From owner-population-bio@net.bio.net Mon Jun 03 23:00:00 1996 Path: biosci!bcm.tmc.edu!news.msfc.nasa.gov!newsfeed.internetmci.com!tank.news.pipex.net!pipex!oleane!nntp.coast.net!news2.acs.oakland.edu!cwis-20.wayne.edu!usenet From: Gerard Tromp Newsgroups: bionet.population-bio Subject: Re: Q: Compare Allele or Genotype Distributions Date: Mon, 03 Jun 1996 20:06:40 -0400 Organization: CMMG, Wayne State University Lines: 37 Message-ID: <31B37E10.491@sanger.med.wayne.edu> References: <1996May30.103719.5112@clp2> NNTP-Posting-Host: sanger.med.wayne.edu Mime-Version: 1.0 Content-Type: text/plain; charset=us-ascii Content-Transfer-Encoding: 7bit X-Mailer: Mozilla 3.0b4 (X11; I; SunOS 5.4 sun4m) To: yan wong Greetings, yan wong wrote: > > In article , > dmw@MCZ.HARVARD.EDU (Daniel Weinreich) wrote: > > > If I remember the original post, the student *will* have actual genotype > > frequencies, and thus would *not* be calculating them from H-W model > > > > > Run the chi-square on allele distributions. > > Surely if you were using frequencies, a Chi-squared contingency table > would be inappropriate. You should have actual counts, which would mean > using genotype distributions. You are thinking of relative frequencies over the domain (0,1), or (0%,100%). The word frequency in statistics is applied to the count of data in a particular bin or class. The frequency of genotype class A can be 20 (n = 100), the relative frequency 0.2 or 20%, depending on your preference in representation. > > I suppose that you could calculate the number of gene copies present (2 x > homozygotes + 1 x heterozygotes), but I'm not sure how many independent > point this would count as. For comparison of allele frequencies one would have 1 degree of freedom, but would have to apply Yate's correction or perform Fisher's exact test. Gerard -- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Gerard Tromp, Ph.D. CMMG, Wayne State University vox: 313-577-8773 3116, Scott Hall fax: 313-577-5218 540 E Canfield Ave e-mail: tromp@sanger.med.wayne.edu Detroit, MI 48201 gtromp@cmb.biosci.wayne.edu From owner-population-bio@net.bio.net Mon Jun 03 23:00:00 1996 Path: biosci!daresbury!nntp-trd.UNINETT.no!nntp.uio.no!biomar16.uio.no!ejorde From: ejorde@biomar16.uio.no (Per Erik Jorde) Newsgroups: bionet.population-bio Subject: test Date: 4 Jun 1996 08:29:51 GMT Organization: University of Oslo, Norway Lines: 1 Message-ID: <4p0s5v$fte@ratatosk.uio.no> NNTP-Posting-Host: biomar16.uio.no Just a test From owner-population-bio@net.bio.net Wed Jun 05 23:00:00 1996 Path: biosci!UNL.EDU!rfrench From: rfrench@UNL.EDU (roy french) Newsgroups: bionet.population-bio Subject: Nei's genetic distance software Date: 6 Jun 1996 08:56:01 -0700 Organization: BIOSCI International Newsgroups for Molecular Biology Lines: 10 Sender: daemon@net.bio.net Distribution: world Message-ID: <9606061549.AA25189@unlinfo.unl.edu> NNTP-Posting-Host: net.bio.net I am looking for any program to compute intra-locus variances of Nei's gene identity, gene distance and population gene differentiation (Jx, Dst, Gst), etc. Could someone point me in the right direction? I use a Mac but also have access to a PC. Thanks in advance, Roy French rfrench@unlinfo.unl.edu From owner-population-bio@net.bio.net Fri Jun 07 23:00:00 1996 Path: biosci!daresbury!nntp-trd.UNINETT.no!nntp.uio.no!Norway.EU.net!EU.net!howland.reston.ans.net!vixen.cso.uiuc.edu!usenet.ucs.indiana.edu!sunflower.bio.indiana.edu!gilbertd From: gilbertd@sunflower.bio.indiana.edu (Don Gilbert) Newsgroups: bionet.population-bio Subject: Re: Nei's genetic distance software Date: 7 Jun 1996 12:22:10 GMT Organization: Biology, Indiana University - Bloomington Lines: 29 Message-ID: <4p96ti$k40@usenet.ucs.indiana.edu> References: <9606061549.AA25189@unlinfo.unl.edu> NNTP-Posting-Host: sunflower.bio.indiana.edu You may want to look at the DISPAN program (msdos), at ftp://iubio.bio.indiana.edu/molbio/ibmpc/dispan.* It was written by Tatsuya Ota at U.Penn. It includes DISPAN (Genetic Distance and Phylogenetic Analysis) is designed to compute the following: (1) Average heterozygosity and its standard error for each population (2) Gene diversity (Ht) and its associate parameters, Hs, and Gst (Nei 1973) (3) Standard genetic distances (D) between populations (Nei 1972) (4) Standard errors of standard genetic distances (Nei 1978) (5) DA distances between populations (Nei et al. 1983) In article <9606061549.AA25189@unlinfo.unl.edu>, roy french wrote: >I am looking for any program to compute intra-locus variances of Nei's >gene identity, gene distance and population gene differentiation (Jx, >Dst, Gst), etc. Could someone point me in the right direction? I use a >Mac but also have access to a PC. Thanks in advance, > >Roy French >rfrench@unlinfo.unl.edu > > > -- -- d.gilbert--biocomputing--indiana u--bloomington--gilbertd@bio.indiana.edu From owner-population-bio@net.bio.net Mon Jun 10 23:00:00 1996 Path: biosci!internet!biosci!not-for-mail From: biohelp (BIOSCI Administrator) Newsgroups: bionet.population-bio Subject: IMPORTANT - BIOSCI Fundraising Update! Date: 11 Jun 1996 02:00:28 -0700 Organization: BIOSCI International Newsgroups for Molecular Biology Lines: 154 Sender: daemon@net.bio.net Distribution: world Message-ID: <199606110900.CAA07483@net.bio.net> NNTP-Posting-Host: net.bio.net BIOSCI is about halfway to its funding goal!! I'm interrupting the usual monthly posting of the BIOSCI miniFAQ to bring you up to date on BIOSCI fundraising progress, a topic of concern to your future use of this resource. Thank you in advance for taking the time to read this message carefully. Last year we announced that BIOSCI was going to adopt the U.S. Public Broadcasting System model to fund its operations after our DOE/NSF grant runs out later this year. Unlike PBS, we are not soliciting contributions from users; we are only selling ads on our Web pages solely to cover our operating costs. Our goal is to seek sponsorships until we build up an operating reserve of about $100,000 and then cease further promotions until we need to build the reserve back up. (The accountants among our readership will be familiar with the problem of deferred revenue which we can not safely utilize until ads have been displayed for a period of time.) We are only about halfway to our funding goal and need to raise further funds to avoid having to curtail services at net.bio.net. Fundraising is time-consuming, however, and we need your help as explained further below. Our operating costs consist of our network connection, phone lines, hardware maintenance (we will be getting newer and faster hardware soon!), plus 0.7 FTE of salaries covering UNIX systems admin, technical support, quality assurance, i.e., testing, of our system, and administrative costs (such as the time it takes to actually find/write/call potential sponsors and raise money!). Although the BIOSCI staff does get compensated for a portion of the work that they do, this project has always received a lot of free after-hours and "vacation" time labor, so we hope that no one will begrudge the time that we do charge to the project to serve you. All of the three part-time staff members, Dave Mack, Julie Lawrence, and myself, have full time day jobs and families in addition to working hard to keep this service running for all of you. Julie and Dave Mack are subcontractors for BIOSCI; my time that is charged to the project defrays a portion of my regular salary instead of adding to my income. Besides having to relocate the project, we were very busy this last year building new infrastructure such as our WWW hypermail interface to the system. This was released last December along with scores of WAIS indices for the newsgroups. Virtually everything is complete, although we do continue to find and fix bugs (many through your helpful feedback!). We are still having some problems with our WAIS indexing. The archives continue to grow rapidly. We are running over 100 indexes now versus three previously and any systems crashes cause greater havoc with the indexing than before! We are still working to fix this as fast as our resources permit and appreciate your patience, but we have been able to automate a lot of the infrastructure to reduce labor as compared to past requirements. We have also implemented new software to make moderation of BIOSCI/bionet newsgroups much easier and combat the growing problem of Internet junk mail and USENET "spamming." About 20% of our groups are now moderated, many of them by the BIOSCI staff! This, for example, made a major difference last year in the quality of content in our EMPLOYMENT/bionet.jobs.offered newsgroup which many commercial concerns and recruiting firms are using **without charge** to recruit candidates for positions in the biological sciences. We are also now in a position to have sponsors for individual newsgroups as you will have noticed if you have visited http://www.bio.net/ and clicked on "Access the BIOSCI/bionet newsgroups" recently. So, how can you help?? ---------------------- As noted above it can take a lot of time to contact potential sponsors if I have to do it all myself. Our request is quite simple. You can do two important things which will take very little time for you individually. First, please use our WWW system at http://www.bio.net/ to access the archives. You can now post or reply to messages via your Web browser. Your usage helps attract sponsors. If you contact any of our sponsors, please be sure to thank them for supporting BIOSCI. It is critical for them to get this feedback if they are to continue their sponsorship for the long term. Second, if you work for a company or organization that provides products or services of interest to the biology community, please pass this message on to your marketing or marketing communications department or other appropriate group. Please ask them to help support BIOSCI by sponsoring our Web site and explain the uses and benefits of the system to the biology community. If they are interested, they can then contact us for further information at our tech support address, biosci-help@net.bio.net. Our hope is to quickly raise several large corporate/institutional sponsors on our heavily-used WWW locations (some stats appended below), and then end this sponsorship campaign so that