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Table of Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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INVITED CONTRIBUTIONS
1
Non-random random mutations: a signature of evolution of evolution (EVOEVO) . . . . . . . . . . . . . . . . . .
Paulien Hogeweg
1
How do the origins of life sciences influence 21st century design thinking? . . . . . . . . . . . . . . . . . . . . . . .
Rachel Armstrong
2
Hybrid Forms (2015) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Andy Lomas
12
Do Endothelial Cells Dream of Eclectic Shape? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Katie Bentley
13
SPECIAL SESSION: SLIME MOULD COMPUTERS
14
Physarum Polycephalum changes polyaniline properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alice Dimonte, Tatiana Berzina, Victor Erokhin
14
Majority Gates and Circular Computation in Slime Mould . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Genaro J. Martı́nez, Andrew Adamatzky, Richard Mayne, Fangyue Chen, Qinbin He
18
Slime mould actin sensoriactuation networks: topology, dynamic transformations and models of self-assembly . .
Richard Mayne, Andrew Adamatzky
25
Mimicking the Exploration of 3D Terrains by Physarum with Cellular Automata Models . . . . . . . . . . . . . .
Michail-Antisthenis I. Tsompanas, Georgios Ch. Sirakoulis
33
SPECIAL SESSION: MORPHOGENETIC ENGINEERING
41
Behavioral Diversities of Morphogenetic Collective Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hiroki Sayama
41
Morphogenesis and Replication of Multi-Cellular Organisms with Evolved Variable Length Self-Modifying
Genomes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stefano Nichele, Gunnar Tufte
42
Modelling the Role of Trail Pheromone in the Collective Construction of Termite Royal Chambers . . . . . . . . .
Nicholas Hill, Seth Bullock
43
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From tadpole to frog: artificial metamorphosis as a method of evolving self-reconfiguring robots . . . . . . . . . .
Michał Joachimczak, Reiji Suzuki, Takaya Arita
51
Partial Redundancy and Morphological Homeostasis: Reliable Development through Overlapping Mechanisms .
Micah Brodsky
59
MecaCell: an Open-source Efficient Cellular Physics Engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jean Disset, Sylvain Cussat-Blanc, Yves Duthen
67
SPECIAL SESSION: QUANTIFYING EMBODIMENT
68
Musculo-Skeletal Models as Tools to Quantify Embodiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Daniel F. B. Haeufle, Michael Günther, Syn Schmitt
68
Task Dynamics & the (Ecological) Information They Create . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Andrew D Wilson, Sabrina Golonka
69
Quantifying Morphological Computation based on an Information Decomposition of the Sensorimotor Loop . . .
Keyan Ghazi-Zahedi, Johannes Rauh
70
Quantifying Self-Organizing Behavior of Autonomous Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Georg Martius, Eckehard Olbrich
78
MAIN ECAL TRACK
79
Modelling Conflict within the Social Networks of Large Multi-Vendor Software Projects using Communicating
Stream X-Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Richard Alun Williams
79
Dynamic Homeostasis in Packet Switching Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mizuki Oka, Hirotake Abe, Takashi Ikegami
80
How social networks shape collective behaviours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Daniel W. Franks, A. Jamie Wood, Nikolai W.F. Bode
81
At the root of sociality: Working towards emergent, permanent, social affines . . . . . . . . . . . . . . . . . . . . .
Ovi Chris Rouly
82
The Circular Logic of Gaia: Fragility and Fallacies, Regulation and Proofs . . . . . . . . . . . . . . . . . . . . . .
