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Evolving robot arm controllers for continued adaptation

Evolving robot arm controllers for continued adaptation

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ieee International symposium on computational intelligence in Robotics and Automation (CIRA)

作者： K. Rathbone N. Sharkey Department of Computer Science University of Sheffield UK

The practical objective was to develop a robust adaptive controller for a visually guided robot arm. The controller had to be able to adapt to drift errors or to the repositioning or replacement of equipment. A GA was employed to evolve artificial neural network controllers that continued to adapt throughout their life cycle. The genotype consisted of genes for encoding the network architecture, learning parameters, method of data creation, and the size of the robot arm movement. However, the GA did not evolve the weight values of the networks. These were adapted in the performance of the task using backpropagation. Evolution and testing of individuals was carried out both in simulation and in the real world with successful results. One of the best evolved controllers was tested on a real visually guided arm and learned to pick-up 98% of target objects.

关键词： Robot control Artificial neural networks Robot kinematics Robust control Programmable control Adaptive control Evolution (biology) Testing Manipulators computational geometry

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An architecture for rapid distributed fault tolerance 12th

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10 Workshops held in conjunction with 12th International Parallel symposium and 9th symposium on Parallel and Distributed Processing, IPPS/SPDP 1998

作者： Russ, Samuel H. Mississippi State University NSF Engineering Research Center for Computational Field Simulation United States

ISBN: (纸本)3540643591

Embedded high perfonnance computing is being called upon to provide critical computing resources with increasing frequency. The ability to tolerate faults during operation, both maintaining operational capability and ensuring that correct results continue to be produced, is an important ingredient in mission-critical systems. An architecture for such a system is proposed, providing the ability to withstand faults with graceful degradation in performance and complete transparency to the applications programmer. The final system will be able to offer fault-tolerant computing transparently to MPI applications and draws heavily on existing, demonstrated successes. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Fault tolerance

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Semiosis as development

Semiosis as development

引用

ieee International symposium on Intelligent Control (ISIC)

作者： S.N. Salthe

The problem, as I see it, is to distinguish externally a developmental trajectory (DT) from any local concatenation of unrelated events. By equating meaning with interpretation from a viewpoint, I assimilate semiosis to development. From DTs emerge, e.g., intentional actions, systems, forms, organisms, texts, organizations-by way of intensification of properties acquired in early stages. All of these begin as vague germs with large evolutionary potential (they can branch at any point), which gradually gets exchanged for increasingly more definite embodiment while a DT endures. A DT's closure is not fully formed from the first, but gradually emerges as it develops. A DT's ability to produce informational entropy (H, information capacity) increases as it matures and grows old by way of binding information. This process is representable by a specification hierarchy of classes and subclasses. Development involves movement to a subclass, and not jumps to new classes. This is true of emergence as well-e.g., biology emerged from chemical activity, but it is still based on a kind of (a selection from) chemistry. It has not transcended chemistry, and neither will AI. The autonomy of a DT, which increases as it it binds historical information, is rooted in its contexts; change the latter and its autonomy disappears, however mature it is. It can "skate across" gaps in its material resources only if the larger context remains stable. To match autonomy with semiotics, we assimilate to it, viewpoint, subjectivity and agency.

关键词： Organisms Chemistry Embryo Tornadoes Genomics bioinformatics Sequences Entropy Chemicals Evolution (biology)

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A new evolutionary algorithm inspired by the selfish gene theory

A new evolutionary algorithm inspired by the selfish gene th...

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ieee International Conference on Evolutionary Computation

作者： F. Corno M.S. Reorda G. Squillero Dipartiment of Automatica e Informatica Politecnico of Torino Torino Italy Politecnico di Torino Torino Piemonte IT

This paper proposes a new evolutionary algorithm inspired by the selfish gene theory, an interpretation of the Darwinian natural selection theory given by the biologist Richard Dawkins. In his theory the basic element of evolution is the gene, rather than the individual. The paper defines the selfish gene algorithm, which implements such a view of the evolution mechanism. The strongest and seemingly counter-intuitive assumption of the algorithm is discussed and an experiment that demonstrates its validity is reported. The approach was rested by implementing the selfish gene algorithm on a case study, and it provided better results than those given by a genetic algorithm on the same problem and with the same fitness function.