our resources can continue to be used for service provision, not fundraising. Many of our specialty newsgroup WWW archives are still used by small communities of scientists (and they haven't been heavily promoted yet). While these may be valuable niche markets to some advertisers, it will generate more labor and overhead having to find these sponsors, fairly price the locations, and deal with lots of smaller sponsorships than fewer mid-to large sponsors. We are striving to keep our operation as lean and efficient as possible since we are not trying to make careers out of running BIOSCI. We are trying if at all possible to avoid the administrative overhead entailed with processing lots of small payments to reach our fundraising goals. I'd like to thank all of you for your help in advance. In helping us, you are also helping yourselves, not only in keeping this resource available for all of the both large and small research communities that we serve, but also by alleviating the need for us to go back and compete with researchers for tight grant dollars! We promised NSF when we were awarded the BIOSCI grant that we would carry out this mission to make the service self-supporting. With your help, we will succeed in continuing BIOSCI's work into its second decade. Thank you very much! Sincerely, Dave Kristofferson BIOSCI/bionet Manager biosci-help@net.bio.net A list of our prime WWW sponsorship locations follow. Please contact us for further details. ---------------------------------------------------------------------- The overall BIOSCI WWW pages are currently visited by users from close to 5500 unique computer hosts per week. Web servers only log the Internet computer/host name and frequently more than one individual can connect to us from a particular host. Main home page, http://www.bio.net, visited recently by about 2100 unique hosts per week Main Newsgroups archives page, http://www.bio.net/archives.html, visited recently by about 1200 Unique hosts per week BIO-JOURNALS archive page, http://www.bio.net/BIO-JOURNALS.html, visited recently by about 1000 unique hosts per week. EMPLOYMENT archive pages: http://www.bio.net:80/hypermail/EMPLOYMENT/ and monthly header pages, visited recently by about 800 unique hosts per week. Address database search page, http://www.bio.net/addrsearch.html, visited recently by about 450 unique hosts per week. Methods newsgroup archive pages, http://www.bio.net:80/hypermail/METHDS- REAGNTS/ and monthly header pages, visited recently by about 350 unique hosts per week. Ads can also be displayed on various combinations of other BIOSCI/bionet newsgroups. Please contact us at biosci-help@net.bio.net for details. ---------------------------------------------------------------------- From owner-population-bio@net.bio.net Tue Jun 11 23:00:00 1996 Path: biosci!bcm.tmc.edu!news.msfc.nasa.gov!elroy.jpl.nasa.gov!swrinde!newsfeed.internetmci.com!miwok!northcoast.com!news From: David Doyle Newsgroups: bionet.population-bio Subject: New Wildlife Ecology Digest Date: 12 Jun 1996 12:01:32 GMT Organization: Northcoast Internet Lines: 17 Message-ID: <4pmbis$qte@redwood.northcoast.com> NNTP-Posting-Host: buhne.northcoast.com Greetings, I am in the process of developing a weekly digest for conversation, thoughts, and general postings concerning wildlife ecology... To receive this digest, please send e-mail to: kingfshr@northcoast.com with the subject: "Subscribe to WED." Any questions can also be sent to this address... Let's hope this develops into a great resource for all! Thanks, David Doyle (kingfshr@northcoast.com) From owner-population-bio@net.bio.net Mon Jun 17 23:00:00 1996 Path: biosci!rutgers!uwm.edu!vixen.cso.uiuc.edu!newsfeed.internetmci.com!bloom-beacon.mit.edu!senator-bedfellow.mit.edu!mac_526a.wi.mit.edu!jmiller From: jmill Newsgroups: bionet.population-bio Subject: Re: Nei's genetic distance software Date: 18 Jun 1996 18:54:47 GMT Organization: WIBR Lines: 17 Distribution: world Message-ID: <4q6u1n$rov@senator-bedfellow.MIT.EDU> References: <9606061549.AA25189@unlinfo.unl.edu> NNTP-Posting-Host: 18.157.1.125 Mime-Version: 1.0 Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: 8bit X-Newsreader: Nuntius 2.0.1_68K X-XXMessage-ID: X-XXDate: Tue, 18 Jun 1996 18:54:37 GMT In article <9606061549.AA25189@unlinfo.unl.edu> roy french, rfrench@UNL.EDU writes: >I am looking for any program to compute intra-locus variances of Nei's >gene identity, gene distance and population gene differentiation (Jx, >Dst, Gst), etc. Could someone point me in the right direction? I use a >Mac but also have access to a PC. Thanks in advance, RESTSITE v1.2 now has its own website: http://www-genome.wi.mit.edu/~jmiller/restsite.htm This is a suite of DOS software programs which compute distances between taxa based on restriction-site or fragment data, for use in molecular systematics studies. It was announced in J. Hered. 82(3):262-263 (1991). -- Joyce From owner-population-bio@net.bio.net Mon Jun 17 23:00:00 1996 Path: biosci!rutgers!uwm.edu!vixen.cso.uiuc.edu!newsfeed.internetmci.com!in2.uu.net!bloom-beacon.mit.edu!senator-bedfellow.mit.edu!mac_526a.wi.mit.edu!jmiller From: jmill Newsgroups: bionet.population-bio Subject: RESTSITE on Web Date: 18 Jun 1996 18:53:51 GMT Organization: WIBR Lines: 8 Distribution: world Message-ID: <4q6tvv$rov@senator-bedfellow.MIT.EDU> NNTP-Posting-Host: 18.157.1.125 Mime-Version: 1.0 Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: 8bit X-Newsreader: Nuntius 2.0.1_68K X-XXMessage-ID: X-XXDate: Tue, 18 Jun 1996 18:53:41 GMT RESTSITE v1.2 now has its own website: http://www-genome.wi.mit.edu/~jmiller/restsite.htm This is a suite of DOS software programs which compute distances between taxa based on restriction-site or fragment data, for use in molecular systematics studies. It was announced in J. Hered. 82(3):262-263 (1991). From owner-population-bio@net.bio.net Tue Jun 18 23:00:00 1996 Path: biosci!daresbury!lyra.csx.cam.ac.uk!ak133 From: ak133@cus.cam.ac.uk (Dr A. Kleczkowski) Newsgroups: bionet.population-bio Subject: NERC Studentship, Cambridge, UK Date: 19 Jun 1996 11:10:03 GMT Organization: University of Cambridge, England Lines: 56 Message-ID: <4q8n6b$98n@lyra.csx.cam.ac.uk> NNTP-Posting-Host: taurus.cus.cam.ac.uk Apologies if you have received more than one copy: this advert has been cross-posted to several news-groups ! As C.A. Gilligan is away from Cambridge in the next week or so, please contact me asap (A. Kleczkowski, ak133@cus.cam.ac.uk) if interested. More information on our group can be found on WWW: http://www-epidem.plantsci.cam.ac.uk Note that the Studentship is limited (beyond our control) to UK citizens, so please check that you qualify before replying, please ! ------------------------------------------------------------------------ UNIVERSITY OF CAMBRIDGE Department of Plant Sciences NERC STUDENTSHIP IN MATHEMATICAL BIOLOGY Applications are invited from Mathematicians, Physicists and Engineers for a three year studentship in Mathematical Biology, funded by the Natural Environmental Research Council to work on: Temporal and spatial models for metapopulation dynamics involving fungal infection of plants. The work will involve the construction, analysis and testing of parsimonious, non-linear models, with spatially varying parameters, that describe the temporal and spatial dynamics of the spread of infection within and between sub-populations. The project will build on contemporary work in this laboratory on epidemic modelling. There will be an opportunity to develop expertise in a broad array of techniques including ode, pde, coupled map lattice and probabilistic cellular automata models. The models will be used to identify strategies for the control of economically and environmentally important diseases of trees in woodland ecosystems, together with beneficial (mycorrhizal) infections in grassland ecosystems. The work will also contribute to dynamical theory of heterogeneous populations. The successful candidate will join an active group of approximately 20 modellers, statisticans and experimenters in the Botanical Epidemiology Laboratory at Cambridge with opportunities for collaborative as well as individual work. There will also be an opportunity to do a limited amount of teaching in Mathematical Biology. Applications should be sent to Dr C.A. Gilligan, (Reader in Mathematical Biology), Department of Plant Sciences, University of Cambridge, Downing Street, Cambridge, CB2 3EA, AS SOON AS POSSIBLE Tel: 01223 333904; fax 01223 333953; email cag1@cam.ac.uk. Interested applicants are welcome to contact Dr Gilligan by telephone or preferably by email. -- Adam Kleczkowski, Dept. of Plant Sciences, Univ. of Cambridge Downing Street, Cambridge CB2 3EA, England tel. (+44)(1223)330229, fax (+44)(1223)333953, e-mail ak133@cus.cam.ac.uk, WWW http://www-epidem.plantsci.cam.ac.uk From owner-population-bio@net.bio.net Tue Jun 18 23:00:00 1996 Path: biosci!VIVALDI.KAIST.AC.KR!seal96 From: seal96@VIVALDI.KAIST.AC.KR (Hyun Myung) Newsgroups: bionet.population-bio Subject: MIROSOT'96 (CFP) Date: 19 Jun 1996 01:07:17 -0700 Organization: BIOSCI International Newsgroups for Molecular Biology Lines: 2144 Sender: daemon@net.bio.net Distribution: world Message-ID: <199606190558.PAA02918@vivaldi.kaist.ac.kr> NNTP-Posting-Host: net.bio.net ************************************************** Call for Participations and Papers Micro-Robot World Cup Soccer Tournament (MIROSOT'96) November 9-12 1996 KAIST, Korea ************************************************** Organized by Korea Advanced Institute of Science and Technology (KAIST) Sponsored by : IEEE Robotics and Automation Society Supported by : LG Semicon Co., Ltd. ========================================================================= The Micro-Robot World Cup Soccer Tournament will be held at KAIST (Korea Advanced Institute of Science and Technology), Taejon, Korea on November 9-12, 1996. The purpose of this tournament is to promote the development of small, autonomous robots and intelligent systems that can cooperate with each other, and thereby contribute to the enhancement of this field. In the tournament, five robots, each sized 7.5 cm x 7.5 cm x 7.5 cm, will make up a single team. The team that scores the most points will win the tournament. The playground is rectangular