Inman Harvey
90
Conservation of Matter Increases Evolutionary Activity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Simon Hickinbotham, Susan Stepney
98
Evolving Robot Controllers Using Carbon Nanotubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Maktuba Mohid, Julian F. Miller
A Minimal Model for the Emergence of Cooperation in Randomly Growing Networks . . . . . . . . . . . . . . . . 114
Steve Miller, Joshua Knowles
The Kinetic Basis of Morphogenesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Yuri Shalygo
Environmental Factors and the Emergence of Cultural Technical Innovations . . . . . . . . . . . . . . . . . . . . 130
Peter Andras
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Where Does (Co)evolution Lead to? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Jan Paredis
A New View of Protocell Metabolism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Ben Shirt-Ediss, Ricard Solé, Kepa Ruiz-Mirazo
Ribosome synthesis and construction of a minimal cell using a cell-free expression platform . . . . . . . . . . . . . 147
Filippo Caschera, Michael C. Jewett
The Universality of Peer-Influence in Social Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Flávio L. Pinheiro, Marta D. Santos, Francisco C. Santos, Jorge M. Pacheco
Programs as Polypeptides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Lance R. Williams
Practical Fault Tolerant 2D Cellular Automata . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Steven Janke, Matthew Whitehead
Evaluating the Effect of a Flexible Spine on the Evolution of Quadrupedal Gaits . . . . . . . . . . . . . . . . . . . 166
Jared M. Moore, Craig P. McGowan, Philip K. McKinley
Evolving Collective Behaviors With Diverse But Predictable Sensor States . . . . . . . . . . . . . . . . . . . . . . . 174
Payam Zahadat, Heiko Hamann, Thomas Schmickl
Learning by Stimulation Avoidance as a Primary Principle of Spiking Neural Networks Dynamics . . . . . . . . . 175
Lana Sinapayen, Atsushi Masumori, Nathaniel Virgo, Takashi Ikegami
Contagion on Networks with Self-Organised Community Structure . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Alberto Antonioni, Seth Bullock, Christian Darabos, Mario Giacobini
A Passive Mechanism for Goal-Directed Navigation using Grid Cells . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Vegard Edvardsen
An Integrated Neuromechanical Model of Steering in C. elegans . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Eduardo J. Izquierdo, Randall D. Beer
CriPS: Critical Particle Swarm Optimisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Adam Erskine, J. Michael Herrmann
Embodied Evolution of Artificial Cells in a Hybrid Wet/Hard-ware Platform . . . . . . . . . . . . . . . . . . . . . 215
Juan Manuel Parrilla Gutierrez, Leroy Cronin
Ontogeny and adaptivity in a model protocell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Eran Agmon, Alexander J. Gates, Randall D. Beer
Chemical Architectures for Self-Replicating Proto-Cells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Erwan Bigan, Jean-Marc Steyaert, Stéphane Douady
A population of information processing objects as a model of evolutionary dynamics . . . . . . . . . . . . . . . . . 225
Richard J Carter, Stephen Mann, Karoline Wiesner
Evolving strategies for single-celled organisms in multi-nutrient environments . . . . . . . . . . . . . . . . . . . . 226
Dominique Chu, David J. Barnes
Emergence-focused design in complex system simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Chris Marriott, Jobran Chebib
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The Lattice of Chemical Organisations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Pietro Speroni di Fenizio
Coevolution of cooperation and layer selection strategies in multiplex networks . . . . . . . . . . . . . . . . . . . . 249
Katsuki Hayashi, Reiji Suzuki, Takaya Arita
Volatility and spatial distribution of resources determine ant foraging strategies . . . . . . . . . . . . . . . . . . . 256
Drew Levin, Joshua P. Hecker, Melanie E. Moses, Stephanie Forrest
Applying homeostatic neural controller to multi-legged robot and adaptivity to novel disruptions . . . . . . . . . . 264
Hiroyuki Iizuka, Hiroki Nakai, Masahito Yamamoto
Investigating a cellular automata model that performs three distance diffusion on a robot path planning . . . . . . 271
Gina M. B. Oliveira, Patrı́cia A. Vargas, Giordano B. S. Ferreira
The Evolution of Assortment with Multiple Simultaneous Games . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
S. Tudge, A. Jackson, R. Watson, M. Brede
Exploring the organisation of complex systems through the dynamical interactions among their relevant subsets . 286
Alessandro Filisetti, Marco Villani, Andrea Roli, Marco Fiorucci, Roberto Serra
Environmental bias forces parasitism in Tierra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Simon Hickinbotham, Susan Stepney
Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors . . . . . . . . . . . . . 302
Iñaki Navarro, Ezequiel Di Mario, Alcherio Martinoli
Unraveling the genotype-phenotype map of evolving digital organisms . . . . . . . . . . . . . . . . . . . . . . . . . 310
Miguel A. Fortuna, Luis Zaman, Charles Ofria, Andreas Wagner