关键词： Evolutionary computation Evolution (biology) Biological system modeling Genomics bioinformatics Automatic testing Genetic algorithms biology computing Concrete Books

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Toward a theory of molecular computing 13th

Toward a theory of molecular computing

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13th Brazilian symposium on Artificial intelligence, SBIA 1996

作者： Rocha, A.F. RANI - Research on Artificial Intelligence R. Tenente Ary Aps 172 JundiaiSPCEP 13207-110 Brazil

ISBN: (纸本)3540618597

Many recent papers have foccused attention on a very new topic called molecular computing aiming to discuss how to develop intelligent computers using biological molecules as computational devices. The theory of formal languages was introduced as a formalism to support the analysis both of the human language as well of those artificial languages used in computers. Any attempt to develop a strong theory for molecular computing will require, therefore, the translation of the knowledge about genetic networks into this or a similar formalism. This is a necessity because of the precise and complex analysis to be performed to create any consistent and practical artificial machine mimicking the cellular problem solving capabilities. Many AI techniques have been proposed to help analysis in molecular biology and formal language was proposed as a tool to help DNA parsing. The key issue in these approaches is to use the AI tool to analyse experimental results, but not to take the formalism as a representational and reasoning technique to help the understanding of the biological phenomena underlying the experiment. The purpose of the present paper is to discuss the theory of formal language as an adequate formalism to support the development of any theory of molecular computing, aiming both to furnish a strong reasoning tool about data collected by biology concerning the molecular systems subserving life, as well as to allow the creation of computing artificial systems founded over similar concepts. The paper has the following organization, the FFL theory is briefly introduced in the first section. In the sequence, some basic biological concepts are discussed preparing the reader to accept Fuzzy Formal Languages (FFL) as an adequate formalism to deal with genetic networks. The third section shows how to construct a biochemical language upon the concepts previously discussed. Finally, distributed cellular systems are proposed as the adequate formal tool to control the ambiguity

关键词： Formal languages

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Adaptation and the modular design of organisms 3rd

引用

3rd European Conference on Artificial Life, ECAL 1995

作者： Wagner, Günter P. Center of Computational Ecology Yale University New HavenCT06511 United States

ISBN: (纸本)3540594965

In this paper the implications of the theory of evolutionary computation for evolutionary biology are explored. It is claimed that the concept of "representations" is particularly useful to understand the evolution Of complex adaptation and the origin of the modular design of higher organisms. Modularity improves the adaptability of complex adaptive systems, but arises most likely as a side effect of adaptive evolution rather than being an adaptation itself. © Springer-Verlag Berlin Heidelberg 1995.

关键词： biology

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Knowledge-based simulation of regulatory action in lambda phage

Knowledge-based simulation of regulatory action in lambda ph...

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International symposium on intelligence in Neural and Biological Systems, INBS

作者： T. Shimada M. Hagiya M. Arita S.-Y. Nishizaki Chew Lim Tan Department of Information Science Graduate School of Science University of Tokyo Bunkyo Tokyo Japan Department of Information Technology Engineering Okayama University Tsushima Okayama Japan Department of Information Systems & Computer Science Science National University of Singapore Singapore

We have developed a knowledge-based, discrete-event simulation system to simulate proteins-regulated genetic action in lambda phage. Lambda phage is a kind of virus which infects Escherichia coli (E. Coli). Specifically, we simulate the decision between two developmental pathways, that is, lytic growth and lysogenic growth on such conditions as mutation. The novelty of this work is the employment of two different levels of abstraction in a genetic model for the purpose of achieving greater precision. Our model is composed of a roughly abstracted level for the noncritical parts which constitute most parts of our model, and a precisely abstracted level for the critical parts. In the former level, our model is a discrete-event simulation in qualitative representation on a knowledge-based system. In the latter level, it is based on reaction formulae in quantitative representation.< >

关键词： Biological system modeling Genetics computational modeling Humans Genomics bioinformatics Informatics biology computing Protein engineering Analytical models

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Evolving better representations through selective genome growth

Evolving better representations through selective genome gro...