with its length 130 cm, its width 90 cm. There is a 5 cm wall around the playground. An orange golf ball shall be used as the ball. The time of the game shall be two equal periods of 5 minutes with a 10-minute half time interval. The game rules are similar to those of the FIFA. They include rules pertaining to fouls, free-kicks, penalty-kicks, etc. There are two ways to participate in the tournament: One is with their own team and the other is along with the international joint team (IJT) with KAIST. For those who would like to participate as an IJT: Robot systems (hardware) will be provided to the team by KAIST. The participating members must develop and bring in the KAIST campus during mid-August, 1996. The living expenses for the teams will be provided by MIROSOT. The teams must bear their own travel expenses. All the participants of the tournament are requested to submit and to present paper on their robots and schemes. This will allow information and technology sharing. Of course, they are requested to submit the Application Form of tournament which is attached. There are no restrictions on the qualifications of the participants. Those with research interests in the fields of multi-agent cooperation, artificial life and robotics, autonomous micro-robots, intelligent control, etc. are also requested to submit papers for the workshop. The authors are requested to submit 1. One copy of an 800-1,000 words extended abstract plus up to 2 pages of figures prepared on A4 or letter size in English. The title of paper, full name of the author(s), univ./company, mailing addresses, and appropriate academic field(s) should be given in the abstract. 2. A separate sheet with the complete mailing address, telephone number, fax number, and e-mail address. Please send abstract to the MIROSOT'96 Secretariat no later than May 31, 1996. We recommend submission by e-mail to the secretariat at mirosot@vivaldi.kaist.ac.kr. Authors will be informed of the acceptance of their papers by July 15, 1996 with the guideline of the submission of the camera-ready manuscript for the proceedings. Submission of camera-ready manuscript will be required by September 15, 1996. For further information, please contact Professor Jong-Hwan Kim via e-mail at johkim@vivaldi.kaist.ac.kr. Workshop Topics : - Autonomous Mobile Robot - Multi-robot Cooperation/Systems - Robotics - Artificial Life - Cognitive Science - Intelligent Control/Systems - Machine Learning - Sensor Fusion - Related Fields Prize Money : The tournament winner will be awarded the Hanminjok Cup (Hanminjok means `great people' in Korean) with the following prize money. - First place winner : US$ 2,000 - Second place winner : US$ 1,500 - Third place winner : US$ 1,000 Financial Support for Participants : - Asia : US$ 2,000 for each team of two or more than two members US$ 1,000 for each single member team - Continents of America and Australia: US$ 3,000 for each team of two or more than two members US$ 1,500 for each single member team - Europe and Africa: US$ 4,000 for each team of two or more than two members US$ 2,000 for each single member team In the case of the IJTs, the supporting expenses will be announced later. Important Deadlines: - Application of tournament and/or submission of abstract :June 30, 1996 (extended) - Acceptance notification : July 15, 1996 - Submission of camera-ready manuscripts : Sept.15, 1996 All correspondences and applications should be addressed to: Prof. Jong-Hwan Kim, Organizing Committee Chair, Dept. of Electrical Engineering, KAIST, 373-1 Kusung-dong, Yusung-gu, Taejon 305-701, Korea Phone: +82-42-869-3448, 8048 Facsimile: +82-42-869-8010 e-mail: johkim@vivaldi.kaist.ac.kr WWW: http://www.mirosot.org/ -------------------------------------------------------------------- - REPLY FORM - Micro-Robot World Cup Soccer Tournament (MIROSOT'96) November 9-12 1996 KAIST, Korea Name : Affiliation : Address : Country : E-mail : Tel : Fax : Please indicate your interests : _______ I wish to participate in the tournament. _______ I wish to present a paper in the workshop. _______ I wish to attend the tournament and workshop. _______ I wish to receive further information Please return this REPLY FORM to the MIROSOT'96 Secretariat. MIROSOT'96 Secretariat c/o Ms. Bok-Kyung Kim Dept. of Electrical Engineering, KAIST 373-1 Kusung-dong, Yusung-gu, Taejon 305-701, Korea Phone : +82-42-869-8048 Fax : +82-42-869-8010 E-mail : mirosot@vivaldi.kaist.ac.kr -------------------------------------------------------------------- Committee Members - General Chair Duk Yong Yoon (KAIST) - General Vice-Chair Young-Se Kwon (KAIST) - Int'l Advisory Committee Chair Zeungnam Bien (KAIST) - Int'l Organizing Committee Chair Jong-Hwan Kim (KAIST) - Workshop Committee Chair Ju-Jang Lee (KAIST) - Publicity Committee Chair Myung Jin Chung (KAIST) Sukhan Lee (U.S.C.) - Local Arrangement Committee Co-Chairs Jun Ho Oh (KAIST) Youngjin Park (KAIST) I. Int'l Advisory Committee Name Country Affiliation Zeungnam Bien (Chair) Korea KAIST S. Arimoto Japan Univ. of Tokyo George Bekey U.S.A. U.S.C. J. L. Casti U.S.A. Santa Fe Institute H.-S. Cho Korea KAIST Min-Sung Choi Korea LG Semicon Co., Ltd. Toshio Fukuda Japan Nagoya Univ. Steve Hsia U.S.A. Univ. of California at Davis Mo Jamshidi U.S.A. Univ. of New Mexico Chang-Soo Kim Korea LG Electronics Research Center Sung Kwun Kim Korea Samsung Electronics Co., Ltd. C. S. George Lee U.S.A. Purdue Univ. Jong-Myung Lee Korea LG Industrial Systems Co. Ltd. J.-H. Mun Korea LG Semicon Co., Ltd. Jung-Su Myung Korea Institute for Advanced Engineering Kye Hwan Oh Korea Hyundai Elec. Indus. Co., Ltd. Kyu Ho Park Korea KAIST T.-J. Tarn U.S.A. Washington Univ. II. Int'l Organizing Committee A. Agah Iran MITI M. Asada Japan Osaka Univ. L. Bullart Belgium Univ. of Ghent Lian Chen China Tsinghua Univ. M. J. Chung Korea KAIST Paolo Dario Italy Scuola Superiore S. Naan E. Delaleau France Univ. of Paris-XI A. Drogoul France Univ. of Paris-VI Dominique Duhaut France Univ. of Paris-VI Frans C. A. Groen Holland Univ. of Amsterdam A. Gunasekaran U.K. Brunel Univ. B. K. Kim Korea KAIST J.-O. Kim Korea Samsung Electronics Co. Ltd. S. Kim Korea KAERI K. Ko Korea LG Indust. Systems Co. Ltd. T.-Y. Kuc Korea Sung Kyun Kwan Univ. I. S. Kweon Korea KAIST B.-H. Lee Korea Seoul Nat'l Univ. J.-K. Lee Korea Pohang Iron & Steel Co., Ltd. J.-S. Lee Korea POSTECH Tong-Heng Lee Singapore The Nat'l Univ. of Sigapore Ren C. Luo U.S.A. North Carolina State Univ. Rene V. Mayorga Canada Univ. of Waterloo Z. Michalewicz U.S.A. Univ. of North Carolina J. Nicoud Switzerland Swiss Federal Inst. of Tech. S.-R. Oh Korea KIST Y.-J. Park Korea Daewoo Heavy Inds. Co., Ltd. Francois G. Pin U.S.A. Oak Ridge Nat'l Laboratory R.G. Reynolds U.S.A. Wayne State Univ. T. Shibata Japan MITI C.W. de Silva Canada Univ. of British Columbia S. K. Sung Korea Samsung Heavy Inds. Co., Ltd. A. V. Topalov Bulgaria Technical Univ., Plovdiv Ah Chung Tsoi Australia The Univ. of Queensland Manuela M. Veloso U.S.A. Carnegie Mellon University Xin Yao Australia U.N.S.W. I.-T. Yeo Korea Hyundai Heavy Inds. Co., Ltd. J.-S. Yun Korea LG Semicon Co., Ltd. A. Zell Germany Univ. Tuebingen ---------------------------------------------------------------------------- The Laws of the Game Law 1: The Field and Ball (a) Dimensions. The field is rectangular with its length 130 cm , its width 90 cm, and the height of the wall 5 cm (See Appendix 1 and 2). The field is made of wood; its texture will be the same as that of a ping-pong table, its color is dark green with white walls. (b) Marking. The field of play shall be marked with white lines as shown in Appendix 3. The half-line, defense area lines and goal lines are marked by lines of width 1 cm. On the field, the lines of width 0.5 cm are marked at every 10 cm to aid recognition of the positions of the robots. On the surrounding walls, each section is given a unique number to allow the manager or the coach to inform the robots of their position on the field. Each corner is chopped off for the ball not to be stuck (See Appendix 3). (c) The Goals. The goals shall be placed on the center of each goal-line wall and shall consist of two upright posts, joined by a horizontal cross-bar, its width and height are 30 cm and 12 cm, respectively. The goal-posts and the cross-bar shall have the same width. Nets may be attached to the posts, cross-bars and field behind the goals (See Appendix 2). (d) The Defense Zone. At each end of the field two lines shall be drawn parallel to the goal-lines, 15 cm from each goal post (See Appendix 1). (e) An orange golf ball shall be used as the ball (with diameter 42.7mm, weight 46g). (f) The field shall be indoor and placed in the direction parallel to north and south (See Appendix 1). Law 2: Players (a) A match shall be played by two teams, each consisting of three to five robots, one of whom can be the goalkeeper. (b) Robots (1) The size of each robot is limited to 7.5 cm x 7.5 cm x 7.5 cm. The body color of the robots (including side and top) must not be the same as orange, dark green or black. The size of antenna is not considered as the size of robot. (2) Each robot must be fully independent, with power and motor systems self-contained. Only wireless communication is allowed. (3) The robots are allowed to be equipped with arms, legs etc., but they must meet the size restriction even with the appendages fully expanded. All the robots, except goalkeeper, cannot catch or hold the ball such that more than 30% of its diameter in any view points. The ball should never be lifted off the ground (See Appendix 3). The goalkeeper can catch or hold the ball only in its own defense zone. (4) When the referee whistles at any time, all robots should be stopped by using the communication between the robots and the host computer by the operation of the manager or the coach. (5) While the participants are allowed to use a host computer, they must not use it for purposes other than transmitting orders from the team's manager or the coach regarding the game status (time, the positions of the ball and the robots, the current scores, a reset signal to stop all robots, a restart signal) (6) Vision system can be used. The location of camera or any other sensor systems should be restricted to the top of the area of the team's own