12 Tf 0.006 Tc 0.714 Tw (We implemented a minimal simulation model analogous to Murray and Trevarthen\222s) Tj 0 Tc 0 Tw ( ) Tj 419.4 0 TD -0.012 Tc (\(1985\)) Tj 31.92 0 TD 0 Tc ( ) Tj -451.32 -13.8 TD 0.0009 Tc 2.6391 Tw (double TV monito) Tj 93.96 0 TD 0.0125 Tc 2.6275 Tw (r experiment by building on) Tj 0 Tc 0.12 Tw ( ) Tj 150.48 0 TD -0.0033 Tc 2.7153 Tw (work by Iizuka and Di Paolo) Tj 0 Tc 0 Tw ( ) Tj 157.44 0 TD -0.012 Tc (\(2007\)) Tj 31.92 0 TD 0.108 Tc 2.532 Tw (. A) Tj 0 Tc 0.12 Tw ( ) Tj -433.8 -13.8 TD -0.0065 Tc 0.0065 Tw (schematic of this simulat) Tj 119.64 0 TD -0.0058 Tc 0.0058 Tw (ion model is illustrated in Figure) Tj 156.84 0 TD 0 Tc 0 Tw ( ) Tj 3 0 TD (1.) Tj 9.12 0 TD ( ) Tj -277.2 -12 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -13.32 TD /F0 12 Tf 0 Tw ( ) Tj 286.2 -74.88 TD ( ) Tj -72 -10.8 TD ( ) Tj -225.6 -19.8 TD /F1 12 Tf -0.036 Tc (Fig) Tj 16.56 0 TD -0.016 Tc (ure) Tj 17.28 0 TD 0 Tc ( ) Tj 3.48 0 TD (1.) Tj 9 0 TD /F0 12 Tf ( ) Tj 3.48 0 TD -0.0176 Tc 0.5086 Tw (A schematic view of the model adapted from Iizuka and Di Paolo) Tj 319.56 0 TD 0 Tc 0 Tw ( ) Tj 3.48 0 TD -0.012 Tc (\(2007\)) Tj 31.92 0 TD -0.01 Tc 0.49 Tw (. The tw) Tj 40.56 0 TD 0 Tc 0 Tw (o ) Tj -445.32 -13.8 TD -0.0069 Tc 0.7349 Tw (identical agents are 40 units wide, only able to move in a horizontal direction, and equipped) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0052 Tc 0.2348 Tw (with a single on/off sensor) Tj 128.4 0 TD 0 Tc 0 Tw ( ) Tj 3.24 0 TD 0.0018 Tc 0.2382 Tw (at their centre) Tj 66.48 0 TD 0.0137 Tc 0.2396 Tw (. They face each other in an unlimited continuous 1) Tj 249.24 0 TD -0.036 Tc 0 Tw (-) Tj -447.36 -13.8 TD -0.0223 Tc 0.0223 Tw (D space.) Tj 41.28 0 TD 0 Tc 0 Tw ( ) Tj -41.28 -25.8 TD ( ) Tj 0 -13.8 TD 0.0008 Tc 1.3519 Tw (The goal of the agents is to cross their sensors as far) Tj 0 Tc 0 Tw ( ) Tj 269.52 0 TD 0.003 Tc 1.341 Tw (away from their starting positions as) Tj 0 Tc 0 Tw ( ) Tj -269.52 -13.8 TD -0.0053 Tc 1.6853 Tw (possible, a task which requires mutual localization, convergence on a target direction, and) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0063 Tc 0.4948 Tw (movement in that direction while not losing track of each other. This task is non) Tj 390.72 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.014 Tc 0.194 Tw (trivial since ) Tj -394.68 -13.8 TD 0.0053 Tc 0.5947 Tw (sensory stimulation only corre) Tj 147.48 0 TD 0.0104 Tc 0.5896 Tw (lates with the overlapping of position \(when the centers of the) Tj 0 Tc 0 Tw ( ) Tj -147.48 -13.8 TD -0.0117 Tc 1.8117 Tw (agents are less than 20 units of space apart\); it does not convey the direction or speed of) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.009 Tc 0.033 Tw (movement of the other agent. ) Tj 144 0 TD 0 Tc 0 Tw ( ) Tj -144 -13.8 TD ( ) Tj 0 -13.8 TD -0.0023 Tc 4.2366 Tw (The agents are controlled by two identical continuous) Tj 287.16 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0028 Tc 4.1972 Tw (time recurrent) Tj 0 Tc 0 Tw ( ) Tj 79.08 0 TD -0.0043 Tc 4.2043 Tw (neural networks) Tj 0 Tc 0 Tw ( ) Tj -370.2 -13.8 TD -0.006 Tc (\(CTRNNs\)) Tj 53.28 0 TD -0.0087 Tc 1.4787 Tw (, as described by Beer) Tj 0 Tc 0 Tw ( ) Tj 115.8 0 TD -0.012 Tc (\(1997\)) Tj 31.92 0 TD -0.0101 Tc 1.5034 Tw (. They were chosen to be clones because work by) Tj 0 Tc -0.24 Tw ( ) Tj -201 -13.8 TD -0.0075 Tc 2.7075 Tw (Iizuka and Ikegami) Tj 0 Tc 0 Tw ( ) Tj 103.56 0 TD 0.008 Tc (\(2004\)) Tj 32.04 0 TD 0 Tc ( ) Tj 5.64 0 TD 0.0067 Tc 2.6333 Tw (on a relate) Tj 55.2 0 TD 0 Tc 0 Tw (d) Tj 6 0 TD ( ) Tj 5.64 0 TD -0 Tc 2.6606 Tw (task suggests that genetically similar agents are) Tj 0 Tc 0 Tw ( ) Tj -208.08 -13.8 TD -0.0108 Tc 0.5148 Tw (potentially better at coordination. They face each other in an unlimite) Tj 337.2 0 TD 0.041 Tc 0.439 Tw (d continuous 1) Tj 71.64 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.046 Tc 0.226 Tw (D space ) Tj -412.8 -13.8 TD -0.0128 Tc 1.9328 Tw (\(i.e. one agent faces \221up\222 and one agent faces \221down\222\). Distance and time units are of an) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0034 Tc 1.3166 Tw (arbitrary scale. Each agent can only move horizontally. One on/off sensor is located in the) Tj 0 Tc 0 Tw ( ) Tj T* -0.0071 Tc 1.9271 Tw (centre of each agent. The sensor is activated \(set) Tj 0 Tc 0 Tw ( ) Tj 252.24 0 TD -0.0098 Tc 1.9298 Tw (to 1\) when the agents cross each other,) Tj 0 Tc 0.12 Tw ( ) Tj -252.24 -13.8 TD 0 Tw (otherwise it is set to 0. ) Tj 111 0 TD ( ) Tj -111 -13.8 TD ( ) Tj 0 -13.8 TD -0.0018 Tc 0.9698 Tw (Noise is introduced into the simulation for 2 main reasons: \(i\) since the agents are identical) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0078 Tc 0.8478 Tw (they will need to make use of noise in order to break the symmetry of their movements and) Tj 0 Tc 0 Tw ( ) Tj T* -0.016 Tc (con) Tj 17.28 0 TD -0.0018 Tc 0.3803 Tw (verge on a common target direction, and \(ii\) robustness against noise increases the ability) Tj 0 Tc -0.24 Tw ( ) Tj -17.28 -13.8 TD 0.0051 Tc 1.332 Tw (of \221live\222 agents to cope with playback situations) Tj 0 Tc 0 Tw ( ) Tj 244.2 0 TD -0.012 Tc 1.452 Tw (\(Iizuka & Ikegami 2004\)) Tj 123.72 0 TD 0.0072 Tc 1.3128 Tw (. Accordingly, at) Tj 0 Tc 0.12 Tw ( ) Tj -367.92 -13.8 TD 0.0036 Tc 0.4764 Tw (each Euler time step there is a 5% probability that the current sensory state is flipped int) Tj 430.56 0 TD -0.015 Tc 0.195 Tw (o its ) Tj -430.56 -13.8 TD -0.0083 Tc 0.1 Tw (opposite state. We add a small perturbation to the motor outputs at each time step drawn from ) Tj 0 -13.8 TD -0.0011 Tc 1.9611 Tw (a Gaussian distribution ) Tj 2.004 Tc 0 Tw (\() Tj 123.48 0 TD /F2 12 Tf 0.048 Tc (\265) Tj 6 0 TD /F0 12 Tf 0 Tc ( ) Tj 4.92 0 TD -0.008 Tc 1.928 Tw (= 0;) Tj 0 Tc 0 Tw ( ) Tj 25.92 0 TD /F2 12 Tf 0.012 Tc (s) Tj 5.88 5.52 TD /F2 8.04 Tf 0.06 Tc (2) Tj 4.08 -5.52 TD /F0 12 Tf 0 Tc ( ) Tj 4.92 0 TD 0.0013 Tc 1.9307 Tw (= 0.05\). The noise is applied to the outputs before the) Tj 0 Tc 0.12 Tw ( ) Tj -175.2 -13.8 TD -0.0035 Tc 0.0435 Tw (application of motor gains.) Tj 129.36 0 TD 0 Tc 0 Tw ( ) Tj -129.36 -13.8 TD ( ) Tj 0 -13.8 TD -0.0092 Tc 2.1892 Tw (In order to further increase the rob) Tj 178.08 0 TD 0 Tc 2.1794 Tw (ustness of the behavioral strategies, the initial) Tj 0 Tc 0 Tw ( ) Tj 237.24 0 TD 0.0015 Tc 0.1185 Tw (relative ) Tj -415.32 -13.8 TD 0.0026 Tc 0.4774 Tw (displacement between the agents varies \(range [) Tj 232.56 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.0085 Tc 0.4285 Tw (25, 25]\). Starting from any of these possible ) Tj -236.64 -13.8 TD -0.0135 Tc 0.0135 Tw (relative ) Tj 39.72 0 TD 0.0105 Tc 0.8381 Tw (positions, the task for the agents is to coordinate their behavior such that they cross) Tj 0 Tc 0 Tw ( ) Tj -39.72 -13.8 TD -0.036 Tc 1.236 Tw (each ) Tj 1.2 Tc 0 Tw (o) Tj 32.04 0 TD -0.0015 Tc 1.2095 Tw (ther as far away from position 0 as possible. Since the agents are started in opposite) Tj 0 Tc 0 Tw ( ) Tj -32.04 -13.8 TD -0.01 Tc 1.45 Tw (orientation \(\221up\222 vs. \221down\222\), it is not possible for the evolutionary algorithm to hard code) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0041 Tc 0.0212 Tw (any trivial solution \(e.g. \221always move left\222\). ) Tj 218.04 0 TD 0 Tc 0 Tw ( ) Tj ET 235.2 671.64 m 235.44 671.52 l 235.56 671.28 l 235.44 671.04 l 235.2 670.92 l 234.96 671.04 l 234.84 671.28 l 234.96 671.52 l 235.2 671.64 l 236.64 671.64 m 236.76 671.64 l 237 671.52 l 237.12 671.28 l 237 671.04 l 236.76 670.92 l 236.64 670.92 l 236.4 671.04 l 236.28 671.28 l 236.4 671.52 l 236.64 671.64 l 238.2 671.64 m 238.44 671.52 l 238.56 671.28 l 238.44 671.04 l 238.2 670.92 l 237.96 671.04 l 237.84 671.28 l 237.96 671.52 l 238.2 671.64 l 239.76 671.64 m 240 671.52 l 240.12 671.28 l 240 671.04 l 239.76 670.92 l 239.4 671.04 l 239.28 671.28 l 239.4 671.52 l 239.76 671.64 l 241.2 671.64 m 241.44 671.52 l 241.56 671.28 l 241.44 671.04 l 241.2 670.92 l 240.96 671.04 l 240.84 671.28 l 240.96 671.52 l 241.2 671.64 l 242.76 671.64 m 243 671.52 l 243.12 671.28 l 243 671.04 l 242.76 670.92 l 242.4 671.04 l 242.28 671.28 l 242.4 671.52 l 242.76 671.64 l 244.2 671.64 m 244.44 671.52 l 244.56 671.28 l 244.44 671.04 l 244.2 670.92 l 243.96 671.04 l 243.84 671.28 l 243.96 671.52 l 244.2 671.64 l 245.76 671.64 m 246 671.52 l 246.12 671.28 l 246 671.04 l 245.76 670.92 l 245.4 671.04 l 245.28 671.28 l 245.4 671.52 l 245.76 671.64 l 247.2 671.64 m 247.44 671.52 l 247.56 671.28 l 247.44 671.04 l 247.2 670.92 l 246.96 671.04 l 246.84 671.28 l 246.96 671.52 l 247.2 671.64 l 248.76 671.64 m 249 671.52 l 249.12 671.28 l 249 671.04 l 248.76 670.92 l 248.4 671.04 l 248.28 671.28 l 248.4 671.52 l 248.76 671.64 l 250.2 671.64 m 250.44 671.52 l 250.56 671.28 l 250.44 671.04 l 250.2 670.92 l 249.96 671.04 l 249.84 671.28 l 249.96 671.52 l 250.2 671.64 l 251.76 671.64 m 252 671.52 l 252.12 671.28 l 252 671.04 l 251.76 670.92 l 251.4 671.04 l 251.28 671.28 l 251.4 671.52 l 251.76 671.64 l 253.2 671.64 m 253.44 671.52 l 253.56 671.28 l 253.44 671.04 l 253.2 670.92 l 252.96 671.04 l 252.84 671.28 l 252.96 671.52 l 253.2 671.64 l 254.76 671.64 m 255 671.52 l 255.12 671.28 l 255 671.04 l 254.76 670.92 l 254.4 671.04 l 254.28 671.28 l 254.4 671.52 l 254.76 671.64 l 256.2 671.64 m 256.44 671.52 l 256.56 671.28 l 256.44 671.04 l 256.2 670.92 l 255.96 671.04 l 255.84 671.28 l 255.96 671.52 l 256.2 671.64 l 257.76 671.64 m 258 671.52 l 258.12 671.28 l 258 671.04 l 257.76 670.92 l 257.4 671.04 l 257.28 671.28 l 257.4 671.52 l 257.76 671.64 l 259.2 671.64 m 259.44 671.52 l 259.56 671.28 l 259.44 671.04 l 259.2 670.92 l 258.96 671.04 l 258.84 671.28 l 258.96 671.52 l 259.2 671.64 l 260.76 671.64 m 261 671.52 l 261.12 671.28 l 261 671.04 l 260.76 670.92 l 260.4 671.04 l 260.28 671.28 l 260.4 671.52 l 260.76 671.64 l 262.2 671.64 m 262.44 671.52 l 262.56 671.28 l 262.44 671.04 l 262.2 670.92 l 261.96 671.04 l 261.84 671.28 l 261.96 671.52 l 262.2 671.64 l 263.76 671.64 m 264 671.52 l 264.12 671.28 l 264 671.04 l 263.76 670.92 l 263.4 671.04 l 263.28 671.28 l 263.4 671.52 l 263.76 671.64 l 265.2 671.64 m 265.44 671.52 l 265.56 671.28 l 265.44 671.04 l 265.2 670.92 l 264.96 671.04 l 264.84 671.28 l 264.96 671.52 l 265.2 671.64 l 266.76 671.64 m 267 671.52 l 267.12 671.28 l 267 671.04 l 266.76 670.92 l 266.4 671.04 l 266.28 671.28 l 266.4 671.52 l 266.76 671.64 l 268.2 671.64 m 268.44 671.52 l 268.56 671.28 l 268.44 671.04 l 268.2 670.92 l 267.96 671.04 l 267.84 671.28 l 267.96 671.52 l 268.2 671.64 l 269.76 671.64 m 270 671.52 l 270.12 671.28 l 270 671.04 l 269.76 670.92 l 269.4 671.04 l 269.4 671.52 l 269.76 671.64 l 271.2 671.64 m 271.44 671.52 l 271.56 671.28 l 271.44 671.04 l 271.2 670.92 l 270.96 671.04 l 270.84 671.28 l 270.96 671.52 l 271.2 671.64 l 272.76 671.64 m 273 671.52 l 273.12 671.28 l 273 671.04 l 272.76 670.92 l 272.4 671.04 l 272.4 671.52 l 272.76 671.64 l 274.2 671.64 m 274.44 671.52 l 274.56 671.28 l 274.44 671.04 l 274.2 670.92 l 273.96 671.04 l 273.84 671.28 l 273.96 671.52 l 274.2 671.64 l 275.76 671.64 m 276 671.52 l 276.12 671.28 l 276 671.04 l 275.76 670.92 l 275.4 671.04 l 275.4 671.52 l 275.76 671.64 l 277.2 671.64 m 277.44 671.52 l 277.56 671.28 l 277.44 671.04 l 277.2 670.92 l 276.96 671.04 l 276.84 671.28 l 276.96 671.52 l 277.2 671.64 l 278.76 671.64 m 279 671.52 l 279.12 671.28 l 279 671.04 l 278.76 670.92 l 278.4 671.04 l 278.4 671.52 l 278.76 671.64 l 280.2 671.64 m 280.44 671.52 l 280.56 671.28 l 280.44 671.04 l 280.2 670.92 l 279.96 671.04 l 279.84 671.28 l 279.96 671.52 l 280.2 671.64 l 281.76 671.64 m 282 671.52 l 282.12 671.28 l 282 671.04 l 281.76 670.92 l 281.4 671.04 l 281.4 671.52 l 281.76 671.64 l 283.2 671.64 m 283.44 671.52 l 283.56 671.28 l 283.44 671.04 l 283.2 670.92 l 282.96 671.04 l 282.84 671.28 l 282.96 671.52 l 283.2 671.64 l 284.76 671.64 m 285 671.52 l 285.12 671.28 l 285 671.04 l 284.76 670.92 l 284.4 671.04 l 284.4 671.52 l 284.76 671.64 l 286.2 671.64 m 286.44 671.52 l 286.56 671.28 l 286.44 671.04 l 286.2 670.92 l 285.96 671.04 l 285.84 671.28 l 285.96 671.52 l 286.2 671.64 l 287.76 671.64 m 288 671.52 l 288.12 671.28 l 288 671.04 l 287.76 670.92 l 287.4 671.04 l 287.4 671.52 l 287.76 671.64 l 289.2 671.64 m 289.44 671.52 l 289.56 671.28 l 289.44 671.04 l 289.2 670.92 l 288.96 671.04 l 288.84 671.28 l 288.96 671.52 l 289.2 671.64 l 290.76 671.64 m 291 671.52 l 291.12 671.28 l 291 671.04 l 290.76 670.92 l 290.4 671.04 l 290.4 671.52 l 290.76 671.64 l 292.2 671.64 m 292.44 671.52 l 292.56 671.28 l 292.44 671.04 l 292.2 670.92 l 291.96 671.04 l 291.84 671.28 l 291.96 671.52 l 292.2 671.64 l 293.76 671.64 m 294 671.52 l 294.12 671.28 l 294 671.04 l 293.76 670.92 l 293.52 671.04 l 293.4 671.28 l 293.52 671.52 l 293.76 671.64 l 295.2 671.64 m 295.44 671.52 l 295.56 671.28 l 295.44 670.92 l 294.96 670.92 l 294.84 671.28 l 294.96 671.52 l 295.2 671.64 l 296.76 671.64 m 297 671.52 l 297.12 671.28 l 297 670.92 l 296.52 670.92 l 296.4 671.28 l 296.52 671.52 l 296.76 671.64 l 236.16 668.28 m 230.16 671.28 l 236.16 674.28 l 236.16 668.28 l 297 674.28 m 303 671.28 l 297 668.28 l 297 674.28 l h f 283.92 614.64 m 284.16 614.52 l 284.28 614.28 l 284.16 613.92 l 283.68 613.92 l 283.56 614.28 l 283.68 614.52 l 283.92 614.64 l 285.48 614.64 m 285.72 614.52 l 285.84 614.28 l 285.72 613.92 l 285.48 613.8 l 285.24 613.92 l 285.12 614.28 l 285.24 614.52 l 285.48 614.64 l 286.92 614.64 m 287.16 614.52 l 287.28 614.16 l 287.16 613.92 l 286.92 613.8 l 286.68 613.92 l 286.56 614.16 l 286.68 614.52 l 286.92 614.64 l 288.48 614.52 m 288.72 614.4 l 288.84 614.16 l 288.72 613.92 l 288.48 613.8 l 288.24 613.92 l 288.12 614.16 l 288.24 614.4 l 288.48 614.52 l 289.92 614.52 m 290.16 614.4 l 290.28 614.16 l 290.16 613.92 l 289.92 613.8 l 289.68 613.92 l 289.56 614.16 l 289.68 614.4 l 289.92 614.52 l 291.48 614.52 m 291.72 614.4 l 291.84 614.16 l 291.72 613.92 l 291.48 613.8 l 291.24 613.92 l 291.12 614.16 l 291.24 614.4 l 291.48 614.52 l 292.92 614.52 m 293.28 614.4 l 293.28 613.92 l 292.92 613.8 l 292.68 613.92 l 292.56 614.16 l 292.68 614.4 l 292.92 614.52 l 294.48 614.52 m 294.72 614.4 l 294.84 614.16 l 294.72 613.92 l 294.48 613.8 l 294.24 613.92 l 294.12 614.16 l 294.24 614.4 l 294.48 614.52 l 295.92 614.52 m 296.28 614.4 l 296.28 613.8 l 295.92 613.68 l 295.68 613.8 l 295.56 614.16 l 295.68 614.4 l 295.92 614.52 l 297.48 614.52 m 297.72 614.4 l 297.84 614.04 l 297.72 613.8 l 297.48 613.68 l 297.24 613.8 l 297.12 614.04 l 297.24 614.4 l 297.48 614.52 l 298.92 614.4 m 299.28 614.4 l 299.28 613.8 l 298.92 613.68 l 298.68 613.8 l 298.56 614.04 l 298.68 614.4 l 298.92 614.4 l 300.48 614.4 m 300.72 614.28 l 300.84 614.04 l 300.72 613.8 l 300.48 613.68 l 300.24 613.8 l 300.12 614.04 l 300.24 614.28 l 300.48 614.4 l 301.92 614.4 m 302.28 614.28 l 302.28 613.8 l 301.92 613.68 l 301.68 613.8 l 301.56 614.04 l 301.68 614.28 l 301.92 614.4 l 303.48 614.4 m 303.72 614.28 l 303.84 614.04 l 303.72 613.8 l 303.48 613.68 l 303.24 613.8 l 303.12 614.04 l 303.24 614.28 l 303.48 614.4 l 304.92 614.4 m 305.28 614.28 l 305.28 613.8 l 304.92 613.68 l 304.68 613.8 l 304.56 614.04 l 304.68 614.28 l 304.92 614.4 l 306.48 614.4 m 306.72 614.28 l 306.84 614.04 l 306.72 613.68 l 306.24 613.68 l 306.12 614.04 l 306.24 614.28 l 306.48 614.4 l 307.92 614.4 m 308.28 614.28 l 308.28 613.68 l 307.92 613.56 l 307.68 613.68 l 307.56 614.04 l 307.68 614.28 l 307.92 614.4 l 309.48 614.4 m 309.72 614.28 l 309.84 613.92 l 309.72 613.68 l 309.48 613.56 l 309.24 613.68 l 309.12 613.92 l 309.24 614.28 l 309.48 614.4 l 310.92 614.28 m 311.28 614.28 l 311.28 613.68 l 310.92 613.56 l 310.68 613.68 l 310.56 613.92 l 310.68 614.28 l 310.92 614.28 l 312.48 614.28 m 312.72 614.16 l 312.84 613.92 l 312.72 613.68 l 312.48 613.56 l 312.24 613.68 l 312.12 613.92 l 312.24 614.16 l 312.48 614.28 l 313.92 614.28 m 314.28 614.16 l 314.28 613.68 l 313.92 613.56 l 313.68 613.68 l 313.56 613.92 l 313.68 614.16 l 313.92 614.28 l 315.48 614.28 m 315.72 614.16 l 315.84 613.92 l 315.72 613.68 l 315.48 613.56 l 315.24 613.68 l 315.12 613.92 l 315.24 614.16 l 315.48 614.28 l 316.92 614.28 m 317.28 614.16 l 317.28 613.68 l 316.92 613.56 l 316.68 613.68 l 316.56 613.92 l 316.68 614.16 l 316.92 614.28 l 318.48 614.28 m 318.72 614.16 l 318.84 613.92 l 318.72 613.56 l 318.24 613.56 l 318.12 613.92 l 318.24 614.16 l 318.48 614.28 l 319.92 614.28 m 320.28 614.16 l 320.4 613.92 l 320.28 613.56 l 319.92 613.44 l 319.68 613.56 l 319.56 613.92 l 319.68 614.16 l 319.92 614.28 l 321.48 614.28 m 321.72 614.16 l 321.84 613.8 l 321.72 613.56 l 321.48 613.44 l 321.24 613.56 l 321.12 613.8 l 321.24 614.16 l 321.48 614.28 l 322.92 614.16 m 323.28 614.04 l 323.4 613.8 l 323.28 613.56 l 322.92 613.44 l 322.68 613.56 l 322.56 613.8 l 322.68 614.04 l 322.92 614.16 l 324.48 614.16 m 324.72 614.04 l 324.84 613.8 l 324.72 613.56 l 324.48 613.44 l 324.24 613.56 l 324.12 613.8 l 324.24 614.04 l 324.48 614.16 l 325.92 614.16 m 326.28 614.04 l 326.4 613.8 l 326.28 613.56 l 325.92 613.44 l 325.68 613.56 l 325.56 613.8 l 325.68 614.04 l 325.92 614.16 l 327.48 614.16 m 327.72 614.04 l 327.84 613.8 l 327.72 613.56 l 327.48 613.44 l 327.24 613.56 l 327.12 613.8 l 327.24 614.04 l 327.48 614.16 l 328.92 614.16 m 329.28 614.04 l 329.4 613.8 l 329.28 613.56 l 328.92 613.44 l 328.68 613.56 l 328.56 613.8 l 328.68 614.04 l 328.92 614.16 l 330.48 614.16 m 330.72 614.04 l 330.84 613.8 l 330.72 613.44 l 330.48 613.32 l 330.24 613.44 l 330.12 613.8 l 330.24 614.04 l 330.48 614.16 l 331.92 614.16 m 332.28 614.04 l 332.4 613.68 l 332.28 613.44 l 331.92 613.32 l 331.68 613.44 l 331.56 613.68 l 331.68 614.04 l 331.92 614.16 l 333.48 614.04 m 333.72 614.04 l 333.84 613.68 l 333.72 613.44 l 333.48 613.32 l 333.24 613.44 l 333.12 613.68 l 333.24 614.04 l 333.48 614.04 l 334.92 614.04 m 335.28 613.92 l 335.4 613.68 l 335.28 613.44 l 334.92 613.32 l 334.68 613.44 l 334.56 613.68 l 334.68 613.92 l 334.92 614.04 l 336.48 614.04 m 336.72 613.92 l 336.84 613.68 l 336.72 613.44 l 336.48 613.32 l 336.24 613.44 l 336.12 613.68 l 336.24 613.92 l 336.48 614.04 l 337.92 614.04 m 338.28 613.92 l 338.4 613.68 l 338.28 613.44 l 337.92 613.32 l 337.68 613.44 l 337.56 613.68 l 337.68 613.92 l 337.92 614.04 l 339.48 614.04 m 339.72 613.92 l 339.84 613.68 l 339.72 613.44 l 339.48 613.32 l 339.24 613.44 l 339.12 613.68 l 339.24 613.92 l 339.48 614.04 l 340.92 614.04 m 341.28 613.92 l 341.4 613.68 l 341.28 613.32 l 340.68 613.32 l 340.56 613.68 l 340.68 613.92 l 340.92 614.04 l 342.48 614.04 m 342.72 613.92 l 342.84 613.68 l 342.72 613.32 l 342.48 613.2 l 342.24 613.32 l 342.12 613.68 l 342.24 613.92 l 342.48 614.04 l 343.92 614.04 m 344.28 613.92 l 344.4 613.56 l 344.28 613.32 l 343.92 613.2 l 343.68 613.32 l 343.56 613.56 l 343.68 613.92 l 343.92 614.04 l 345.48 613.92 m 345.72 613.92 l 345.84 613.56 l 345.72 613.32 l 345.48 613.2 l 345.24 613.32 l 345.12 613.56 l 345.24 613.92 l 345.48 613.92 l 284.88 611.28 m 279 614.28 l 285 617.28 l 284.88 611.28 l 345 616.56 m 351 613.56 l 344.88 610.56 l 345 616.56 l h f 1 1 1 rg 297.72 612 36 24 re f 0.72 w 1 j 8 M 0 0 0 RG 297.72 636 m 297.72 612 l 333.72 612 l 333.72 636 l h S 249.72 648 36 24 re f 249.72 672 m 249.72 648 l 285.72 648 l 285.72 672 l h S 0 0 0 rg 315.36 618 m 315.36 628.08 l 315.48 628.32 l 315.72 628.44 l 315.96 628.32 l 316.08 628.08 l 316.08 618 l 315.96 617.76 l 315.72 617.64 l 315.48 617.76 l 315.36 618 l 311.88 622.2 m 315.72 628.8 l 319.56 622.2 l 319.56 621.96 l 319.44 621.72 l 319.08 621.6 l 318.84 621.84 l 315.36 627.84 l 316.08 627.84 l 312.48 621.84 l 312.36 621.72 l 312 621.72 l 311.88 621.96 l 311.88 622.2 l h f 268.08 666 m 268.08 656.04 l 267.96 655.8 l 267.72 655.68 l 267.48 655.8 l 267.36 656.04 l 267.36 666 l 267.48 666.36 l 267.96 666.36 l 268.08 666 l 271.56 661.8 m 267.72 655.32 l 263.88 661.92 l 263.88 662.16 l 264 662.4 l 264.36 662.4 l 264.6 662.28 l 268.08 