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ieee International Conference on Evolutionary Computation

作者： L. Altenberg Institute of Statistics and Decision Sciences Duke University Durham NC USA

The choice of how to represent the search space for a genetic algorithm (GA) is critical to the GA's performance. Representations are usually engineered by hand and fixed for the duration of the GA run. Here a new method is described in which the degrees of freedom of the representation-i.e. the genes-are increased incrementally. The phenotypic effects of the new genes are randomly drawn from a space of different functional effects. Only those genes that initially increase fitness are kept. The genotype-phenotype map that results from this selection during the construction of the genome allows better adaptation. This effect is illustrated with the NK landscape model. The resulting genotype-phenotype maps are much less epistatic than unselected maps would be, having extremely low values of “K”-the number of fitness components affected by each gene. Moreover, these maps are exquisitely tuned to the specifics of the epistatic fitness function, creating adaptive landscapes that are much smoother than generic NK landscapes with the same genotype-phenotype maps, with fitness peaks many standard deviations higher. Thus a caveat should be made when making arguments about the applicability of generic properties of complex systems to evolved systems. This method may help to solve the problem of choice of representations in genetic algorithms.

关键词： Genomics bioinformatics Genetic algorithms Evolution (biology) Statistics Production Biological system modeling

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Evolutionary system: structures and functions. Disparity hypothesis and gene duplication

Evolutionary system: structures and functions. Disparity hyp...

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ieee International Conference on Evolutionary Computation

作者： K.-N. Wada Y. Wada H. Doi S.-I. Tanaka M. Furusawa Evolutionary System Department ATR Human Information Processing Research Laboratories Kyoto Japan Department of Population Genetics National Institute of Genetics Mishima Shizuoka Japan Biological Informatics Section IIAS Fujitsu Laboratories Limited Chiba Japan Department of Information Processing Japan Advanced Institute of Science and Technology Ishikawa Japan Molecular Biology Research Laboratory Daimler-Benz AG Kyoto Japan

We propose "Evolutionary System Theory" as a unified approach practically applicable for the real world problems such as real-time adaptive control and mass genetic information analysis. We also propose "Disparity Hypothesis" on the gene replication mechanism of an organism with double stranded DNA that postulates the disparity of fidelity between replication error on leading strand and on lagging strand. Our assertion is that by taking advantages of the disparity an organism could evolve rapidly and acquire robustness even under fluctuating environmental conditions. To investigate how the disparity model works under fluctuating environment, we apply it to two dimensional maximum search problems with multi-peaks and diastrophism, and show that conservative and radical offsprings can be bred together and population can dynamically adapt. In addition, we focus on the mechanism of gene duplication and alternative (selective) splicing so that a system can follow up, adapt to a constantly fluctuating environment, and dynamically expand its own description of specification according to the environment. By introducing the proposed genetic mechanisms into an evolutionary mechanism of machines, we can construct a system which inherits functions from the former generation and develops complexity.< >

关键词： Genetics Organisms Humans Laboratories Evolution (biology) Genomics bioinformatics Information processing Real time systems Adaptive control

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New paradigm for explanation in medical causal reasoning systems

New paradigm for explanation in medical causal reasoning sys...

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Proceedings: Thirteenth Annual symposium on Computer Applications in Medical Care (SCAMC-13)

作者： Jamieson, Patrick W. Decision Syst Lab Univ of Pittsburgh Pittsburgh PA USA

A significant obstacle confronting medical expert systems that employ causal reasoning is providing explanations without prohibitive computational expense. Another problem is the construction of a suitable user interface for the explanatory system. The interface should allow a physician to explore in detail the explanation of some concepts while avoiding lengthy explanations of lesser concern. A new method has been devised to deal with these problems by flexibly linking explanations with conclusions generated by a causal reasoning system. This approach allows the reasoning module to structure explanations without excessive computational overhead. It also allows the user to obtain additional detail of a causal explanation.

关键词： Artificial intelligence

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