field-floor. The height of the camera or the sensor system should be higher than or equal to 2 m from the field. (c) No more than three substitutes a game shall be permitted. Law 3: Duration of the Game (a) The duration of the game shall be two equal periods, 5 minutes each. At half time the interval is 10 minutes. Allowance shall be made in either period for all time lost through the substitution, and the transport from the field of injured robots, time-wasting or other cause, the amount of which shall be a matter for the discretion of the referee. (b) When the team is not ready to fight in the half time (10 minutes), additional 5 minutes are allowed to wait for getting ready. In the case when the team is not ready in time, it results in disqualification. Law 4: The Start of Play (a) Before the beginning of the game, choice of ends shall be decided by the toss of a coin. The team winning the toss shall have the option of choice of north or south ends. The other team takes the ball. The robots must start playing at specified locations as shown in Appendix 4. With a signal by the referee, the game shall be started. (b) At the beginning of the game or after a goal has been scored, the game shall be started or restarted with the fixed position of robots as an initial position (See Appendix 4). (c) When restarting after half-time, ends shall be changed. Law 5: Method of Scoring A goal is scored when the whole of the ball has passed over the goal-line. Winner is decided on the number of goals scored. When there is a tie, the winner will be decided by penalty-kicks, which is different from that described in Law 9. In the case of tie after two penality-kicks, more penalty-kicks are given one-by-one until the winner is decided. All penality-kicks are taken by distinct robots, and shall be started by the referee's whistle. When any of the following occurs, the penalty-kick is over: (a) When the goalkeeper catches the ball. (b) When 30 seconds pass after the referee's whistle. Law 6: Fouls A foul will be called in the following cases: (a) Colliding with a robot of the opposite team continuously intentionally or unintentionally; (b) Attacking with more than two robots in the defense zone of the opposite team; shall be penalized by the award of a free-kick to be taken by the opposing team. (c) Defending with more than two robots in the defense zone; shall be penalized by the award of a penalty-kick to be taken by the opposing team, irrespective of the position of the ball. (d) If the ball is not kicked out of the defense zone within 10 seconds of the goalkeeper catching the ball. (e) Being called "Handling" by the referee: when a robot that is not a goalkeeper catches the ball or a goalkeeper catches the ball out of its own defense zone. Law 7: Interruption of Play The play is interrupted and relocation of robots shall be taken by person only when: (1) changing a robot. (2) a robot has fallen in such a way as to block the goal. (3) a goal is scored or a foul is occurred. (4) referee calls ``free ball'' because of a stalemate. The persons who can touch the robots are restricted to referee, each team's manager and coach. Touching their robots without the referee's permission shall be penalized by the award of a penalty-kick. Law 8: Free-Kick The team that fouled takes positions in the specified sections in front of its own defense line while the other team starts in the sections in front of the half line. The ball is placed between the two teams. The attacking team can be positioned freely within its area and the section next to the half line (See Appendix 5). Law 9: Penalty-Kick When the penalty-kick is called by the referee, the ball, the robot taking the kick, and the opposing goalkeeper shall be placed in specified areas ((I:5) or (D:5)), ((H:5) or (E:5)), and ((L:5) or (A:5)), respectively. Other robots shall be placed freely within the other side of the half-line (but, the attacking team can get the first choice of the robot position). The game shall be restarted normally (all robot can move freely) after the referee whistle. The robot taking the kick may kick or dribble the ball. Law 10: Free-Ball The field is divided into 4 areas ((A:1)-(F:5): Area P, (A:5)-(F:9): Area Q, (G:5)-(L:9): Area R, (G:1)-(L:5): Area S). When a free ball is called at one area, the ball is placed at the middle of that area. One robot per team is placed at locations one section apart from the ball position. The game resumes when the referee gives a sign. At this moment, the defending team can place one robot at the goalie position. Other robots (of both teams) can be placed freely outside of the area where the free ball is called (but, with the rule of defending team getting the first choice of the robot position, See Appendix 6). ------------------------------------------- cut here for postscript file %!PS-Adobe-2.0 MGXPS_2.7S %%Creator: C:\WINDOWS\DESIGNER\SOCC_SEN.PS %%Title: C:\WINDOWS\DESIGNER\SOCC_SEN.PS %%CreationDate: 55 5428 9:52:42 PM %%BoundingBox: (atend) %%DocumentFonts: (atend) %%DocumentProcSets:MGXPS_2.7S 0 0 %%DocumentSuppliedProcSets:MGXPS_2.7S 0 0 %%Pages:(atend) %%EndComments statusdict begin/waittimeout 0 def end/MGXPS_2.7S 200 dict def MGXPS_2.7S begin/bd{bind def}bind def/xd{exch def}bd/ld{load def}bd/M/moveto ld/m/rmoveto ld/L/lineto ld/l/rlineto ld/w/setlinewidth ld/n/newpath ld/P/closepath ld/tr/translate ld/gs/gsave ld/gr/grestore ld/lc/setlinecap ld/lj/setlinejoin ld/ml/setmiterlimit ld/TM/concat ld/F/fill ld/bz/curveto ld/_m matrix def/_cm matrix def/_d 0 def/_o 0 def/_pb 0 def/_hb -1 def currentscreen/_P xd dup/_A xd/__A xd dup/_F xd/__F xd/srgbc{_neg 0 ne{3{neg 1 add 3 1 roll}repeat}if setrgbcolor}bd/ssc{gs 0 0 M 0 _yp neg _xp 0 0 _yp 3 D closepath fill gr 0 0 0 srgbc}bd/Cne{/_bs xd/_neg xd dup 0 ne{setflat}{pop}ifelse dup -1 eq{pop}{2 copy __A ne exch __F ne or{/_A xd/_F xd _F _A/_P load setscreen}{pop pop}ifelse}ifelse/_rz xd/_yp xd/_xp xd/_a 0 def 0 ne{/_a 90 def -90 rotate _xp _rz div 72 mul neg 0 tr}if 0 _yp _rz div 72 mul tr 72 _rz div dup neg scale/#copies xd 2 copy/_ym xd/_xm xd tr n 1 lj 1 lc 1 w 0 8{dup}repeat sc fc bc}bd/clpg{n M dup neg 3 1 roll 0 l 0 exch l 0 l P clip n}bd/SB{_o 0 ne _d 0 ne and{gs []0 setdash _br _bg _bb srgbc stroke gr}if}bd/S{_r _g _b srgbc SB stroke}bd/SX{_r _g _b srgbc _cm currentmatrix pop _m setmatrix SB stroke _cm setmatrix}bd/d{/_d xd setdash}bd/c{3{255 div 3 1 roll}repeat}bd/sc{c/_b xd/_g xd/_r xd}bd/bc{c/_bb xd/_bg xd/_br xd}bd/fc{c/_B xd/_G xd/_R xd}bd/tc{c srgbc}bd/f{0 eq{eofill}{fill}ifelse}bd/D{{l}repeat}bd/PT{dup statusdict exch known{cvx exec}{pop}ifelse}bd/TT{dup statusdict exch known{cvx exec}{pop pop}ifelse}bd/SM{_m currentmatrix pop}bd/RM{_m setmatrix}bd/sp{dup 0 eq{/_pb xd}{255 div/_gr xd/_pb xd 100 div/_f xd}ifelse}bd/B{/_t2 xd/_t3 xd _pb _t2 _t3 8 idiv add get 1 7 _t3 8 mod sub bitshift and 0 ne}bd/SF{2{1 add 4 mul cvi exch}repeat B{0}{1}ifelse}bd/pb{_gr setgray _f _a/SF load setscreen}bd /_dc countdictstack def {statusdict begin /manualfeed false def a4tray end}stopped {countdictstack _dc gt {end}if}if 87 63 1 0 3307 4677 400 -1 0 0 1 Cne 4551 3134 0 0 clpg /_o 1 def 255 255 255 bc /cp{/_t xd{{gs _t 0 eq{eoclip}{clip}ifelse}stopped{gr currentflat 1 add setflat}{exit}ifelse}loop n}bd/p{P dup 0 eq{S pop}{_R _G _B srgbc _pb 0 eq{2 eq{gs f gr S}{f}ifelse}{_pb 1 eq{_o 1 eq{gs _br _bg _bb srgbc 1 index f gr}if _R _G _B srgbc 2 eq{gs hf gr S}{hf}ifelse}{2 eq{true pbc S}{false pbc n}ifelse}ifelse}ifelse}ifelse}bd/px{P dup 0 eq{SX pop}{_R _G _B srgbc _pb 0 eq{2 eq{gs f gr SX}{f}ifelse}{_pb 1 eq{_o 1 eq{gs _br _bg _bb srgbc 1 index f gr}if 2 eq{gs _m setmatrix hf gr SX}{hf}ifelse}{2 eq{true pbc SX}{false pbc n}ifelse}ifelse}ifelse}ifelse}bd /_em matrix def/E{_em currentmatrix pop/_t1 xd/_t2 xd/_t3 xd/_t4 xd _t4 _t3 _t1 sub M _t4 _t3 tr _t2 _t1 neg scale 0 0 1 90 450 arc _em setmatrix}bd 168 3499 27 28 E /spc{dup 0 eq{/_pb xd}{1 eq{255 div/_gr xd/_pb xd/_pg 0 def/_pr 0 def}{/_pb xd/_pg xd/_pr xd}ifelse 1 add/_pq xd}ifelse}bd/_im{[_t 0 0 _t 0 0]}bd/bbx{_pq 75 mul _rz div/_t xd pathbbox 1 add cvi 31 or/_ury xd 1 add cvi 31 or/_urx xd 1 sub cvi -32 and/_lly xd 1 sub cvi -32 and/_llx xd/_dH _ury _lly sub def/_dW _urx _llx sub def}bd/xp{/_pbs xd _row _pbs mul _pbs getinterval/_s xd 0 _pbs 8 _pbs div dup _sW add 1 sub exch div cvi dup/str exch string def _pbs sub{str exch _s putinterval}for str}bd/pbc{/__t save def{_m setmatrix}if 0 eq{eoclip}{clip}ifelse/_row 0 def bbx _llx _lly tr _t _dW mul ceiling cvi 8 add dup 8 mod sub dup/_sW xd _t _dH mul ceiling cvi 8 add dup 8 mod sub _pg 0 ne{8 _im{_pr 8 xp}{_pg 8 xp}{_pb 8 xp/_row _row 1 add 8 mod def}true 3 colorimage}{1 _o eq{gs _br _bg _bb srgbc 2 copy true _im{_pb 1 xp/_row _row 1 add 8 mod def}imagemask gr}if _R _G _B srgbc false _im{_pb 1 xp/_row _row 1 add 8 mod def}imagemask}ifelse __t restore}bd 1 <4400110044001100> 31 1 spc 0 2 p 1929 3495 27 28 E 1 <4400110044001100> 31 1 spc 0 2 p 1929 3569 27 28 E 1 191 1 spc 0 2 p 8 w 0 lc 10433 1000 div ml 1935 3641 18 18 E 1 191 1 spc 0 2 p 16 w 139 3681 M 0 0 123 0 2 D S 8 w 139 3737 M 0 0 123 0 2 D S 1 w 1043 3490 28 27 E 1 <4400110044001100> 31 1 spc 0 2 p 1043 3566 28 28 E 1 191 1 spc 0 2 p 8 w 1048 3637 18 18 E 1 191 1 spc 0 2 p /WE 256 array def StandardEncoding WE copy pop WE dup 0[/grave/acute/circumflex/tilde/macron/breve/dotaccent/dieresis/ring/cedilla/hungarumlaut/ogonek/caron/dotlessi]putinterval dup 39/quotesingle put dup 96/grave put dup 124/bar put dup 145[/quoteleft/quoteright/quotedblleft/quotedblright/bullet/endash/emdash]putinterval 160[/space/exclamdown/cent/sterling/currency/yen/brokenbar/section/dieresis/copyright/ordfeminine/guillemotleft/logicalnot/endash/registered/macron/ring/plusminus/twosuperior/threesuperior/acute/mu/paragraph/periodcentered/cedilla/onesuperior/ordmasculine/guillemotright/onequarter/onehalf/threequarters/questiondown/Agrave/Aacute/Acircumflex/Atilde/Adieresis/Aring/AE/Ccedilla/Egrave/Eacute/Ecircumflex/Edieresis/Igrave/Iacute/Icircumflex/Idieresis/Eth/Ntilde/Ograve/Oacute/Ocircumflex/Otilde/Odieresis/circumflex/Oslash/Ugrave/Uacute/Ucircumflex/Udieresis/Yacute/Thorn/germandbls/agrave/aacute/acircumflex/atilde/adieresis/aring/ae/ccedilla/egrave/eacute/ecircumflex/edieresis/igrave/iacute/icircumflex/idieresis/eth/ntilde/ograve/oacute/ocircumflex/otilde/odieresis/tilde/oslash/ugrave/uacute/ucircumflex/udieresis/yacute/thorn/ydieresis]putinterval /usf{findfont exch makefont setfont}bd/sf{/_nf xd FontDirectory _nf known{pop}{findfont dup maxlength dict/_nfd xd{exch dup/FID ne{exch _nfd 3 1 roll put}{pop pop}ifelse}forall _nfd dup/FontName _nf put/Encoding WE put _nf _nfd definefont pop}ifelse _nf usf}bd/us{gs [] 0 setdash 0 setlinecap w 0 exch M _w _be add 0 l S gr}bd/ob{n/_h xd _cx _cy M _w 0 l 0 _h l _w neg 0 l P tc fill}bd/st{dup/_be xd 0 ne{/_bc xd}if/_vt xd dup stringwidth pop/_sw xd dup length dup 1 gt{1 sub}if/_sl xd _be 0 eq{_w _sw sub _sl div 0 _vt{exch}if 3 -1 roll ashow}{_be _bc div 0 _vt{exch}if 32 _w _sw sub _sl div 0 _vt{exch}if 6 -1 roll awidthshow}ifelse}bd/sb{gs M 10 div rotate/_w xd currentpoint/_cy xd/_cx xd 0 ne{ob}if tc _cx _cy 3 -1 roll add tr 0 0 M st dup 4 and 4 eq{4 sub/_dx _cx _px sub def _dx neg 0 tr/_w _w _dx add def}if dup 0 eq{pop}{dup 1 eq{pop us}{2 eq{us}{dup 3 1 roll us us}ifelse}ifelse}ifelse _cx/_px xd gr}bd [45 0 0 -57 0 0] /Times-Roman/Times-RomanWE sf 0 (Appendix 1:)false 0 51 0 0 0 0 225 0 66 0 sb 0 (Field and its dimensions)false 0 51 0 0 0 0 438 0 62 79 sb 0 (Appendix 2:)false 0 51 0 0 0 0 225 0 1524 21 sb [47 0 0 -57 0 0] /Times-Roman/Times-RomanWE sf 0 (Sideview of the Field)false 0 51 0 0 0 0 403 0 1520 91 sb [36 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (Section number written in the wall)false 0 39 0 0 0 0 495 0 146 2134 sb 0 (Example : freeball called in Area P)false 0 39 0 0 0 0 513 0 1907 2149 sb [33 0 0 -43 0 0] /Times-Roman/Times-RomanWE sf 0 (initial robot position)false 0 39 0 0 0 0 271 0 234 3472 sb 0 (line of 1cm width)false 0 39 0 0 0 0 234 0 308 3654 sb [34 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (line of 0.5cm width)false 0 39 0 0 0 0 271 0 307 3705 sb [36 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (Team N)false 0 39 0 0 0 0 117 0 2019 3476 sb [35 0 0 -43 0 0] /Times-Roman/Times-RomanWE sf 0 (Team S)false 0 39 0 0 0 0 107 0 2019 3549 sb [36 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (Team N)false 0 39 0 0 0 0 117 0 1151 3476 sb [35 0 0 -43 0 0] /Times-Roman/Times-RomanWE sf 0 (Team S)false 0 39 0 0 0 0 107 0 1151 3549 sb [33 0 0 -43 0 0] /Times-Roman/Times-RomanWE sf 0 (Ball)false 0 39 0 0 0 0 55 0 2019 3623 sb 0 (Ball)false 0 39 0 0 0 0 55 0 1151 3623 sb [45 0 0 -57 0 0] /Times-Roman/Times-RomanWE sf 0 (Appendix 3:)false 0 51 0 0 0 0 225 0 74 1295 sb 1 w 170 237 M 0 0 -75 175 2 D S 95 412 M 0 0 125 0 2 D S 170 237 M 0 0 0 225 2 D S [40 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (The conditions that must be satisfied to be met the 70% Rule)false 0 39 0 0 0 0 971 0 73 1367 sb 0 (\050See Law 2.\050b\051\0503\051, D: the diameter of the ball\051)false 0 39 0 0 0 0 741 0 73 1418 sb 137 2282 M 0 -1156 692 0 0 1156 3 D 0 spc 255 255 255 fc 1 2 p 137 2351 M 0 0 693 0 2 D S 16 w 137 2467 M 0 0 693 0 2 D S 8 w 137 2543 M 0 0 693 0 2 D S 137 2621 M 0 0 693 0 2 D S 137 2697 M 0 0 693 0 2 D S 137 2775 M 0 0 693 0 2 D S 16 w 137 2852 M 0 0 693 0 2 D S 8 w 137 2927 M 0 0 693 0 2 D S 137 3082 M 0 0 693 0 2 D S 137 3006 M 0 0 693 0 2 D S 137 3160 M 0 0 693 0 2 D S 1 w 137 3352 M 0 0 693 0 2 D S 16 w 137 3236 M 0 0 693 0 2 D S [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (A)false 0 33 0 0 0 0 29 0 98 2404 sb 0 (B)false 0 33 0 0 0 0 26 0 98 2491 sb 0 (D)false 0 33 0 0 0 0 29 0 98 2645 sb [39 0 0 -35 0 0] /Times-Roman/Times-RomanWE sf 0 (E)false 0 31 0 0 0 0 23 0 98 2722 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (F)false 0 33 0 0 0 0 22 0 98 2789 sb 0 (G)false 0 33 0 0 0 0 29 0 98 2876 sb 0 (H)false 0 33 0 0 0 0 29 0 98 2952 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (I)false 0 33 0 0 0 0 12 0 109 3030 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (J)false 0 33 0 0 0 0 15 0 98 3106 sb 0 (K)false 0 33 0 0 0 0 29 0 98 3184 sb [41 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (L)false 0 33 0 0 0 0 26 0 98 3290 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (C)false 0 33 0 0 0 0 26 0 98 2567 sb 8 w 215 2351 M 0 0 0 1001 2 D S 292 2351 M 0 0 0 1001 2 D S 370 2351 M 0 0 0 1001 2 D S 447 3352 M 0 0 0 -1001 2 D S 524 2351 M 0 0 0 1001 2 D S 602 3352 M 0 0 0 -1001 2 D S 679 2351 M 0 0 0 1001 2 D S 757 3352 M 0 0 0 -1001 2 D S [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (1)false 0 33 0 0 0 0 19 0 167 2308 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (2)false 0 33 0 0 0 0 20 0 243 2308 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (3)false 0 33 0 0 0 0 19 0 322 2308 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (4)false 0 33 0 0 0 0 20 0 398 2308 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (5)false 0 33 0 0 0 0 19 0 477 2308 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (6)false 0 33 0 0 0 0 20 0 553 2308 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (7)false 0 33 0 0 0 0 19 0 632 2308 sb 0 (8)false 0 33 0 0 0 0 19 0 708 2308 sb 0 (9)false 0 33 0 0 0 0 19 0 777 2308 sb 1 w 483 2735 28 28 E 1 <4400110044001100> 31 1 spc 0 0 0 fc 0 2 p 483 2581 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 253 2658 29 28 E 1 <4400110044001100> 31 1 spc 0 2 p 717 2658 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 483 2408 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 483 3294 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 484 2909 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 253 3043 29 29 E 1 <4400110044001100> 31 1 spc 0 2 p 483 3120 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 717 3043 28 29 E 1 <4400110044001100> 31 1 spc 0 2 p 1908 2293 M 0 -1154 693 0 0 1154 3 D 0 spc 255 255 255 fc 1 2 p 1908 2380 M 0 0 694 0 2 D S 16 w 1908 2497 M 0 0 694 0 2 D S 8 w 1908 2572 M 0 0 694 0 2 D S 1908 2649 M 0 0 694 0 2 D S 1908 2727 M 0 0 694 0 2 D S 1908 2803 M 0 0 694 0 2 D S 16 w 1908 2882 M 0 0 694 0 2 D S 8 w 1908 2957 M 0 0 694 0 2 D S 1908 3112 M 0 0 694 0 2 D S 1908 3034 M 0 0 694 0 2 D S 1908 3188 M 0 0 694 0 2 D S 1 w 1908 3381 M 0 0 694 0 2 D S 16 w 1908 3266 M 0 0 694 0 2 D S [37 0 0 -35 0 0] /Times-Roman/Times-RomanWE sf 0 (A)false 0 31 0 0 0 0 26 0 1870 2434 sb [39 0 0 -35 0 0] /Times-Roman/Times-RomanWE sf 0 (B)false 0 31 0 0 0 0 26 0 1870 2521 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (D)false 0 33 0 0 0 0 29 0 1870 2675 sb 0 (E)false 0 33 0 0 0 0 24 0 1870 2751 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (F)false 0 33 0 0 0 0 21 0 1870 2818 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (G)false 0 33 0 0 0 0 29 0 1870 2905 sb [40 0 0 -36 0 0] /Times-Roman/Times-RomanWE sf 0 (H)false 0 32 0 0 0 0 29 0 1870 2982 sb [39 0 0 -35 0 0] /Times-Roman/Times-RomanWE sf 0 (I)false 0 31 0 0 0 0 13 0 1879 3060 sb [38 0 0 -36 0 0] /Times-Roman/Times-RomanWE sf 0 (J)false 0 32 0 0 0 0 15 0 1870 3136 sb 1 w /_o 0 def 1875 3219 M 0 27 1 D S 1876 3219 M 0 27 1 D S 1889 3219 M -13 16 1 D S 1881 3230 M 8 16 1 D S 1880 3230 M 8 16 1 D S 1872 3219 M 7 0 1 D S 1885 3219 M 6 0 1 D S 1872 3246 M 7 0 1 D S 1885 3246 M 6 0 1 D S [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (L)false 0 33 0 0 0 0 23 0 1870 3318 sb [40 0 0 -36 0 0] /Times-Roman/Times-RomanWE sf 0 (C)false 0 32 0 0 0 0 27 0 1870 2597 sb 8 w /_o 1 def 1987 2380 M 0 0 0 1001 2 D S 2063 2380 M 0 0 0 1001 2 D S 2141 2380 M 0 0 0 1001 2 D S 2219 3381 M 0 0 0 -1001 2 D S 2296 2380 M 0 0 0 1001 2 D S 2374 3381 M 0 0 0 -1001 2 D S 2451 2380 M 0 0 0 1001 2 D S 2529 3381 M 0 0 0 -1001 2 D S [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (1)false 0 33 0 0 0 0 19 0 1938 2337 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (2)false 0 33 0 0 0 0 20 0 2015 2337 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (3)false 0 33 0 0 0 0 19 0 2093 2337 sb 0 (4)false 0 33 0 0 0 0 19 0 2170 2337 sb 0 (5)false 0 33 0 0 0 0 19 0 2247 2337 sb 0 (6)false 0 33 0 0 0 0 19 0 2325 2337 sb 0 (7)false 0 33 0 0 0 0 19 0 2402 2337 sb 0 (8)false 0 33 0 0 0 0 19 0 2480 2337 sb 0 (9)false 0 33 0 0 0 0 19 0 2548 2337 sb 1 w 2337 2762 29 29 E 1 <4400110044001100> 31 1 spc 0 0 0 fc 0 2 p 2335 2608 29 27 E 1 <4400110044001100> 31 1 spc 0 2 p 2102 2533 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 2412 2687 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 2256 2438 29 28 E 1 <4400110044001100> 31 1 spc 0 2 p 2256 3322 29 28 E 1 191 1 spc 0 2 p 2337 2685 29 28 E 1 191 1 spc 0 2 p 2102 2841 28 28 E 1 191 1 spc 0 2 p 2179 2919 28 29 E 1 191 1 spc 0 2 p 2337 2839 29 28 E 1 191 1 spc 0 2 p 8 w 2101 2686 19 19 E 1 191 1 spc 0 2 p 1 w 7 2297 M 7 2366 L 16 2366 L 16 2311 L 17 2312 17 2314 18 2316 bz 52 2366 L 62 2366 L 62 2297 L 52 2297 L 52 2352 L 52 2351 51 2349 49 2347 bz 17 2297 L 7 2297 L 0 spc 0 2 p 73 3371 M 73 3358 64 3351 48 3351 bz 32 3351 23 3358 23 3370 bz 23 3381 31 3385 44 3388 bz 58 3391 67 3392 67 3401 bz 67 3409 60 3413 49 3413 bz 37 3413 30 3407 30 3397 bz 21 3397 L 22 3413 32 3421 48 3421 bz 66 3421 76 3413 76 3400 bz 76 3387 67 3384 53 3381 bz 39 3377 32 3377 32 3369 bz 32 3361 38 3357 47 3357 bz 58 3357 64 3362 65 3371 bz 73 3371 L 0 2 p 8 w 1 lc 1520 375 M 0 0 -42 62 2 D S 1507 383 M 0 0 0 67 2 D S 1507 450 M 0 0 -8 17 2 D S 1995 325 M 0 0 4 -67 2 D S 1999 258 M 0 0 58 25 2 D S 2057 283 M 0 0 0 75 2 D S 2057 358 M 0 0 -62 -25 2 D S 1566 579 M 0 0 66 17 2 D S 2141 471 M 0 0 12 -42 2 D S 15 w 1447 391 M -580 147 -147 -221 589 -147 147 221 4 D S 8 w 1595 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2022 1023 2022 1024 2022 1027 bz 2022 1029 2022 1031 2025 1032 bz 2022 1032 L 2022 1035 L 2041 1035 L 2041 1032 L 2030 1032 L 2027 1032 2024 1030 2024 1027 bz 2024 1026 2026 1024 2028 1024 bz 2041 1024 L 2041 1022 L 2030 1022 L 2027 1022 2024 1020 2024 1017 bz 2024 1015 2026 1013 2028 1013 bz 2029 1013 L 2041 1013 L 2041 1011 L 2029 1011 L 2028 1011 L 2027 1011 2025 1011 2024 1012 bz 2022 1012 2022 1014 2022 1017 bz 2022 1018 2022 1021 2024 1022 bz 0 2 p 2294 1113 M 2294 1115 L 2298 1115 2302 1113 2302 1110 bz 2302 1107 2298 1105 2293 1105 bz 2288 1105 2285 1107 2285 1110 bz 2285 1111 2286 1112 2287 1112 bz 2280 1112 L 2280 1106 L 2277 1106 L 2277 1113 L 2290 1115 L 2290 1113 L 2288 1112 2287 1112 2287 1110 bz 2287 1108 2290 1107 2293 1107 bz 2297 1107 2298 1108 2298 1110 bz 2298 1112 2297 1113 2294 1113 bz 0 2 p 2288 1094 M 2285 1094 2282 1096 2282 1098 bz 2282 1102 2286 1103 2292 1103 bz 2297 1103 2302 1102 2302 1098 bz 2302 1096 2298 1094 2294 1094 bz 2294 