656.28 l 267.36 656.28 l 270.96 662.16 l 271.08 662.4 l 271.44 662.4 l 271.56 662.16 l 271.56 661.8 l h f 315.36 636 m 315.36 660 l 315.48 660.36 l 315.96 660.36 l 316.08 660 l 316.08 636 l 315.96 635.76 l 315.72 635.64 l 315.48 635.76 l 315.36 636 l 312.72 660 m 312.96 661.2 l 313.68 662.16 l 314.64 662.76 l 315.72 663 l 316.92 662.76 l 317.88 662.16 l 318.48 661.2 l 318.72 660 l 318.48 658.92 l 317.88 657.96 l 316.92 657.24 l 315.72 657 l 314.52 657.24 l 313.56 657.96 l 312.96 658.92 l 312.72 660 l h f 268.08 648 m 268.08 624 l 267.96 623.76 l 267.72 623.64 l 267.48 623.76 l 267.36 624 l 267.36 648 l 267.48 648.36 l 267.96 648.36 l 268.08 648 l 270.72 624 m 270.48 622.92 l 269.88 621.96 l 268.92 621.24 l 267.72 621 l 266.52 621.24 l 265.56 621.96 l 264.96 622.92 l 264.72 624 l 264.96 625.2 l 265.56 626.16 l 266.52 626.76 l 267.72 627 l 268.92 626.76 l 269.88 626.16 l 270.48 625.2 l 270.72 624 l h f 230.16 642.36 m 232.68 642.36 l 232.8 642 l 232.68 641.76 l 232.44 641.64 l 230.16 641.64 l 229.92 641.76 l 229.8 642 l 229.92 642.36 l 230.16 642.36 l 235.44 642.36 m 237.96 642.36 l 238.08 642 l 237.96 641.76 l 237.72 641.64 l 235.44 641.64 l 235.2 641.76 l 235.08 642 l 235.2 642.36 l 235.44 642.36 l 240.72 642.36 m 243.24 642.36 l 243.36 642 l 243.24 641.76 l 243 641.64 l 240.72 641.64 l 240.48 641.76 l 240.36 642 l 240.48 642.36 l 240.72 642.36 l 246 642.36 m 248.52 642.36 l 248.52 641.76 l 248.16 641.64 l 246 641.64 l 245.64 641.76 l 245.52 642 l 245.64 642.36 l 246 642.36 l 251.16 642.36 m 253.44 642.36 l 253.68 642.24 l 253.8 642 l 253.68 641.76 l 253.44 641.64 l 251.16 641.64 l 250.92 641.76 l 250.8 642 l 250.92 642.36 l 251.16 642.36 l 256.44 642.36 m 258.72 642.36 l 258.96 642.24 l 259.08 642 l 258.96 641.76 l 258.72 641.64 l 256.44 641.64 l 256.2 641.76 l 256.08 642 l 256.2 642.24 l 256.44 642.36 l 261.72 642.36 m 264 642.36 l 264.24 642.24 l 264.36 642 l 264.24 641.76 l 264 641.64 l 261.72 641.64 l 261.48 641.76 l 261.36 642 l 261.48 642.24 l 261.72 642.36 l 267 642.36 m 269.16 642.36 l 269.52 642.24 l 269.52 641.76 l 269.16 641.64 l 267 641.64 l 266.64 641.76 l 266.52 642 l 266.64 642.24 l 267 642.36 l 272.16 642.36 m 274.44 642.36 l 274.68 642.24 l 274.8 642 l 274.68 641.76 l 274.44 641.64 l 272.16 641.64 l 271.92 641.76 l 271.8 642 l 271.92 642.24 l 272.16 642.36 l 277.44 642.36 m 279.72 642.36 l 279.96 642.24 l 280.08 642 l 279.96 641.76 l 279.72 641.64 l 277.44 641.64 l 277.2 641.76 l 277.08 642 l 277.2 642.24 l 277.44 642.36 l 282.72 642.36 m 285 642.36 l 285.24 642.24 l 285.36 642 l 285.24 641.76 l 285 641.64 l 282.72 641.64 l 282.48 641.76 l 282.36 642 l 282.48 642.24 l 282.72 642.36 l 288 642.36 m 290.16 642.36 l 290.52 642.24 l 290.52 641.76 l 290.16 641.64 l 288 641.64 l 287.64 641.76 l 287.52 642 l 287.64 642.24 l 288 642.36 l 293.16 642.36 m 295.44 642.36 l 295.68 642.24 l 295.8 642 l 295.68 641.76 l 295.44 641.64 l 293.16 641.64 l 292.92 641.76 l 292.8 642 l 292.92 642.24 l 293.16 642.36 l 298.44 642.36 m 300.72 642.36 l 300.96 642.24 l 301.08 642 l 300.96 641.76 l 300.72 641.64 l 298.44 641.64 l 298.2 641.76 l 298.08 642 l 298.2 642.24 l 298.44 642.36 l 303.72 642.36 m 306 642.36 l 306.24 642.24 l 306.36 642 l 306.24 641.76 l 306 641.64 l 303.72 641.64 l 303.48 641.76 l 303.36 642 l 303.48 642.24 l 303.72 642.36 l 309 642.36 m 311.16 642.36 l 311.52 642.24 l 311.52 641.76 l 311.16 641.64 l 309 641.64 l 308.64 641.76 l 308.52 642 l 308.64 642.24 l 309 642.36 l 314.16 642.36 m 316.44 642.36 l 316.68 642.24 l 316.8 642 l 316.68 641.76 l 316.44 641.64 l 314.16 641.64 l 313.92 641.76 l 313.8 642 l 313.92 642.24 l 314.16 642.36 l 319.44 642.36 m 321.72 642.36 l 321.96 642.24 l 322.08 642 l 321.96 641.76 l 321.72 641.64 l 319.44 641.64 l 319.2 641.76 l 319.08 642 l 319.2 642.24 l 319.44 642.36 l 324.72 642.36 m 327 642.36 l 327.24 642.24 l 327.36 642 l 327.24 641.76 l 327 641.64 l 324.72 641.64 l 324.48 641.76 l 324.36 642 l 324.48 642.24 l 324.72 642.36 l 330 642.36 m 332.16 642.36 l 332.52 642.24 l 332.52 641.76 l 332.16 641.64 l 330 641.64 l 329.64 641.76 l 329.52 642 l 329.64 642.24 l 330 642.36 l 335.16 642.36 m 337.44 642.36 l 337.68 642.24 l 337.8 642 l 337.68 641.76 l 337.44 641.64 l 335.16 641.64 l 334.92 641.76 l 334.8 642 l 334.92 642.24 l 335.16 642.36 l 340.44 642.36 m 342.72 642.36 l 342.96 642.24 l 343.08 642 l 342.96 641.76 l 342.72 641.64 l 340.44 641.64 l 340.2 641.76 l 340.08 642 l 340.2 642.24 l 340.44 642.36 l 345.72 642.36 m 348 642.36 l 348.24 642.24 l 348.36 642 l 348.24 641.76 l 348 641.64 l 345.72 641.64 l 345.48 641.76 l 345.36 642 l 345.48 642.24 l 345.72 642.36 l 351 642.36 m 353.16 642.36 l 353.52 642.24 l 353.52 641.76 l 353.16 641.64 l 351 641.64 l 350.64 641.76 l 350.52 642 l 350.64 642.24 l 351 642.36 l 356.16 642.36 m 358.44 642.36 l 358.68 642.24 l 358.8 642 l 358.68 641.76 l 358.44 641.64 l 356.16 641.64 l 355.92 641.76 l 355.8 642 l 355.92 642.24 l 356.16 642.36 l 361.44 642.36 m 362.16 642.36 l 362.52 642.24 l 362.52 641.76 l 362.16 641.64 l 361.44 641.64 l 361.2 641.76 l 361.08 642 l 361.2 642.24 l 361.44 642.36 l h f endstream endobj 30 0 obj 26572 endobj 28 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R /F3 24 0 R >> /ProcSet 2 0 R >> /Contents 29 0 R >> endobj 34 0 obj << /Length 35 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (5) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.36 TD /F0 12 Tf 0 Tw ( ) Tj 0 -12 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 0 -13.32 TD /F0 12 Tf 0 Tw (2.1) Tj 15 0 TD /F4 12 Tf 0.024 Tw ( ) Tj 10.56 0 TD /F0 12 Tf -0.006 Tc 0 Tw (Agents) Tj 33.96 0 TD 0 Tc ( ) Tj -17.52 -12 TD /F0 9.96 Tf 0.03 Tw ( ) Tj -42 -13.32 TD /F0 12 Tf -0.0094 Tc 0.4094 Tw (The agents are 40) Tj 86.04 0 TD 0 Tc 0 Tw ( ) Tj 3.36 0 TD 0.0008 Tc 0.3592 Tw (units wide, have an on/off sensor at their center, and can only move left or ) Tj -89.4 -13.8 TD 0.0011 Tc 0.8665 Tw (right by controlling the output of their left and right motor nodes \(see Fig) Tj 362.88 0 TD -0.028 Tc 0 Tw (ure) Tj 15.24 0 TD 0 Tc ( ) Tj 3.84 0 TD -0.007 Tc 0.907 Tw (1\). Agents are) Tj 0 Tc 0 Tw ( ) Tj -381.96 -13.8 TD 0.0013 Tc 2.0387 Tw (controlled by a CTRNN consisting of 3 fully) Tj 228.96 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD 0 Tc 2.0395 Tw (connected nodes with self) Tj 130.44 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0069 Tc 2.0469 Tw (connections. Th) Tj 78.6 0 TD -0.048 Tc 0.048 Tw (e ) Tj -446.04 -13.8 TD -0.0021 Tc 0.0021 Tw (time evolution of the node activation follows:) Tj 219.36 0 TD 0 Tc 0 Tw ( ) Tj -207.96 -12 TD /F0 9.96 Tf 0.03 Tw ( ) Tj 146.76 -25.2 TD /F5 18.0206 Tf -0.0087 Tc 0 Tw (\345) Tj 5.16 -8.76 TD /F5 7.008 Tf -0.0074 Tc (=) Tj 58.92 11.52 TD /F5 12.0137 Tf 0.0045 Tc (+) Tj -73.32 0 TD (+) Tj -20.16 0 TD (-) Tj -9.84 0 TD (=) Tj 43.2 12.24 TD /F2 7.008 Tf 0.0057 Tc (N) Tj -1.44 -23.76 TD -0.0282 Tc (j) Tj 82.2 8.52 TD (i) Tj -31.2 0 TD (j) Tj -16.8 0 TD (j) Tj -12.6 0 TD (ji) Tj -39.6 0 TD (i) Tj -30.96 0 TD (i) Tj -10.08 0 TD (i) Tj 130.08 3 TD /F2 12.0137 Tf -0.0237 Tc (SI) Tj -27.36 0 TD -0.0541 Tc (y) Tj -16.32 0 TD 0.0067 Tc (z) Tj -15.12 0 TD 0.0269 Tc (w) Tj -36.12 0 TD -0.0541 Tc (y) Tj -30.84 0 TD (y) Tj 60.96 -11.52 TD /F0 7.008 Tf -0.024 Tc (1) Tj 48.84 11.52 TD /F0 12.0137 Tf -0.0406 Tc (\)) Tj -16.8 0 TD (\() Tj -92.16 0.6 TD /F6 12.0137 Tf (&) Tj -12.12 -0.6 TD /F7 12.0137 Tf 0.006 Tc (t) Tj 154.56 0 TD /F0 12 Tf 0 Tc ( ) Tj 3 0 TD (, ) Tj 6 0 TD ( ) Tj 1.8 0 TD ( ) Tj 6 0 TD ( ) Tj 96.24 -0.72 TD /F0 12.348 Tf -0.0319 Tc (\)) Tj -38.4 0 TD -0.054 Tc (1) Tj -6.6 0 TD 0.0677 Tc (/\() Tj -6.72 0 TD -0.054 Tc (1) Tj -14.64 0 TD -0.0319 Tc (\)) Tj -10.92 0 TD (\() Tj 73.92 4.2 TD /F2 4.41 Tf -0.026 Tc (i) Tj -2.64 1.44 TD /F2 6.174 Tf 0.033 Tc (b) Tj -6.48 0 TD 0.0187 Tc (x) Tj -68.04 -8.76 TD -0.0364 Tc (i) Tj 57.96 3.12 TD /F2 12.348 Tf 0.0375 Tc (e) Tj -49.68 0 TD (x) Tj -12.96 0 TD -0.0034 Tc (z) Tj 75.84 5.64 TD /F5 6.174 Tf -0.0295 Tc (-) Tj -7.32 0 TD (-) Tj ET q 402.96 629.28 6.84 15.12 re h W n BT 402.96 632.04 TD /F5 12.348 Tf -0.0591 Tc (+) Tj ET Q q 374.52 629.28 6.84 15.12 re h W n BT 374.52 632.04 TD /F5 12.348 Tf -0.0591 Tc (=) Tj ET Q BT 439.56 632.76 TD /F0 12 Tf 0 Tc ( ) Tj 34.32 0 TD ( ) Tj 35.4 0 TD -0.024 Tc (\(1\)) Tj 14.04 0 TD 0 Tc ( ) Tj -451.32 -25.8 TD ( ) Tj 0 -13.8 TD -0.0103 Tc 0.8503 Tw (In this equation) Tj 0 Tc 0 Tw ( ) Tj 80.04 0 TD /F2 12 Tf -0.048 Tc (y) Tj 5.28 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.84 0 TD -0.0139 Tc 0.8299 Tw (represents the cell potential of node) Tj 0 Tc 0 Tw ( ) Tj 178.44 0 TD /F2 12 Tf 0.024 Tc (i) Tj 3.36 0 TD /F0 12 Tf 0 Tc (, ) Tj 6.84 0 TD /F2 12 Tf 0.012 Tc (z) Tj 4.68 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.84 0 TD -0.0153 Tc 0.8553 Tw (is the firing rate as calculated by) Tj 0 Tc -0.12 Tw ( ) Tj -290.76 -13.8 TD 0.0018 Tc 1.1982 Tw (the standard sigmoid function,) Tj 0 Tc 0 Tw ( ) Tj 153.84 0 TD /F2 12 Tf 0.024 Tc (t) Tj 4.32 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 4.2 0 TD 0.0015 Tc 1.1985 Tw (\(range [1, 100]\) is its time constant,) Tj 0 Tc 0 Tw ( ) Tj 182.76 0 TD /F2 12 Tf (b) Tj 6 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 4.2 0 TD -0.048 Tc 1.248 Tw (\(range ) Tj 1.164 Tc 0 Tw ([) Tj 38.64 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0105 Tc 1.2105 Tw (3, 3]\) is a) Tj 0 Tc -0.12 Tw ( ) Tj -402.48 -13.8 TD -0.008 Tc 1.328 Tw (bias term, and) Tj 0 Tc 0 Tw ( ) Tj 74.52 0 TD /F2 12 Tf 0.036 Tc (w) Tj 8.04 -1.56 TD /F2 8.04 Tf 0.0449 Tc (ji) Tj 4.56 0 TD /F0 8.04 Tf 0 Tc 0.03 Tw ( ) Tj 3.24 1.56 TD /F0 12 Tf -0.008 Tc 1.328 Tw (\(range ) Tj 1.284 Tc 0 Tw ([) Tj 39 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0 Tc (8,) Tj 9 0 TD ( ) Tj 4.32 0 TD -0.0145 Tc 1.3478 Tw (8]\) is the strength of the connection from the neuron) Tj 262.32 0 TD /F2 12 Tf 0 Tc 0 Tw ( ) Tj 4.32 0 TD 0.024 Tc (j) Tj 3.36 0 TD /F0 12 Tf 0 Tc ( ) Tj 4.32 0 TD 0.012 Tc (to) Tj 9.36 0 TD /F2 12 Tf 0 Tc ( ) Tj 4.32 0 TD 0.024 Tc (i) Tj 3.36 0 TD /F0 12 Tf 0 Tc (. ) Tj 7.32 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.84 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj -451.32 -13.8 TD 0 Tc 0.0996 Tw (represents the sensory input to node ) Tj 176.04 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 0 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD -0.016 Tc 0.016 Tw (and ) Tj 20.4 0 TD /F2 12 Tf 0 Tc 0 Tw (S) Tj 6 0 TD /F0 12 Tf ( ) Tj 3.12 0 TD -0.0032 Tc 0.1099 Tw (is the sensor gain. The total number of nodes ) Tj 219.6 0 TD /F2 12 Tf 0.036 Tc 0 Tw (N) Tj 8.04 0 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD 0.024 Tc (i) Tj 3.36 0 TD -0.108 Tc -0.012 Tw (s ) Tj -446.76 -13.8 TD 0.0013 Tc 1.5587 Tw (set to 3; there are no hidden nodes \(all nodes receive sensory input\). The sensory input is) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0124 Tc 0.1324 Tw (calculated by multiplying 1/0 \(on/off\) by an sensor gain parameter ) Tj 322.56 0 TD /F2 12 Tf 0 Tc 0 Tw (S) Tj 6 0 TD /F0 12 Tf ( ) Tj 3.12 0 TD -0.012 Tc 0.108 Tw (\(range [1, 100]\), and this ) Tj -331.68 -13.8 TD 0.0056 Tc 1.2244 Tw (is applied to all nodes. There is one node, which only receives in) Tj 325.68 0 TD 0.0096 Tc 1.1904 Tw (put and does not produce) Tj 0 Tc 0 Tw ( ) Tj -325.68 -13.8 TD 0.0056 Tc 2.0436 Tw (motor output and two actuator nodes for controlling movement; one for leftward and the) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0045 Tc 0.4847 Tw (other for rightward velocity. Each velocity is calculated by mapping the actuator output onto) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0195 Tc 1.6995 Tw (the range ) Tj 1.644 Tc 0 Tw ([) Tj 54.6 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0108 Tc 1.7058 Tw (1, 1] and then multiplying it by an ou) Tj 192.24 0 TD -0.0049 Tc 1.6849 Tw (tput gain parameter \(range [1, 50]\). The) Tj 0 Tc -0.12 Tw ( ) Tj -250.8 -13.8 TD -0.0075 Tc 0.2635 Tw (overall agent velocity is calculated as the difference between the left and right velocities. The ) Tj 0 -13.8 TD -0.0012 Tc 4.223 Tw (time evolution of the simulation environment and each agent\222s CTRNN controller is) Tj 0 Tc 0 Tw ( ) Tj T* -0 Tc 0 Tw (calculated by using Euler integrati) Tj 164.64 0 TD -0.0023 Tc 0.0023 Tw (on with a time step of 0.1. ) Tj 128.4 0 TD 0 Tc 0 Tw ( ) Tj -293.04 -13.8 TD ( ) Tj 0 -13.8 TD -0.0041 Tc 2.0987 Tw (Similar settings have already been successfully used by Iizuka and Di Paolo) Tj 0 Tc 0 Tw ( ) Tj 392.76 0 TD -0.012 Tc (\(2007\)) Tj 31.92 0 TD -0.015 Tc 2.055 Tw (. The) Tj 0 Tc 0 Tw ( ) Tj -424.68 -13.8 TD 0.0069 Tc 0.132 Tw (main differences are that \(i\) the agents of the current study only have 3 nodes, \(ii\) the input is ) Tj 0 -13.8 TD -0 Tc 1.3543 Tw (fed to all nodes instead of one dedicated) Tj 0 Tc 0 Tw ( ) Tj 206.76 0 TD 0 Tc 1.3644 Tw (sensory node, \(iii\) and each actuator node has its) Tj 0 Tc 0 Tw ( ) Tj -206.76 -13.8 TD -0.0021 Tc 0.1301 Tw (own gain parameter. The first difference was chosen to further minimize the conditions of the ) Tj 0 -13.8 TD -0.0034 Tc 2.6434 Tw (model and facilitate analysis; differences \(ii\) and \(iii\) were implemented to increase the) Tj 0 Tc 0 Tw ( ) Tj T* -0.0092 Tc 0.0092 Tw (evolvability of the ) Tj 90.84 0 TD 0.0096 Tc 0 Tw (solutions.) Tj 46.44 0 TD 0 Tc ( ) Tj -137.28 -13.8 TD ( ) Tj 0 -13.8 TD (2.2) Tj 15 0 TD /F4 12 Tf 0.024 Tw ( ) Tj 10.56 0 TD /F0 12 Tf -0.0063 Tc 0.1263 Tw (Evolutionary algorithm) Tj 112.32 0 TD 0 Tc 0 Tw ( ) Tj -137.88 -13.8 TD ( ) Tj 0 -13.8 TD -0.02 Tc 1.46 Tw (The ) Tj 1.392 Tc 0 Tw (a) Tj 28.44 0 TD -0.018 Tc 1.458 Tw (gents are) Tj 0 Tc 0 Tw ( ) Tj 48.72 0 TD -0.0133 Tc (optimized) Tj 48 0 TD 0 Tc ( ) Tj 4.44 0 TD -0.0129 Tc 1.4748 Tw (by using a simple genetic algorithm \(GA\) which is based on the) Tj 321.72 0 TD 0 Tc 0 Tw ( ) Tj -451.32 -13.8 TD 0.0025 Tc 3.1175 Tw (microbial GA, a steady) Tj 120.48 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.006 Tc 3.126 Tw (state GA with tournament selection) Tj 0 Tc 0 Tw ( ) Tj 188.4 0 TD -0.009 Tc 3.129 Tw (\(Harvey 2001\)) Tj 73.32 0 TD -0.0084 Tc 3.1284 Tw (. Until some) Tj 0 Tc 0 Tw ( ) Tj -386.16 -13.8 TD -0.001 Tc 0.961 Tw (termination criterion is reached, two members of the popul) Tj 289.92 0 TD -0.0013 Tc 0.9613 Tw (ation are chosen at random, both) Tj 0 Tc 0.12 Tw ( ) Tj -289.92 -13.8 TD -0.0078 Tc 0.7278 Tw (have their fitness evaluated, and while the \221winner\222 of the tournament remains unchanged in) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD 0.001 Tc 2.6647 Tw (the population, the \221loser\222 is replaced by a slightly mutated copy of the \221winner\222. Each) Tj 0 Tc 0.12 Tw ( ) Tj T* 0.0019 Tc 1.9181 Tw (member is a clonal pair) Tj 120.36 0 TD 0 Tc 0 Tw ( ) Tj 4.92 0 TD -0.012 Tc 1.932 Tw (of agents) Tj 45.48 0 TD -0.0051 Tc 1.9251 Tw (. We defi) Tj 48.12 0 TD 0.0013 Tc 1.9187 Tw (ne a generation as the number of tournaments) Tj 0 Tc 0 Tw ( ) Tj -218.88 -13.8 TD 0.0076 Tc -0 Tw (required to generate a number of offspring equal to the population size. The population size is ) Tj 0 -13.8 TD -0.0022 Tc 0.0022 Tw (40 and the run terminates at 5000 generations.) Tj 221.88 0 TD 0 Tc 0 Tw ( ) Tj -221.88 -13.8 TD ( ) Tj 0 -13.8 TD -0.0162 Tc 1.2522 Tw (All CTRNN parameters and gains are genetically encoded by a real) Tj 335.52 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.024 Tc (va) Tj 11.28 0 TD -0.0014 Tc 1.2014 Tw (lued vector which is) Tj 0 Tc 0 Tw ( ) Tj -350.76 -13.8 TD -0.0117 Tc 2.0617 Tw (initialized randomly. The mutation operator changes each gene by a random value drawn) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0143 Tc 0.3457 Tw (from a Gaussian distribution \() Tj 145.44 0 TD /F2 12 Tf 0.048 Tc 0 Tw (\265) Tj 6 0 TD /F0 12 Tf 0 Tc ( ) Tj 3.36 0 TD -0.008 Tc 0.188 Tw (= 0; ) Tj 22.8 0 TD /F2 12 Tf 0.012 Tc 0 Tw (s) Tj 5.88 5.52 TD /F2 8.04 Tf 0.06 Tc (2) Tj 4.08 -5.52 TD /F0 12 Tf 0 Tc ( ) Tj 3.36 0 TD -0.0021 Tc 0.3488 Tw (= 0.05\) with reflection at the gene boundaries. Before ) Tj -190.92 -13.8 TD -0.001 Tc 0.886 Tw (evaluation, each gene is decoded linearly to the corre) Tj 261.96 0 TD 0.0022 Tc 0.8618 Tw (sponding range \(except gains and time) Tj 0 Tc -0.12 Tw ( ) Tj -261.96 -13.8 TD -0.0041 Tc 0.0041 Tw (constants which are exponentially scaled\). ) Tj 205.92 0 TD 0 Tc 0 Tw ( ) Tj -205.92 -13.8 TD ( ) Tj ET endstream endobj 35 0 obj 11488 endobj 31 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font 42 0 R /ProcSet 2 0 R >> /Contents 34 0 R >> endobj 42 0 obj << /F0 6 0 R /F2 21 0 R /F4 32 0 R /F5 36 0 R /F6 38 0 R /F7 40 0 R >> endobj 44 0 obj << /Length 45 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (6) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.36 TD /F0 12 Tf -0.0072 Tc 0.8712 Tw (During each fitness evaluation an agent is tested in 15 trials runs; to increase the robustness) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0057 Tc 1.4457 Tw (of the evolving solutions to noise and variations in initial conditions only) Tj 0 Tc -0.24 Tw ( ) Tj 371.04 0 TD 0.006 Tc 1.434 Tw (the lowest score) Tj 0 Tc 0.12 Tw ( ) Tj -371.04 -13.8 TD 0.0008 Tc 0.4992 Tw (achieved in any of the trials is chosen as the overall score. Each trial run consists of 50 units) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0075 Tc 2.4 Tw (of time \(500 Euler time steps\). At the start of each trial agents have their internal node) Tj 0 Tc 0 Tw ( ) Tj T* -0 Tc 2.2634 Tw (activations set to small random values drawn from) Tj 0 Tc 0 Tw ( ) Tj 263.4 0 TD -0.0055 Tc 2.2855 Tw (a standard Gaussian distribution. The) Tj 0 Tc -0.12 Tw ( ) Tj -263.4 -13.8 TD -0.002 Tc 2.0697 Tw (initial distance between the agents varies; agent \221down\222 always gets placed at position 0,) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0106 Tc 2.1706 Tw (while agent \221up\222 starts at a different position for each trial \(15 different positions evenly) Tj 0 Tc -0.36 Tw ( ) Tj T* -0.0057 Tc 0.0057 Tw (distributed across range [) Tj 120.96 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (25, 25) Tj 30 0 TD 0.016 Tc -0.016 Tw (]\). ) Tj 14.04 0 TD 0 Tc 0 Tw ( ) Tj -168.96 -13.8 TD ( ) Tj 0 -13.8 TD -0.0105 Tc 2.5305 Tw (The fitness score of a trial run is calculated on the basis of a single factor, namely the) Tj 0 Tc 0.12 Tw ( ) Tj T* 0.0013 Tc 0.1258 Tw (absolute value of the final crossing position of the two agents divided by a factor of 10. ) Tj 424.32 0 TD 0 Tc 0 Tw (Thus, ) Tj -424.32 -13.8 TD -0.0041 Tc 0.3532 Tw (in contrast to the work done by Iizuka and Di Paolo ) Tj 255 0 TD -0.012 Tc 0 Tw (\(2007\)) Tj 31.92 0 TD 0.01 Tc 0.35 Tw (, these) Tj 30.96 0 TD 0 Tc 0 Tw ( ) Tj 3.36 0 TD -0 Tc 0.288 Tw (agents were not evolved to ) Tj -321.24 -13.8 TD -0.0087 Tc 2.0487 Tw (break off the interaction) Tj 0 Tc 0 Tw ( ) Tj 126.6 0 TD -0.012 Tc 0.012 Tw (pattern ) Tj 38.28 0 TD -0.0177 Tc 2.0748 Tw (when detecting a lack of social contingency. In) Tj 239.76 0 TD -0.012 Tc 0 Tw (stead) Tj 24.6 0 TD 0.016 Tc 2.024 Tw (, we) Tj 0 Tc 0.12 Tw ( ) Tj -429.24 -13.8 TD -0.0034 Tc 1.3234 Tw (aimed to) Tj 0 Tc 0 Tw ( ) Tj 47.4 0 TD 0.0046 Tc 1.3263 Tw (generate a simulation model that under normal circumstances results in highly fit) Tj 0 Tc 0 Tw ( ) Tj -47.4 -13.8 TD -0.0014 Tc 0.0014 Tw (coordination behavior. Presumably, such behavi) Tj 231.24 0 TD -0 Tc 0.0267 Tw (or should be more robust when faced with the ) Tj -231.24 -13.8 TD -0.0024 Tc 0.0024 Tw (\221playback\222 condition. ) Tj 105.6 0 TD 0 Tc 0 Tw ( ) Tj -105.6 -13.8 TD ( ) Tj 0 -14.04 TD /F1 12 Tf -0.0015 Tc 0.0015 Tw (3 Results) Tj 52.32 0 TD 0 Tc 0 Tw ( ) Tj -52.32 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD -0.0012 Tc 0.1878 Tw (The GA was run 4 times. The fittest agent, with a score of 244.8, was produced during the 4) Tj 445.08 5.52 TD /F0 8.04 Tf 0.0524 Tc 0 Tw (th) Tj 6.24 -5.52 TD /F0 12 Tf 0 Tc ( ) Tj -451.32 -13.8 TD -0.0018 Tc 0.8854 Tw (run in generation 3477. This solution was then tested extensively; agent \221down\222) Tj 0 Tc 0 Tw ( ) Tj 395.4 0 TD 0.0107 Tc 0.8293 Tw (was always) Tj 0 Tc 0 Tw ( ) Tj -395.4 -13.8 TD -0.0095 Tc 0.2284 Tw (placed at position 0, while agent \221up\222 starts at a different position for each trial \(101 positions ) Tj 0 -13.8 TD -0.006 Tc 1.086 Tw (evenly distributed across range ) Tj 1.044 Tc 0 Tw ([) Tj 160.2 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.012 Tc 1.092 Tw (50, 50]\). Each trial is repeated 150 times. The mean score) Tj 0 Tc 0 Tw ( ) Tj -164.16 -13.8 TD 0.0045 Tc 2.0355 Tw (across this range of initial conditions is plotted ) Tj 2.064 Tc 0 Tw (i) Tj 247.2 0 TD 0.048 Tc 1.992 Tw (n Fig) Tj 27 0 TD -0.028 Tc 0 Tw (ure) Tj 15.36 0 TD 0 Tc ( ) Tj 5.04 0 TD 2.04 Tw (2 ) Tj 2.004 Tc 0 Tw (\() Tj 15 0 TD 0.021 Tc (left) Tj 16.08 0 TD -0.018 Tc 0.018 Tw (\). ) Tj 12 0 TD -0.012 Tc 0 Tw (T) Tj 7.32 0 TD 0.0042 Tc 2.0658 Tw (he agents are able to) Tj 0 Tc 0 Tw ( ) Tj -345 -13.8 TD -0.0057 Tc 1.8149 Tw (generalize their behavior well beyond the range that they were originally evolved to cope) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0112 Tc 1.0842 Tw (with. On average the best initial position for agent \221up\222 turned out to be at 11 \(mean score:) Tj 0 Tc 0 Tw ( ) Tj T* -0.0051 Tc (292.9\).) Tj 33.96 0 TD 0 Tc ( ) Tj -33.96 -13.8 TD ( ) Tj 0 -13.8 TD ( ) Tj ET q 85.68 263.64 217.44 106.2 re h W n 1 1 1 rg 85.68 262.8 218.28 107.04 re f* Q 1 1 1 rg 130.56 298.8 m 130.56 362.04 l 282.48 362.04 l 282.48 298.8 l h f* 0.12 w 1 J 1 j 1 1 1 RG 130.56 298.8 m 130.56 362.04 l 282.48 362.04 l 282.48 298.8 l 130.56 298.8 l S 130.56 298.68 0.24 0.24 re f 0.298 0.298 0.298 RG 130.56 298.8 m 282.48 298.8 l S 0.302 0.302 0.302 rg 282.48 298.68 0.24 0.24 re f 130.56 298.8 m 130.56 362.04 l S 130.56 361.92 0.24 0.24 re f 137.28 298.8 m 137.28 295.92 l S 137.28 295.8 0.24 0.24 re f BT 0.9942 0 0 1 130.56 285 Tm /F4 8.7559 Tf 0.0471 Tc (-50) Tj ET 171.48 298.8 m 171.48 295.92 l S 171.48 295.8 0.24 0.24 re f BT 0.9942 0 0 1 164.64 285 Tm (-25) Tj ET 206.52 298.8 m 206.52 295.92 l S 206.52 295.8 0.24 0.24 re f BT 0.9942 0 0 1 204.6 285 Tm -0.0405 Tc (0) Tj ET 240.6 298.8 m 240.6 295.92 l S 240.6 295.8 0.24 0.24 re f BT 0.9942 0 0 1 235.8 285 Tm (25) Tj ET 274.68 298.8 m 274.68 295.92 l S 274.68 295.8 0.24 0.24 re f BT 0.9942 0 0 1 269.88 285 Tm (50) Tj ET 130.56 298.8 m 126.6 298.8 l S 126.6 298.68 0.24 0.24 re f BT 0.9942 0 0 1 118.8 296.76 Tm (0) Tj ET 130.56 315.36 m 126.6 315.36 l S 126.6 315.24 0.24 0.24 re f BT 0.9942 0 0 1 109.08 313.32 Tm -0 Tc (100) Tj ET 130.56 330.96 m 126.6 330.96 l S 126.6 330.84 0.24 0.24 re f BT 0.9942 0 0 1 109.08 328.8 Tm (200) Tj ET 130.56 346.44 m 126.6 346.44 l S 126.6 346.32 0.24 0.24 re f BT 0.9942 0 0 1 109.08 344.4 Tm (300) Tj ET 130.56 362.04 m 126.6 362.04 l S 126.6 361.92 0.24 0.24 re f BT 0.9942 0 0 1 109.08 360 Tm (400) Tj 0.6 0.6 0.6 RG ET 137.28 345.48 m 137.28 303.72 l S 135.36 345.48 m 138.36 345.48 l S 135.36 303.72 m 138.36 303.72 l S 138.36 345.48 m 138.36 304.68 l S 137.28 345.48 m 139.32 345.48 l S 137.28 304.68 m 139.32 304.68 l S 139.32 345.48 m 139.32 303.72 l S 138.36 345.48 m 141.24 345.48 l S 138.36 303.72 m 141.24 303.72 l S 141.24 348.48 m 141.24 307.56 l S 139.32 348.48 m 142.2 348.48 l S 139.32 307.56 m 142.2 307.56 l S 142.2 348.48 m 142.2 309.48 l S 141.24 348.48 m 144.12 348.48 l S 141.24 309.48 m 144.12 309.48 l S 144.12 348.48 m 144.12 308.52 l S 142.2 348.48 m 145.08 348.48 l S 142.2 308.52 m 145.08 308.52 l S 145.08 348.48 m 145.08 306.6 l S 144.12 348.48 m 147.12 348.48 l S 144.12 306.6 m 147.12 306.6 l S 147.12 347.52 m 147.12 305.64 l S 145.08 347.52 m 148.08 347.52 l S 145.08 305.64 m 148.08 305.64 l S 148.08 350.4 m 148.08 312.48 l S 147.12 350.4 m 149.04 350.4 l S 147.12 312.48 m 149.04 312.48 l S 149.04 350.4 m 149.04 313.44 l S 148.08 350.4 m 150.96 350.4 l S 148.08 313.44 m 150.96 313.44 l S 150.96 350.4 m 150.96 311.52 l S 149.04 350.4 m 151.92 350.4 l S 149.04 311.52 m 151.92 311.52 l S 151.92 348.48 m 151.92 307.56 l S 150.96 348.48 m 153.84 348.48 l S 150.96 307.56 m 153.84 307.56 l S 153.84 352.32 m 153.84 316.32 l S 151.92 352.32 m 154.92 352.32 l S 151.92 316.32 m 154.92 316.32 l S 154.92 350.4 m 154.92 310.44 l S 153.84 350.4 m 155.88 350.4 l S 153.84 310.44 m 155.88 310.44 l S 155.88 351.36 m 155.88 316.32 l S 154.92 351.36 m 157.8 351.36 l S 154.92 316.32 m 157.8 316.32 l S 157.8 352.32 m 157.8 314.4 l S 155.88 352.32 m 158.76 352.32 l S 155.88 314.4 m 158.76 314.4 l S 158.76 353.28 m 158.76 318.24 l S 157.8 353.28 m 160.68 353.28 l S 157.8 318.24 m 160.68 318.24 l S 160.68 353.28 m 160.68 318.24 l S 158.76 353.28 m 161.64 353.28 l S 158.76 318.24 m 161.64 318.24 l S 161.64 352.32 m 161.64 318.24 l S 160.68 352.32 m 163.68 352.32 l S 160.68 318.24 m 163.68 318.24 l S 163.68 353.28 m 163.68 324.12 l S 161.64 353.28 m 164.64 353.28 l S 161.64 324.12 m 164.64 324.12 l S 164.64 353.28 m 164.64 322.2 l S 163.68 353.28 m 165.6 353.28 l S 163.68 322.2 m 165.6 322.2 l S 165.6 353.28 m 165.6 322.2 l S 164.64 353.28 m 167.52 353.28 l S 164.64 322.2 m 167.52 322.2 l S 167.52 353.28 m 167.52 326.04 l S 165.6 353.28 m 168.48 353.28 l S 165.6 326.04 m 168.48 326.04 l S 168.48 353.28 m 168.48 321.24 l S 167.52 353.28 m 170.4 353.28 l S 167.52 321.24 m 170.4 321.24 l S 170.4 353.28 m 170.4 327.96 l S 168.48 353.28 m 171.48 353.28 l S 168.48 327.96 m 171.48 327.96 l S 171.48 352.32 m 171.48 330 l S 170.4 352.32 m 172.44 352.32 l S 170.4 330 m 172.44 330 l S 172.44 352.32 m 172.44 332.88 l S 171.48 352.32 m 174.36 352.32 l S 171.48 332.88 m 174.36 332.88 l S 174.36 350.4 m 174.36 335.76 l S 172.44 350.4 m 175.32 350.4 l S 172.44 335.76 m 175.32 335.76 l S 175.32 348.48 m 175.32 339.72 l S 174.36 348.48 m 177.24 348.48 l S 174.36 339.72 m 177.24 339.72 l S 177.24 348.48 m 177.24 339.72 l S 175.32 348.48 m 178.2 348.48 l S 175.32 339.72 m 178.2 339.72 l S 178.2 346.44 m 178.2 342.6 l S 177.24 346.44 m 180.24 346.44 l S 177.24 342.6 m 180.24 342.6 l S 180.24 348.48 m 180.24 340.68 l S 178.2 348.48 m 181.2 348.48 l S 178.2 340.68 m 181.2 340.68 l S 181.2 348.48 m 181.2 340.68 l S 180.24 348.48 m 182.16 348.48 l S 180.24 340.68 m 182.16 340.68 l S 182.16 346.44 m 182.16 342.6 l S 181.2 346.44 m 184.08 346.44 l S 181.2 342.6 m 184.08 342.6 l S 184.08 346.44 m 184.08 341.64 l S 182.16 346.44 m 185.04 346.44 l S 182.16 341.64 m 185.04 341.64 l S 185.04 348.48 m 185.04 339.72 l S 184.08 348.48 m 187.08 348.48 l S 184.08 339.72 m 187.08 339.72 l S 187.08 348.48 m 187.08 339.72 l S 185.04 348.48 m 188.04 348.48 l S 185.04 339.72 m 188.04 339.72 l S 188.04 346.44 m 188.04 342.6 l S 187.08 346.44 m 189 346.44 l S 187.08 342.6 m 189 342.6 l S 189 346.44 m 189 342.6 l S 188.04 346.44 m 190.92 346.44 l S 188.04 342.6 m 190.92 342.6 l S 190.92 350.4 m 190.92 336.72 l S 189 350.4 m 191.88 350.4 l S 189 336.72 m 191.88 336.72 l S 191.88 348.48 m 191.88 339.72 l S 190.92 348.48 m 193.8 348.48 l S 190.92 339.72 m 193.8 339.72 l S 193.8 349.44 m 193.8 338.76 l S 191.88 349.44 m 194.88 349.44 l S 191.88 338.76 m 194.88 338.76 l S 194.88 347.52 m 194.88 342.6 l S 193.8 347.52 m 196.8 347.52 l S 193.8 342.6 m 196.8 342.6 l S 196.8 347.52 m 196.8 342.6 l S 194.88 347.52 m 197.76 347.52 l S 194.88 342.6 m 197.76 342.6 l S 197.76 347.52 m 197.76 342.6 l S 196.8 347.52 m 198.72 347.52 l S 196.8 342.6 m 198.72 342.6 l S 198.72 347.52 m 198.72 342.6 l S 197.76 347.52 m 200.64 347.52 l S 197.76 342.6 m 200.64 342.6 l S 200.64 349.44 m 200.64 339.72 l S 198.72 349.44 m 201.6 349.44 l S 198.72 339.72 m 201.6 339.72 l S 201.6 347.52 m 201.6 342.6 l S 200.64 347.52 m 203.64 347.52 l S 200.64 342.6 m 203.64 342.6 l S 203.64 349.44 m 203.64 340.68 l S 201.6 349.44 m 204.6 349.44 l S 201.6 340.68 m 204.6 340.68 l S 204.6 349.44 m 204.6 340.68 l S 203.64 349.44 m 206.52 349.44 l S 203.64 340.68 m 206.52 340.68 l S 206.52 351.36 m 206.52 337.68 l S 204.6 351.36 m 207.48 351.36 l S 204.6 337.68 m 207.48 337.68 l S 207.48 347.52 m 207.48 343.56 l S 206.52 347.52 m 208.44 347.52 l S 206.52 343.56 m 208.44 343.56 l S 208.44 350.4 m 208.44 336.72 l S 207.48 350.4 m 210.36 350.4 l S 207.48 336.72 m 210.36 336.72 l S 210.36 349.44 m 210.36 340.68 l S 208.44 349.44 m 211.44 349.44 l S 208.44 340.68 m 211.44 340.68 l S 211.44 349.44 m 211.44 340.68 l S 210.36 349.44 m 213.36 349.44 l S 210.36 340.68 m 213.36 340.68 l S 213.36 352.32 m 213.36 336.72 l S 211.44 352.32 m 214.32 352.32 l S 211.44 336.72 m 214.32 336.72 l S 214.32 347.52 m 214.32 342.6 l S 213.36 347.52 m 215.28 347.52 l S 213.36 342.6 m 215.28 342.6 l S 215.28 350.4 m 215.28 337.68 l S 214.32 350.4 m 217.2 350.4 l S 214.32 337.68 m 217.2 337.68 l S 217.2 352.32 m 217.2 336.72 l S 215.28 352.32 m 218.16 352.32 l S 215.28 336.72 m 218.16 336.72 l S 218.16 348.48 m 218.16 342.6 l S 217.2 348.48 m 220.2 348.48 l S 217.2 342.6 m 220.2 342.6 l S 220.2 353.28 m 220.2 334.8 l S 218.16 353.28 m 221.16 353.28 l S 218.16 334.8 m 221.16 334.8 l S 221.16 353.28 m 221.16 333.84 l S 220.2 353.28 m 223.08 353.28 l S 220.2 333.84 m 223.08 333.84 l S 223.08 354.24 m 223.08 331.92 l S 221.16 354.24 m 224.04 354.24 l S 221.16 331.92 m 224.04 331.92 l S 224.04 354.24 m 224.04 330 l S 223.08 354.24 m 225 354.24 l S 223.08 330 m 225 330 l S 225 354.24 m 225 330.96 l S 224.04 354.24 m 226.92 354.24 l S 224.04 330.96 m 226.92 330.96 l S 226.92 355.2 m 226.92 323.16 l S 225 355.2 m 228 355.2 l S 225 323.16 m 228 323.16 l S 228 354.24 m 228 315.36 l S 226.92 354.24 m 229.92 354.24 l S 226.92 315.36 m 229.92 315.36 l S 229.92 355.2 m 229.92 318.24 l S 228 355.2 m 230.88 355.2 l S 228 318.24 m 230.88 318.24 l S 230.88 354.24 m 230.88 318.24 l S 229.92 354.24 m 231.84 354.24 l S 229.92 318.24 m 231.84 318.24 l S 231.84 355.2 m 231.84 319.2 l S 230.88 355.2 m 233.76 355.2 l S 230.88 319.2 m 233.76 319.2 l S 233.76 354.24 m 233.76 317.28 l S 231.84 354.24 m 234.72 354.24 l S 231.84 317.28 m 234.72 317.28 l S 234.72 354.24 m 234.72 316.32 l S 233.76 354.24 m 236.76 354.24 l S 233.76 316.32 m 236.76 316.32 l S 236.76 353.28 m 236.76 316.32 l S 234.72 353.28 m 237.72 353.28 l S 234.72 316.32 m 237.72 316.32 l S 237.72 352.32 m 237.72 311.52 l S 236.76 352.32 m 239.64 352.32 l S 236.76 311.52 m 239.64 311.52 l S 239.64 354.24 m 239.64 318.24 l S 237.72 354.24 m 240.6 354.24 l S 237.72 318.24 m 240.6 318.24 l S 240.6 354.24 m 240.6 320.16 l S 239.64 354.24 m 241.56 354.24 l S 239.64 320.16 m 241.56 320.16 l S 241.56 353.28 m 241.56 314.4 l S 240.6 353.28 m 243.6 353.28 l S 240.6 314.4 m 243.6 314.4 l S 243.6 353.28 m 243.6 314.4 l S 241.56 353.28 m 244.56 353.28 l S 241.56 314.4 m 244.56 314.4 l S 244.56 353.28 m 244.56 312.48 l S 243.6 353.28 m 246.48 353.28 l S 243.6 312.48 m 246.48 312.48 l S 246.48 355.2 m 246.48 321.24 l S 244.56 355.2 m 247.44 355.2 l S 244.56 321.24 m 247.44 321.24 l S 247.44 354.24 m 247.44 317.28 l S 246.48 354.24 m 248.4 354.24 l S 246.48 317.28 m 248.4 317.28 l S 248.4 354.24 m 248.4 317.28 l S 247.44 354.24 m 250.32 354.24 l S 247.44 317.28 m 250.32 317.28 l S 250.32 354.24 m 250.32 318.24 l S 248.4 354.24 m 251.28 354.24 l S 248.4 318.24 m 251.28 318.24 l S 251.28 354.24 m 251.28 318.24 l S 250.32 354.24 m 253.32 354.24 l S 250.32 318.24 m 253.32 318.24 l S 253.32 353.28 m 253.32 313.44 l S 251.28 353.28 m 254.28 353.28 l S 251.28 313.44 m 254.28 313.44 l S 254.28 353.28 m 254.28 313.44 l S 253.32 353.28 m 256.2 353.28 l S 253.32 313.44 m 256.2 313.44 l S 256.2 354.24 m 256.2 319.2 l S 254.28 354.24 m 257.16 354.24 l S 254.28 319.2 m 257.16 319.2 l S 257.16 354.24 m 257.16 320.16 l S 256.2 354.24 m 258.12 354.24 l S 256.2 320.16 m 258.12 320.16 l S 258.12 354.24 m 258.12 318.24 l S 257.16 354.24 m 260.16 354.24 l S 257.16 318.24 m 260.16 318.24 l S 260.16 353.28 m 260.16 314.4 l S 258.12 353.28 m 261.12 353.28 l S 258.12 314.4 m 261.12 314.4 l S 261.12 354.24 m 261.12 316.32 l S 260.16 354.24 m 263.04 354.24 l S 260.16 316.32 m 263.04 316.32 l S 263.04 353.28 m 263.04 316.32 l S 261.12 353.28 m 264 353.28 l S 261.12 316.32 m 264 316.32 l S 264 351.36 m 264 311.52 l S 263.04 351.36 m 264.96 351.36 l S 263.04 311.52 m 264.96 311.52 l S 264.96 354.24 m 264.96 319.2 l S 264 354.24 m 266.88 354.24 l S 264 319.2 m 266.88 319.2 l S 266.88 353.28 m 266.88 314.4 l S 264.96 353.28 m 267.96 353.28 l S 264.96 314.4 m 267.96 314.4 l S 267.96 353.28 m 267.96 315.36 l S 266.88 353.28 m 269.88 353.28 l S 266.88 315.36 m 269.88 315.36 l S 269.88 352.32 m 269.88 311.52 l S 267.96 352.32 m 270.84 352.32 l S 267.96 311.52 m 270.84 311.52 l S 270.84 353.28 m 270.84 315.36 l S 269.88 353.28 m 272.76 353.28 l S 269.88 315.36 m 272.76 315.36 l S 272.76 352.32 m 272.76 311.52 l S 270.84 352.32 m 273.72 352.32 l S 270.84 311.52 m 273.72 311.52 l S 273.72 352.32 m 273.72 312.48 l S 272.76 352.32 m 274.68 352.32 l S 272.76 312.48 m 274.68 312.48 l S 274.68 342.6 m 274.68 298.8 l S 273.72 342.6 m 276.72 342.6 l S 273.72 298.8 m 276.72 298.8 l S 137.28 325.08 m 138.36 325.08 l 139.32 324.12 l 141.24 327.96 l 142.2 328.92 l 144.12 328.92 l 145.08 327.96 l 147.12 326.04 l 148.08 331.92 l 149.04 331.92 l 150.96 330.96 l 151.92 327.96 l 153.84 333.84 l 154.92 330.96 l 155.88 333.84 l 157.8 333.84 l 158.76 335.76 l 160.68 335.76 l 161.64 334.8 l 163.68 338.76 l 164.64 337.68 l 165.6 337.68 l 167.52 339.72 l 168.48 336.72 l 170.4 340.68 l 171.48 340.68 l 172.44 342.6 l 174.36 343.56 l 175.32 343.56 l 177.24 344.52 l 189 344.52 l 190.92 343.56 l 191.88 344.52 l 193.8 344.52 l 194.88 345.48 l 196.8 345.48 l 197.76 344.52 l 203.64 344.52 l 204.6 345.48 l 206.52 344.52 l 207.48 345.48 l 208.44 343.56 l 210.36 345.48 l 211.44 345.48 l 213.36 344.52 l 214.32 345.48 l 215.28 344.52 l 217.2 344.52 l 218.16 345.48 l 220.2 343.56 l 221.16 343.56 l 223.08 342.6 l 225 342.6 l 226.92 339.72 l 228 334.8 l 229.92 336.72 l 230.88 335.76 l 231.84 337.68 l 233.76 335.76 l 234.72 335.76 l 236.76 334.8 l 237.72 331.92 l 240.6 337.68 l 241.56 333.84 l 243.6 333.84 l 244.56 332.88 l 246.48 337.68 l 247.44 335.76 l 251.28 335.76 l 253.32 332.88 l 254.28 332.88 l 256.2 336.72 l 257.16 337.68 l 258.12 335.76 l 260.16 333.84 l 261.12 334.8 l 263.04 334.8 l 264 330.96 l 264.96 336.72 l 266.88 333.84 l 267.96 334.8 l 269.88 331.92 l 270.84 333.84 l 272.76 331.92 l 273.72 332.88 l 274.68 321.24 l S 0 0 0 RG 137.28 325.08 m 138.36 325.08 l 139.32 324.12 l 141.24 327.96 l 142.2 328.92 l 144.12 328.92 l 145.08 327.96 l 147.12 326.04 l 148.08 331.92 l 149.04 331.92 l 150.96 330.96 l 151.92 327.96 l 153.84 333.84 l 154.92 330.96 l 155.88 333.84 l 157.8 333.84 l 158.76 335.76 l 160.68 335.76 l 161.64 334.8 l 163.68 338.76 l 164.64 337.68 l 165.6 337.68 l 167.52 339.72 l 168.48 336.72 l 170.4 340.68 l 171.48 340.68 l 172.44 342.6 l 174.36 343.56 l 175.32 343.56 l 177.24 344.52 l 189 344.52 l 190.92 343.56 l 191.88 344.52 l 193.8 344.52 l 194.88 345.48 l 196.8 345.48 l 197.76 344.52 l 203.64 344.52 l 204.6 345.48 l 206.52 344.52 l 207.48 345.48 l 208.44 343.56 l 210.36 345.48 l 211.44 345.48 l 213.36 344.52 l 214.32 345.48 l 215.28 344.52 l 217.2 344.52 l 218.16 345.48 l 220.2 343.56 l 221.16 343.56 l 223.08 342.6 l 225 342.6 l 226.92 339.72 l 228 334.8 l 229.92 336.72 l 230.88 335.76 l 231.84 337.68 l 233.76 335.76 l 234.72 335.76 l 236.76 334.8 l 237.72 331.92 l 240.6 337.68 l 241.56 333.84 l 243.6 333.84 l 244.56 332.88 l 246.48 337.68 l 247.44 335.76 l 251.28 335.76 l 253.32 332.88 l 254.28 332.88 l 256.2 336.72 l 257.16 337.68 l 258.12 335.76 l 260.16 333.84 l 261.12 334.8 l 263.04 334.8 l 264 330.96 l 264.96 336.72 l 266.88 333.84 l 267.96 334.8 l 269.88 331.92 l 270.84 333.84 l 272.76 331.92 l 273.72 332.88 l 274.68 321.24 l S 0 0 0 rg 274.68 321.12 0.24 0.24 re f BT 0.9942 0 0 1 154.92 270.72 Tm /F4 10.7017 Tf -0.3144 Tc (Relati) Tj 0.0833 Tc -0.0412 Tw (ve d) Tj 0.0012 Tc 0 Tw (isplace) Tj -0.3049 Tc (ment) Tj ET BT 0 0.9942 -1 0 98.52 299.76 Tm -0.0978 Tc 0.0198 Tw (Mean fitne) Tj 0.44 Tc 0 Tw (ss) Tj ET q 303.12 263.64 217.8 105.48 re h W n 1 1 1 rg 303.12 262.8 218.64 106.32 re f* Q 1 1 1 rg 348 298.92 m 348 361.32 l 500.28 361.32 l 500.28 298.92 l h f* 1 1 1 RG 348 298.92 m 348 361.32 l 500.28 361.32 l 500.28 298.92 l 348 298.92 l S 348 298.8 0.24 0.24 re f 0.298 0.298 0.298 RG 348 298.92 m 500.28 298.92 l S 0.302 0.302 0.302 rg 500.28 298.8 0.24 0.24 re f 348 298.92 m 348 361.32 l S 348 361.2 0.24 0.24 re f 354.84 298.92 m 354.84 295.92 l S 354.84 295.8 0.24 0.24 re f BT 0.9933 0 0 1 348 285.12 Tm /F4 8.7789 Tf -0 Tc (-50) Tj ET 389.04 298.92 m 389.04 295.92 l S 389.04 295.8 0.24 0.24 re f BT 0.9933 0 0 1 382.2 285.12 Tm 0.0402 Tc (-25) Tj ET 424.2 298.92 m 424.2 295.92 l S 424.2 295.8 0.24 0.24 re f BT 0.9933 0 0 1 422.16 285.12 Tm -0.0486 Tc (0) Tj ET 458.28 298.92 m 458.28 295.92 l S 458.28 295.8 0.24 0.24 re f BT 0.9933 0 0 1 453.48 285.12 Tm (25) Tj ET 492.48 298.92 m 492.48 295.92 l S 492.48 295.8 0.24 0.24 re f BT 0.9933 0 0 1 487.56 285.12 Tm 0.0722 Tc (50) Tj ET 348 298.92 m 344.16 298.92 l S 344.16 298.8 0.24 0.24 re f BT 0.9933 0 0 1 336.36 296.76 Tm -0.0486 Tc (0) Tj ET 348 314.52 m 344.16 314.52 l S 344.16 314.4 0.24 0.24 re f BT 0.9933 0 0 1 326.52 312.48 Tm 0.0722 Tc (100) Tj ET 348 330.12 m 344.16 330.12 l S 344.16 330 0.24 0.24 re f BT 0.9933 0 0 1 326.52 328.08 Tm (200) Tj ET 348 345.72 m 344.16 345.72 l S 344.16 345.6 0.24 0.24 re f BT 0.9933 0 0 1 326.52 343.68 Tm (300) Tj ET 348 361.32 m 344.16 361.32 l S 344.16 361.2 0.24 0.24 re f BT 0.9933 0 0 1 326.52 359.28 Tm (400) Tj ET q 354.84 297.96 0.24 8.76 re h W n 0.6 0.6 0.6 RG 354.84 306.72 m 354.84 297.96 l S Q 0.6 0.6 0.6 RG 352.92 306.72 m 355.8 306.72 l S q 355.8 297.96 0.24 6.84 re h W n 355.8 304.68 m 355.8 297.96 l S Q 354.84 304.68 m 356.76 304.68 l S q 356.76 297.96 0.24 6.84 re h W n 356.76 304.68 m 356.76 297.96 l S Q 355.8 304.68 m 358.8 304.68 l S q 358.68 297.96 0.24 7.8 re h W n 358.8 305.76 m 358.8 297.96 l S Q 356.76 305.76 m 359.76 305.76 l S q 359.64 297.96 0.24 8.76 re h W n 359.76 306.72 m 359.76 297.96 l S Q 358.8 306.72 m 361.68 306.72 l S 361.68 304.68 m 361.68 298.92 l S 359.76 304.68 m 362.64 304.68 l S 359.76 298.92 m 362.64 298.92 l S q 362.64 297.96 0.24 7.8 re h W n 362.64 305.76 m 362.64 297.96 l S Q 361.68 305.76 m 364.56 305.76 l S q 364.56 297.96 0.24 8.76 re h W n 364.56 306.72 m 364.56 297.96 l S Q 362.64 306.72 m 365.64 306.72 l S q 365.52 297.96 0.24 8.76 re h W n 365.64 306.72 m 365.64 297.96 l S Q 364.56 306.72 m 366.6 306.72 l S 366.6 304.68 m 366.6 298.92 l S 365.64 304.68 m 368.52 304.68 l S 365.64 298.92 m 368.52 298.92 l S q 368.4 297.96 0.24 8.76 re h W n 368.52 306.72 m 368.52 297.96 l S Q 366.6 306.72 m 369.48 306.72 l S 369.48 304.68 m 369.48 298.92 l S 368.52 304.68 m 371.4 304.68 l S 368.52 298.92 m 371.4 298.92 l S 371.4 303.72 m 371.4 299.88 l S 369.48 303.72 m 372.48 303.72 l S 369.48 299.88 m 372.48 299.88 l S 372.48 305.76 m 372.48 298.92 l S 371.4 305.76 m 373.44 305.76 l S 371.4 298.92 m 373.44 298.92 l S q 373.32 297.96 0.24 7.8 re h W n 373.44 305.76 m 373.44 297.96 l S Q 372.48 305.76 m 375.36 305.76 l S q 375.24 297.96 0.24 7.8 re h W n 375.36 305.76 m 375.36 297.96 l S Q 373.44 305.76 m 376.32 305.76 l S 376.32 303.72 m 376.32 298.92 l S 375.36 303.72 m 378.24 303.72 l S 375.36 298.92 m 378.24 298.92 l S 378.24 303.72 m 378.24 298.92 l S 376.32 303.72 m 379.2 303.72 l S 376.32 298.92 m 379.2 298.92 l S 379.2 303.72 m 379.2 298.92 l S 378.24 303.72 m 381.24 303.72 l S 378.24 298.92 m 381.24 298.92 l S 381.24 303.72 m 381.24 299.88 l S 379.2 303.72 m 382.2 303.72 l S 379.2 299.88 m 382.2 299.88 l S 382.2 303.72 m 382.2 299.88 l S 381.24 303.72 m 383.16 303.72 l S 381.24 299.88 m 383.16 299.88 l S 383.16 304.68 m 383.16 298.92 l S 382.2 304.68 m 385.08 304.68 l S 382.2 298.92 m 385.08 298.92 l S 385.08 303.72 m 385.08 298.92 l S 383.16 303.72 m 386.04 303.72 l S 383.16 