Incorporation of Emotions in the Orphibs Agent Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Nuno Barreto, Luı́s Macedo, Penousal Machado, Licı́nio Roque
Cooperative Coevolution of Morphologically Heterogeneous Robots . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Jorge Gomes, Pedro Mariano, Anders Lyhne Christensen
Time Series Evolution for Integrating Developmental Processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Sebastian von Mammen, Melanie Däschinger
Heredity in Messy Chemistries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Nathaniel Virgo, Nicholas Guttenberg
Following Strategies Reduces Accidents, but Makes Outcomes Worse: Evidence from Simulated Treefrog Mating
Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Giordano B. S. Ferreira, Matthias Scheutz
Incremental Neuroevolution of Reactive and Deliberative 3D Agents . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Adam Stanton, Alastair Channon
Achieving Compositional Language in a Population of Iterated Learners . . . . . . . . . . . . . . . . . . . . . . . 349
Lewys Brace, Seth Bullock, Jason Noble
The Hunger Games: Embodied agents evolving foraging strategies on the frugal-greedy spectrum . . . . . . . . . 357
Nathanaël Aubert-Kato, Olaf Witkowski, Takashi Ikegami
Wallace: An efficient generic evolutionary framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Christopher Steven Timperley, Susan Stepney
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Emergence of Sense-Making Behavior by the Stimulus Avoidance Principle: Experiments on a Robot Behavior
Controlled by Cultured Neuronal Cells. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Atsushi Masumori, Norihiro Maruyama, Lana Sinapayen, Takeshi Mita, Urs Frey, Douglas Bakkum, Hirokazu Takahashi, Takashi Ikegami
Omnigram Explorer: A Simple Interactive Tool for the Initial Exploration of Complex Systems . . . . . . . . . . 381
Tim Taylor, Alan Dorin, Kevin Korb
The Digital Aquarist: An Interactive Ecology Simulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Julian Schikarski, Oliver Meisch, Sarah Edenhofer, Sebastian von Mammen
Toward a behavior-based approach to the origins of life and the genetic system . . . . . . . . . . . . . . . . . . . . 397
Tom Froese
An Efficient Ant Colony System for Edge Detection in Image Processing . . . . . . . . . . . . . . . . . . . . . . . . 398
Yara Khaluf, Syam Gullipalli
Abnormality Detection in Robots Exhibiting Composite Swarm Behaviours . . . . . . . . . . . . . . . . . . . . . . 406
Danesh Tarapore, Anders Lyhne Christensen, Jon Timmis
The Overshoot Curriculum: Artificial Life, Education and the Human Predicament . . . . . . . . . . . . . . . . . 414
Barry McMullin
Emergence of Competition between Different Dissipative Structures for the Same Free Energy Source . . . . . . . 415
Stuart Bartlett, Seth Bullock
Planarity as a driver of Spatial Network structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Garvin Haslett, Markus Brede
Emotional modulation of peripersonal space impacts the way robots interact . . . . . . . . . . . . . . . . . . . . . 431
Marwen Belkaid, Nicolas Cuperlier, Philippe Gaussier
Simulating self-replicating, chemically immersed, microchip swarms . . . . . . . . . . . . . . . . . . . . . . . . . . 438
Uwe Tangen, Harold Fellermann, Steen Rasmussen
Epigenetic inheritance speeds up evolution of artificial organisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
Yoram Vadée-le-Brun, Jonathan Rouzaud-Cornabas, Guillaume Beslon
Probing models of minimal swimming vehicules in vivo with microalgae phototaxis. . . . . . . . . . . . . . . . . . 447
David Colliaux, Lia Giraud, Claude Yéprémian, Pierre Bessière, Jacques Droulez
Towards Failure-Resistant Mobile Distributed Systems Inspired by Swarm Intelligence and Trophallaxis . . . . . 448
Arles Rodrı́guez, Jonatan Gómez, Ada Diaconescu
Autonomous lablet locomotion and active docking by sensomotory electroosmotic drive . . . . . . . . . . . . . . . 456
Abhishek Sharma, John S. McCaskill
A Predator-Prey Scenario in a Virtual Ecosystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Nesrine Ouannes, NourEddine Djedi, Yves Duthen, Hervé Luga
Cooperative Object Transport Using Evolutionary Swarm Robotics Methods . . . . . . . . . . . . . . . . . . . . . 464
Muhanad H. Mohammed Alkilabi, Chuan Lu, Elio Tuci
Closed-loop acquisition of behaviour on the Sphero robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
Oswald Berthold, Verena V. Hafner
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How to play the Syntax Game . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
Luc Steels, Emilia Garcia-Casademont
How Much Should You Select for Evolvability? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
Andrew M. Webb, Julia Handl, Joshua Knowles
Evolution of Cooperation in Evolutionary Robotics: the Tradeoff between Evolvability and Efficiency . . . . . . . 495
Arthur Bernard, Jean-Baptiste André, Nicolas Bredeche
An Investigation of Square Waves for Evolution in Carbon Nanotubes Material . . . . . . . . . . . . . . . . . . . . 503
Odd Rune Lykkebø, Stefano Nichele, Gunnar Tufte
Apparent actions and apparent goal-directedness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