1096 L 2297 1096 2298 1097 2298 1098 bz 2298 1100 2296 1102 2292 1102 bz 2287 1102 2285 1100 2285 1098 bz 2285 1097 2286 1096 2288 1096 bz 2288 1094 L 0 2 p 2285 1084 M 2283 1084 2282 1086 2282 1087 bz 2282 1088 2283 1089 2285 1090 bz 2282 1090 L 2282 1092 L 2301 1092 L 2301 1090 L 2290 1090 L 2287 1090 2285 1089 2285 1087 bz 2285 1086 2286 1085 2288 1085 bz 2301 1085 L 2301 1083 L 2290 1083 L 2287 1083 2285 1082 2285 1081 bz 2285 1079 2286 1079 2288 1079 bz 2290 1079 L 2301 1079 L 2301 1077 L 2290 1077 L 2288 1077 L 2287 1077 2286 1077 2285 1077 bz 2283 1078 2282 1079 2282 1081 bz 2282 1082 2283 1083 2285 1084 bz 0 2 p 15 w 1447 392 M 0 0 10 0 2 D S 1 w 1467 520 M 0 0 45 64 2 D S 16 w 0 lc 1558 437 M 0 0 92 156 2 D S [45 0 0 -57 0 0] /Times-Roman/Times-RomanWE sf 0 (Appendix 4:)false 0 51 0 0 0 0 225 0 147 2060 sb 0 (Appendix 5:)false 0 51 0 0 0 0 225 0 1012 2055 sb 0 (Appendix 6:)false 0 51 0 0 0 0 225 0 1907 2059 sb 8 w 1 lc 374 321 M 0 0 25 -25 2 D S 807 322 M 0 0 -25 -25 2 D S 366 288 M 0 -744 446 0 0 744 3 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872 897 873 894 874 bz 0 2 p 888 857 M 897 857 902 855 902 849 bz 902 844 897 841 889 841 bz 881 841 877 844 877 849 bz 877 855 881 857 888 857 bz P P 879 849 M 879 846 882 844 889 844 bz 896 844 898 846 898 849 bz 898 853 895 854 888 854 bz 882 854 879 852 879 849 bz P P 0 2 p 888 823 M 885 823 882 827 882 831 bz 882 836 886 838 892 838 bz 897 838 902 836 902 831 bz 902 827 898 823 894 823 bz 894 826 L 897 827 898 828 898 831 bz 898 834 896 836 892 836 bz 887 836 885 833 885 831 bz 885 828 886 827 888 827 bz 888 823 L 0 2 p 885 807 M 883 808 882 809 882 812 bz 882 814 883 816 885 817 bz 882 817 L 882 820 L 901 820 L 901 817 L 890 817 L 887 817 885 815 885 812 bz 885 811 886 809 888 809 bz 901 809 L 901 807 L 890 807 L 887 807 885 805 885 802 bz 885 800 886 798 888 798 bz 890 798 L 901 798 L 901 796 L 890 796 L 888 796 L 887 796 886 796 885 797 bz 883 797 882 799 882 802 bz 882 803 883 806 885 807 bz 0 2 p 794 341 M 0 0 65 -29 2 D S 836 342 M 25 9 -10 25 27 -33 -42 -1 4 D 0 2 p 861 312 M 0 0 159 0 2 D S 366 288 M 0 0 -121 0 2 D S 366 1033 M 0 0 -121 0 2 D S 319 288 M 0 0 0 745 2 D S 301 326 M -18 19 -18 -19 18 38 18 -38 4 D 0 2 p 337 996 M 18 -19 18 19 -18 -37 -18 37 4 D 0 2 p 269 703 M 287 703 L 287 700 L 262 700 L 262 702 L 265 703 267 705 267 709 bz 269 709 L 269 703 L 0 2 p 279 689 M 279 692 L 279 692 L 284 692 287 689 287 684 bz 287 679 284 676 279 676 bz 277 676 274 677 273 679 bz 272 677 271 677 268 677 bz 264 677 262 679 262 684 bz 262 689 265 692 269 692 bz 270 692 L 270 689 L 270 689 L 267 689 264 687 264 684 bz 264 682 266 680 268 680 bz 271 680 272 682 272 684 bz 272 685 L 272 686 L 275 686 L 275 685 275 684 275 684 bz 275 681 277 679 279 679 bz 282 679 284 681 284 684 bz 284 687 282 689 279 689 bz 0 2 p 274 672 M 283 672 287 670 287 664 bz 287 659 283 656 274 656 bz 266 656 262 659 262 664 bz 262 670 266 672 274 672 bz P P 264 664 M 264 661 267 659 274 659 bz 281 659 284 661 284 664 bz 284 668 281 669 274 669 bz 267 669 264 667 264 664 bz P P 0 2 p 274 638 M 270 638 267 642 267 646 bz 267 651 271 653 277 653 bz 283 653 287 651 287 646 bz 287 642 284 638 280 638 bz 280 641 L 282 642 284 643 284 646 bz 284 649 282 651 277 651 bz 272 651 270 648 270 646 bz 270 643 272 642 274 642 bz 274 638 L 0 2 p 270 622 M 268 623 267 624 267 627 bz 267 629 268 631 271 632 bz 267 632 L 267 635 L 287 635 L 287 632 L 276 632 L 272 632 270 630 270 627 bz 270 626 272 624 274 624 bz 287 624 L 287 622 L 276 622 L 272 622 270 620 270 617 bz 270 615 272 613 274 613 bz 275 613 L 287 613 L 287 611 L 275 611 L 274 611 L 272 611 271 611 270 612 bz 268 612 267 614 267 617 bz 267 618 268 621 270 622 bz 0 2 p 357 279 M 0 -763 8 0 0 763 3 D 0 p 813 279 M 0 -763 8 0 0 763 3 D 0 p 366 279 M 0 -8 446 0 0 8 3 D 0 p 366 1033 M 0 -9 446 0 0 9 3 D 0 p [23 0 0 -29 0 0] /Times-Roman/Times-RomanWE sf 0 (Defence zone)false 0 26 0 0 0 0 126 0 858 281 sb 366 233 M 0 0 0 -32 2 D S 401 287 M 0 0 0 -88 2 D S 339 217 M 0 0 27 0 2 D S 328 198 M -19 -19 19 -18 -38 18 38 19 4 D 0 2 p 425 217 M 0 0 -24 0 2 D S 438 235 M 19 18 -19 19 37 -19 -37 -18 4 D 0 2 p 366 217 M 0 0 35 0 2 D S 425 217 M 0 0 52 0 2 D S 8 w 1 lc 371 1003 M 0 0 25 25 2 D S 783 1029 M 0 0 25 -25 2 D S 1 w 452 202 M 448 202 L 448 202 L 448 207 452 210 457 210 bz 462 210 465 207 465 202 bz 465 199 464 197 462 196 bz 463 195 464 193 464 192 bz 464 187 462 185 457 185 bz 452 185 449 187 449 192 bz 449 192 L 452 192 L 452 192 L 452 189 454 187 457 187 bz 459 187 461 189 461 192 bz 461 194 459 195 457 195 bz 456 195 L 455 195 L 455 198 L 456 197 457 197 457 197 bz 460 197 462 199 462 202 bz 462 205 460 207 457 207 bz 453 207 452 205 452 202 bz 0 2 p 483 197 M 483 193 480 191 476 191 bz 471 191 468 194 468 200 bz 468 206 471 210 476 210 bz 480 210 483 207 483 202 bz 481 202 L 480 205 478 207 476 207 bz 472 207 471 204 471 200 bz 471 196 473 193 476 193 bz 478 193 480 194 480 197 bz 483 197 L 0 2 p 500 193 M 498 192 497 191 495 191 bz 492 191 491 192 489 193 bz 489 191 L 487 191 L 487 209 L 489 209 L 489 198 L 489 195 492 193 494 193 bz 496 193 497 194 497 197 bz 497 209 L 500 209 L 500 198 L 500 195 502 193 505 193 bz 507 193 508 194 508 197 bz 508 198 L 508 209 L 511 209 L 511 198 L 511 197 L 511 195 511 194 510 193 bz 509 192 507 191 505 191 bz 503 191 501 192 500 193 bz 0 2 p 8 w 170 2356 M 0 0 -28 28 2 D S 798 2355 M 0 0 28 28 2 D S 1 w 1014 2289 M 0 -1154 692 0 0 1154 3 D 255 255 255 fc 1 2 p 1014 2376 M 0 0 693 0 2 D S 16 w 0 lc 1014 2492 M 0 0 693 0 2 D S 8 w 1014 2568 M 0 0 693 0 2 D S 1014 2646 M 0 0 693 0 2 D S 1014 2722 M 0 0 693 0 2 D S 1014 2801 M 0 0 693 0 2 D S 16 w 1014 2877 M 0 0 693 0 2 D S 8 w 1014 2953 M 0 0 693 0 2 D S 1014 3107 M 0 0 693 0 2 D S 1014 3031 M 0 0 693 0 2 D S 1014 3185 M 0 0 693 0 2 D S 1 w 1014 3377 M 0 0 693 0 2 D S 16 w 1014 3261 M 0 0 693 0 2 D S [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (A)false 0 33 0 0 0 0 27 0 976 2429 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (B)false 0 33 0 0 0 0 26 0 976 2516 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (D)false 0 33 0 0 0 0 27 0 976 2670 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (E)false 0 33 0 0 0 0 24 0 976 2747 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (F)false 0 33 0 0 0 0 21 0 976 2814 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (G)false 0 33 0 0 0 0 29 0 976 2901 sb [37 0 0 -35 0 0] /Times-Roman/Times-RomanWE sf 0 (H)false 0 31 0 0 0 0 26 0 976 2979 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (I)false 0 33 0 0 0 0 12 0 987 3055 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (J)false 0 33 0 0 0 0 15 0 976 3132 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (K)false 0 33 0 0 0 0 27 0 976 3209 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (L)false 0 33 0 0 0 0 24 0 976 3315 sb 1 w /_o 0 def 993 2603 M 3 1 2 3 1 2 1 5 0 6 -1 4 -1 2 -2 3 -3 1 -2 0 -3 -1 -2 -3 -1 4 0 -7 1 3 15 D S 986 2626 M 1 -2 2 -3 3 -1 2 0 4 D S 986 2599 M 2 1 2 3 1 2 1 5 0 6 -1 4 -1 2 -2 3 -2 1 9 D S 8 w /_o 1 def 1092 2376 M 0 0 0 1001 2 D S 1169 2376 M 0 0 0 1001 2 D S 1248 2376 M 0 0 0 1001 2 D S 1325 3377 M 0 0 0 -1001 2 D S 1403 2376 M 0 0 0 1001 2 D S 1480 3377 M 0 0 0 -1001 2 D S 1557 2376 M 0 0 0 1001 2 D S 1635 3377 M 0 0 0 -1001 2 D S 0 (1)false 0 33 0 0 0 0 20 0 1044 2334 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (2)false 0 33 0 0 0 0 19 0 1122 2334 sb 0 (3)false 0 33 0 0 0 0 19 0 1199 2334 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (4)false 0 33 0 0 0 0 20 0 1276 2334 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (5)false 0 33 0 0 0 0 19 0 1354 2334 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (6)false 0 33 0 0 0 0 20 0 1431 2334 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (7)false 0 33 0 0 0 0 19 0 1509 2334 sb [39 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (8)false 0 33 0 0 0 0 20 0 1586 2334 sb [37 0 0 -37 0 0] /Times-Roman/Times-RomanWE sf 0 (9)false 0 33 0 0 0 0 19 0 1654 2334 sb 1 w 1053 2530 28 28 E 1 <4400110044001100> 31 1 spc 0 0 0 fc 0 2 p 1673 2530 29 28 E 1 <4400110044001100> 31 1 spc 0 2 p 1208 2530 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 1518 2530 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 1363 2433 28 28 E 1 <4400110044001100> 31 1 spc 0 2 p 1363 3319 28 28 E 1 191 1 spc 0 2 p 1518 2837 28 28 E 1 191 1 spc 0 2 p 1208 2837 28 28 E 1 191 1 spc 0 2 p 1286 2837 29 28 E 1 191 1 spc 0 2 p 1363 2837 28 28 E 1 191 1 spc 0 2 p 8 w 1363 2683 19 18 E 1 191 1 spc 0 2 p 1 lc 1046 2380 M 0 0 -28 28 2 D S 1939 2385 M 0 0 -27 28 2 D S 1676 2380 M 0 0 27 28 2 D S 2570 2384 M 0 0 27 28 2 D S 2597 3346 M 0 0 -27 29 2 D S 142 3320 M 0 0 27 28 2 D S 1019 3345 M 0 0 28 28 2 D S 1912 3346 M 0 0 27 29 2 D S 1703 3345 M 0 0 -27 28 2 D S 827 3320 M 0 0 -28 28 2 D S 0 lc 171 3571 19 18 E 1 191 1 spc 0 2 p [34 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (initial ball position)false 0 39 0 0 0 0 252 0 237 3546 sb 0 (\050Example : team S gets the ball first.\051)false 0 39 0 0 0 0 502 0 237 3597 sb [39 0 0 -45 0 0] /Times-Roman/Times-RomanWE sf 0 (Ball)false 0 40 0 0 0 0 66 0 109 1566 sb 0 (Robot)false 0 40 0 0 0 0 97 0 24 1784 sb 0 ()false 0 40 0 0 0 0 199 0 194 1979 sb 1 w 146 1659 M 0 -297 326 0 0 297 3 D 1 223 1 spc 1 2 p 303 1613 96 91 E 0 p 231 1522 M 0 0 303 0 2 D S 242 1659 M 0 0 292 0 2 D S 509 1522 M 0 0 0 137 2 D S 491 1559 M -18 19 -18 -19 18 37 18 -37 4 D 0 spc 0 2 p 527 1622 M 18 -19 18 19 -18 -37 -18 37 4 D 0 2 p 0 (> 70% * D)false 0 40 0 0 0 0 169 0 558 1566 sb SM [0 0.3827 -0.4051 0 1101 1602]TM 0 0 M 0 -779 809 0 0 779 3 D 1 223 1 spc 1 2 px RM SM [0 0.8332 -0.8332 0 1246 1754]TM 110 116 110 116 E 0 px RM 1246 1857 M 0 0 0 -286 2 D S 1101 1846 M 0 0 0 -275 2 D S 1246 1593 M 0 0 -145 0 2 D S 1208 1575 M -19 -18 19 -19 -38 19 38 18 4 D 0 spc 0 2 p 1138 1612 M 19 19 -19 18 37 -18 -37 -19 4 D 0 2 p 0 (> 70% * D)false 0 40 0 0 0 0 169 0 1068 1505 sb 0 (Robot)false 0 40 0 0 0 0 97 0 874 1539 sb [38 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (Ball)false 0 39 0 0 0 0 63 0 1130 1692 sb [39 0 0 -45 0 0] /Times-Roman/Times-RomanWE sf 0 ()false 0 40 0 0 0 0 206 0 837 1991 sb 854 1904 37 37 E 0 2 p 717 1942 M 0 -49 599 0 0 49 3 D /hp{dup -1 eq{/_hb -1 def/_pb 0 def}{/_hb xd 1 add/_pq xd/_pb 1 def}ifelse}bd/vert{X0 _w X1{dup Y0 M Y1 L stroke}for}bd/horz{Y0 _w Y1{dup X0 exch M X1 exch L stroke}for}bd/fdiag{X0 _w X1{Y0 M X1 X0 sub dup l stroke}for Y0 _w Y1{X0 exch M Y1 Y0 sub dup l stroke}for}bd/bdiag{X0 _w X1{Y1 M X1 X0 sub dup neg l stroke}for Y0 _w Y1{X0 exch M Y1 Y0 sub dup neg l stroke}for}bd/AU{1 add cvi 31 or}bd/AD{1 sub cvi -32 and}bd/hf{pathbbox 1 add cvi 31 or/Y1 xd 1 add cvi 31 or/X1 xd 1 sub cvi -32 and/Y0 xd 1 sub cvi -32 and/X0 xd 2 w [] 0 setdash/_w _rz 20 div 8 div 2 mul _pq div round 8 mul def cp _hb 0 eq{horz}if _hb 1 eq{vert}if _hb 2 eq{fdiag}if _hb 3 eq{bdiag}if _hb 4 eq{horz vert}if _hb 5 eq{fdiag bdiag}if gr}bd 1 3 hp 1 2 p 1004 1904 37 37 E -1 hp 0 2 p [36 0 0 -44 0 0] /Times-Roman/Times-RomanWE sf 0 (Resuming game when a foul occurrence)false 0 39 0 0 0 0 577 0 1016 2141 sb 0 (\050Example: Team N fouled.