298.92 m 386.04 298.92 l S q 386.04 297.96 0.24 7.8 re h W n 386.04 305.76 m 386.04 297.96 l S Q 385.08 305.76 m 388.08 305.76 l S 388.08 303.72 m 388.08 299.88 l S 386.04 303.72 m 389.04 303.72 l S 386.04 299.88 m 389.04 299.88 l S 389.04 305.76 m 389.04 298.92 l S 388.08 305.76 m 390 305.76 l S 388.08 298.92 m 390 298.92 l S 390 305.76 m 390 298.92 l S 389.04 305.76 m 391.92 305.76 l S 389.04 298.92 m 391.92 298.92 l S 391.92 304.68 m 391.92 298.92 l S 390 304.68 m 392.88 304.68 l S 390 298.92 m 392.88 298.92 l S 392.88 304.68 m 392.88 299.88 l S 391.92 304.68 m 394.92 304.68 l S 391.92 299.88 m 394.92 299.88 l S 394.92 303.72 m 394.92 299.88 l S 392.88 303.72 m 395.88 303.72 l S 392.88 299.88 m 395.88 299.88 l S 395.88 303.72 m 395.88 299.88 l S 394.92 303.72 m 397.8 303.72 l S 394.92 299.88 m 397.8 299.88 l S 397.8 303.72 m 397.8 299.88 l S 395.88 303.72 m 398.76 303.72 l S 395.88 299.88 m 398.76 299.88 l S 398.76 304.68 m 398.76 299.88 l S 397.8 304.68 m 399.72 304.68 l S 397.8 299.88 m 399.72 299.88 l S 399.72 303.72 m 399.72 299.88 l S 398.76 303.72 m 401.76 303.72 l S 398.76 299.88 m 401.76 299.88 l S 401.76 303.72 m 401.76 299.88 l S 399.72 303.72 m 402.72 303.72 l S 399.72 299.88 m 402.72 299.88 l S 402.72 304.68 m 402.72 299.88 l S 401.76 304.68 m 404.64 304.68 l S 401.76 299.88 m 404.64 299.88 l S 404.64 303.72 m 404.64 299.88 l S 402.72 303.72 m 405.6 303.72 l S 402.72 299.88 m 405.6 299.88 l S 405.6 303.72 m 405.6 299.88 l S 404.64 303.72 m 406.56 303.72 l S 404.64 299.88 m 406.56 299.88 l S 406.56 303.72 m 406.56 299.88 l S 405.6 303.72 m 408.48 303.72 l S 405.6 299.88 m 408.48 299.88 l S 408.48 303.72 m 408.48 299.88 l S 406.56 303.72 m 409.56 303.72 l S 406.56 299.88 m 409.56 299.88 l S 409.56 304.68 m 409.56 299.88 l S 408.48 304.68 m 411.48 304.68 l S 408.48 299.88 m 411.48 299.88 l S 411.48 303.72 m 411.48 299.88 l S 409.56 303.72 m 412.44 303.72 l S 409.56 299.88 m 412.44 299.88 l S 412.44 304.68 m 412.44 298.92 l S 411.48 304.68 m 414.36 304.68 l S 411.48 298.92 m 414.36 298.92 l S 414.36 304.68 m 414.36 299.88 l S 412.44 304.68 m 415.32 304.68 l S 412.44 299.88 m 415.32 299.88 l S 415.32 304.68 m 415.32 299.88 l S 414.36 304.68 m 416.4 304.68 l S 414.36 299.88 m 416.4 299.88 l S 416.4 304.68 m 416.4 299.88 l S 415.32 304.68 m 418.32 304.68 l S 415.32 299.88 m 418.32 299.88 l S 418.32 304.68 m 418.32 299.88 l S 416.4 304.68 m 419.28 304.68 l S 416.4 299.88 m 419.28 299.88 l S 419.28 304.68 m 419.28 299.88 l S 418.32 304.68 m 421.2 304.68 l S 418.32 299.88 m 421.2 299.88 l S 421.2 304.68 m 421.2 299.88 l S 419.28 304.68 m 422.16 304.68 l S 419.28 299.88 m 422.16 299.88 l S 422.16 303.72 m 422.16 299.88 l S 421.2 303.72 m 424.2 303.72 l S 421.2 299.88 m 424.2 299.88 l S 424.2 303.72 m 424.2 299.88 l S 422.16 303.72 m 425.16 303.72 l S 422.16 299.88 m 425.16 299.88 l S 425.16 304.68 m 425.16 299.88 l S 424.2 304.68 m 426.12 304.68 l S 424.2 299.88 m 426.12 299.88 l S 426.12 304.68 m 426.12 299.88 l S 425.16 304.68 m 428.04 304.68 l S 425.16 299.88 m 428.04 299.88 l S 428.04 304.68 m 428.04 299.88 l S 426.12 304.68 m 429 304.68 l S 426.12 299.88 m 429 299.88 l S 429 305.76 m 429 298.92 l S 428.04 305.76 m 431.04 305.76 l S 428.04 298.92 m 431.04 298.92 l S 431.04 304.68 m 431.04 299.88 l S 429 304.68 m 432 304.68 l S 429 299.88 m 432 299.88 l S 432 303.72 m 432 299.88 l S 431.04 303.72 m 432.96 303.72 l S 431.04 299.88 m 432.96 299.88 l S 432.96 305.76 m 432.96 298.92 l S 432 305.76 m 434.88 305.76 l S 432 298.92 m 434.88 298.92 l S 434.88 303.72 m 434.88 299.88 l S 432.96 303.72 m 435.84 303.72 l S 432.96 299.88 m 435.84 299.88 l S 435.84 305.76 m 435.84 299.88 l S 434.88 305.76 m 437.76 305.76 l S 434.88 299.88 m 437.76 299.88 l S 437.76 304.68 m 437.76 299.88 l S 435.84 304.68 m 438.84 304.68 l S 435.84 299.88 m 438.84 299.88 l S 438.84 303.72 m 438.84 299.88 l S 437.76 303.72 m 440.76 303.72 l S 437.76 299.88 m 440.76 299.88 l S 440.76 304.68 m 440.76 299.88 l S 438.84 304.68 m 441.72 304.68 l S 438.84 299.88 m 441.72 299.88 l S 441.72 305.76 m 441.72 299.88 l S 440.76 305.76 m 442.68 305.76 l S 440.76 299.88 m 442.68 299.88 l S 442.68 305.76 m 442.68 299.88 l S 441.72 305.76 m 444.6 305.76 l S 441.72 299.88 m 444.6 299.88 l S 444.6 304.68 m 444.6 299.88 l S 442.68 304.68 m 445.68 304.68 l S 442.68 299.88 m 445.68 299.88 l S 445.68 304.68 m 445.68 299.88 l S 444.6 304.68 m 447.6 304.68 l S 444.6 299.88 m 447.6 299.88 l S 447.6 305.76 m 447.6 299.88 l S 445.68 305.76 m 448.56 305.76 l S 445.68 299.88 m 448.56 299.88 l S 448.56 306.72 m 448.56 299.88 l S 447.6 306.72 m 449.52 306.72 l S 447.6 299.88 m 449.52 299.88 l S 449.52 305.76 m 449.52 299.88 l S 448.56 305.76 m 451.44 305.76 l S 448.56 299.88 m 451.44 299.88 l S 451.44 303.72 m 451.44 299.88 l S 449.52 303.72 m 452.4 303.72 l S 449.52 299.88 m 452.4 299.88 l S 452.4 305.76 m 452.4 298.92 l S 451.44 305.76 m 454.44 305.76 l S 451.44 298.92 m 454.44 298.92 l S 454.44 305.76 m 454.44 299.88 l S 452.4 305.76 m 455.4 305.76 l S 452.4 299.88 m 455.4 299.88 l S 455.4 306.72 m 455.4 299.88 l S 454.44 306.72 m 457.32 306.72 l S 454.44 299.88 m 457.32 299.88 l S 457.32 304.68 m 457.32 299.88 l S 455.4 304.68 m 458.28 304.68 l S 455.4 299.88 m 458.28 299.88 l S 458.28 305.76 m 458.28 299.88 l S 457.32 305.76 m 459.24 305.76 l S 457.32 299.88 m 459.24 299.88 l S 459.24 305.76 m 459.24 299.88 l S 458.28 305.76 m 461.28 305.76 l S 458.28 299.88 m 461.28 299.88 l S 461.28 305.76 m 461.28 298.92 l S 459.24 305.76 m 462.24 305.76 l S 459.24 298.92 m 462.24 298.92 l S 462.24 305.76 m 462.24 299.88 l S 461.28 305.76 m 464.16 305.76 l S 461.28 299.88 m 464.16 299.88 l S 464.16 305.76 m 464.16 298.92 l S 462.24 305.76 m 465.12 305.76 l S 462.24 298.92 m 465.12 298.92 l S 465.12 305.76 m 465.12 298.92 l S 464.16 305.76 m 466.08 305.76 l S 464.16 298.92 m 466.08 298.92 l S 466.08 305.76 m 466.08 299.88 l S 465.12 305.76 m 468.12 305.76 l S 465.12 299.88 m 468.12 299.88 l S 468.12 304.68 m 468.12 299.88 l S 466.08 304.68 m 469.08 304.68 l S 466.08 299.88 m 469.08 299.88 l S 469.08 305.76 m 469.08 299.88 l S 468.12 305.76 m 471 305.76 l S 468.12 299.88 m 471 299.88 l S 471 305.76 m 471 298.92 l S 469.08 305.76 m 471.96 305.76 l S 469.08 298.92 m 471.96 298.92 l S 471.96 305.76 m 471.96 299.88 l S 471 305.76 m 473.88 305.76 l S 471 299.88 m 473.88 299.88 l S 473.88 305.76 m 473.88 299.88 l S 471.96 305.76 m 474.96 305.76 l S 471.96 299.88 m 474.96 299.88 l S 474.96 305.76 m 474.96 299.88 l S 473.88 305.76 m 475.92 305.76 l S 473.88 299.88 m 475.92 299.88 l S 475.92 304.68 m 475.92 299.88 l S 474.96 304.68 m 477.84 304.68 l S 474.96 299.88 m 477.84 299.88 l S 477.84 305.76 m 477.84 299.88 l S 475.92 305.76 m 478.8 305.76 l S 475.92 299.88 m 478.8 299.88 l S 478.8 306.72 m 478.8 298.92 l S 477.84 306.72 m 480.72 306.72 l S 477.84 298.92 m 480.72 298.92 l S 480.72 305.76 m 480.72 299.88 l S 478.8 305.76 m 481.8 305.76 l S 478.8 299.88 m 481.8 299.88 l S 481.8 305.76 m 481.8 298.92 l S 480.72 305.76 m 482.76 305.76 l S 480.72 298.92 m 482.76 298.92 l S 482.76 306.72 m 482.76 299.88 l S 481.8 306.72 m 484.68 306.72 l S 481.8 299.88 m 484.68 299.88 l S 484.68 305.76 m 484.68 299.88 l S 482.76 305.76 m 485.64 305.76 l S 482.76 299.88 m 485.64 299.88 l S 485.64 305.76 m 485.64 299.88 l S 484.68 305.76 m 487.56 305.76 l S 484.68 299.88 m 487.56 299.88 l S 487.56 304.68 m 487.56 299.88 l S 485.64 304.68 m 488.52 304.68 l S 485.64 299.88 m 488.52 299.88 l S 488.52 305.76 m 488.52 299.88 l S 487.56 305.76 m 490.56 305.76 l S 487.56 299.88 m 490.56 299.88 l S 490.56 305.76 m 490.56 299.88 l S 488.52 305.76 m 491.52 305.76 l S 488.52 299.88 m 491.52 299.88 l S 491.52 304.68 m 491.52 299.88 l S 490.56 304.68 m 492.48 304.68 l S 490.56 299.88 m 492.48 299.88 l S 492.48 305.76 m 492.48 299.88 l S 491.52 305.76 m 494.4 305.76 l S 491.52 299.88 m 494.4 299.88 l S 354.84 301.8 m 364.56 301.8 l 365.64 302.76 l 366.6 301.8 l 388.08 301.8 l 389.04 302.76 l 390 301.8 l 424.2 301.8 l 425.16 302.76 l 426.12 301.8 l 428.04 302.76 l 429 302.76 l 431.04 301.8 l 432 301.8 l 432.96 302.76 l 434.88 301.8 l 435.84 302.76 l 437.76 301.8 l 440.76 301.8 l 441.72 302.76 l 442.68 302.76 l 444.6 301.8 l 445.68 302.76 l 449.52 302.76 l 451.44 301.8 l 452.4 302.76 l 464.16 302.76 l 465.12 301.8 l 466.08 302.76 l 468.12 301.8 l 469.08 302.76 l 492.48 302.76 l S 0 0 0 RG 354.84 301.8 m 364.56 301.8 l 365.64 302.76 l 366.6 301.8 l 388.08 301.8 l 389.04 302.76 l 390 301.8 l 424.2 301.8 l 425.16 302.76 l 426.12 301.8 l 428.04 302.76 l 429 302.76 l 431.04 301.8 l 432 301.8 l 432.96 302.76 l 434.88 301.8 l 435.84 302.76 l 437.76 301.8 l 440.76 301.8 l 441.72 302.76 l 442.68 302.76 l 444.6 301.8 l 445.68 302.76 l 449.52 302.76 l 451.44 301.8 l 452.4 302.76 l 464.16 302.76 l 465.12 301.8 l 466.08 302.76 l 468.12 301.8 l 469.08 302.76 l 492.48 302.76 l S 0 0 0 rg 492.48 302.64 0.24 0.24 re f BT 0.9933 0 0 1 372.48 270.72 Tm /F4 10.7298 Tf -0.3223 Tc (Relati) Tj 0.1543 Tc -0.2372 Tw (ve d) Tj -0.0067 Tc 0 Tw (isplace) Tj -0.3151 Tc (ment) Tj ET BT 0 0.9933 -1 0 315.96 298.92 Tm -0.1197 Tc 0.1559 Tw (Mean fitne) Tj 0.5512 Tc 0 Tw (ss) Tj ET BT 520.92 263.64 TD /F0 12 Tf 0 Tc ( ) Tj 12 0 TD ( ) Tj -460.92 -16.8 TD /F1 12 Tf -0.036 Tc (Fig) Tj 16.56 0 TD -0.016 Tc (ure) Tj 17.4 0 TD 0 Tc ( ) Tj 6.72 0 TD (2.) Tj 9 0 TD /F0 12 Tf ( ) Tj 6.72 0 TD /F2 12 Tf 0.0264 Tc (Left:) Tj 22.68 0 TD /F0 12 Tf 0 Tc ( ) Tj 6.72 0 TD 0 Tc 3.7558 Tw (Mean score achieved by the fittest agent starting from various initial) Tj 0 Tc -0.12 Tw ( ) Tj -85.8 -13.8 TD 0.0037 Tc 2.9962 Tw (positions, with standard deviation.) Tj 0 Tc 0 Tw ( ) Tj 180.12 0 TD /F2 12 Tf 0.02 Tc (Right:) Tj 30.12 0 TD /F0 12 Tf 0 Tc ( ) Tj 6 0 TD 0.0084 Tc 3.0066 Tw (Mean score by the fittest agent but this time) Tj 0 Tc 0 Tw ( ) Tj -216.24 -13.8 TD -0.0033 Tc 0.0033 Tw (interacting with non) Tj 96.6 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0014 Tc 0.0014 Tw (responsive, recorded movements obtained from the original trials.) Tj 316.32 0 TD 0 Tc 0 Tw ( ) Tj -416.88 -25.8 TD ( ) Tj 0 -13.8 TD 0 Tc 3.2581 Tw (In order to demonstrate the general robustness of the evolved agents under this initial) Tj 0 Tc 0 Tw ( ) Tj T* -0.0087 Tc 0.3387 Tw (condition, we ran another set of trials with agent \221up\222 starting from position 11 while varying ) Tj T* 0.0046 Tc 3.3554 Tw (noise levels. The motor noise was varied while ) Tj 3.384 Tc 0 Tw (t) Tj 258.72 0 TD 0.0015 Tc 3.3825 Tw (he sensor noise remained constant at) Tj 0 Tc 0 Tw ( ) Tj -258.72 -13.8 TD 0 Tc 0.1379 Tw (evolutionary strength \(5%\), and sensor noise was varied while motor noise remained constant ) Tj 0 -13.8 TD -0.036 Tc 0 Tw (\() Tj 3.96 0 TD /F2 12 Tf 0.012 Tc (s) Tj 5.88 5.52 TD /F2 8.04 Tf 0.06 Tc (2) Tj 4.08 -5.52 TD /F0 12 Tf 0 Tc ( ) Tj 3.36 0 TD 0.012 Tc 0.324 Tw (= 0.05\). At each noise level we tested the agents ) Tj 238.92 0 TD 0.0056 Tc 0.3544 Tw (for 150 trials. As shown in Figure) Tj 164.64 0 TD 0 Tc 0 Tw ( ) Tj 3.36 0 TD 0.0192 Tc 0.1608 Tw (3, the ) Tj -424.2 -13.8 TD 0.0047 Tc 0.4753 Tw (agents are able to cope with a wide range of perturbations. Indeed, their overall performance ) Tj 0 -13.8 TD -0.001 Tc 0.8543 Tw (degrades gracefully until the sensor and motor signals are completely) Tj 340.2 0 TD 0 Tc 0 Tw ( ) Tj 3.84 0 TD -0 Tc 0.8807 Tw (swamped by noise. In) Tj 0 Tc 0.12 Tw ( ) Tj -344.04 -13.8 TD -0.0053 Tc 1.8145 Tw (the case of sensor noise, for example, average performance only approaches 0 just before) Tj 0 Tc -0.12 Tw ( ) Tj ET endstream endobj 45 0 obj 37074 endobj 43 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R /F4 32 0 R >> /ProcSet 2 0 R >> /Contents 44 0 R >> endobj 48 0 obj << /Length 49 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (7) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.36 TD /F0 12 Tf 0 Tc 1.9412 Tw (reaching the 50% mark \(at which point sensory activation becomes completely arbitrary\).) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0035 Tc -0.0035 Tw (This demonstrates that the agents are able to produce hig) Tj 272.88 0 TD -0.0048 Tc 0.0448 Tw (hly robust coordination behavior.) Tj 160.08 0 TD 0 Tc 0 Tw ( ) Tj -432.96 -13.8 TD ( ) Tj 0 -13.8 TD ( ) Tj ET q 88.68 607.68 211.44 107.16 re h W n 1 1 1 rg 88.68 606.84 212.28 108 re f* Q 1 1 1 rg 133.44 642.84 m 133.44 707.04 l 279.48 707.04 l 279.48 642.84 l h f* 0.12 w 1 J 1 j 1 1 1 RG 133.44 642.84 m 133.44 707.04 l 279.48 707.04 l 279.48 642.84 l 133.44 642.84 l S 133.44 642.72 0.24 0.24 re f 0.298 0.298 0.298 RG 133.44 642.84 m 279.48 642.84 l S 0.302 0.302 0.302 rg 279.48 642.72 0.24 0.24 re f 133.44 642.84 m 133.44 707.04 l S 133.44 706.92 0.24 0.24 re f 133.44 642.84 m 133.44 639.96 l S 133.44 639.84 0.24 0.24 re f BT 0.9934 0 0 1 131.52 629.04 Tm /F4 8.756 Tf -0.0366 Tc (0) Tj ET 161.76 642.84 m 161.76 639.96 l S 161.76 639.84 0.24 0.24 re f BT 0.9934 0 0 1 155.88 629.04 Tm (0) Tj 0.5765 Tc (.5) Tj ET 189.96 642.84 m 189.96 639.96 l S 189.96 639.84 0.24 0.24 re f BT 0.9934 0 0 1 188.04 629.04 Tm -0.0366 Tc (1) Tj ET 219.12 642.84 m 219.12 639.96 l S 219.12 639.84 0.24 0.24 re f BT 0.9934 0 0 1 213.36 629.04 Tm (1) Tj 0.5765 Tc (.5) Tj ET 247.44 642.84 m 247.44 639.96 l S 247.44 639.84 0.24 0.24 re f BT 0.9934 0 0 1 245.4 629.04 Tm -0.0366 Tc (2) Tj ET 276.6 642.84 m 276.6 639.96 l S 276.6 639.84 0.24 0.24 re f BT 0.9934 0 0 1 270.72 629.04 Tm 0.3318 Tc (2.5) Tj ET 133.44 642.84 m 130.56 642.84 l S 130.56 642.72 0.24 0.24 re f BT 0.9934 0 0 1 121.8 640.8 Tm -0.0366 Tc (0) Tj ET 133.44 659.4 m 130.56 659.4 l S 130.56 659.28 0.24 0.24 re f BT 0.9934 0 0 1 112.08 657.24 Tm 0.0439 Tc (100) Tj ET 133.44 675 m 130.56 675 l S 130.56 674.88 0.24 0.24 re f BT 0.9934 0 0 1 112.08 672.84 Tm (200) Tj ET 133.44 691.44 m 130.56 691.44 l S 130.56 691.32 0.24 0.24 re f BT 0.9934 0 0 1 112.08 689.4 Tm (300) Tj ET 133.44 707.04 m 130.56 707.04 l S 130.56 706.92 0.24 0.24 re f BT 0.9934 0 0 1 112.08 705 Tm (400) Tj 0.6 0.6 0.6 RG ET 133.44 700.2 m 133.44 673.92 l S 133.44 700.2 m 134.4 700.2 l S 133.44 673.92 m 134.4 673.92 l S 135.36 699.24 m 135.36 673.92 l S 134.4 699.24 m 137.4 699.24 l S 134.4 673.92 m 137.4 673.92 l S 138.36 698.28 m 138.36 672.96 l S 137.4 698.28 m 140.28 698.28 l S 137.4 672.96 m 140.28 672.96 l S 141.24 695.4 m 141.24 679.8 l S 140.28 695.4 m 143.16 695.4 l S 140.28 679.8 m 143.16 679.8 l S 144.24 696.36 m 144.24 672 l S 143.16 696.36 m 146.16 696.36 l S 143.16 672 m 146.16 672 l S 147.12 695.4 m 147.12 675 l S 146.16 695.4 m 149.04 695.4 l S 146.16 675 m 149.04 675 l S 150 694.44 m 150 675 l S 149.04 694.44 m 151.92 694.44 l S 149.04 675 m 151.92 675 l S 153 694.44 m 153 666.24 l S 151.92 694.44 m 154.92 694.44 l S 151.92 666.24 m 154.92 666.24 l S 155.88 692.4 m 155.88 672 l S 154.92 692.4 m 157.8 692.4 l S 154.92 672 m 157.8 672 l S 158.76 692.4 m 158.76 671.04 l S 157.8 692.4 m 159.72 692.4 l S 157.8 671.04 m 159.72 671.04 l S 161.76 691.44 m 161.76 664.2 l S 159.72 691.44 m 162.72 691.44 l S 159.72 664.2 m 162.72 664.2 l S 164.64 692.4 m 164.64 662.28 l S 162.72 692.4 m 165.6 692.4 l S 162.72 662.28 m 165.6 662.28 l S 167.52 689.52 m 167.52 660.36 l S 165.6 689.52 m 168.48 689.52 l S 165.6 660.36 m 168.48 660.36 l S 170.52 689.52 m 170.52 656.52 l S 168.48 689.52 m 171.48 689.52 l S 168.48 656.52 m 171.48 656.52 l S 173.4 686.64 m 173.4 654.48 l S 171.48 686.64 m 174.36 686.64 l S 171.48 654.48 m 174.36 654.48 l S 176.28 685.68 m 176.28 653.52 l S 174.36 685.68 m 177.24 685.68 l S 174.36 653.52 m 177.24 653.52 l S 179.28 680.76 m 179.28 647.76 l S 177.24 680.76 m 180.24 680.76 l S 177.24 647.76 m 180.24 647.76 l S 182.16 679.8 m 182.16 646.68 l S 180.24 679.8 m 183.12 679.8 l S 180.24 646.68 m 183.12 646.68 l S 184.08 673.92 m 184.08 642.84 l S 183.12 673.92 m 186 673.92 l S 183.12 642.84 m 186 642.84 l S 187.08 672.96 m 187.08 642.84 l S 186 672.96 m 189 672.96 l S 186 642.84 m 189 642.84 l S q 189.84 641.88 0.24 26.28 re h W n 189.96 668.16 m 189.96 641.88 l S Q 189 668.16 m 191.88 668.16 l S 192.84 672 m 192.84 643.8 l S 191.88 672 m 194.76 672 l S 191.88 643.8 m 194.76 643.8 l S q 195.72 641.88 0.24 26.28 re h W n 195.84 668.16 m 195.84 641.88 l S Q 194.76 668.16 m 197.76 668.16 l S q 198.6 641.88 0.24 23.4 re h W n 198.72 665.16 m 198.72 641.88 l S Q 197.76 665.16 m 200.64 665.16 l S q 201.6 641.88 0.24 22.44 re h W n 201.6 664.2 m 201.6 641.88 l S Q 200.64 664.2 m 203.52 664.2 l S q 204.48 641.88 0.24 20.52 re h W n 204.6 662.28 m 204.6 641.88 l S Q 203.52 662.28 m 206.52 662.28 l S q 207.36 641.88 0.24 16.56 re h W n 207.48 658.44 m 207.48 641.88 l S Q 206.52 658.44 m 208.44 658.44 l S q 210.36 641.88 0.24 14.64 re h W n 210.36 656.52 m 210.36 641.88 l S Q 208.44 656.52 m 211.32 656.52 l S q 213.24 641.88 0.24 14.64 re h W n 213.36 656.52 m 213.36 641.88 l S Q 211.32 656.52 m 214.32 656.52 l S q 216.12 641.88 0.24 15.6 re h W n 216.24 657.48 m 216.24 641.88 l S Q 214.32 657.48 m 217.2 657.48 l S q 219.12 641.88 0.24 11.76 re h W n 219.12 653.52 m 219.12 641.88 l S Q 217.2 653.52 m 220.08 653.52 l S q 222 641.88 0.24 14.64 re h W n 222.12 656.52 m 222.12 641.88 l S Q 220.08 656.52 m 223.08 656.52 l S q 224.88 641.88 0.24 13.68 re h W n 225 655.44 m 225 641.88 l S Q 223.08 655.44 m 225.96 655.44 l S q 227.88 641.88 0.24 11.76 re h W n 227.88 653.52 m 227.88 641.88 l S Q 225.96 653.52 m 228.84 653.52 l S q 230.76 641.88 0.24 12.72 re h W n 230.88 654.48 m 230.88 641.88 l S Q 228.84 654.48 m 231.84 654.48 l S q 232.68 641.88 0.24 13.68 re h W n 232.8 655.44 m 232.8 641.88 l S Q 231.84 655.44 m 234.72 655.44 l S 235.68 650.64 m 235.68 642.84 l S 234.72 650.64 m 237.6 650.64 l S 234.72 642.84 m 237.6 642.84 l S q 238.56 641.88 0.24 10.8 re h W n 238.68 652.56 m 238.68 641.88 l S Q 237.6 652.56 m 240.6 652.56 l S q 241.44 641.88 0.24 10.8 re h W n 241.56 652.56 m 241.56 641.88 l S Q 240.6 652.56 m 243.48 652.56 l S 244.44 648.72 m 244.44 642.84 l S 243.48 648.72 m 246.36 648.72 l S 243.48 642.84 m 246.36 642.84 l S q 247.32 641.88 0.24 8.76 re h W n 247.44 650.64 m 247.44 641.88 l S Q 246.36 650.64 m 249.36 650.64 l S q 250.2 641.88 0.24 9.72 re h W n 250.32 651.6 m 250.32 641.88 l S Q 249.36 651.6 m 252.24 651.6 l S 253.2 649.68 m 253.2 642.84 l S 252.24 649.68 m 255.24 649.68 l S 252.24 642.84 m 255.24 642.84 l S q 256.08 641.88 0.24 11.76 re h W n 256.2 653.52 m 256.2 641.88 l S Q 255.24 653.52 m 257.16 653.52 l S q 258.96 641.88 0.24 8.76 re h W n 259.08 650.64 m 259.08 641.88 l S Q 257.16 650.64 m 260.04 650.64 l S 261.96 649.68 m 261.96 642.84 l S 260.04 649.68 m 262.92 649.68 l S 260.04 642.84 m 262.92 642.84 l S q 264.84 641.88 0.24 9.72 re h W n 264.96 651.6 m 264.96 641.88 l S Q 262.92 651.6 m 265.92 651.6 l S q 267.72 641.88 0.24 8.76 re h W n 267.84 650.64 m 267.84 641.88 l S Q 265.92 650.64 m 268.8 650.64 l S q 270.72 641.88 0.24 6.84 re h W n 270.72 648.72 m 270.72 641.88 l S Q 268.8 648.72 m 271.68 648.72 l S 273.72 649.68 m 273.72 642.84 l S 271.68 649.68 m 274.68 649.68 l S 271.68 642.84 m 274.68 642.84 l S q 276.6 641.88 0.24 3.96 re h W n 276.6 645.72 m 276.6 641.88 l S Q 274.68 645.72 m 277.56 645.72 l S 133.44 687.6 m 135.36 686.64 l 138.36 685.68 l 141.24 687.6 l 144.24 684.72 l 150 684.72 l 153 680.76 l 155.88 682.68 l 158.76 681.72 l 161.76 677.88 l 164.64 676.92 l 167.52 675 l 170.52 672.96 l 173.4 670.08 l 176.28 669.12 l 179.28 664.2 l 182.16 663.24 l 184.08 658.44 l 187.08 657.48 l 189.96 654.48 l 192.84 657.48 l 195.84 654.48 l 198.72 652.56 l 201.6 652.56 l 204.6 651.6 l 207.48 649.68 l 210.36 648.72 l 213.36 648.72 l 216.24 649.68 l 219.12 647.76 l 222.12 648.72 l 225 647.76 l 232.8 647.76 l 235.68 646.68 l 241.56 646.68 l 244.44 645.72 l 247.44 646.68 l 256.2 646.68 l 259.08 645.72 l 261.96 645.72 l 264.96 646.68 l 267.84 646.68 l 270.72 645.72 l 273.72 646.68 l 276.6 643.8 l S 0 0 0 RG 133.44 687.6 m 135.36 686.64 l 138.36 685.68 l 141.24 687.6 l 144.24 684.72 l 