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To illustrate this point further, the minimum section profiles and the mean optic flows perceived both at 90° and at 45° by the honeybees are shown in parallel in Figure 4.
The translational optic flows perceived at viewing angles of 90° can be defined as the speed-to-distance ratio according to the following equation: ω90°i = VxBee/D90°i, where i ∈{Rght, Lft, Drsl, Vtrl}, taking the distances from the walls at an angle of 90° and VxBee the bee's ground speed (Figure 1A 1B).
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This causes the lagging flows to capture the shared channel and affects the queueing delay of flows perceiving a clean channel.
This algorithm can address the problem and achieve the following goals: (1) steady delay and jitter for flows perceiving an error-free environment, (2) delay and throughput guarantees in an error-free environment, (3) short-term fairness among flows perceiving an error-free environment, and (4) long-term fairness for error system.
Aside from the mentioned properties, CSCPS improves the flows in the clean channel, which are affected by flows perceiving channel errors, and makes the queue delay and jitter of flows in the clean channel steady.
Several wireless fair queueing [3, 20, 24 30] have been developed, and they can provide short-term fairness for an error-free system, long-term fairness, graceful degradation in service for flows perceiving clean channel, and delay bound.
Because SBFA algorithm reserves the portion of shared bandwidth and uses a fractional bandwidth for compensation, the weights of flows perceiving error-free channel are beaten and the flows experience a longer queue delay than those in other algorithms when the system compensates lagging flows.
Since the tunnel alternately narrows in the vertical and horizontal planes, the optic flow perceived laterally and vertically constraining the agents' speed alternately.
The translational optic flow perceived in a given direction depends on the ratio between the relative speed and the distance to the environment in that direction [11].
Subsequent studies show that the information of distance depends on optic flow (retinal image flow) perceived in the flight to the food source and is conveyed by the duration of the waggle dance [2] [4].
We therefore investigated the possible role of the optic flow perceived by honeybees at an angle of 45°, either laterally, ventrally or dorsally in the context of honeybees' speed control.
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Justyna Jupowicz-Kozak
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