\051)false 0 39 0 0 0 0 396 0 1099 2203 sb 8 w 484 2850 19 18 E 1 191 1 spc 0 2 p showpage %%Trailer %%Pages: 1 end %%BoundingBox: 0 166 468 842 From owner-population-bio@net.bio.net Tue Jun 18 23:00:00 1996 Path: biosci!VIVALDI.KAIST.AC.KR!seal96 From: seal96@VIVALDI.KAIST.AC.KR (Hyun Myung) Newsgroups: bionet.population-bio Subject: SEAL'96 (2nd CFP) Date: 19 Jun 1996 00:57:24 -0700 Organization: BIOSCI International Newsgroups for Molecular Biology Lines: 249 Sender: daemon@net.bio.net Distribution: world Message-ID: <199606190558.PAA02912@vivaldi.kaist.ac.kr> NNTP-Posting-Host: net.bio.net ************************************************** * S E C O N D C A L L F O R P A P E R S * ************************************************** The First Asia-Pacific Conference on Simulated Evolution And Learning (SEAL'96) Taejon, Korea 9-12 November 1996 in conjunction with Micro-Robot World Cup Soccer Tournament (MIROSOT'96) Latest Updates -------------- WWW for SEAL'96: URL: http://vivaldi.kaist.ac.kr/~seal96/ URL: http://www.cs.adfa.oz.au/~xin/conference_cfps/seal96_cfps.html The proceedings will be published by Springer-Verlag as a volume in its Lecture Notes in Artificial Intelligence. Aims and Scopes --------------- Evolution and learning are two fundamental forms of adaptation. This conference aims at exploring these two forms of adaptation and their roles and interactions in adaptive systems. Cross-fertilisation between evolutionary learning and other machine learning approaches, such as neural network learning, reinforcement learning, decision tree learning, fuzzy system learning, etc., will be strongly encouraged by the conference. The conference will provide a common forum for researchers and practitioners from different backgrounds to exchange their new ideas and latest results in simulated evolution and learning. The conference is now soliciting papers in the following areas although papers in other relevant areas are also welcome: 1. Evolutionary Learning + Fundamental Issues in Evolutionary Learning (e.g., Generalisation, Scalability, and Computational Complexity) + Co-Evolutionary Learning + Modular Evolutionary Learning Systems + Classifier Systems + Artificial Immune Systems + Representation Issue in Evolutionary Learning (e.g., rules, trees, graphs, etc.) + Interactions Between Learning and Evolution in a System + Comparison between Evolutionary Learning and Other Learning Approaches (Neural Network, Decision Tree, Reinforcement Learning, etc.) 2. Hybrid Learning + Evolutionary Artificial Neural Networks + Evolutionary Fuzzy Systems + Combinations Between Evolutionary and Reinforcement Learning + Combinations Between Evolutionary and Decision Tree Learning + Evolutionary Clustering and Unsupervised Learning + Genetic Programming + Other Hybrid Learning Systems (e.g., Multi-Agent Systems, etc.) 3. Adaptive Systems + Complexity in Adaptive Systems + Evolutionary Robotics + Artificial Ecology 4. Evolutionary Economics and Games + Analysis and Simulation in Evolutionary Economics, Finance and Marketing + Evolutionary Games + Evolutionary Computation Techniques in Economics, Finance and Marketing 5. Applications of Evolutionary and Hybrid Learning Systems + Classification and Recognition + Time-Series Prediction + Optimisation + System Identification + Others Important Dates --------------- 15 July 1996 Deadline for submission of complete papers (<=10 pages) 01 Sept 1996 Notification of acceptance 18 Oct 1996 Deadline for camera-ready copies 09-12 Nov 1996 Conference sessions Concurrent Event ---------------- SEAL'96 will be held in conjunction with MIROSOT'96. There will be no parallel sessions between the two so that all participants of the conference can watch the World Cup Soccer Tournament played by various robots! This provides a golden opportunity for scientists and engineers to interact with each other in a relax and stimulating environment. Paper Submission ---------------- FOUR (4) hard copies of the completed paper should be submitted to one of the programme committee co-chairs before or on 15 July 1996. Late submission may be considered based on time limitation. (The main constraint is the time to get referees' reports back in time.) Dr Xin Yao (SEAL'96 Programme Co-Chair) School of Computer Science University College, UNSW Australian Defence Force Academy Canberra, ACT 2600, Australia Email: xin@csadfa.cs.adfa.oz.au Professor Jong-Hwan Kim (SEAL'96 Programme Co-Chair) Department of Electrical Engineering Korea Advanced Institute of Science and Technology 373-1, Kusung-dong, Yusung-gu, Taejon-shi, 305-701, Republic of Korea Email: johkim@vivaldi.kaist.ac.kr Professor Takeshi Furuhashi (SEAL'96 Programme Co-Chair) Department of Information Electronics Nagoya University Furo-cho, Chikusa-ku, Nagoya 464-01 Japan Email: furuhashi@nuee.nagoya-u.ac.jp Special Sessions ---------------- Proposals for special sessions at SEAL'96 are invited. All proposals should be sent to one of the programme committee co-chairs via email. A proposal should include a brief biography of the session organiser(s) and a description of the proposed session. The deadline for proposal submission is 15 June 1996. Preparation of Manuscript ------------------------- All four hard copies must be printed on 8.5 in x 11 in or A4 paper using 12 point Times. The left and right margin should be 25mm each. The top and bottom margin should be 35mm each. Each submitted paper must have a separate title page and a body. The title page must include a title, a 300-400 word abstract, a list of keywords, the names and addresses of all authors, their email addresses, and their telephone and fax numbers. The body must also include the title and abstract, but the author information must be excluded. The length of submitted papers (excluding the title page) must be no more than 10 single-spaced, single-column pages including all figures, tables, and bibliography. Shorter papers are encouraged. Proceedings ----------- The preprint proceedings of the conference will be made available at the conference to all registered participants. The formal proceedings will be published by Springer-Verlag as a volume in its Lecture Notes in Artificial Intelligence. The final camera-ready copy of accepted papers is due at the conference. The format and style will be adviced later. It is important that all potential authors follow the deadlines so that prompt publication is possible. Programme Committee ------------------- Co-Chairs: Drs. Xin Yao, Jong-Hwan Kim, Takeshi Furuhashi Peter Angeline (Loral Federal Systems, USA) Shu-Heng Chen (National Chengchi University, Taiwan) Jin Young Choi (Seoul National University, Korea) Elmer Dadios (De La Salle University, Philippines) David Fogel (Natural Selection, Inc., USA) Takeshi Furuhashi (Co-Chair) (Nagoya University, Japan) Hugo de Garis (ATR, Japan) David Green (Charles Sturt University, Australia) Robert Hinterding (Victoria University of Technology, Australia) Lishan Kang (Wuhan University, China) Jong-Hwan Kim (Co-Chair) (KAIST, Korea) Guo-Jie Li (NCIC, China) Robert McKay (UNSW/ADFA, Australia) Zbigniew Michalewicz (UNC-Charlotte, USA) Sadayoshi Mikami (Hokkaido University, Japan) Zensho Nakao (University of the Ryukyus, Japan) Shigeru Omatu (Osaka, Japan) Cheol Hoon Park (KAIST, Korea) Robert Pearson (UNSW/ADFA, Australia) Don Potter (University of Georgia, USA) Juergen Schmidhuber (IDSIA, Switzerland) Dharmendra Sharma (University of the South Pacific, Fiji) Russel Stonier (Central Queensland University, Australia) Andon Topalov (KAIST, Korea) Ah Chung Tsoi (University of Queensland, Australia) Jari Vaario (Nara Women's University, Japan) Wilson Wen (Telstra Research Laboratories, Australia) Kit Po Wong (University of Western Australia, Australia) Jian Kang Wu (National University of Singapore, Singapore) Jian Xin Xu (National University of Singapore, Singapore) Xin Yao (Co-Chair) (UNSW/ADFA, Australia) Organising Committee -------------------- Co-Chairs: Professor Jong-Hwan Kim and Professor Zensho Nakao Professor Jong-Hwan Kim (SEAL'96 Organising Committee Co-Chair) Department of Electrical Engineering Korea Advanced Institute of Science and Technology 373-1, Kusung-dong, Yusung-gu, Taejon-shi, 305-701, Republic of Korea Email: johkim@vivaldi.kaist.ac.kr Professor Zensho Nakao (SEAL'96 Organising Committee Co-Chair) Electronic Systems Engineering Group Dept of Electrical & Electronics Engineering Fac of Engineering, Univ of the Ryukyus 1 Senbaru, Nishihara, Okinawa 903-01, Japan Email: nakao@augusta.ie.u-ryukyu.ac.jp Organising Committee Members: Liya Ding (KAIST, Korea) Satoshi Endo (University of the Ryukyus, Japan) Minoru Fukumi (University of Tokushima, Japan) Eun Cheol Ham (Publication Chair, Chonbuk University, Korea) Hoon Kang (Chungang University, Korea) Rhee M. Kil (Local Arrangement Chair, KAIST, Korea) Intaek Kim (Goldstar, Korea) Seong-Gon Kong (Soongsil University, Korea) Jungmoon Lee (Finance Chair, Kangwon University, Korea) Hyun Myung (Secretariat, KAIST, Korea) Itaru Nagayama (University of the Ryukyus, Japan) Shigeru Omatu (Osaka, Japan) Daihee Park (KAIST, Korea) Koji Yamada (University of the Ryukyus, Japan) Byoung-Tak Zhang (Publicity Chair, Konkuk University, Korea) From owner-population-bio@net.bio.net Tue Jun 18 23:00:00 1996 Path: biosci!daresbury!lyra.csx.cam.ac.uk!ak133 From: ak133@cus.cam.ac.uk (Dr A. Kleczkowski) Newsgroups: bionet.population-bio Subject: Post-Doc, Cambridge, UK Date: 19 Jun 1996 11:21:13 GMT Organization: University of