150 684.72 l 153 680.76 l 155.88 682.68 l 158.76 681.72 l 161.76 677.88 l 164.64 676.92 l 167.52 675 l 170.52 672.96 l 173.4 670.08 l 176.28 669.12 l 179.28 664.2 l 182.16 663.24 l 184.08 658.44 l 187.08 657.48 l 189.96 654.48 l 192.84 657.48 l 195.84 654.48 l 198.72 652.56 l 201.6 652.56 l 204.6 651.6 l 207.48 649.68 l 210.36 648.72 l 213.36 648.72 l 216.24 649.68 l 219.12 647.76 l 222.12 648.72 l 225 647.76 l 232.8 647.76 l 235.68 646.68 l 241.56 646.68 l 244.44 645.72 l 247.44 646.68 l 256.2 646.68 l 259.08 645.72 l 261.96 645.72 l 264.96 646.68 l 267.84 646.68 l 270.72 645.72 l 273.72 646.68 l 276.6 643.8 l S 0 0 0 rg 276.6 643.68 0.24 0.24 re f BT 0.9934 0 0 1 165.6 614.76 Tm /F4 10.7017 Tf -0.0753 Tc 0.0597 Tw (Motor noise level) Tj ET BT 0 0.9934 -1 0 101.52 643.8 Tm -0.0937 Tc 0.018 Tw (Mean fitne) Tj 0.4442 Tc 0 Tw (ss) Tj ET BT 300.12 607.68 TD /F0 12 Tf 0 Tc ( ) Tj ET q 306.12 607.68 211.8 106.44 re h W n 1 1 1 rg 306.12 606.84 212.64 107.28 re f* Q 1 1 1 rg 351 642.96 m 351 706.32 l 497.28 706.32 l 497.28 642.96 l h f* 1 1 1 RG 351 642.96 m 351 706.32 l 497.28 706.32 l 497.28 642.96 l 351 642.96 l S 351 642.84 0.24 0.24 re f 0.298 0.298 0.298 RG 351 642.96 m 497.28 642.96 l S 0.302 0.302 0.302 rg 497.28 642.84 0.24 0.24 re f 351 642.96 m 351 706.32 l S 351 706.2 0.24 0.24 re f 351 642.96 m 351 639.96 l S 351 639.84 0.24 0.24 re f BT 0.9929 0 0 1 349.08 629.16 Tm /F4 8.7757 Tf -0.045 Tc (0) Tj ET 377.28 642.96 m 377.28 639.96 l S 377.28 639.84 0.24 0.24 re f BT 0.9929 0 0 1 372.48 629.16 Tm (10) Tj ET 403.68 642.96 m 403.68 639.96 l S 403.68 639.84 0.24 0.24 re f BT 0.9929 0 0 1 398.76 629.16 Tm 0.0759 Tc (20) Tj ET 429.96 642.96 m 429.96 639.96 l S 429.96 639.84 0.24 0.24 re f BT 0.9929 0 0 1 425.16 629.16 Tm -0.045 Tc (30) Tj ET 457.32 642.96 m 457.32 639.96 l S 457.32 639.84 0.24 0.24 re f BT 0.9929 0 0 1 452.4 629.16 Tm 0.0759 Tc (40) Tj ET 483.6 642.96 m 483.6 639.96 l S 483.6 639.84 0.24 0.24 re f BT 0.9929 0 0 1 478.8 629.16 Tm -0.045 Tc (50) Tj ET 351 642.96 m 348.12 642.96 l S 348 642.84 0.24 0.24 re f BT 0.9929 0 0 1 339.24 640.92 Tm (0) Tj ET 351 659.52 m 348.12 659.52 l S 348 659.4 0.24 0.24 re f BT 0.9929 0 0 1 329.52 657.48 Tm -0.0047 Tc (100) Tj ET 351 675.12 m 348.12 675.12 l S 348 675 0.24 0.24 re f BT 0.9929 0 0 1 329.52 673.08 Tm (200) Tj ET 351 690.72 m 348.12 690.72 l S 348 690.6 0.24 0.24 re f BT 0.9929 0 0 1 329.52 688.68 Tm (300) Tj ET 351 706.32 m 348.12 706.32 l S 348 706.2 0.24 0.24 re f BT 0.9929 0 0 1 329.52 704.28 Tm (400) Tj ET q 351 681.72 0.24 13.92 re h W n 0.6 0.6 0.6 RG 351 695.64 m 351 681.96 l S Q q 351 695.4 1.08 0.24 re h W n 0.6 0.6 0.6 RG 351 695.64 m 351.96 695.64 l S Q q 351 681.72 1.08 0.24 re h W n 0.6 0.6 0.6 RG 351 681.96 m 351.96 681.96 l S Q 0.6 0.6 0.6 RG 352.92 696.6 m 352.92 678.96 l S 351.96 696.6 m 354.84 696.6 l S 351.96 678.96 m 354.84 678.96 l S 355.92 696.6 m 355.92 680.04 l S 354.84 696.6 m 356.88 696.6 l S 354.84 680.04 m 356.88 680.04 l S 358.8 696.6 m 358.8 680.04 l S 356.88 696.6 m 359.76 696.6 l S 356.88 680.04 m 359.76 680.04 l S 360.72 699.48 m 360.72 669.24 l S 359.76 699.48 m 362.64 699.48 l S 359.76 669.24 m 362.64 669.24 l S 363.72 698.52 m 363.72 676.08 l S 362.64 698.52 m 365.64 698.52 l S 362.64 676.08 m 365.64 676.08 l S 366.6 698.52 m 366.6 673.2 l S 365.64 698.52 m 367.56 698.52 l S 365.64 673.2 m 367.56 673.2 l S 369.48 698.52 m 369.48 674.16 l S 367.56 698.52 m 370.44 698.52 l S 367.56 674.16 m 370.44 674.16 l S 371.52 698.52 m 371.52 672.24 l S 370.44 698.52 m 373.44 698.52 l S 370.44 672.24 m 373.44 672.24 l S 374.4 699.48 m 374.4 669.24 l S 373.44 699.48 m 375.36 699.48 l S 373.44 669.24 m 375.36 669.24 l S 377.28 698.52 m 377.28 671.16 l S 375.36 698.52 m 378.24 698.52 l S 375.36 671.16 m 378.24 671.16 l S 380.28 699.48 m 380.28 670.2 l S 378.24 699.48 m 381.24 699.48 l S 378.24 670.2 m 381.24 670.2 l S 382.2 699.48 m 382.2 666.36 l S 381.24 699.48 m 384.12 699.48 l S 381.24 666.36 m 384.12 666.36 l S 385.08 698.52 m 385.08 664.44 l S 384.12 698.52 m 386.16 698.52 l S 384.12 664.44 m 386.16 664.44 l S 388.08 698.52 m 388.08 668.28 l S 386.16 698.52 m 389.04 698.52 l S 386.16 668.28 m 389.04 668.28 l S 390 698.52 m 390 664.44 l S 389.04 698.52 m 391.92 698.52 l S 389.04 664.44 m 391.92 664.44 l S 392.88 698.52 m 392.88 662.4 l S 391.92 698.52 m 394.92 698.52 l S 391.92 662.4 m 394.92 662.4 l S 395.88 698.52 m 395.88 661.44 l S 394.92 698.52 m 396.84 698.52 l S 394.92 661.44 m 396.84 661.44 l S 398.76 698.52 m 398.76 661.44 l S 396.84 698.52 m 399.72 698.52 l S 396.84 661.44 m 399.72 661.44 l S 400.68 698.52 m 400.68 664.44 l S 399.72 698.52 m 402.72 698.52 l S 399.72 664.44 m 402.72 664.44 l S 403.68 697.56 m 403.68 659.52 l S 402.72 697.56 m 404.64 697.56 l S 402.72 659.52 m 404.64 659.52 l S 406.56 697.56 m 406.56 657.6 l S 404.64 697.56 m 407.52 697.56 l S 404.64 657.6 m 407.52 657.6 l S 409.56 697.56 m 409.56 655.56 l S 407.52 697.56 m 410.52 697.56 l S 407.52 655.56 m 410.52 655.56 l S 411.48 696.6 m 411.48 654.6 l S 410.52 696.6 m 413.4 696.6 l S 410.52 654.6 m 413.4 654.6 l S 414.36 695.64 m 414.36 651.72 l S 413.4 695.64 m 415.32 695.64 l S 413.4 651.72 m 415.32 651.72 l S 417.36 694.56 m 417.36 651.72 l S 415.32 694.56 m 418.32 694.56 l S 415.32 651.72 m 418.32 651.72 l S 419.28 694.56 m 419.28 651.72 l S 418.32 694.56 m 421.2 694.56 l S 418.32 651.72 m 421.2 651.72 l S 422.16 695.64 m 422.16 652.68 l S 421.2 695.64 m 424.08 695.64 l S 421.2 652.68 m 424.08 652.68 l S 425.16 692.64 m 425.16 647.76 l S 424.08 692.64 m 426.12 692.64 l S 424.08 647.76 m 426.12 647.76 l S 428.04 694.56 m 428.04 649.8 l S 426.12 694.56 m 429 694.56 l S 426.12 649.8 m 429 649.8 l S q 429.96 642 0.24 45.84 re h W n 429.96 687.84 m 429.96 642 l S Q 429 687.84 m 432 687.84 l S 432.96 692.64 m 432.96 645.84 l S 432 692.64 m 433.92 692.64 l S 432 645.84 m 433.92 645.84 l S q 435.84 642 0.24 45.84 re h W n 435.84 687.84 m 435.84 642 l S Q 433.92 687.84 m 436.8 687.84 l S q 438.72 642 0.24 38.04 re h W n 438.72 680.04 m 438.72 642 l S Q 436.8 680.04 m 439.8 680.04 l S q 440.64 642 0.24 39 re h W n 440.76 681 m 440.76 642 l S Q 439.8 681 m 442.68 681 l S q 443.64 642 0.24 38.04 re h W n 443.64 680.04 m 443.64 642 l S Q 442.68 680.04 m 444.6 680.04 l S q 446.52 642 0.24 30.24 re h W n 446.52 672.24 m 446.52 642 l S Q 444.6 672.24 m 447.6 672.24 l S q 448.44 642 0.24 35.16 re h W n 448.56 677.04 m 448.56 642 l S Q 447.6 677.04 m 450.48 677.04 l S q 451.44 642 0.24 28.32 re h W n 451.44 670.2 m 451.44 642 l S Q 450.48 670.2 m 453.36 670.2 l S q 454.32 642 0.24 28.32 re h W n 454.32 670.2 m 454.32 642 l S Q 453.36 670.2 m 455.4 670.2 l S q 457.2 642 0.24 16.56 re h W n 457.32 658.56 m 457.32 642 l S Q 455.4 658.56 m 458.28 658.56 l S q 459.24 642 0.24 21.48 re h W n 459.24 663.36 m 459.24 642 l S Q 458.28 663.36 m 461.16 663.36 l S q 462.12 642 0.24 14.64 re h W n 462.12 656.64 m 462.12 642 l S Q 461.16 656.64 m 463.2 656.64 l S q 465 642 0.24 12.72 re h W n 465.12 654.6 m 465.12 642 l S Q 463.2 654.6 m 466.08 654.6 l S q 468 642 0.24 8.76 re h W n 468 650.76 m 468 642 l S Q 466.08 650.76 m 468.96 650.76 l S q 469.92 642 0.24 9.72 re h W n 469.92 651.72 m 469.92 642 l S Q 468.96 651.72 m 471.96 651.72 l S q 472.8 642 0.24 7.8 re h W n 472.92 649.8 m 472.92 642 l S Q 471.96 649.8 m 473.88 649.8 l S q 475.8 642 0.24 4.92 re h W n 475.8 646.8 m 475.8 642 l S Q 473.88 646.8 m 476.76 646.8 l S q 477.72 642 0.24 5.88 re h W n 477.84 647.76 m 477.84 642 l S Q 476.76 647.76 m 479.76 647.76 l S q 480.6 642 0.24 7.8 re h W n 480.72 649.8 m 480.72 642 l S Q 479.76 649.8 m 482.64 649.8 l S q 483.6 642 0.24 6.84 re h W n 483.6 648.84 m 483.6 642 l S Q 482.64 648.84 m 484.56 648.84 l S q 351 643.68 132.84 45.12 re h W n 351 688.8 m 352.92 687.84 l 355.92 687.84 l 358.8 688.8 l 360.72 684.84 l 363.72 686.76 l 366.6 685.8 l 371.52 685.8 l 374.4 683.88 l 377.28 684.84 l 380.28 684.84 l 382.2 682.92 l 385.08 681.96 l 388.08 682.92 l 390 681 l 392.88 681 l 395.88 680.04 l 398.76 680.04 l 400.68 681 l 403.68 678 l 406.56 678 l 409.56 676.08 l 411.48 675.12 l 414.36 673.2 l 419.28 673.2 l 422.16 674.16 l 425.16 670.2 l 428.04 672.24 l 429.96 665.4 l 432.96 669.24 l 435.84 665.4 l 438.72 658.56 l 440.76 659.52 l 443.64 658.56 l 446.52 653.64 l 448.56 656.64 l 451.44 652.68 l 454.32 652.68 l 457.32 647.76 l 459.24 649.8 l 462.12 646.8 l 465.12 645.84 l 468 644.88 l 472.92 644.88 l 475.8 643.92 l 477.84 643.92 l 480.72 644.88 l 483.6 643.92 l S Q q 351 643.68 132.84 45.12 re h W n 0 0 0 RG 351 688.8 m 352.92 687.84 l 355.92 687.84 l 358.8 688.8 l 360.72 684.84 l 363.72 686.76 l 366.6 685.8 l 371.52 685.8 l 374.4 683.88 l 377.28 684.84 l 380.28 684.84 l 382.2 682.92 l 385.08 681.96 l 388.08 682.92 l 390 681 l 392.88 681 l 395.88 680.04 l 398.76 680.04 l 400.68 681 l 403.68 678 l 406.56 678 l 409.56 676.08 l 411.48 675.12 l 414.36 673.2 l 419.28 673.2 l 422.16 674.16 l 425.16 670.2 l 428.04 672.24 l 429.96 665.4 l 432.96 669.24 l 435.84 665.4 l 438.72 658.56 l 440.76 659.52 l 443.64 658.56 l 446.52 653.64 l 448.56 656.64 l 451.44 652.68 l 454.32 652.68 l 457.32 647.76 l 459.24 649.8 l 462.12 646.8 l 465.12 645.84 l 468 644.88 l 472.92 644.88 l 475.8 643.92 l 477.84 643.92 l 480.72 644.88 l 483.6 643.92 l S Q 0 0 0 rg 483.6 643.8 0.24 0.24 re f BT 0.9929 0 0 1 379.32 614.76 Tm /F4 10.7259 Tf -0.1564 Tc (Sen) Tj 0.1461 Tc -0.2267 Tw (sor no) Tj 0.0018 Tc -0.0824 Tw (ise level) Tj ET BT 0 0.9929 -1 0 318.96 643.92 Tm -0.1159 Tc 0.1541 Tw (Mean fitne) Tj 0.5551 Tc 0 Tw (ss) Tj ET BT 517.92 607.68 TD /F0 12 Tf 0 Tc ( ) Tj -445.92 -16.8 TD /F1 12 Tf -0.036 Tc (Fig) Tj 16.56 0 TD 0.048 Tc (u) Tj 6.72 0 TD -0.048 Tc (re) Tj 10.56 0 TD 0 Tc ( ) Tj 5.28 0 TD (3.) Tj 9 0 TD /F0 12 Tf ( ) Tj 5.28 0 TD -0.0109 Tc 2.2909 Tw (Robustness to noise: mean fitness score achieved over 150 trials by the fittest) Tj 0 Tc 0 Tw ( ) Tj -53.4 -13.8 TD -0.0023 Tc 0.9708 Tw (evolved agent starting from position 11 for a range of noise levels, with standard deviation.) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0065 Tc 2.1815 Tw (Original noise strength during evolution is 0.05 for motor) Tj 0 Tc 0 Tw ( ) Tj 298.56 0 TD -0.018 Tc 0.018 Tw (\(left\) ) Tj 29.04 0 TD -0.0195 Tc 2.1795 Tw (and 5% for) Tj 57.48 0 TD 0 Tc 0 Tw ( ) Tj 5.16 0 TD 0.0044 Tc 2.1556 Tw (sensor noise) Tj 61.08 0 TD 0 Tc 0 Tw ( ) Tj -451.32 -13.8 TD -0.0086 Tc (\(right\)) Tj 30.48 0 TD 0 Tc (. ) Tj 6.12 0 TD ( ) Tj -25.2 -24 TD /F0 9.96 Tf 0.03 Tw ( ) Tj -11.4 -13.32 TD /F0 12 Tf -0.0084 Tc 0.3444 Tw (Finally, another 150 trials were conducted with agent \221up\222 at position 11 \(under normal noise ) Tj 0 -13.8 TD -0.0041 Tc 1.2133 Tw (conditions\). The movement of agent \221down\222 during the best trial \(score: 321\) was recorded) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0097 Tc 3.9938 Tw (for playback. Another 150 trials were) Tj 199.56 0 TD 0 Tc 0 Tw ( ) Tj 6.96 0 TD -0.002 Tc 3.962 Tw (then run under) Tj 0 Tc 0 Tw ( ) Tj 84.84 0 TD /F2 12 Tf -0.015 Tc (playback) Tj 43.2 0 TD /F0 12 Tf 0 Tc ( ) Tj 6.96 0 TD -0.0063 Tc 3.9663 Tw (conditions: the initial) Tj 0 Tc -0.12 Tw ( ) Tj -341.52 -13.8 TD 0.0018 Tc 0.7262 Tw (conditions reflect those of the recorded best trial run \(agent \221up\222 always starts at position 11) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0042 Tc 1.565 Tw (and with the same initial internal activation\), and the movement of agent \221down\222 replicate) Tj 0 Tc 0 Tw ( ) Tj T* 0.0045 Tc 1.4355 Tw (those which it prod) Tj 96.72 0 TD 0.006 Tc 1.458 Tw (uced during the recording. While the sensorimotor noise for agent \221up\222) Tj 0 Tc 0.12 Tw ( ) Tj -96.72 -13.8 TD 0.0031 Tc 2.5341 Tw (was different during each of these trials, no additional noise was added to the recorded) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0 Tc -0 Tw (movement of agent \221down\222. ) Tj 136.32 0 TD 0 Tc 0 Tw ( ) Tj -136.32 -13.8 TD ( ) Tj 0 -13.8 TD -0 Tc 0.4922 Tw (The results are striking: whereas the original 150 trials of mutual) Tj 0 Tc 0 Tw ( ) Tj 319.68 0 TD -0.009 Tc (\(two) Tj 21.96 0 TD -0.036 Tc (-) Tj 4.08 0 TD 0 Tc 0.3194 Tw (way\) interaction were ) Tj -345.72 -13.8 TD -0.0037 Tc 0.7477 Tw (highly successful \(mean score: 268\), the 150 trials of playback \(one) Tj 332.16 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.0138 Tc 0.8138 Tw (way\) interaction were a) Tj 0 Tc -0.12 Tw ( ) Tj -336.24 -13.8 TD -0.0084 Tc 0.8484 Tw (drastic failure \(mean score: 19\). The severity of this failure is surprising since under normal) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0021 Tc 3.3579 Tw (conditions the active agent is robust ag) Tj 206.76 0 TD 0.0013 Tc 3.3587 Tw (ainst various forms of noise, and able to cope) Tj 0 Tc 0.12 Tw ( ) Tj -206.76 -13.8 TD -0.0032 Tc 0.9731 Tw (effectively with a wide range of initial conditions. Moreover, during the playback condition) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0027 Tc 1.3319 Tw (its \221partner\222 performs what had previously been a highly fit behavioral repertoire. Still, the) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0087 Tc 0.6087 Tw (active agent is unabl) Tj 99.96 0 TD -0.007 Tc 0.595 Tw (e to adapt to the situation of interacting with a non) Tj 247.56 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.003 Tc 0.303 Tw (responsive \221partner\222. ) Tj -351.48 -13.8 TD -0.0066 Tc 0.9596 Tw (It could be argued that this result is unique to the chosen situation. However, this is not the) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0103 Tc 2.0583 Tw (case: when testing agent \221up\222 with each of the original trials we get the same resul) Tj 423.6 0 TD 0.0048 Tc 2.0352 Tw (t \(see) Tj 0 Tc 0.12 Tw ( ) Tj -423.6 -13.8 TD -0.016 Tc 0 Tw (Fig) Tj 15.84 0 TD 0.012 Tc (ure) Tj 15.36 0 TD 0 Tc ( ) Tj 3 0 TD -0.0027 Tc 0.0027 Tw (2, right\).) Tj 41.76 0 TD 0 Tc 0 Tw ( ) Tj -75.96 -13.8 TD ( ) Tj 0 -13.8 TD -0.0057 Tc 0.0057 Tw (3.1 Behavioral analysis) Tj 118.32 0 TD 0 Tc 0 Tw ( ) Tj -118.32 -13.8 TD ( ) Tj 0 -13.8 TD -0.0013 Tc 1.3213 Tw (The behavior of the agents under normal conditions can be broken down conceptually into) Tj 0 Tc 0 Tw ( ) Tj T* 0 Tc 0.3224 Tw (three important aspects: \(i\) localization, \(ii\) alignment, and \(iii\) coordination. We will briefly ) Tj T* -0.0016 Tc 1.5616 Tw (discuss the first) Tj 0 Tc 0 Tw ( ) Tj 82.32 0 TD -0.0113 Tc 1.5713 Tw (two aspects and then focus on the third.) Tj 200.52 0 TD 0 Tc 0 Tw ( ) Tj 4.56 0 TD -0.0113 Tc 1.5713 Tw (The activity during) Tj 0 Tc -0.12 Tw ( ) Tj 99.48 0 TD -0.001 Tc 1.561 Tw (the first time) Tj 0 Tc 0 Tw ( ) Tj -386.88 -13.8 TD -0.0051 Tc 0.0051 Tw (steps of ) Tj 39.96 0 TD -0.008 Tc 0 Tw (the) Tj 14.64 0 TD 0 Tc ( ) Tj 3 0 TD -0.0009 Tc 0.0209 Tw (best trial run is shown in Figure) Tj 152.64 0 TD 0 Tc 0 Tw ( ) Tj 3 0 TD (4.) Tj 9.12 0 TD ( ) Tj -210.96 -13.8 TD ( ) Tj ET endstream endobj 49 0 obj 24419 endobj 46 0 obj << /Type /Page /Parent 47 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R /F4 32 0 R >> /ProcSet 2 0 R >> /Contents 48 0 R >> endobj 54 0 obj << /Length 55 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (8) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj ET q 444.12 0 0 -243.72 75.6 770.04 cm /im2 Do endstream endobj 55 0 obj 172 endobj 52 0 obj << /Type /XObject /Subtype /Image /Name /im2 /Width 532 /Height 291 /BitsPerComponent 4 /ColorSpace [ /Indexed /DeviceRGB 15 51 0 R ] /Length 53 0 R >> stream """"!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!"!!!!!!!!!!!!!!!!"!!!!!!!!!!!""!"!!"!"""!""!!"!"!!!!!!DDDDDDDDDDDDDDDDDDDD!"!!!!!!!!!!!!!!!!!!!!!!!!!!!"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!!!UUUUUUUUUUUUUUUQUUQUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUQUUQU!!UUUUUUQUUUUUUQUUUUQUQUUUUUQUUUQUUUUUUQUUUQUQUUUUQ!!UUQUQUQUQUUUQUUUUQUQ"UUUUUUUQUQUQUQUQUQQUUQUQUUQQUQUQUQQUQQUUQUUUUUUUUUUUUUUUUUUUUUUUQQQ"!!"!!Q!!"""""Q!DQDA"!"!DAAQDADDQDAAAAQ@ADAAQAAAAAQAAAAUAADAADAQUAADADDAA!UUUDAADDDDDDDDDDDADDAADA!DAADDDDDDDADADADDDADADDDDADDDADADDDDDDDD!DDDDDDDADDDADDDDDDDADDDDDDDDADDDDDDADDDDDDDDDDDDDDDDDDDDDDDDDADDDDDDDDDDDDDDDDDDDDDDDDDDADDDDDDDDDDDDDDDDADDDDDADDA!"""DDD@DD@DDD@DDD@!!!!!""""!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!""!"!!"!"""!""!!"!!!"!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!333133"3!!1!!1!!"""!!!!1!!"1333333333333333333331""!"!!1!!!1!!"""!!!1!!!!!!!""113"31!!0""!!!!!!"""11!!11!!331"!!3311"33113131""3130331!!!!3311111!!!!1133331!!!!"""113311111131""!!133331131111311!!!3331133333313113131133131333311311!!!!3133301133103331333330331311111131133131331330333331""3111333333333313331033113113333333133333113333333113313333311131331""""!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!""!"!!"!"""!""!!"!!!"!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!"!!!!!!"""1!!11!!11!!11"111033111111111111111111111111"!!"11!!11!11!"""11""111!111111"!"!111111133333333333333333333111111111111111111111111111111111!111!111!111!"" !!!!!""""!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!""!"!!"!"""!""!!"!!!"!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!!!"!""!!!!!!"""!!!!"!!"""!"!!"!!!!!!""#333333333333333333333333333333333333333333333333333333333333333333333333333333!!!!!!!!!!"""!!!!!!"""!!!!!!"""!"!!!!!!!""#333333333303333303333033333333!!!!!!!!!!"""!!""!!!!!!"""!!!!"!!" endstream endobj 53 0 obj 77406 endobj 51 0 obj << /Length 56 0 R /Filter /ASCII85Decode >> stream !!!