Martin Biehl, Daniel Polani
Evolutionary Progress in Heterogenous Cellular Automata (HetCA) . . . . . . . . . . . . . . . . . . . . . . . . . . 512
David Medernach, Jeannie Fitzgerald, Simon Carrignon, Conor Ryan
Simpsons Paradox, Co-operation and Individuality in Bacterial Biofilms . . . . . . . . . . . . . . . . . . . . . . . . 520
Alexandra Penn
Emergent Robustness in Software Systems through Decentralized Adaptation: an Ecologically-Inspired ALife
Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Franck Fleurey, Benoit Baudry, Benoit Gauzens, André Elie, Kwaku Yeboah-Antwi
Steering a Complex Adaptive System: A Complexity Science Design Methodology Applied to an Industrial Ecosystem in the Humber Region, UK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Alexandra S. Penn
Recombination Is Surprisingly Constructive for Artificial Gene Regulatory Networks in the Context of Selection
for Developmental Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
Yifei Wang, Yinghong Lan, Daniel M. Weinreich, Nicholas K. Priest, Joanna J. Bryson
Searching for non-regular neighborhood cellular automata rules applied to scheduling task and guided by a forecast dynamical behavior parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
Tiago I. Carvalho, Gina M. B. Oliveira
Investigating the Impact of Communication Quality on Evolving Populations of Artificial Life Agents . . . . . . . 546
Sadat Chowdhury, Elizabeth I. Sklar
Artificial life programming in the robust-first attractor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
David H. Ackley, Elena S. Ackley
Towards a methodology for describing the relationship between simulation and reality . . . . . . . . . . . . . . . . 562
Eric Schneider, Elizabeth I. Sklar, M. Q. Azhar, Simon Parsons, Karl Tuyls
Achieving Closure in Enzymes in Artificial Chemistries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570
Matteo Monti, Tim Hutton, Piet Hut
How Intrinsic Motivation can Speed Up Language Emergence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
Miquel Cornudella, Paul Van Eecke, Remi van Trijp
Coordination of collective behaviours in spatially separated agents . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
Rob Mills, Payam Zahadat, Fernando Silva, Damjan Mlikic, Pedro Mariano, Thomas Schmickl, Luı́s Correia
Corpus-taught Evolutionary Music Composition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
Csaba Sulyok, Andrew McPherson, Christopher Harte
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Does self-replication imply evolvability? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
Thomas LaBar, Christoph Adami, Arend Hintze
Effects of Social Network Size and Topology on Evolutionary Decision Making . . . . . . . . . . . . . . . . . . . . 603
Hiroki Sayama, Shelley D. Dionne, Francis J. Yammarino
Soft-Body Muscles for Evolved Virtual Creatures: The Next Step on a Bio-Mimetic Path to Meaningful Morphological Complexity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604
Dan Lessin, Sebastian Risi
Cascading Transitions in Coupled Complex Ecosystems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
Iain S. Weaver
Evolving an optimal group size in groups of prey under predation . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
Patrick B. Haley, Randal S. Olson, Fred C. Dyer, Christoph Adami
A Metamodel for the Evolution of Evolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
Paul Andrews, Susan Stepney
Informational parasites in code evolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
Andrés C. Burgos, Daniel Polani
Simulation-Based Analysis of in Situ Cellular Motility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
Mark Read, Jon Timmis, Tatyana Chtanova
Simulating the Influence of Diet on the Intestinal Microbiome Composition . . . . . . . . . . . . . . . . . . . . . . 638
Mark Read, Andrew J. Holmes, Madison Hartill-Law, Samantha Solon-Biet, David Raubenheimer, Stephen J. Simpson
Evolutionary change precedes extinction in eco-evolutionary dynamics based on a 3D virtual predator-prey system 639
Takashi Ito, Marcin L. Pilat, Reiji Suzuki, Takaya Arita
Optimal Mutation Rate Control under Selection in Hamming Spaces . . . . . . . . . . . . . . . . . . . . . . . . . 640
Elizabeth Aston, Alastair Channon, Roman V. Belavkin, Rok Krasŏvec, Christopher G. Knight
An Agent-Based Model of Avascular Tumor Growth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648
Ana Victoria Ponce Bobadilla, René Doursat, François Amblard
Spatial Computing in Synthetic Bioware: Creating Bacterial Architectures . . . . . . . . . . . . . . . . . . . . . . 656
Jonathan Pascalie, Martin Potier, Taras Kowaliw, Jean-Louis Giavitto, Olivier Michel, Antoine Spicher, René Doursat
Do it yourself (DIY) liquid handling robot for evolutionary search exploration . . . . . . . . . . . . . . . . . . . . 657
Asbjørn Müller, Aleksandra Amaldass, Kliment Yanev, Steen Rasmussen
Human Swarms, a real-time method for collective intelligence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658
Louis B. Rosenberg
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660
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