Cambridge, England Lines: 70 Message-ID: <4q8nr9$9r9@lyra.csx.cam.ac.uk> NNTP-Posting-Host: taurus.cus.cam.ac.uk Apologies if you have received more than one copy: this advert is being cross-posted to several news-groups ! As C.A. Gilligan is away from Cambridge in the next week or so, please contact me asap (A. Kleczkowski, ak133@cus.cam.ac.uk) if interested. More information on our group can be found on WWW: http://www-epidem.plantsci.cam.ac.uk ------------------------------------------------------------------------ POSTDOCTORAL RESEARCH ASSISTANT STATISTICIAN, APPLIED MATHEMATICIAN, PHYSICIST DEPARTMENT OF PLANT SCIENCES STATISTICS DEPARTMENT UNIVERSITY OF CAMBRIDGE ROTHAMSTED EXPERIMENTAL STATION A three year post (Salary scale RA1A) is available for a BBSRC-funded project on: ESTIMATION OF PARAMETERS IN NONLINEAR MODELS OF ECOLOGICAL PROCESSES SUMMARY *********************************************************** A statistician, applied mathematician or physicist is required to work on the interface between mathematical modelling and problems of statistical estimation in ecological population dynamics. The work will concentrate on maximum likelihood estimation of parameters of nonlinear ode, pde and matrix models using a range of modern techniques. The post offers the opportunity to collaborate in a strategically important area of statistics that will help to link ecological and environmental experimentation with mathematical modelling. QUALIFICATIONS **************************************************** The post would ideally suit a statistician with experience in maximum likelihood estimation or an applied mathematician or physicist with experience in nonlinear modelling but others with qualifications in other areas of statistics and modelling are encouraged to apply. Willingness to use recent advances in maximum-likelihood estimation is essential. A Ph.D. is desirable but applications from candidates with an M.Sc in an appropriate discipline will also be considered. LOCATION ********************************************************** The position will be based in Cambridge, within a group working on theoretical and experimental aspects of plant, animal and microbial populations. The Research Assistant will also work in the Statistics Department at Rothamsted Experimental Station (about 60 mins drive away). A valid driving licence is therefore essential. The project will be jointly supervised by Dr C.A. Gilligan, a mathematical biologist, and Mr G.J.S. Ross, statistician, and developer of the maximum likelihood package (MLP) for the estimation of parameters of a broad class of nonlinear models. APPLICATION ****************************************************** Applications, including a Curriculum Vitae and the names of two referees should be sent to: Dr C.A. Gilligan, Department of Plant Sciences, University of Cambridge, Downing Street, Cambridge, CB2 3EA, by 2 JULY 1996 from whom further details may be obtained. -- Adam Kleczkowski, Dept. of Plant Sciences, Univ. of Cambridge Downing Street, Cambridge CB2 3EA, England tel. (+44)(1223)330229, fax (+44)(1223)333953, e-mail ak133@cus.cam.ac.uk, WWW http://www-epidem.plantsci.cam.ac.uk From owner-population-bio@net.bio.net Wed Jun 19 23:00:00 1996 Path: biosci!bcm.tmc.edu!pendragon!news.msfc.nasa.gov!newsfeed.internetmci.com!csn!nntp-xfer-1.csn.net!magnus.acs.ohio-state.edu!lerc.nasa.gov!purdue!haven.umd.edu!hecate.umd.edu!cville-srv.wam.umd.edu!old1.wam.umd.edu!keithw From: Keith Wiley Newsgroups: bionet.population-bio Subject: Copy Cat 2.0 release, a mimicry simulation Date: Wed, 19 Jun 1996 17:09:00 -0400 Organization: University of Maryland College Park Lines: 49 Message-ID: NNTP-Posting-Host: old1.wam.umd.edu Mime-Version: 1.0 Content-Type: TEXT/PLAIN; charset=US-ASCII Announcing the official public release of Copy Cat 2.0: a mimicry simulation Copy Cat is a program I wrote for the Macintosh interface that produces a natural phenomenon called mimicry. Mimicry is actually quite a complicated and so-far not completely understood occurance in which one organism seems like another organism (generally in visual appearance) to the end of benefitting from the likeness in some way. This is a classic exploitation scheme, because the mimic is always getting away with something, evolutionarily speaking. In November, 1995 I finished Copy Cat 1.0 which was such a tremendously complicated system that I couldn't figure out how to tweak it into working. Since then I have slaved over the code and in the past few weeks have perfected the process of simulating mimicry. Version 2.0 now confidently produces mimicry nearly every time a new simulation is run. The interface gives the user far more control over the program than they need in order to simply produce mimicry, such that simple experiments can be carried out with the program once one becomes adept at the controls and confident about the workings of the program. A rich display of graphs and histograms show all the data necessary in order to demonstrate the occurance of mimicry in the system and extensive documentation is provided. I believe that anyone who takes the short amount of time needed to learn how the Copy Cat environment operates will have no trouble using the program and seeing how remarkable and unmistakable the results can be. Copy Cat 2.0 only runs on a Macintosh computer, requires a color monitor and may require Color Quickdraw and system 7 (I'm not sure). It is a Fat binary application and thus will take full advantage of your Power Mac while still running rather impressively on your 68030 or 68040 (possibly 68020s too). Regardless of which computer you use, no floating point unit is necessary to run Copy Cat 2.0. If you want to read more about Copy Cat 2.0 and see a screen capture check out my page on Copy Cat from my homepage (the url is in my signature). Otherwise, to instantly download Copy Cat 2.0, the following urls will take you to directories holding the program: ftp://ftp.Germany.EU.net/pub/research/softcomp/Alife/packages/copycat/ http://www.cityscape.co.uk/users/dr37/www/ALHome.html . . .. ... ..... ........ ............. ..................... .. ... ..... ....... ........... ............. ................. . .. .... ........ ................ ................................ Keith Wiley, Electrogenetic Engineer * University of Maryland at College Park * * * * * * email: keithw@wam.umd.edu *** ** * * ** * world wide web: http://www.wam.umd.edu/~keithw * ** ** *** From owner-population-bio@net.bio.net Sun Jun 30 23:00:00 1996 Path: biosci!agate!newsgate.duke.edu!godot.cc.duq.edu!newsfeed.pitt.edu!gatech!usenet.eel.ufl.edu!tank.news.pipex.net!pipex!dish.news.pipex.net!pipex!tube.news.pipex.net!pipex!lade.news.pipex.net!pipex!newshost.zeneca.co.uk!usenet From: tim.t.j.kedwards@gbjha.zeneca.com (Tim Kedwards) Newsgroups: bionet.population-bio Subject: WORKSHOP ON MULTIVARIATE STATISTICAL ANALYSIS IN ECOTOXICOLOGY Date: 1 Jul 1996 07:55:24 GMT Organization: Zeneca Agrochemicals Lines: 99 Message-ID: <4r809c$rdg@mailhost.zeneca.co.uk> NNTP-Posting-Host: 156.71.65.23 Mime-Version: 1.0 X-Newsreader: WinVN 0.99.2 Please find attached below details of the forthcoming workshop. If you require any further information feel free to contact me directly. Regards, Tim ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Dr Tim Kedwards ZENECA Agrochemicals Ecological Risk Assessment Section Jealott's Hill Research Station Bracknell, UK RG42 6ET Tel: +44 (0) 1344 414107 Fax: +44 (0) 1344 414124 Email: Tim.T.J.Kedwards@gbjha.zeneca.com Disclaimer:- 'The opinions expressed herein are my personal opinions and do not necessarily represent those of my employer' ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ A WORKSHOP ON MULTIVARIATE STATISTICAL ANALYSIS IN ECOTOXICOLOGY Saturday, 16 November 1996, 8:30 - 5:30, Washington Hilton and Towers Presented in conjunction with the SETAC 17th Annual Meeting, Washington, D.C. Introduction Frameworks for ecological risk assessment often culminate in the evaluation of effects under simulated or actual environmental conditions. A fundamental objective of such semi-field and field studies is to investigate effects at the community and ecosystem level. To this end, data are collected on a large number of ecological variables, including manipulative experiments (artificial streams, mesocosms, terrestrial field trials), environmental monitoring (before/after, upstream/downstream), and ecological surveys (plants, bird census). Data from these studies are usually evaluated by using univariate statistics (e.g. analysis of variance, concentration-response regression). These have limitations because it is only possible to look at a limited number of variables within the ecosystem at any one time, limiting effects determination to the population level, whereas the objective is normally to understand effects at higher levels of organization. The advent of greater computing power and recent developments of new multivariate statistical tools has made available a variety of techniques (e.g. CANOCO, RIFFLE, PRIMER) with the potential to overcome some of these previous limitations. Consequently, there is growing interest among ecotoxicologists in applying such techniques to field studies in order to be able to generate true community and ecosystem endpoints. This workshop will provide an excellent opportunity for interested individuals to meet and exchange views on these approaches and allow developers of the statistical approaches to discuss the development and application of the techniques. The objective of this workshop is to provide information on and generate discussion of multivariate statistical techniques in ecotoxicological field studies, focusing on the application of techniques for generating community and ecosystem level statistics, rather than mathematical derivation. Attendance will be limited to 100 people to maximize information exchange. Registration is first-come, first served. The registration fee is $255, and forms can be obtained from the SETAC Office. Workshop proceedings will be provided to all registrants at no additional cost, and will be available for purchase by others after the workshop. SETAC Office 1010 North 12th Avenue Pensacola, Florida 32501 T 904-469-1500 F 904-469-9778 E setac@setac.org http://www.setac.org