$!s8P>L5bOdG^qd`n@"84Wzzzzzzz~> endstream endobj 56 0 obj 34 endobj 57 0 obj << /Length 58 0 R >> stream Q BT 519.72 526.32 TD /F0 12 Tf 0 Tw ( ) Tj 3 0 TD ( ) Tj -450.72 -11.04 TD /F1 12 Tf ( ) Tj 0 -19.56 TD -0.026 Tc (Figure) Tj 33.84 0 TD 0 Tc ( ) Tj 3.96 0 TD (4.) Tj 9 0 TD /F0 12 Tf ( ) Tj 4.2 0 TD -0.0072 Tc 0.9672 Tw (Initial activity) Tj 0 Tc -0.12 Tw ( ) Tj 72.48 0 TD 0.96 Tw (of the two agents) Tj 0 Tw ( ) Tj 89.16 0 TD -0.0021 Tc 0.9754 Tw (during the best trial run. From top to bottom the) Tj 0 Tc -0.12 Tw ( ) Tj -212.64 -13.8 TD 0.0048 Tc 1.4352 Tw (traces show the evolution over time) Tj 178.2 0 TD 0 Tc 0 Tw ( ) Tj 4.44 0 TD 0.0015 Tc 1.4385 Tw (of \(i\) the) Tj 44.88 0 TD 0.054 Tc 0 Tw (ir) Tj 7.44 0 TD 0 Tc ( ) Tj 4.44 0 TD 0.0018 Tc 1.4382 Tw (relative displacement, \(ii\) their noisy input) Tj 0 Tc 0 Tw ( ) Tj -239.4 -13.8 TD -0.0082 Tc 1.4962 Tw (signal and actual sensory contact, \(iii\)) Tj 0 Tc 0 Tw ( ) Tj 193.56 0 TD -0.0074 Tc 1.4874 Tw (their velocity, and \(iv\)) Tj 0 Tc 0 Tw ( ) Tj 116.04 0 TD -0.0017 Tc 1.4417 Tw (the CTRNN node outputs of) Tj 0 Tc -0.12 Tw ( ) Tj -309.6 -13.8 TD -0.0144 Tc 0.0144 Tw (agent \221up\222.) Tj 51.96 0 TD 0 Tc 0 Tw ( ) Tj -40.56 -24 TD /F0 9.96 Tf 0.03 Tw ( ) Tj -11.4 -13.32 TD /F0 12 Tf 0.007 Tc 2.161 Tw (Initially the agents have no knowledge of how their own position relates to that of their) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.024 Tc 0 Tw (pa) Tj 11.28 0 TD -0.0091 Tc 0.5076 Tw (rtner. Moreover, they have no way of gaining that information except when changing their) Tj 0 Tc 0 Tw ( ) Tj -11.28 -13.8 TD -0.0068 Tc 3.8268 Tw (sensory input by engaging in movement. However, it turns out that one stereotypical) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0037 Tc 0.7237 Tw (behavioral pattern is sufficient to solve the non) Tj 230.52 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0157 Tc 0.7357 Tw (trivial problem of reliable local) Tj 152.52 0 TD -0.0051 Tc 0.7251 Tw (ization. First,) Tj 0 Tc -0.12 Tw ( ) Tj -387 -13.8 TD -0.0115 Tc 0.8515 Tw (each agent moves rightwards for a few units of time, and then starts moving leftwards. This) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0056 Tc 1.0856 Tw (sweeping behavior usually takes up to 5 units of time and under evolved conditions always) Tj 0 Tc 0 Tw ( ) Tj T* -0.0082 Tc 0.7609 Tw (enables the agents to locate each other. In the case of ne) Tj 276.6 0 TD -0.0084 Tc 0.7584 Tw (gative initial displacement they will) Tj 0 Tc -0.12 Tw ( ) Tj -276.6 -13.8 TD 0.0067 Tc 0.9532 Tw (encounter each other during their rightward sweep; otherwise they will cross their positions) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.002 Tc 1.9329 Tw (during their leftward return. Interestingly, the agents always end up with positive) Tj 0 Tc 0 Tw ( ) Tj 414.96 0 TD /F2 12 Tf -0.0375 Tc (relative) Tj 36.36 0 TD /F0 12 Tf 0 Tc ( ) Tj -451.32 -13.8 TD -0.0025 Tc 3.4825 Tw (displacement after their initial) Tj 154.8 0 TD 0 Tc 0 Tw ( ) Tj 6.48 0 TD -0.003 Tc 3.4659 Tw (localization. With this clever maneuver the agents have) Tj 0 Tc 0 Tw ( ) Tj -161.28 -13.8 TD -0.0074 Tc 3.7274 Tw (significantly reduced the complexity of their coordination task: while sensory input is) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0077 Tc 4.4415 Tw (ambiguous \(there is no indication about the direction or speed of the other agent\222s) Tj 0 Tc 0 Tw ( ) Tj T* -0.0131 Tc 0.2051 Tw (movement\), it has now been ) Tj 139.56 0 TD /F2 12 Tf -0.024 Tc 0 Tw (co) Tj 11.28 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.003 Tc (arranged) Tj 44.64 0 TD /F0 12 Tf 0 Tc ( ) Tj 3.24 0 TD -0.0106 Tc 0.2266 Tw (as a \221touching on the left\222 indicator! This change of ) Tj -202.68 -13.8 TD -0.0042 Tc 0.0042 Tw (the sensory meaning is possible because the ) Tj 213.48 0 TD 0.0264 Tc -0.0264 Tw (CTRNN ) Tj 43.8 0 TD -0.0036 Tc 0.0336 Tw (controllers are not symmetric. ) Tj 147 0 TD 0 Tc 0 Tw ( ) Tj -404.28 -13.8 TD ( ) Tj 0 -13.8 TD -0.0108 Tc 0.7308 Tw (How does the) Tj 0 Tc 0 Tw ( ) Tj 71.04 0 TD -0.0072 Tc 0.0072 Tw (final ) Tj 25.68 0 TD -0.0044 Tc 0.7377 Tw (oscillatory coordination pattern emerge out of the relative movements of) Tj 0 Tc 0 Tw ( ) Tj -96.72 -13.8 TD -0.0046 Tc 2.1646 Tw (the agents? Bef) Tj 78.24 0 TD 0.01 Tc 2.1592 Tw (ore analyzing the behavior of the agents in more detail it is necessary to) Tj 0 Tc 0.12 Tw ( ) Tj -78.24 -13.8 TD -0.0039 Tc 0.9749 Tw (briefly describe the evolved CTRNN controller. Most importantly, the sensory input excites) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0075 Tc 1.1046 Tw (all of the nodes with a gain of) Tj 0 Tc 0 Tw ( ) Tj 154.56 0 TD /F2 12 Tf (S) Tj 6 0 TD /F0 12 Tf ( ) Tj 4.08 0 TD -0.012 Tc 1.092 Tw (= 10.) Tj 25.8 0 TD 0 Tc 0 Tw (9) Tj 6 0 TD -0.0026 Tc 1.1093 Tw (, and the right output gain \(44.5\) is almost twice) Tj 240.84 0 TD 0 Tc 0 Tw ( ) Tj 4.08 0 TD -0.018 Tc 0.018 Tw (as ) Tj -441.36 -13.8 TD -0.0138 Tc 0.4938 Tw (high as the left output gain \(24.9\). The two motor nodes are inhibited by the non) Tj 391.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.004 Tc 0.244 Tw (motor node ) Tj -395.88 -13.8 TD 0 Tc 0.9958 Tw (and they also inhibit each other while hardly affecting the non) Tj 307.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0204 Tc 0.9396 Tw (motor node.) Tj 0 Tc 0 Tw ( ) Tj 63.12 0 TD -0.013 Tc 1.093 Tw (As an example,) Tj 0 Tc -0.12 Tw ( ) Tj -375 -13.8 TD 0.0032 Tc 0.2477 Tw (we can see that the output of the right motor node \() Tj 248.16 0 TD /F2 12 Tf 0.012 Tc 0 Tw (z) Tj 4.68 -1.56 TD /F2 8.04 Tf 0.06 Tc (3) Tj 4.08 1.56 TD /F0 12 Tf -0.0164 Tc 0.2564 Tw (\) of agent \221up) Tj 65.52 0 TD -0.0024 Tc 0.1944 Tw (\222 starts to slightly decrease ) Tj -322.44 -13.8 TD -0.006 Tc 1.326 Tw (just before time) Tj 0 Tc 0 Tw ( ) Tj 82.2 0 TD /F2 12 Tf 0.024 Tc (t) Tj 3.36 0 TD /F0 12 Tf 0 Tc ( ) Tj 4.32 0 TD -0.013 Tc 1.333 Tw (= 8, due to lack of sensory stimulation. This shift in velocity entails that) Tj 0 Tc 0 Tw ( ) Tj -89.88 -13.8 TD 0 Tc 0.3998 Tw (agent \221down\222 catches up with agent \221up\222 and they remain in contact \() Tj 334.92 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.36 0 TD 0.288 Tw (= 1\) until just before ) Tj 103.56 0 TD /F2 12 Tf 0.024 Tc 0 Tw (t) Tj 3.24 0 TD /F0 12 Tf 0 Tc ( ) Tj -451.32 -13.8 TD 0 Tc 1.7996 Tw (= 9. During this contact agent \221up) Tj 172.68 0 TD 0.0057 Tc 1.7943 Tw (\222 regains its previous rightward velocity due to sensory) Tj 0 Tc -0.12 Tw ( ) Tj ET endstream endobj 58 0 obj 6668 endobj 50 0 obj << /Type /Page /Parent 47 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R >> /XObject << /im2 52 0 R >> /ProcSet 2 0 R >> /Contents [ 54 0 R 57 0 R ] >> endobj 60 0 obj << /Length 61 0 R >> stream BT 518.28 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (9) Tj 5.04 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.36 TD /F0 12 Tf -0.0064 Tc 2.6464 Tw (stimulation. After separating again ) Tj 2.604 Tc 0 Tw (\() Tj 184.08 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 5.64 0 TD -0.0117 Tc 2.6517 Tw (= 0\) the firing of the left motor node goes down) Tj 0 Tc 0 Tw ( ) Tj -195.96 -13.8 TD -0 Tc 2.2899 Tw (followed by the right motor node which eventually leads to the behavioral pattern being) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0034 Tc 0.6034 Tw (reinitiated. According) Tj 105.72 0 TD -0.0046 Tc 0.6155 Tw (ly, agent \221up\222 should be able to engage with a playback recording.) Tj 0 Tc 0 Tw ( ) Tj 327 0 TD -0.02 Tc 0.02 Tw (The ) Tj -432.72 -13.8 TD -0.0092 Tc 0.0092 Tw (activity during the ) Tj 90.84 0 TD /F2 12 Tf -0 Tc 0 Tw (playback) Tj 43.32 0 TD /F0 12 Tf 0 Tc ( ) Tj 3 0 TD -0.0024 Tc 0.0264 Tw (trial run is shown in Fig) Tj 114.96 0 TD 0.012 Tc 0 Tw (ure) Tj 15.36 0 TD 0 Tc ( ) Tj 3 0 TD (5.) Tj 9.12 0 TD ( ) Tj -279.6 -13.8 TD ( ) Tj 0 -13.8 TD ( ) Tj ET q 466.32 0 0 -244.08 72 687.24 cm /im3 Do endstream endobj 61 0 obj 1263 endobj 63 0 obj << /Type /XObject /Subtype /Image /Name /im3 /Width 555 /Height 290 /BitsPerComponent 4 /ColorSpace [ /Indexed /DeviceRGB 15 62 0 R ] /Length 64 0 R >> stream """"!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!"!!!!!!!!!!!!!!!!"!!!!!!!!!!!""!"!!"!"""!""!!"!"!!!!!!DDDDDDDDDDDDDDDDDDDD!"!!!!!!!!!!!!!!!!!!!!!!!!!!!"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!!!UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUQ!!QUQUUUUQUUUUUUU!!UUUQQUUUUQUQDDA"UUUUUUQUUUQUUUUUUUUUQUQUQDDDDDUUQUUUUQQQDDDQUQQQQDDDDDAUQQUDQUUQQDDDAQUDDUUUUUUUUUUUUUUUUUUUUQQUQDQUQUQDAQQUUQDAQQUQDAQQUD"!!"QUA!!UQQA!QQQDA!"""QA""QUQA!UDAQAUQD"!"!DAUQAQDUUAADAUQQDDQAAAUQDDQAADAUAAAAADAUUUQAAAQADAADADAUDADDDAADDD@DADADDQDADDAADDD@ADDQDADDDA!UUQDADDD!DADDDDD!DDDDDDDDDDDDDDDDADDDDDDA!"""D@DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDD!!!!!""""!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!""!"!!"!"""!""!!"!!!"!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" """"!333133"3!!1!!1!!"""!!!!1!!"1333333333333333333331""!"!!1!!!1!!"" !!!1!!!!!!!""113"31!!1""!!!!!!"""11!!11!!331"!!3311"33113130""3131330!!!!3311111!!!!1133331!!!!"""113311111131""!!133331131111311!!!3331133333313113131133131333311311!!!!3133311133113331333331331311111131133131331331333331""3111333333333313331133113113333333133333113333333113313333311131331""""!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!""!"!!"!"""!""!!"!!!"!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!"!!!!!!"""111!!11111111!!11111111!!11111111"1111111111331111111111111111111111111"!!"111111111!!111111111!111111111!"""111111111""11111111111!1111111111111111111111"!"!11111111111111113333333333333333333311111111111111111111111111111111111331111111!1111111!1111111!1111111!"" 1111!!!!!""""!!""""!!"!!!""!!"!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!""!!!!!!!!!!!!!""""!"!!!!!!!!"!!!!!!!!!!!!!!!!!!!!!!!!"!!!!!!!!!!!!!!!!""!"!!"!"""!""!!"!!!"!"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!!!"!""!!!!!!"""!!!!"!!"""!"!!"!!!!!!""#333333333333333333333333333333333330333333333333333333333333333333333333333333!!!!!!!!!!"""!!!!!!"""!!!!!!"""!"!!!!!!!""#333333333330033333333333333333333333333333333333333333333333333333333333333!!!!!!!!!!"""!!""!!!!!!"""!!!!"!!" endstream endobj 64 0 obj 80620 endobj 62 0 obj << /Length 65 0 R /Filter /ASCII85Decode >> stream !!!$!s8P>L5bOdG^qd`n@"84Wzzzzzzz~> endstream endobj 65 0 obj 34 endobj 66 0 obj << /Length 67 0 R >> stream Q BT 538.32 443.16 TD ( ) Tj -466.32 -11.04 TD /F1 12 Tf ( ) Tj 0 -19.56 TD -0.036 Tc (Fig) Tj 16.56 0 TD -0.016 Tc (ure) Tj 17.4 0 TD 0 Tc ( ) Tj 3.24 0 TD (5.) Tj 9 0 TD /F0 12 Tf ( ) Tj 3.36 0 TD -0.0131 Tc 0.2531 Tw (Initial activity during a ) Tj 114.24 0 TD /F2 12 Tf -0 Tc 0 Tw (playback) Tj 43.32 0 TD /F0 12 Tf 0 Tc ( ) Tj 3.24 0 TD 0.0112 Tc 0.1688 Tw (trial run in which ) Tj 87.12 0 TD 0.0048 Tc 0.2352 Tw (the movements of agent \221down\222 ) Tj -297.48 -13.8 TD -0.042 Tc 0 Tw (ar) Tj 9.24 0 TD -0.0128 Tc 0.2768 Tw (e the same as in Fig) Tj 96 0 TD 0.012 Tc 0 Tw (ure) Tj 15.48 0 TD 0 Tc ( ) Tj 3.24 0 TD -0.014 Tc 0.254 Tw (4. From) Tj 38.16 0 TD 0 Tc 0 Tw ( ) Tj 3.24 0 TD -0.0066 Tc 0.2266 Tw (top to bottom the traces show the evolution over time of \(i\) ) Tj -165.36 -13.8 TD 0.0065 Tc 2.5227 Tw (the relative displacement between the agents, \(ii\) their noisy input signal and the actual) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0052 Tc 0.4919 Tw (moments of sensory contact, \(iii\) their velocities, and \(iv\) the CTRNN node outputs of agent) Tj 0 Tc 0 Tw ( ) Tj T* -0.0144 Tc 0.0144 Tw (\221up\222. ) Tj 26.04 0 TD 0 Tc 0 Tw ( ) Tj -26.04 -25.8 TD ( ) Tj 0 -13.8 TD 0 Tc -0 Tw (At ) Tj 17.04 0 TD -0.0117 Tc 2.0517 Tw (first the \221live\222 agent aligns itself with the \221playback\222 agent as in the original situation) Tj 0 Tc -0.12 Tw ( ) Tj -17.04 -13.8 TD 0.039 Tc 0 Tw (\(Fig) Tj 19.92 0 TD -0.028 Tc (ure) Tj 15.24 0 TD 0 Tc ( ) Tj 5.76 0 TD 0.0019 Tc 2.7581 Tw (4\). During mutual \(two) Tj 119.64 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0055 Tc 2.7826 Tw (way\) interaction agent \221down\222 would always respond to) Tj 0 Tc 0 Tw ( ) Tj -164.52 -13.8 TD -0.0064 Tc 1.9482 Tw (contact by moving away slightly. However, in the playback situation this co) Tj 385.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.012 Tc (regul) Tj 24.6 0 TD -0.012 Tc 1.932 Tw (ation is) Tj 0 Tc -0.12 Tw ( ) Tj -414.48 -13.8 TD -0.0069 Tc 3.4869 Tw (prevented from occurring. Accordingly, every encounter results in a slight decrease of) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0088 Tc 0.1032 Tw (relative displacement between the two agents, thereby in turn making it more likely that there ) Tj T* -0.0108 Tc 1.828 Tw (will be another sensory stimulation. Up to about) Tj 0 Tc -0.12 Tw ( ) Tj 248.4 0 TD /F2 12 Tf 0.024 Tc 0 Tw (t) Tj 3.36 0 TD /F0 12 Tf 0 Tc ( ) Tj 4.8 0 TD -0.036 Tc 1.836 Tw (= 3, agent \221up) Tj 71.76 0 TD -0.0146 Tc 1.8146 Tw (\222 is still able to partially) Tj 0 Tc -0.36 Tw ( ) Tj -328.32 -13.8 TD 0.0025 Tc 3.2461 Tw (regulate this displacement on its own by adjusting the output of its right motor node.) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.006 Tc 1.698 Tw (However, from that point onwards the right motor node saturates at) Tj 0 Tc 0 Tw ( ) Tj 344.88 0 TD /F2 12 Tf 0.012 Tc (z) Tj 4.68 -1.56 TD /F2 8.04 Tf 0.06 Tc (3) Tj 4.08 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 4.56 0 TD 0 Tc 1.6793 Tw (= 1, and thereafter) Tj 0 Tc 0.12 Tw ( ) Tj -358.2 -13.8 TD -0.0008 Tc 2.9048 Tw (remains unaffected by further sensory stimulation.) Tj 256.44 0 TD 0 Tc 0 Tw ( ) Tj 5.88 0 TD -0.0022 Tc 2.8822 Tw (Finally, at around) Tj 0 Tc 0 Tw ( ) Tj 96.6 0 TD /F2 12 Tf 0.024 Tc (t) Tj 3.48 0 TD /F0 12 Tf 0 Tc ( ) Tj 5.88 0 TD -0.0028 Tc 2.8828 Tw (= 6 the positive) Tj 0 Tc 0 Tw ( ) Tj -368.28 -13.8 TD 0 Tc 4.1994 Tw (feedback loop between) Tj 0 Tc 0.12 Tw ( ) Tj 126.24 0 TD -0.012 Tc -0.108 Tw (increasing ) Tj 56.4 0 TD 0 Tc 4.1995 Tw (sensory stimulation and mounting leftward velocity) Tj 0 Tc -0.12 Tw ( ) Tj -182.64 -13.8 TD -0 Tc 0.568 Tw (becomes unstable in such a way that recovery from breakdown is impossible. The live agent ) Tj 0 -13.8 TD -0.001 Tc 0.001 Tw (falls behind the playback agent, and heads ) Tj 205.92 0 TD 0.0031 Tc -0.0031 Tw (in the opposite direction.) Tj 119.4 0 TD 0 Tc 0 Tw ( ) Tj -325.32 -13.8 TD ( ) Tj 0 -13.8 TD 0.0057 Tc 2.7636 Tw (Why does this breakdown of coordination not occur when both agents engage in \221live\222) Tj 0 Tc 0.12 Tw ( ) Tj T* 0.0042 Tc 3.1158 Tw (interaction? The simple answer provided by this model is that) Tj 324.72 0 TD 0 Tc 0 Tw ( ) Tj 6.12 0 TD -0.008 Tc (the) Tj 14.64 0 TD 0 Tc ( ) Tj 6.12 0 TD /F2 12 Tf 0.0073 Tc 3.1127 Tw (stability of ongoing) Tj 0 Tc -0.12 Tw ( ) Tj -351.6 -13.8 TD 0.0014 Tc 3.5086 Tw (coordination requires mutuality of interaction) Tj 235.44 0 TD /F0 12 Tf -0.0027 Tc 3.4827 Tw (. After the) Tj 55.92 0 TD 0 Tc 0 Tw ( ) Tj 6.48 0 TD 0.0042 Tc 3.5058 Tw (initial alignment we find that) Tj 0 Tc 0 Tw ( ) Tj -297.84 -13.8 TD -0.005 Tc 4.1 Tw (coordinated movement in one direction consists of continuous co) Tj 345.12 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0078 Tc 4.0878 Tw (regulated oscillatory) Tj 0 Tc -0.24 Tw ( ) Tj -349.08 -13.8 TD -0.0037 Tc 2.8937 Tw (behavior. Agents control their respective velocities such that they cross their sensors at) Tj 0 Tc -0.12 Tw ( ) Tj ET endstream endobj 67 0 obj 5140 endobj 59 0 obj << /Type /Page /Parent 47 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R >> /XObject << /im3 63 0 R >> /ProcSet 2 0 R >> /Contents [ 60 0 R 66 0 R ] >> endobj 69 0 obj << /Length 70 0 R >> stream BT 513.36 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (10) Tj 9.96 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.36 TD /F0 12 Tf 0.0035 Tc 2.1565 Tw (relatively regular intervals. This) Tj 0 Tc 0 Tw ( ) Tj 165.72 0 TD -0.0093 Tc 0.0093 Tw (iterative ) Tj 44.52 0 TD -0.042 Tc 0 Tw (re) Tj 9.36 0 TD -0.0044 Tc 2.2044 Tw (action chain constitutes ) Tj 2.112 Tc 0 Tw (a) Tj 127.44 0 TD 0 Tc (n) Tj 6 0 TD ( ) Tj 5.28 0 TD -0.0137 Tc -0.1063 Tw (ongoing ) Tj 44.4 0 TD 0.0133 Tc 2.1467 Tw (pattern of) Tj 0 Tc 0.12 Tw ( ) Tj -402.72 -13.8 TD -0.003 Tc 0 Tw (turn) Tj 19.32 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0.003 Tc 0.7497 Tw (taking; noise perturbations get amplified in a way that requires continuous co) Tj 379.44 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0013 Tc 0.0013 Tw (regulated ) Tj -406.68 -13.8 TD -0.042 Tc 0 Tw (re) Tj 9.24 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0008 Tc 0.0008 Tw (establishment of the interaction ) Tj 153.96 0 TD -0.012 Tc 0.092 Tw (\(Ikegami & Iizuka 2007\)) Tj 119.64 0 TD 0 Tc 0 Tw (.) Tj 3.12 0 TD ( ) Tj -289.92 -13.8 TD ( ) Tj 0 -13.8 TD -0.006 Tc 0.006 Tw (3.2 Dynamical analysis) Tj 118.32 0 TD 0 Tc 0 Tw ( ) Tj -118.32 -13.8 TD ( ) Tj 0 -13.8 TD -0.0117 Tc 0.9888 Tw (Can we account for the oscillating pattern in) Tj 0 Tc 0 Tw ( ) Tj 223.32 0 TD -0.0023 Tc 0.9451 Tw (dynamical terms? Since the output of the non) Tj 224.16 0 TD -0.036 Tc 0 Tw (-) Tj -447.48 -13.8 TD -0.004 Tc 0.304 Tw (motor node ) Tj 59.16 0 TD /F2 12 Tf 0.012 Tc 0 Tw (z) Tj 4.68 -1.56 TD /F2 8.04 Tf 0.06 Tc (1) Tj 4.08 1.56 TD /F2 12 Tf -0.162 Tc (\(y) Tj 9.12 -1.56 TD /F2 8.04 Tf 0.06 Tc (1) Tj 4.2 1.56 TD /F2 12 Tf -0.036 Tc (\)) Tj 3.84 0 TD /F0 12 Tf 0 Tc ( ) Tj 3.72 0 TD -0.0041 Tc 0.6298 Tw (= 1 during coordination, it can be treated as a fixed parameter. The rest of) Tj 0 Tc 0.12 Tw ( ) Tj -88.8 -13.8 TD 0.0032 Tc 0.0368 Tw (the system consists only of the two motor nodes. The parameters are ) Tj 332.16 0 TD /F2 12 Tf 0.024 Tc 0 Tw (t) Tj 4.32 -1.56 TD /F2 8.04 Tf 0.06 Tc (2) Tj 4.08 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3 0 TD 0.0144 Tc -0.0144 Tw (= 1.6, ) Tj 30.84 0 TD /F2 12 Tf 0 Tc 0 Tw (b) Tj 6 -1.56 TD /F2 8.04 Tf 0.06 Tc (2) Tj 4.08 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3 0 TD 0.0144 Tc 0.0456 Tw (= 2.6, ) Tj 30.84 0 TD /F2 12 Tf 0.036 Tc 0 Tw (w) Tj 8.04 -1.56 TD /F2 8.04 Tf 0.06 Tc (12) Tj 8.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3 0 TD -0.048 Tc 0.048 Tw (= ) Tj 9.72 0 TD -0.036 Tc 0 Tw (-) Tj -447.24 -13.8 TD 0 Tc (3.7, ) Tj 21.12 0 TD /F2 12 Tf 0.036 Tc (w) Tj 8.04 -1.56 TD /F2 8.04 Tf 0.06 Tc (22) Tj 8.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD -0.0096 Tc 0.0696 Tw (= 1.0, ) Tj 30.96 0 TD /F2 12 Tf 0.036 Tc 0 Tw (w) Tj 8.04 -1.56 TD /F2 8.04 Tf 0.06 Tc (32) Tj 8.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD -0.048 Tc (=) Tj 6.72 0 TD 0 Tc ( ) Tj 3.12 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0069 Tc 0.0669 Tw (7.9, and ) Tj 41.52 0 TD /F2 12 Tf 0.024 Tc 0 Tw (t) Tj 4.32 -1.56 TD /F2 8.04 Tf 0.06 Tc (3) Tj 4.08 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD 0.0144 Tc 0.1056 Tw (= 1.1, ) Tj 31.08 0 TD /F2 12 Tf 0 Tc 0 Tw (b) Tj 6 -1.56 TD /F2 8.04 Tf 0.06 Tc (3) Tj 4.08 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD 0.0144 Tc 0.1056 Tw (= 2.9, ) Tj 31.08 0 TD /F2 12 Tf 0.036 Tc 0 Tw (w) Tj 8.04 -1.56 TD /F2 8.04 Tf 0.06 Tc (13) Tj 8.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD -0.048 Tc 0.048 Tw (= ) Tj 9.84 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (5.8, ) Tj 21.12 0 TD /F2 12 Tf 0.036 Tc (w) Tj 8.04 -1.56 TD /F2 8.04 Tf 0.06 Tc (23) Tj 8.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD -0.048 Tc 0.048 Tw (= ) Tj 9.84 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (5.8, ) Tj 21.12 0 TD /F2 12 Tf 0.036 Tc (w) Tj 8.04 -1.56 TD /F2 8.04 Tf 0.06 Tc (33) Tj 8.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD -0.0096 Tc 0.0696 Tw (= 2.3. ) Tj 31.08 0 TD -0.0022 Tc 0.0822 Tw (If agents are ) Tj -391.8 -13.8 TD -0.0009 Tc 0.2609 Tw (not in contact with each other \() Tj 150.6 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.24 0 TD -0.0067 Tc 0.2248 Tw (= 0\), there is a globally attracting stable equilibrium point at ) Tj -160.08 -13.8 TD -0.036 Tc 0 Tw (\() Tj 3.96 0 TD (-) Tj 3.96 0 TD 0 Tc (3.4, ) Tj 21.36 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.013 Tc 0.373 Tw (7.5\). Being in this state effectively slows down rightward velocity.) Tj 322.68 0 TD 0 Tc 0 Tw ( ) Tj 3.48 0 TD -0.009 Tc 0.279 Tw (Because of this the ) Tj -359.4 -13.8 TD -0.0011 Tc 0.0251 Tw (agents eventually make contact. When ) Tj 188.04 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.12 0 TD 0.0104 Tc 0 Tw (= 1 the equilibrium point is shifted to \(0.3, 1.9\). This ) Tj -197.4 -13.8 TD -0.0084 Tc 0.0384 Tw (effectively speeds up the rightward velocity of the agent.) Tj 272.88 0 TD 0 Tc 0 Tw ( ) Tj -272.88 -13.8 TD ( ) Tj 0 -13.8 TD -0.003 Tc 1.923 Tw (Interestingly, under normal conditions the dynamical system never reaches eith) Tj 397.68 0 TD -0.02 Tc 1.94 Tw (er of these) Tj 0 Tc 0 Tw ( ) Tj -397.68 -13.8 TD 0.0051 Tc 3.2349 Tw (two equilibrium points, because their existence is made transitory through the ongoing) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0285 Tc (interact) Tj 35.88 0 TD -0.0008 Tc 1.5608 Tw (ion. This is illustrated in Figure) Tj 159.12 0 TD 0 Tc 0 Tw ( ) Tj 4.56 0 TD 0.0049 Tc 1.5551 Tw (6 \(left\) in terms of the motor node firing rates for) Tj 0 Tc 0.12 Tw ( ) Tj -199.56 -13.8 TD -0.0045 Tc 0.3754 Tw (agent \221up\222 over a whole run \(50 units of time\). The trajectory) Tj 0 Tc -0.24 Tw ( ) Tj 300.48 0 TD -0.0017 Tc 0.3917 Tw (settles down into an oscillatory) Tj 0 Tc -0.12 Tw ( ) Tj -300.48 -13.8 TD -0.0129 Tc 1.4529 Tw (pattern that traces the corner near point \(0, 1\), in the middle of the two equilibrium points) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0027 Tc 1.3527 Tw (\(located at \(0.95, 1\) when) Tj 0 Tc 0 Tw ( ) Tj 132.96 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 4.32 0 TD 0.0048 Tc 1.3152 Tw (= 1, and at \(0.30, 0\) when) Tj 0 Tc 0 Tw ( ) Tj 136.08 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 4.32 0 TD 0.0021 Tc 1.3379 Tw (= 0\). The state trajectory for the) Tj 0 Tc 0.12 Tw ( ) Tj -290.16 -13.8 TD -0.0074 Tc 2.0474 Tw (playback situation of the same run) Tj 174.96 0 TD 0 Tc 0 Tw ( ) Tj 5.04 0 TD -0.012 Tc 2.052 Tw (is displayed in Figure) Tj 109.56 0 TD 0 Tc 0 Tw ( ) Tj 5.04 0 TD -0.0083 Tc 2.0723 Tw (6 \(right\). At first the trajectory) Tj 0 Tc -0.24 Tw ( ) Tj -294.6 -13.8 TD -0.0063 Tc 1.0863 Tw (moves into the same region of state space but then, during the period of prolonged contact,) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0042 Tc 1.4438 Tw (the left motor node gets saturated while the right motor node remains at 1. This continues) Tj 0 Tc 0 Tw ( ) Tj T* -0.0206 Tc 1.7006 Tw (until the system) Tj 79.2 0 TD 0 Tc 0 Tw ( ) Tj 4.68 0 TD -0.0053 Tc 1.6853 Tw (almost reaches the equilibrium point at \(0.95, 1\), but it eventually causes) Tj 0 Tc 0 Tw ( ) Tj -83.88 -13.8 TD -0.0042 Tc 0.0226 Tw (agent \221up\222 to slow down too much thereby breaking out of the coordination pattern.) Tj 400.56 0 TD 0 Tc 0 Tw ( ) Tj 3.12 0 TD ( ) Tj -392.28 -13.8 TD ( ) Tj 0 -13.8 TD ( ) Tj ET q 189.84 0 0 -93.48 101.04 383.64 cm /im4 Do endstream endobj 70 0 obj 7798 endobj 72 0 obj << /Type /XObject /Subtype /Image /Name /im4 /Width 244 /Height 120 /BitsPerComponent 4 /ColorSpace [ /Indexed /DeviceRGB 15 71 0 R ] /Length 73 0 R >> stream """""""""!"""!"""!!!!!!!!!!!!!"""!!!!!!!!!!!!!!!!!!"!!!!!!!!!"!!"!!!!!!!!!!!!!!!!!!!!!!!!!!!""""""!""!"""!"""!""!!!3!!!!!!331!!!!!!333!!!!""""""""""""""""""""""""""#333""""""""""""""""""""""""""""""""""""""""""""""""""""""""""!!!333!!!!!!331!!!!!3!!""!!!!!!!!!!!!!!!!!!"!!""!!!!!!!!!!!!!!!!!!!!!!!"""!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!""!!!!!!!!!!!!!!!!!!!!"!""!!!!!!!!!!!!!"!!!!!!!!!!!!!!""!!!!!!!"""!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!""!!!!!!!!!!!!!"!!!!!!"!"!!!!!!!!!!!!!!!!!!"!!""!!!!!!!!!!!!!!!!!"""!"! "!"!"!!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!!"!"!"!"!"!""!"!!!!!!!!!!!!"!""!!!!!!!!!!!!!!!!!"!!""!!!!!!!!!!!!!!!!!!!!!!!!"""!"!"! !"!"!"!"!"!!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!""!""!!!!!!!!!!!!!!!"!""!!!!!!!!!!!!!  !!!! ! !""" "!"!!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!!"!" ""!!!!!! endstream endobj 73 0 obj 14640 endobj 71 0 obj << /Length 74 0 R /Filter /ASCII85Decode >> stream !!!$!s8P>L5et1Nzzzzzzzzz~> endstream endobj 74 0 obj 26 endobj 78 0 obj << /Length 79 0 R >> stream Q BT 290.88 290.16 TD ( ) Tj ET q 188.28 0 0 -92.64 305.88 382.8 cm /im5 Do endstream endobj 79 0 obj 84 endobj 76 0 obj << /Type /XObject /Subtype /Image /Name /im5 /Width 241 /Height 119 /BitsPerComponent 4 /ColorSpace [ /Indexed /DeviceRGB 15 75 0 R ] /Length 77 0 R >> stream """!!""!"!!"!!"""!!""!!!!!!!!!!!""!!!!!!!!!!!!!!!!!!!!!!!!!!!!"!""!!!!!!!!!!!"!!!!!!!"!!!!""""!"""!"!"""!""""!!31!!33!!3331!""""""""""""""""""""""""""3332"""""""""""""""""""""""""""""""""""""""""""""""""""""""""!!3331!!!!31!!""!!!!!"!!""!!!!!!!!!!!""""!""!"!"""!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"""!"!"!"!"!"!!!!!!!!!!!!"!""!    "!! ! !""! !! !!"" !"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"! ! !" !" "!     "!!"" !! !! !! !!!"" !""!"!"!"""!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"!"""!"!"!"!"!"!" ! ! !! "!""!!!!!"!!""!!!!!!!!!!!!""" !" "! """ !"!" "!"!"!"!"!"!"!"!"!"!"!"!"""!"!"!"!"!"!""!!!!!!!!!!"!""!!!!!!!!!!!!!!"""!"!"!"!" """!"!"!"!!!!!! endstream endobj 77 0 obj 14399 endobj 75 0 obj << /Length 80 0 R /Filter /ASCII85Decode >> stream !!!$!s8P>L5et1Nzzzzzzzzz~> endstream endobj 80 0 obj 26 endobj 81 0 obj << /Length 82 0 R >> stream Q BT 494.16 290.16 TD ( ) Tj -422.16 -16.8 TD /F1 12 Tf -0.036 Tc (Fig) Tj 16.56 0 TD -0.016 Tc (ure) Tj 17.28 0 TD 0 Tc ( ) Tj 3 0 TD (6.) Tj 9.12 0 TD /F0 12 Tf ( ) Tj 3 0 TD 0.0028 Tc 0.0172 Tw (State trajectory of the outputs for the 2 motor nodes of agent \221up\222) Tj 313.56 0 TD 0 Tc 0 Tw ( ) Tj 3 0 TD -0.0015 Tc 0.0015 Tw (during 50 ) Tj 49.32 0 TD 0.0206 Tc 0.0394 Tw (units of ) Tj -414.84 -13.8 TD -0.0059 Tc 0.7259 Tw (time. The trace starts at the top right corner of each graph) Tj 283.56 0 TD -0.015 Tc 0.775 Tw (. The gray and black dot represent) Tj 0 Tc -0.12 Tw ( ) Tj -283.56 -13.8 TD -0.0061 Tc 3.8611 Tw (the globally attracting stable equilibrium point when sensory input) Tj 0 Tc 0 Tw ( ) Tj 356.64 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.96 0 TD /F0 12 Tf 0 Tc ( ) Tj 6.84 0 TD -0.0192 Tc 3.8592 Tw (= 0 and) Tj 0 Tc 0 Tw ( ) Tj 50.52 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.96 0 TD /F0 12 Tf 0 Tc ( ) Tj 6.84 0 TD -0.016 Tc 3.856 Tw (= 1,) Tj 0 Tc 0 Tw ( ) Tj -428.76 -13.8 TD -0.0111 Tc 0.0111 Tw (respectively. ) Tj 63.84 0 TD /F2 12 Tf 0.0264 Tc 0 Tw (Left:) Tj 22.68 0 TD /F0 12 Tf 0 Tc ( ) Tj 3 0 TD 0.0108 Tc -0.0108 Tw (mutual \(two) Tj 58.44 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0045 Tc 0.0045 Tw (way\) interaction. ) Tj 84.36 0 TD /F2 12 Tf 0.02 Tc 0 Tw (Right:) Tj 30 0 TD /F0 12 Tf 0 Tc ( ) Tj 3 0 TD -0.0173 Tc 0.0173 Tw (playback \() Tj 50.16 0 TD 0.064 Tc 0 Tw (one) Tj 17.4 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0.003 Tc -0.003 Tw (way\) interaction.) Tj 81.48 0 TD 0 Tc 0 Tw ( ) Tj -422.28 -25.8 TD ( ) Tj 0 -13.8 TD -0.03 Tc (Af) Tj 12.6 0 TD -0.0045 Tc 2.5245 Tw (ter agent \221up\222 slows down enough such that the playback movement of agent \221down\222) Tj 0 Tc 0.12 Tw ( ) Tj -12.6 -13.8 TD 0.0066 Tc 0.3534 Tw (overtakes it, its input ) Tj 105.72 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0 Tc ( ) Tj 3.48 0 TD 0.0018 Tc 0.5082 Tw (stays at 0. This causes its motor system to settle near the equilibrium) Tj 0 Tc 0 Tw ( ) Tj -115.44 -13.8 TD -0.0047 Tc 0.6447 Tw (point at \(0.30, 0\), from where it is occasionally pe) Tj 245.52 0 TD -0.0023 Tc 0.6423 Tw (rturbed by sensor noise.) Tj 0 Tc 0 Tw ( ) Tj 120.12 0 TD 0.6 Tw (Thus, ) Tj 0.576 Tc 0 Tw (w) Tj 39.24 0 TD 0.0187 Tc 0.3413 Tw (ithout the ) Tj -404.88 -13.8 TD -0.0074 Tc 1.5674 Tw (responsive help of the other agent, agent \221up\222 is unable to regulate its behavior such as to) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0013 Tc 1.3213 Tw (avoid falling into this attract) Tj 141.36 0 TD 0 Tc 0 Tw (o) Tj 6 0 TD -0.036 Tc (r) Tj 3.96 0 TD -0.015 Tc 1.455 Tw (, an event) Tj 49.08 0 TD 0 Tc 0 Tw ( ) Tj 4.32 0 TD 0.0092 Tc 1.3108 Tw (which limits its further behavior to mere leftward) Tj 0 Tc 0.12 Tw ( ) Tj -204.72 -13.8 TD -0.0027 Tc 0 Tw (movement.) Tj 53.64 0 TD 0 Tc ( ) Tj -53.64 -13.8 TD ( ) Tj 0 -13.8 TD ( ) Tj ET endstream endobj 82 0 obj 3049 endobj 68 0 obj << /Type /Page /Parent 47 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R >> /XObject << /im4 72 0 R /im5 76 0 R >> /ProcSet 2 0 R >> /Contents [ 69 0 R 78 0 R 81 0 R ] >> endobj 84 0 obj << /Length 85 0 R >> stream BT 513.36 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (11) Tj 9.96 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.12 TD /F1 12 Tf 0.0153 Tc -0.0153 Tw (6 Concluding) Tj 74.52 0 TD 0 Tc 0 Tw ( ) Tj 3 0 TD -0.0343 Tc (remarks) Tj 43.2 0 TD 0 Tc ( ) Tj -120.72 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD 0.0022 Tc 1.4635 Tw (With our simulation study it was found that stable and robust coordination can be reliably) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0028 Tc 1.5628 Tw (established between simulated agents. While the agents were only selected on the basis of) Tj 0 Tc 0 Tw ( ) Tj T* 0.0036 Tc 0.2364 Tw (this coordination ability \(rather than their capacity to detect s) Tj 295.08 0 TD -0 Tc 0.2 Tw (ocial contingency\), coordination ) Tj -295.08 -13.8 TD -0.0067 Tc 0.1196 Tw (still breaks down when a \221live\222 agent is forced to interact with a playback of movements from ) Tj 0 -13.8 TD -0.0009 Tc 1.4542 Tw (a previous, successful trial. Agents interacting with such a non) Tj 313.32 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0035 Tc 1.4365 Tw (responsive \221partner\222 do not) Tj 0 Tc 0 Tw ( ) Tj -317.28 -13.8 TD -0.016 Tc 2.776 Tw (have the capacity to generate and su) Tj 189.36 0 TD -0.0069 Tc 2.7669 Tw (stain the kind of oscillatory behavior necessary for) Tj 0 Tc 0 Tw ( ) Tj -189.36 -13.8 TD -0.0094 Tc 0.9694 Tw (coordination. Thus, what at first appears to be a) Tj 0 Tc 0 Tw ( ) Tj 239.88 0 TD /F2 12 Tf -0.011 Tc 0.971 Tw (behavioral capacity of the) Tj 128.28 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj 3.96 0 TD /F2 12 Tf 0.0016 Tc 0.9584 Tw (individual agent) Tj 79.2 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj -451.32 -13.8 TD -0.0088 Tc 1.6888 Tw (emerges out of a combination of the internal) Tj 224.52 0 TD /F2 12 Tf 0 Tc 0 Tw ( ) Tj 4.68 0 TD /F0 12 Tf -0.0045 Tc 0.0045 Tw (dynamics ) Tj 50.64 0 TD /F2 12 Tf -0.0046 Tc 1.6846 Tw (as well as the interaction process) Tj 168.6 0 TD /F0 12 Tf -0.12 Tc 0 Tw (. ) Tj -448.44 -13.8 TD -0.0048 Tc 0.3648 Tw (This role of the in) Tj 87.36 0 TD -0.0025 Tc 0.3225 Tw (teraction process is also consistently demonstrated in previous models ) Tj 342.72 0 TD -0.0168 Tc 0.1368 Tw (\(e.g. ) Tj -430.08 -13.8 TD -0.0063 Tc 0.7638 Tw (Iizuka & Di Paolo 2007; Di Paolo, Rohde & Iizuka 2008; Ikegami & Iizuka 2007; Di Paolo) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0072 Tc 0 Tw (2000\)) Tj 27.96 0 TD 0 Tc (.) Tj 3 0 TD ( ) Tj -30.96 -13.8 TD ( ) Tj 0 -13.8 TD -0.0063 Tc 1.5663 Tw (We are thus faced with a peculiar situation) Tj 0 Tc 0 Tw ( ) Tj 220.2 0 TD -0.0034 Tc 1.5634 Tw (in which) Tj 43.2 0 TD 0 Tc 0 Tw ( ) Tj 4.56 0 TD -0.0026 Tc 1.5626 Tw (the behavior of the individual agents) Tj 0 Tc 0.12 Tw ( ) Tj -267.96 -13.8 TD -0 Tc 1.0805 Tw (brings forth the interaction process, and that interaction process enables the) Tj 372.36 0 TD 0 Tc 0 Tw ( ) Tj 4.08 0 TD 0.0055 Tc 1.0745 Tw (behavior of the) Tj 0 Tc 0.12 Tw ( ) Tj -376.44 -13.8 TD -0.0073 Tc 1.9273 Tw (individual agents. This makes a reduction of the coordination breakdown to an) Tj 0 Tc 0 Tw ( ) Tj 402.84 0 TD -0.0192 Tc -0.1008 Tw (individual ) Tj -402.84 -13.8 TD 0.0041 Tc 0.2359 Tw (agent\222s capacity to detect social contingency impossible. Moreover, it points to the ) Tj 404.04 0 TD /F2 12 Tf 0.024 Tc 0 Tw (autonomy) Tj 47.28 0 TD /F0 12 Tf 0 Tc ( ) Tj -451.32 -13.8 TD -0.0028 Tc 2.3128 Tw (of the interaction process, as postulated by an enactive) Tj 279.96 0 TD 0 Tc 0 Tw ( ) Tj 5.4 0 TD -0.002 Tc 2.282 Tw (approach to so) Tj 74.64 0 TD -0.0018 Tc 2.2818 Tw (cial cognition) Tj 0 Tc 0 Tw ( ) Tj 73.2 0 TD 0.044 Tc 0.076 Tw (\(De ) Tj -433.2 -13.8 TD -0.0138 Tc 2.6838 Tw (Jaegher & Di Paolo 2007\)) Tj 135.72 0 TD -0.0082 Tc 2.6482 Tw (. A more detailed analysis of the dynamics of the interaction) Tj 0 Tc -0.12 Tw ( ) Tj -135.72 -13.8 TD -0.0154 Tc 0.0154 Tw (process ) Tj 39.24 0 TD 0.0212 Tc 0.3388 Tw (in this context) Tj 68.88 0 TD 0 Tc 0 Tw ( ) Tj 3.36 0 TD -0.007 Tc 0.277 Tw (is desirable, especially in ) Tj 124.92 0 TD 0.0192 Tc 0 Tw (terms) Tj 26.76 0 TD 0 Tc ( ) Tj 3.36 0 TD -0.0065 Tc 0.3905 Tw (of an artificial life investigation of) Tj 166.68 0 TD 0 Tc 0 Tw ( ) Tj 3.36 0 TD 0.032 Tc 0.088 Tw (the ) Tj -436.56 -13.8 TD -0.0104 Tc 0.0104 Tw (systemic basis of ) Tj 84.96 0 TD -0.0082 Tc 0.0082 Tw (\223constitutive autonomy\224 ) Tj 120.6 0 TD -0.0064 Tc 0.0664 Tw (\(Froese, Virgo & Izquierdo 2007\)) Tj 162.24 0 TD 0 Tc 0 Tw (.) Tj 3 0 TD ( ) Tj -370.8 -13.8 TD ( ) Tj 0 -13.8 TD -0.0147 Tc 1.8147 Tw (It is worth) Tj 0 Tc 0 Tw ( ) Tj 57.6 0 TD 0.004 Tc 1.796 Tw (emphasizing that ) Tj 1.776 Tc 0 Tw (w) Tj 96.96 0 TD -0.0112 Tc 1.8112 Tw (e do not claim that) Tj 0 Tc 0 Tw ( ) Tj 101.16 0 TD -0.012 Tc 0.012 Tw (our ) Tj 20.76 0 TD -0.0072 Tc 1.8072 Tw (model instantiates the phenomenon) Tj 0 Tc 0 Tw ( ) Tj -276.48 -13.8 TD -0.0132 Tc 3.3732 Tw (which we are) Tj 0 Tc 0 Tw ( ) Tj 76.92 0 TD 0.0157 Tc 3.3443 Tw (investigating or that the baby) Tj 153.36 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.0041 Tc 3.3641 Tw (mother interaction studied by Murray and) Tj 0 Tc 0.12 Tw ( ) Tj -234.36 -13.8 TD -0.0084 Tc 0.0084 Tw (Trevarthen ) Tj 56.88 0 TD -0.012 Tc 0 Tw (\(1985\)) Tj 31.92 0 TD 0 Tc ( ) Tj 4.32 0 TD 0.0008 Tc 1.3364 Tw (is reducible to such a simple system. ) Tj 1.308 Tc 0 Tw (T) Tj 195.36 0 TD -0.0013 Tc 1.3213 Tw (he model is) Tj 0 Tc 0 Tw ( ) Tj 62.28 0 TD -0.01 Tc -0.23 Tw (purely ) Tj 35.04 0 TD -0.01 Tc 1.33 Tw (conceptual in) Tj 0 Tc -0.12 Tw ( ) Tj -385.8 -13.8 TD 0.008 Tc 2.632 Tw (that it) Tj 30.36 0 TD 0 Tc 0 Tw ( ) Tj 5.64 0 TD 0.0009 Tc 2.6391 Tw (shows at work a possible explanation that may later be considered and tested in) Tj 0 Tc 0.12 Tw ( ) Tj -36 -13.8 TD -0.0037 Tc 1.9237 Tw (specific empirical cases.) Tj 0 Tc 0.12 Tw ( ) Tj 125.64 0 TD 1.92 Tw (Thus, ) Tj 1.92 Tc 0 Tw (b) Tj 38.04 0 TD -0.0104 Tc 1.9454 Tw (y generating simple models which do not presuppose the) Tj 0 Tc 0 Tw ( ) Tj -163.68 -13.8 TD 0.0009 Tc 0.5991 Tw (methodological individualism which prevails in social cognitive science and psychology,) Tj 433.68 0 TD 0 Tc 0 Tw ( ) Tj 3.6 0 TD 0.024 Tc 0.096 Tw (we ) Tj -437.28 -13.8 TD -0.036 Tc 0.636 Tw (can re) Tj 29.4 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.002 Tc 0.578 Tw (conceptualize the space of possible explanations) Tj 0 Tc 0 Tw ( ) Tj 238.68 0 TD -0.036 Tc (\() Tj 3.96 0 TD -0.0139 Tc 0.5899 Tw (Di Paolo, Rohde & Iizuka 2008\)) Tj 158.52 0 TD -0.012 Tc 0.432 Tw (. In ) Tj -434.64 -13.8 TD -0.0131 Tc 0.8531 Tw (particular, ) Tj 0.864 Tc 0 Tw (t) Tj 56.04 0 TD -0.024 Tc 0.024 Tw (he ) Tj 15.12 0 TD 0 Tw (model) Tj 30 0 TD 0 Tc ( ) Tj 3.84 0 TD -0.0036 Tc 0.8436 Tw (presented in this paper) Tj 0 Tc 0 Tw ( ) Tj 114.6 0 TD -0.0171 Tc (suggest) Tj 35.88 0 TD 0.012 Tc (s) Tj 4.68 0 TD 0 Tc ( ) Tj 3.84 0 TD -0.0102 Tc 0.8502 Tw (that the capacity for social behavior is) Tj 0 Tc 0 Tw ( ) Tj -264 -13.8 TD -0.0043 Tc 0.2443 Tw (strongly dependent on the existence of an appropriate social context, one whose stability is) Tj 438.72 0 TD 0 Tc 0 Tw ( ) Tj 3.24 0 TD 0.012 Tc -0.012 Tw (in ) Tj -441.96 -13.8 TD -0.0009 Tc 0.3391 Tw (turn dependent on the active and responsive engagement of the participants. ) Tj 371.28 0 TD 0.031 Tc 0.329 Tw (On this basis w) Tj 74.76 0 TD -0.048 Tc 0.048 Tw (e ) Tj -446.04 -13.8 TD 0.0069 Tc 0 Tw (propose) Tj 37.92 0 TD 0 Tc ( ) Tj 4.8 0 TD -0.0038 Tc 1.8038 Tw (that an explanation for the distressed reaction) Tj 228.6 0 TD 0 Tc 0 Tw (,) Tj 3 0 TD ( ) Tj 4.8 0 TD -0.0056 Tc 1.8056 Tw (observed when confronting infants) Tj 0 Tc 0 Tw ( ) Tj -279.12 -13.8 TD -0.0043 Tc 2.3061 Tw (with a video recording rather than a live stream of their mother) Tj 327.36 0 TD 0 Tc 0 Tw (,) Tj 3 0 TD ( ) Tj 5.28 0 TD -0.072 Tc (al) Tj 8.64 0 TD 0.066 Tc 0.054 Tw (so ) Tj 16.08 0 TD -0.0136 Tc 2.2936 Tw (needs to take into) Tj 0 Tc -0.12 Tw ( ) Tj -360.36 -13.8 TD 0 Tc 1.8194 Tw (account the role of the interaction process.) Tj 0 Tc 0 Tw ( ) Tj 219.48 0 TD -0.02 Tc 1.88 Tw (Of course, ) Tj 1.824 Tc 0 Tw (t) Tj 59.88 0 TD 0.018 Tc 1.782 Tw (his does not mean that the infants) Tj 0 Tc 0.12 Tw ( ) Tj -279.36 -13.8 TD -0.0112 Tc 0.7392 Tw (cannot detect social contingency or that they cannot develop this ability, but it does open up) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0084 Tc 3.1284 Tw (the possibility for explanations that do not su) Tj 237.72 0 TD -0.008 Tc 3.128 Tw (ppose any necessity for innate behavioral) Tj 0 Tc 0 Tw ( ) Tj -237.72 -13.8 TD -0.0063 Tc 0.0281 Tw (capabilities and/or a complex perceptual strategy on the part of the infant.) Tj 353.76 0 TD 0 Tc 0 Tw ( ) Tj -353.76 -40.08 TD /F1 12 Tf -0.0168 Tc (References) Tj 55.92 0 TD 0 Tc ( ) Tj -55.92 -27.48 TD /F0 12 Tf -0.0097 Tc 0.7297 Tw (Beer, R.D. \(1997\),) Tj 90.6 0 TD 0 Tc 0 Tw ( ) Tj 3.72 0 TD -0.048 Tc (\223) Tj 5.4 0 TD -0.0104 Tc 0.7904 Tw (The dynamics of adaptive behavior:) Tj 0 Tc 0 Tw ( ) Tj 179.16 0 TD -0.0083 Tc 0.7283 Tw (A research program) Tj 96.72 0 TD -0.024 Tc 0 Tw (\224,) Tj 8.28 0 TD 0 Tc ( ) Tj 3.72 0 TD /F2 12 Tf 0.72 Tw (Robotics and) Tj 0 Tw ( ) Tj -376.2 -13.8 TD -0.0042 Tc 0.0042 Tw (Autonomous Systems) Tj 100.92 0 TD /F0 12 Tf 0 Tc 0 Tw (,) Tj 3 0 TD ( ) Tj 3 0 TD /F1 12 Tf (20) Tj 12.12 0 TD /F0 12 Tf -0.018 Tc (\(2) Tj 9.96 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.006 Tc 0.006 Tw (4\), pp.) Tj 30.96 0 TD 0 Tc 0 Tw ( ) Tj 3 0 TD (257) Tj 18 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0 Tc (289) Tj 18.12 0 TD ( ) Tj -218.4 -13.8 TD ( ) Tj 0 -13.8 TD -0 Tc 0.5074 Tw (De Jaegher, H. & Di Paolo, E.A. \(2007\), \223Participatory sense) Tj 298.8 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0034 Tc 0.4534 Tw (making: An enactive approach ) Tj -284.76 -13.8 TD -0.0082 Tc 0.0082 Tw (to social cognition\224, ) Tj 99.84 0 TD /F2 12 Tf 0.001 Tc -0.001 Tw (Phenomenology and the Cognitive Sciences) Tj 210 0 TD /F0 12 Tf 0 Tc 0 Tw (, ) Tj 6 0 TD /F1 12 Tf (6) Tj 6.12 0 TD /F0 12 Tf -0.0072 Tc 0.0672 Tw (\(4\), pp. 485) Tj 56.04 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (507) Tj 18 0 TD ( ) Tj -417.96 -13.8 TD ( ) Tj ET endstream endobj 85 0 obj 10510 endobj 83 0 obj << /Type /Page /Parent 47 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R >> /ProcSet 2 0 R >> /Contents 84 0 R >> endobj 87 0 obj << /Length 88 0 R >> stream BT 513.36 59.4 TD 0 0 0 rg /F0 9.96 Tf 0.06 Tc 0 Tw (12) Tj 9.96 0 TD 0 Tc 0.03 Tw ( ) Tj -439.92 -11.52 TD ( ) Tj -11.4 711.36 TD /F0 12 Tf -0.0045 Tc 0.7245 Tw (Di Paolo, E.A. \(2000\), \223Behavioral coordination, structural congruence and ent) Tj 386.76 0 TD -0.0185 Tc 0.7385 Tw (rainment in a) Tj 0 Tc -0.12 Tw ( ) Tj -368.76 -13.8 TD -0.0086 Tc 0.0326 Tw (simulation of acoustically coupled agents\224, ) Tj 209.88 0 TD /F2 12 Tf -0.0083 Tc 0.0083 Tw (Adaptive Behavior) Tj 89.52 0 TD /F0 12 Tf 0 Tc 0 Tw (, ) Tj 6 0 TD /F1 12 Tf (8) Tj 6 0 TD /F0 12 Tf 0.032 Tc -0.032 Tw (\(1\), pp. 25) Tj 50.16 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (46) Tj 12 0 TD ( ) Tj -395.52 -13.8 TD ( ) Tj 0 -13.8 TD -0.0036 Tc 0.2596 Tw (Di Paolo, E.A., Rohde, M. & Iizuka, H. \(2008\), \223Sensitivity to social contingency or stability ) Tj 17.88 -13.8 TD -0.0045 Tc 6.1416 Tw (of interaction? Modelling the dynamics of perceptual crossing\224,) Tj 0 Tc 0 Tw ( ) Tj 358.56 0 TD /F2 12 Tf -0.032 Tc (New) Tj 21.36 0 TD 0 Tc ( ) Tj 9.12 0 TD -0.0069 Tc 6.1269 Tw (Ideas in) Tj 0 Tc 0 Tw ( ) Tj -389.04 -13.8 TD -0.012 Tc (Psychology) Tj 55.2 0 TD /F0 12 Tf 0.006 Tc -0.006 Tw (, forthcoming) Tj 65.4 0 TD 0 Tc 0 Tw ( ) Tj -138.48 -13.8 TD ( ) Tj 0 -13.8 TD -0.0008 Tc 0.5208 Tw (Froese, T., Virgo, N. & Izquierdo, E. \(2007\), \223Autonomy: a review and a reappraisal\224, in: F.) Tj 0 Tc 0 Tw ( ) Tj 17.88 -13.8 TD -0.0055 Tc 0.7255 Tw (Almeida e Costa) Tj 0 Tc 0 Tw ( ) Tj 85.08 0 TD /F2 12 Tf 0.72 Tw (et al.) Tj 0 Tw ( ) Tj 28.44 0 TD /F0 12 Tf -0.0154 Tc 0.0154 Tw (\(eds.\), ) Tj 33.6 0 TD /F2 12 Tf -0 Tc 0.7205 Tw (Advances in Artificial Life:) Tj 132.48 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj 3.72 0 TD /F2 12 Tf -0.0048 Tc 0.7248 Tw (Proc. of the ) Tj 0.72 Tc 0 Tw (9) Tj 67.44 5.52 TD /F2 8.04 Tf 0.0524 Tc (th) Tj 6.24 -5.52 TD /F2 12 Tf 0 Tc ( ) Tj 3.72 0 TD -0.005 Tc 0.725 Tw (Euro. Conf. on) Tj 0 Tc -0.12 Tw ( ) Tj -360.72 -13.8 TD 0.0103 Tc -0.0103 Tw (Artificial Life) Tj 65.04 0 TD /F0 12 Tf -0.01 Tc 0.01 Tw (, Berlin, Germany: Sp) Tj 105.48 0 TD 0.024 Tc 0 Tw (ringer) Tj 28.68 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0009 Tc 0.0609 Tw (Verlag, pp. 455) Tj 74.76 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (464) Tj 18 0 TD ( ) Tj -317.76 -13.8 TD ( ) Tj 0 -13.8 TD -0.0105 Tc 4.9476 Tw (Gergely, G. & Watson, J. \(1999\), \223Early social) Tj 259.56 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0008 Tc 4.9207 Tw (emotional development: contingency) Tj 0 Tc -0.12 Tw ( ) Tj -245.64 -13.8 TD -0.0097 Tc 0.3217 Tw (perception and the social biofeedback model\224, in: P. Rochat \(ed.\), ) Tj 322.2 0 TD /F2 12 Tf -0.0069 Tc 0.2069 Tw (Early social cognition: ) Tj -322.2 -13.8 TD 0.0067 Tc 1.6733 Tw (Understanding others in the first months of life) Tj 237.6 0 TD /F0 12 Tf -0.01 Tc 1.69 Tw (, Hills) Tj 30.96 0 TD -0.0049 Tc 1.6849 Tw (dale, NJ: Lawrence Erlbaum, pp.) Tj 0 Tc 0 Tw ( ) Tj -268.56 -13.8 TD (101) Tj 18 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0 Tc (137) Tj 18 0 TD ( ) Tj -57.84 -13.8 TD ( ) Tj 0 -13.8 TD -0.0103 Tc 5.4103 Tw (Harvey, I. \(2001\), \223Artificial Evolution: A Continuing SAGA\224, in: T. Gomi \(ed.\),) Tj 0 Tc 0 Tw ( ) Tj 17.88 -13.8 TD /F2 12 Tf 0.002 Tc 1.4489 Tw (Evolutionary Robotics. From Intelligent Robotics to Artificial Life: Proc. of the ) Tj 1.44 Tc 0 Tw (8) Tj 406.44 5.52 TD /F2 8.04 Tf 0.0524 Tc (th) Tj 6.36 -5.52 TD /F2 12 Tf 0 Tc ( ) Tj 4.44 0 TD -0.033 Tc -0.087 Tw (Int. ) Tj -417.24 -13.8 TD -0.0027 Tc 0.0027 Tw (Symposium on Evolutionary Robotics) Tj 180.24 0 TD /F0 12 Tf 0 Tc -0 Tw (, Berlin,) Tj 39 0 TD 0 Tc 0 Tw ( ) Tj 3 0 TD -0.0097 Tc 0.0097 Tw (Germany: Springer) Tj 92.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.001 Tc 0.061 Tw (Verlag, pp. 94) Tj 68.76 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (109) Tj 18 0 TD ( ) Tj -427.08 -13.8 TD ( ) Tj 0 -13.8 TD -0.0092 Tc 3.0092 Tw (Harvey, I., Di Paolo, E.A., Wood, R., Quinn, M. & Tuci, E. A. \(2005\), \223Evolutionary) Tj 0 Tc -0.24 Tw ( ) Tj 17.88 -13.8 TD -0.0017 Tc 0.0017 Tw (Robotics: A new scientific tool for studying cognition\224, ) Tj 270.24 0 TD /F2 12 Tf 0.0103 Tc -0.0103 Tw (Artificial Life) Tj 65.04 0 TD /F0 12 Tf 0 Tc 0 Tw (, ) Tj 6 0 TD /F1 12 Tf (11) Tj 12 0 TD /F0 12 Tf -0.018 Tc (\(1) Tj 9.96 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0045 Tc 0.0045 Tw (2\), pp. 79) Tj 45.96 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (98) Tj 12.12 0 TD ( ) Tj -447.12 -13.8 TD ( ) Tj 0 -13.8 TD -0.0115 Tc 0.8601 Tw (Iizuka, H. & Di Paolo, E. A. \(2007\), \223Minimal Agency Detection of Embodied Agents\224, in:) Tj 0 Tc -0.12 Tw ( ) Tj 17.88 -13.8 TD -0.0096 Tc 0.8896 Tw (F. Almeida e Costa) Tj 0 Tc 0 Tw ( ) Tj 99 0 TD /F2 12 Tf 0.048 Tc 0.792 Tw (et al.) Tj 24.96 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj 3.84 0 TD -0.0154 Tc 0.0154 Tw (\(eds.\), ) Tj 33.72 0 TD /F2 12 Tf 0.0051 Tc 0.8349 Tw (Advances in Artificial Life: Proc. of the ) Tj 0.84 Tc 0 Tw (9) Tj 204.72 5.52 TD /F2 8.04 Tf 0.0524 Tc (th) Tj 6.36 -5.52 TD /F2 12 Tf 0 Tc ( ) Tj 3.84 0 TD -0.018 Tc 0.858 Tw (Euro. Conf.) Tj 0 Tc -0.12 Tw ( ) Tj -376.44 -13.8 TD 0.009 Tc -0.009 Tw (on Artificial Life) Tj 80.04 0 TD /F0 12 Tf -0.0115 Tc 0.0515 Tw (, Berlin, Germany: Springer) Tj 134.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0102 Tc 0.0102 Tw (Verlag, pp. 485) Tj 74.64 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (494) Tj 18.12 0 TD ( ) Tj -332.88 -13.8 TD ( ) Tj 0 -13.8 TD -0.0154 Tc 3.9754 Tw (Iizuka, ) Tj 3.936 Tc 0 Tw (H) Tj 48.48 0 TD 0 Tc 3.8756 Tw (. & Ikegami, T. \(2004\), \223Adaptability and diversity in simulated turn) Tj 368.76 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.02 Tc -0.02 Tw (taking ) Tj -403.32 -13.8 TD -0.0156 Tc 0.0156 Tw (behavior\224, ) Tj 53.16 0 TD /F2 12 Tf 0.0189 Tc -0.0189 Tw (Artificial Life) Tj 65.16 0 TD /F0 12 Tf 0 Tc 0 Tw (, ) Tj 6 0 TD /F1 12 Tf (10) Tj 12 0 TD /F0 12 Tf -0.0072 Tc 0.0072 Tw (\(4\), pp. 361) Tj 55.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (378) Tj 18.12 0 TD ( ) Tj -232.2 -13.8 TD ( ) Tj 0 -13.8 TD -0.0041 Tc 1.4841 Tw (Ikegami, T. & Iizuka, H. \(2007\), \223Turn) Tj 197.16 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0043 Tc 1.4557 Tw (taking interaction as a cooperative and co) Tj 208.2 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.0075 Tc 0.0075 Tw (creative ) Tj -395.52 -13.8 TD -0.0173 Tc 0.0173 Tw (process\224, ) Tj 47.28 0 TD /F2 12 Tf -0.0088 Tc 0.0888 Tw (Infant Behavior & Development) Tj 154.32 0 TD /F0 12 Tf 0 Tc 0 Tw (,) Tj 3 0 TD ( ) Tj 3 0 TD /F1 12 Tf (30) Tj 12 0 TD /F0 12 Tf -0.0072 Tc 0.0672 Tw (\(2\), pp. 278) Tj 56.04 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (288) Tj 18 0 TD ( ) Tj -315.48 -13.8 TD ( ) Tj 0 -13.8 TD -0 Tc 1.9425 Tw (Murray, L. & Trevarthen, C. \(1985\), \223Emotional regulations of interactions between two) Tj 447.24 0 TD -0.036 Tc 0 Tw (-) Tj -429.36 -13.8 TD 0.0096 Tc (month) Tj 30.72 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0048 Tc 0.9647 Tw (olds and their mothers\224, in: T. M. Field & N. A. Fox \(eds.\),) Tj 0 Tc 0 Tw ( ) Tj 300.24 0 TD /F2 12 Tf -0.0033 Tc 0.9633 Tw (Social perception in) Tj 0 Tc 0 Tw ( ) Tj -334.92 -13.8 TD 0.012 Tc (infants) Tj 32.76 0 TD /F0 12 Tf -0.0032 Tc 0.0032 Tw (, Norwood, NJ: Ablex Publishing, pp. 177) Tj 202.56 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (197) Tj 18 0 TD ( ) Tj -275.16 -13.8 TD ( ) Tj 0 -13.8 TD -0.016 Tc 0.016 Tw (Nadel, ) Tj 40.68 0 TD 0.0034 Tc 6.1316 Tw (J., Carchon, I., Kervella, C., Marcelli, D. & R\351serbat) Tj 302.64 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0085 Tc 6.1115 Tw (Plantey, D. \(1999\),) Tj 0 Tc 0 Tw ( ) Tj -329.4 -13.8 TD -0.0051 Tc 0.5331 Tw (\223Expectancies for social contingency in ) Tj 0.48 Tc 0 Tw (2) Tj 202.08 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0.0096 Tc (month) Tj 30.72 0 TD -0.036 Tc (-) Tj 4.08 0 TD -0.002 Tc 0.002 Tw (olds\224, ) Tj 31.8 0 TD /F2 12 Tf -0.0048 Tc 0.4848 Tw (Developmental Science) Tj 112.68 0 TD /F0 12 Tf 0 Tc 0 Tw (, ) Tj 6.48 0 TD /F1 12 Tf (2) Tj 6.12 0 TD /F0 12 Tf 0.0069 Tc 0.2931 Tw (\(2\), pp. ) Tj -397.92 -13.8 TD 0 Tc 0 Tw (164) Tj 18 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0 Tc (173) Tj 18 0 TD ( ) Tj -57.84 -13.8 TD ( ) Tj 0 -13.8 TD -0.0065 Tc 1.8065 Tw (Quinn, M. \(2001\), \223Evolving communication without dedicated communication channels\224,) Tj 451.32 0 TD 0 Tc 0 Tw ( ) Tj -433.44 -13.8 TD -0.0049 Tc 0.5849 Tw (in: J. Kelemen & P. Sosik \(eds.\),) Tj 0 Tc 0 Tw ( ) Tj 164.28 0 TD /F2 12 Tf -0.0051 Tc 0.588 Tw (Advances in Artificial Life: Proc. of the ) Tj 0.48 Tc 0 Tw (6) Tj 202.56 5.52 TD /F2 8.04 Tf 0.0524 Tc (th) Tj 6.36 -5.52 TD /F2 12 Tf 0 Tc ( ) Tj 3.6 0 TD -0.03 Tc 0.63 Tw (Euro. Conf.) Tj 0 Tc -0.12 Tw ( ) Tj -376.8 -13.8 TD 0.009 Tc -0.009 Tw (on Artificial Life) Tj 80.04 0 TD /F0 12 Tf -0.0115 Tc 0.0515 Tw (, Berlin, Germany: Springer) Tj 134.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0102 Tc 0.0102 Tw (Verlag, pp. 357) Tj 74.64 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (366) Tj 18.12 0 TD ( ) Tj -332.88 -13.8 TD ( ) Tj 0 -13.8 TD 0.006 Tc -0.006 Tw (Russel, J. \(1996\), ) Tj 86.76 0 TD /F2 12 Tf -0.004 Tc 0.004 Tw (Agency: Its role in mental development) Tj 188.16 0 TD /F0 12 Tf -0.0031 Tc 0.0271 Tw (, Hove, UK: Taylor & Francis) Tj 144.48 0 TD 0 Tc 0 Tw ( ) Tj -419.4 -13.8 TD ( ) Tj ET endstream endobj 88 0 obj 9639 endobj 86 0 obj << /Type /Page /Parent 47 0 R /Resources << /Font << /F0 6 0 R /F1 19 0 R /F2 21 0 R >> /ProcSet 2 0 R >> /Contents 87 0 R >> endobj 6 0 obj << /Type /Font /Subtype /TrueType /Name /F0 /BaseFont /TimesNewRoman /FirstChar 32 /LastChar 255 /Widths [ 250 333 408 500 500 833 778 180 333 333 500 564 250 333 250 278 500 500 500 500 500 500 500 500 500 500 278 278 564 564 564 444 921 722 667 667 722 611 556 722 722 333 389 722 611 889 722 722 556 722 667 556 611 722 722 944 722 722 611 333 278 333 469 500 333 444 500 444 500 444 333 500 500 278 278 500 278 778 500 500 500 500 333 389 278 500 500 722 500 500 444 480 200 480 541 778 500 778 333 500 444 1000 500 500 333 1000 556 333 889 778 611 778 778 333 333 444 444 350 500 1000 333 980 389 333 722 778 444 722 250 333 500 500 500 500 200 500 333 760 276 500 564 333 760 500 400 549 300 300 333 576 453 250 333 300 310 500 750 750 750 444 722 722 722 722 722 722 889 667 611 611 611 611 333 333 333 333 722 722 722 722 722 722 722 564 722 722 722 722 722 722 556 500 444 444 444 444 444 444 667 444 444 444 444 444 278 278 278 278 500 500 500 500 500 500 500 549 500 500 500 500 500 500 500 500 ] /Encoding /WinAnsiEncoding /FontDescriptor 7 0 R >> endobj 7 0 obj << /Type /FontDescriptor /FontName /TimesNewRoman /Flags 34 /FontBBox [ -250 -216 1200 1000 ] /MissingWidth 333 /StemV 73 /StemH 73 /ItalicAngle 0 /CapHeight 891 /XHeight 446 /Ascent 891 /Descent -216 /Leading 149 /MaxWidth 1000 /AvgWidth 401 >> endobj 19 0 obj << /Type /Font /Subtype /TrueType /Name /F1 /BaseFont /TimesNewRoman,Bold /FirstChar 32 /LastChar 255 /Widths [ 250 333 555 500 500 1000 833 278 333 333 500 570 250 333 250 278 500 500 500 500 500 500 500 500 500 500 333 333 570 570 570 500 930 722 667 722 722 667 611 778 778 389 500 778 667 944 722 778 611 778 722 556 667 722 722 1000 722 722 667 333 278 333 581 500 333 500 556 444 556 444 333 500 556 278 333 556 278 833 556 500 556 556 444 389 333 556 500 722 500 500 444 394 220 394 520 778 500 778 333 500 500 1000 500 500 333 1000 556 333 1000 778 667 778 778 333 333 500 500 350 500 1000 333 1000 389 333 722 778 444 722 250 333 500 500 500 500 220 500 333 747 300 500 570 333 747 500 400 549 300 300 333 576 540 250 333 300 330 500 750 750 750 500 722 722 722 722 722 722 1000 722 667 667 667 667 389 389 389 389 722 722 778 778 778 778 778 570 778 722 722 722 722 722 611 556 500 500 500 500 500 500 722 444 444 444 444 444 278 278 278 278 500 556 500 500 500 500 500 549 500 556 556 556 556 500 556 500 ] /Encoding /WinAnsiEncoding /FontDescriptor 20 0 R >> endobj 20 0 obj << /Type /FontDescriptor /FontName /TimesNewRoman,Bold /Flags 16418 /FontBBox [ -250 -216 1201 1000 ] /MissingWidth 333 /StemV 136 /StemH 136 /ItalicAngle 0 /CapHeight 891 /XHeight 446 /Ascent 891 /Descent -216 /Leading 149 /MaxWidth 1001 /AvgWidth 427 >> endobj 21 0 obj << /Type /Font /Subtype /TrueType /Name /F2 /BaseFont /TimesNewRoman,Italic /FirstChar 32 /LastChar 255 /Widths [ 250 333 420 500 500 833 778 214 333 333 500 675 250 333 250 278 500 500 500 500 500 500 500 500 500 500 333 333 675 675 675 500 920 611 611 667 722 611 611 722 722 333 444 667 556 833 667 722 611 722 611 500 556 722 611 833 611 556 556 389 278 389 422 500 333 500 500 444 500 444 278 500 500 278 278 444 278 722 500 500 500 500 389 389 278 500 444 667 444 444 389 400 275 400 541 778 500 778 333 500 556 889 500 500 333 1000 500 333 944 778 556 778 778 333 333 556 556 350 500 889 333 980 389 333 667 778 389 556 250 389 500 500 500 500 275 500 333 760 276 500 675 333 760 500 400 549 300 300 333 576 523 250 333 300 310 500 750 750 750 500 611 611 611 611 611 611 889 667 611 611 611 611 333 333 333 333 722 667 722 722 722 722 722 675 722 722 722 722 722 556 611 500 500 500 500 500 500 500 667 444 444 444 444 444 278 278 278 278 500 500 500 500 500 500 500 549 500 500 500 500 500 444 500 444 ] /Encoding /WinAnsiEncoding /FontDescriptor 22 0 R >> endobj 22 0 obj << /Type /FontDescriptor /FontName /TimesNewRoman,Italic /Flags 98 /FontBBox [ -250 -216 1200 1000 ] /MissingWidth 389 /StemV 73 /StemH 73 /ItalicAngle -11 /CapHeight 891 /XHeight 446 /Ascent 891 /Descent -216 /Leading 149 /MaxWidth 1000 /AvgWidth 402 >> endobj 24 0 obj << /Type /Font /Subtype /TrueType /Name /F3 /BaseFont /Arial,Bold /FirstChar 32 /LastChar 255 /Widths [ 278 333 474 556 556 889 722 238 333 333 389 584 278 333 278 278 556 556 556 556 556 556 556 556 556 556 333 333 584 584 584 611 975 722 722 722 722 667 611 778 722 278 556 722 611 833 722 778 667 778 722 667 611 722 667 944 667 667 611 333 278 333 584 556 333 556 611 556 611 556 333 611 611 278 278 556 278 889 611 611 611 611 389 556 333 611 556 778 556 556 500 389 280 389 584 750 556 750 278 556 500 1000 556 556 333 1000 667 333 1000 750 611 750 750 278 278 500 500 350 556 1000 333 1000 556 333 944 750 500 667 278 333 556 556 556 556 280 556 333 737 370 556 584 333 737 552 400 549 333 333 333 576 556 278 333 333 365 556 834 834 834 611 722 722 722 722 722 722 1000 722 667 667 667 667 278 278 278 278 722 722 778 778 778 778 778 584 778 722 722 722 722 667 667 611 556 556 556 556 556 556 889 556 556 556 556 556 278 278 278 278 611 611 611 611 611 611 611 549 611 611 611 611 611 556 611 556 ] /Encoding /WinAnsiEncoding /FontDescriptor 25 0 R >> endobj 25 0 obj << /Type /FontDescriptor /FontName /Arial,Bold /Flags 16416 /FontBBox [ -250 -212 1075 1000 ] /MissingWidth 298 /StemV 153 /StemH 153 /ItalicAngle 0 /CapHeight 905 /XHeight 453 /Ascent 905 /Descent -212 /Leading 150 /MaxWidth 896 /AvgWidth 479 >> endobj 32 0 obj << /Type /Font /Subtype /TrueType /Name /F4 /BaseFont /Arial /FirstChar 32 /LastChar 255 /Widths [ 278 278 355 556 556 889 667 191 333 333 389 584 278 333 278 278 556 556 556 556 556 556 556 556 556 556 278 278 584 584 584 556 1015 667 667 722 722 667 611 778 722 278 500 667 556 833 722 778 667 778 722 667 611 722 667 944 667 667 611 278 278 278 469 556 333 556 556 500 556 556 278 556 556 222 222 500 222 833 556 556 556 556 333 500 278 556 500 722 500 500 500 334 260 334 584 750 556 750 222 556 333 1000 556 556 333 1000 667 333 1000 750 611 750 750 222 222 333 333 350 556 1000 333 1000 500 333 944 750 500 667 278 333 556 556 556 556 260 556 333 737 370 556 584 333 737 552 400 549 333 333 333 576 537 278 333 333 365 556 834 834 834 611 667 667 667 667 667 667 1000 722 667 667 667 667 278 278 278 278 722 722 778 778 778 778 778 584 778 722 722 722 722 667 667 611 556 556 556 556 556 556 889 500 556 556 556 556 278 278 278 278 556 556 556 556 556 556 556 549 611 556 556 556 556 500 556 500 ] /Encoding /WinAnsiEncoding /FontDescriptor 33 0 R >> endobj 33 0 obj << /Type /FontDescriptor /FontName /Arial /Flags 32 /FontBBox [ -250 -212 1090 1000 ] /MissingWidth 248 /StemV 80 /StemH 80 /ItalicAngle 0 /CapHeight 905 /XHeight 453 /Ascent 905 /Descent -212 /Leading 150 /MaxWidth 908 /AvgWidth 441 >> endobj 36 0 obj << /Type /Font /Subtype /TrueType /Name /F5 /BaseFont /Symbol /FirstChar 30 /LastChar 255 /Widths [ 600 600 250 333 713 500 549 833 778 439 333 333 500 549 250 549 250 278 500 500 500 500 500 500 500 500 500 500 278 278 549 549 549 444 549 722 667 722 612 611 763 603 722 333 631 722 686 889 722 722 768 741 556 592 611 690 439 768 645 795 611 333 863 333 658 500 500 631 549 549 494 439 521 411 603 329 603 549 549 576 521 549 549 521 549 603 439 576 713 686 493 686 494 480 200 480 549 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 620 247 549 167 713 500 753 753 753 753 1042 987 603 987 603 400 549 411 549 549 713 494 460 549 549 549 549 1000 603 1000 658 823 686 795 987 768 768 823 768 768 713 713 713 713 713 713 713 768 713 790 790 890 823 549 250 713 603 603 1042 987 603 987 603 494 329 790 790 786 713 384 384 384 384 384 384 494 494 494 494 600 329 274 686 686 686 384 384 384 384 384 384 494 494 494 600 ] /FontDescriptor 37 0 R >> endobj 37 0 obj << /Type /FontDescriptor /FontName /Symbol /Flags 6 /FontBBox [ -250 -220 1270 1005 ] /MissingWidth 338 /StemV 109 /StemH 109 /ItalicAngle 0 /CapHeight 1005 /XHeight 503 /Ascent 1005 /Descent -220 /Leading 225 /MaxWidth 1058 /AvgWidth 600 >> endobj 38 0 obj << /Type /Font /Subtype /TrueType /Name /F6 /BaseFont /MHGFFE+MTExtra /FirstChar 30 /LastChar 255 /Widths [ 500 500 310 500 500 333 333 333 333 500 410 410 500 500 500 500 500 500 500 1001 1020 996 1001 500 1001 1020 996 500 500 500 640 500 640 500 500 500 500 823 549 500 500 500 500 660 500 1000 1000 333 1000 1000 500 863 500 500 500 660 500 500 500 500 500 500 500 500 500 500 247 987 685 675 500 500 600 500 500 500 500 500 434 549 500 400 600 500 410 410 410 410 410 410 500 500 500 856 500 856 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 ] /FontDescriptor 39 0 R >> endobj 39 0 obj << /Type /FontDescriptor /FontName /MHGFFE+MTExtra /Flags 6 /FontBBox [ -250 -214 1224 1000 ] /MissingWidth 500 /StemV 115 /StemH 115 /ItalicAngle 0 /CapHeight 798 /XHeight 399 /Ascent 798 /Descent -214 /Leading 12 /MaxWidth 1020 /AvgWidth 630 /FontFile2 89 0 R >> endobj 89 0 obj << /Filter /FlateDecode /Length 90 0 R /Length1 92 0 R >> stream HV}h;ˊO*9Y-;nWk\7Mtk飑tش2(Ba_eQ5k6 ce쫅&дXqߝпx=1'IH=?=}Z&GAIUMevHr8>M$ff BWs牤'rBxĠ\\?egTD^T B WJjQ'8rz/ERoC*$`YX`AFuz%iK:. l?<-;2\!c-DGo+k7hg V[wwGgW7!.'DhO> )q]DE=Ǭqu:jY1uJY+guzz^'m؊Xքc; %Ƕ`Ѱ&E|I[-WO?___k<^,A_ שLiZt !ubkg!y>Ǐ;x8%ܲ3JϸԳٲپ+›W^%E:uߏ:,ȽS r-hUꎵ `>** *K[^>Zs.?b s]tikj\,B{?unu}5a~V/olTF''GIeuC*lIRZ\Y,Ȑ2>68tRV S3ʲjNl5ɧԂYKΛ| 릡>e Ԍ>6<2zV|EQHjr~,(dP˒#(MA9DYVhHcUB)` 86ɢ"4#1 p+ȧ"I e&r@2)Tt%R ƚ+ӝhBu\{n\M 4O1p']΀·dt"C#F<>ލ#ܤݑ|&ϰ;-,[q;.>}#>5Ԫ*r3Y2\a׸gV tI 'iw}|@ žސDaj~xXg.tP55ŜL endstream endobj 90 0 obj 1709 endobj 92 0 obj 3086 endobj 91 0 obj 0 endobj 93 0 obj 0 endobj 40 0 obj << /Type /Font /Subtype /TrueType /Name /F7 /BaseFont /Symbol,Italic /FirstChar 30 /LastChar 255 /Widths [ 600 600 250 333 713 500 549 833 778 439 333 333 500 549 250 549 250 278 500 500 500 500 500 500 500 500 500 500 278 278 549 549 549 444 549 722 667 722 612 611 763 603 722 333 631 722 686 889 722 722 768 741 556 592 611 690 439 768 645 795 611 333 863 333 658 500 500 631 549 549 494 439 521 411 603 329 603 549 549 576 521 549 549 521 549 603 439 576 713 686 493 686 494 480 200 480 549 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 600 620 247 549 167 713 500 753 753 753 753 1042 987 603 987 603 400 549 411 549 549 713 494 460 549 549 549 549 1000 603 1000 658 823 686 795 987 768 768 823 768 768 713 713 713 713 713 713 713 768 713 790 790 890 823 549 250 713 603 603 1042 987 603 987 603 494 329 790 790 786 713 384 384 384 384 384 384 494 494 494 494 600 329 274 686 686 686 384 384 384 384 384 384 494 494 494 600 ] /FontDescriptor 41 0 R >> endobj 41 0 obj << /Type /FontDescriptor /FontName /Symbol,Italic /Flags 70 /FontBBox [ -250 -220 1261 1005 ] /MissingWidth 336 /StemV 109 /StemH 109 /ItalicAngle -11 /CapHeight 1005 /XHeight 503 /Ascent 1005 /Descent -220 /Leading 225 /MaxWidth 1051 /AvgWidth 600 >> endobj 2 0 obj [ /PDF /Text /ImageC /ImageI ] endobj 5 0 obj << /Kids [4 0 R 16 0 R 23 0 R 28 0 R 31 0 R 43 0 R ] /Count 6 /Type /Pages /Parent 94 0 R >> endobj 47 0 obj << /Kids [46 0 R 50 0 R 59 0 R 68 0 R 83 0 R 86 0 R ] /Count 6 /Type /Pages /Parent 94 0 R >> endobj 94 0 obj << /Kids [5 0 R 47 0 R ] /Count 12 /Type /Pages /MediaBox [ 0 0 595 842 ] >> endobj 1 0 obj << /Creator /CreationDate (D:20080603153355) /Title /Author /Producer (Acrobat PDFWriter 5.0 for Windows NT) >> endobj 3 0 obj << /Pages 94 0 R /Type /Catalog >> endobj xref 0 95 0000000000 65535 f 0000407665 00000 n 0000407307 00000 n 0000408197 00000 n 0000045508 00000 n 0000407354 00000 n 0000394617 00000 n 0000395706 00000 n 0000000019 00000 n 0000001417 00000 n 0000044151 00000 n 0000001437 00000 n 0000044129 00000 n 0000044825 00000 n 0000044845 00000 n 0000045488 00000 n 0000050586 00000 n 0000045666 00000 n 0000050565 00000 n 0000395967 00000 n 0000397068 00000 n 0000397340 00000 n 0000398436 00000 n 0000059647 00000 n 0000398707 00000 n 0000399798 00000 n 0000050730 00000 n 0000059626 00000 n 0000086452 00000 n 0000059803 00000 n 0000086430 00000 n 0000098173 00000 n 0000400061 00000 n 0000401148 00000 n 0000086608 00000 n 0000098151 00000 n 0000401401 00000 n 0000402467 00000 n 0000402725 00000 n 0000403804 00000 n 0000405966 00000 n 0000407039 00000 n 0000098283 00000 n 0000135521 00000 n 0000098370 00000 n 0000135499 00000 n 0000160173 00000 n 0000407462 00000 n 0000135677 00000 n 0000160151 00000 n 0000245069 00000 n 0000238192 00000 n 0000160577 00000 n 0000238170 00000 n 0000160330 00000 n 0000160557 00000 n 0000238306 00000 n 0000238325 00000 n 0000245048 00000 n 0000332771 00000 n 0000245254 00000 n 0000246572 00000 n 0000327422 00000 n 0000246593 00000 n 0000327400 00000 n 0000327536 00000 n 0000327555 00000 n 0000332750 00000 n 0000373820 00000 n 0000332956 00000 n 0000340809 00000 n 0000355679 00000 n 0000340830 00000 n 0000355657 00000 n 0000355785 00000 n 0000370570 00000 n 0000355962 00000 n 0000370548 00000 n 0000355804 00000 n 0000355943 00000 n 0000370676 00000 n 0000370695 00000 n 0000373799 00000 n 0000384612 00000 n 0000374025 00000 n 0000384590 00000 n 0000394472 00000 n 0000384757 00000 n 0000394451 00000 n 0000404085 00000 n 0000405888 00000 n 0000405930 00000 n 0000405909 00000 n 0000405948 00000 n 0000407572 00000 n trailer << /Size 95 /Root 3 0 R /Info 1 0 R /ID [] >> startxref 408247 %%EOF