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Theory of Evolutionary systems Engineering

Theory of Evolutionary Systems Engineering

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2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023

作者： Hickinbotham, Simon Dubey, Rahul Buchanan, Edgar Friel, Imelda Colligan, Andrew Price, Mark Tyrrell, Andy M. Intelligent Systems & Robotics Research Group School of Physics Engineering and Technology University of York United Kingdom School of Mechanical & Aerospace Engineering Queen's University Belfast United Kingdom

ISBN: (纸本)9781665430654

Evolutionary approaches to engineering design involve generating populations of candidate solutions that compete via a selection process iteratively, to improve measures of performance over many generations. Although the attractive properties of biological evolutionary systems have motivated researchers to investigate emulating them for engineering design, there has been an emphasis on using encodings of the technical artefacts themselves, rather than encoding a complete bio-inspired system which is capable of producing such artefacts. It is the latter approach which is the subject of this contribution: how might a bio-inspired system be designed that self-organises the process of engineering design and manufacture? To make progress in the application of evolutionary processes to problems in engineering design, the evolutionary model must encompass the complexity of systems engineering. A new theory of evolutionary systems engineering is presented, based on von Neumann's Universal Constructor Architecture (UCA), drawing from more recent understanding of biology and applying the resulting system to the task of engineering design. It demonstrates how individual bioinspired algorithms fit into a coherent whole, and how they can be combined to drive open-endedness in automated design. The resulting system provides a common language for multidisciplinary applications in generative design, whereby industrial systems engineering approaches can be developed using principles from the UCA for the first time. © 2023 IEEE.

关键词： Bio-inspired Evolvable systems Multi-Agent System

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Investigation of starting conditions in generative processes for the design of engineering structures

Investigation of starting conditions in generative processes...

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2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023

作者： Buchanan, Edgar Dubey, Rahul Hickinbotham, Simon Friel, Imelda Colligan, Andrew Price, Mark Tyrrell, Andy M. School of Physics Engineering and Technology University of York Intelligent Systems & Robotics Research Group United Kingdom School of Mechanical & Aerospace Engineering Queen's University Belfast United Kingdom

ISBN: (纸本)9781665430654

Engineering design has traditionally involved human engineers manually creating and iterating on designs based on their expertise and knowledge. In Bio-inspired Evolutionary Development (EvoDevo), generative algorithms are used to ex-plore a much larger design space that may not have ever been considered by human engineers. However, for complex systems, the designer is often required to start the EvoDevo process with an initial design (seed) which the development process will optimise. The question is: will a good starting seed yield a good set of design solutions for the given problem? This paper considers this question and suggests that sub-optimal seeds can provide, up to certain limits, better design solutions than relatively more optimal seeds. In addition, this paper highlights the importance of designing the appropriate seed for the appropriate problem. In this paper, the problem analysed is the structural performance of a Warren Truss (bridge-like structure) under a single load. The main conclusion of this paper is that up to a limit sub-optimal seeds provide in general better sets of solutions than more optimal seeds. After this limit, the performance of sub-optimal seed starts to degrade as parts of the phenotype landscape become inaccessible. © 2023 IEEE.

关键词： evodevo generative design genetic algorithms neural networks structural engineering

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A Quality Diversity Study in EvoDevo Processes for Engineering Design 13

A Quality Diversity Study in EvoDevo Processes for Engineeri...

引用

13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Buchanan, Edgar Hickinbotham, Simon Dubey, Rahul Friel, Imelda Colligan, Andrew Price, Mark Tyrrell, Andy M. School of Physics Engineering and Technology University of York Intelligent Systems & Robotics Research Group United Kingdom Missouri State University Computer Science United States School of Mechanical & Aerospace Engineering Queen's University Belfast United Kingdom

ISBN: (纸本)9798350308365

For a long time engineering design has relied on human engineers manually crafting and refining designs using their expertise and experience. In Bio-inspired Evolutionary Development (EvoDevo), generative algorithms are employed to investigate a broader design space that may go beyond what human engineers have considered. Previous literature has demonstrated the use of quality and diversity (QD) algorithms in evolutionary approaches to drive the process to better quality solutions. This paper provides a study to understand the effects of using QD algorithms in EvoDevo processes for engineering design. This paper also analyses the impact of using different behavioural characterisations (BC) in the performance of the quality of the solutions found. The results demonstrate that quality and diversity algorithms can find better solutions than other EAs for engineering design problems. It was also found that the characterisation of the BC is important to get the best results. © 2024 IEEE.

关键词： evodevo generative design neural networks quality diversity structural engineering

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Onboard Perception-Assisted High Fidelity Simulation Framework for Autonomous Planetary Soft-Landing

Onboard Perception-Assisted High Fidelity Simulation Framewo...

引用

AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Alibekov, Ulugbek Banerjee, Avijit Satpute, Sumeet Gajanan Nikolakopoulos, George ERASMUS MUNDUS JOINT MASTER in Intelligent Field Robotic Systems Faculty of Informatics Eötvös Loránd University Budapest Hungary Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article presents an onboard perception-assisted high-fidelity simulation framework for autonomous planetary soft-landing, enabling visual information processing tightly integrated with advanced onboard guidance system in a realistic simulation environments. Utilizing the open source Unity game engine, a physics-based simulation toolbox integrated with the Robotic Operating System (ROS2), we effectively emulate the motion of spacecraft approaching planetary terrain. The simulation environment features a realistic 3D terrain model and a lander spacecraft equipped with onboard camera to effectively capture detailed local terrain images. The simulation engine accurately captures the spacecraft’s 6-degrees of freedom motion, seamlessly integrating space craft orientation with the associated camera feed while incorporating various illumination conditions using a light source representing the Sun. To demonstrate the efficacy of the framework, we implement a recently developed attitude-constrained minimum jerk guidance algorithm to emulate spacecraft motion. Concurrently, the visual feed from the onboard RGB camera is processed through a gradient extraction-based perception system, providing the visual odometer. This system identifies provably safe landing sites, effectively avoiding potential risks of landing on uneven terrain. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Planetary landers

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Emotion Classification based on Multi Physiological Signals Using Hybrid Fusion Strategy 30

Emotion Classification based on Multi Physiological Signals ...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Wan, Jiacheng Fang, Yinfeng Guo, Chunsheng Ju, Zhaojie Zhou, Dalin Hangzhou Dianzi University Pinghu Digital Technology Innovation Research Institute School of Communication Engineering Hangzhou China University of Portsmouth Intelligent Systems and Biomedical Robotics Group School of Computing PortsmouthPO1 3HE United Kingdom

ISBN: (纸本)9798350391916

The demand for emotion recognition is increasing not only in daily life but also in professional domains such as disease diagnosis and clinical rehabilitation. By monitoring non-invasive physiological signals of patients, providing timely feedback on their emotional state can significantly aid in patient recovery and subsequent expert treatment evaluation. In this study, we propose a mutual fusion approach utilizing both feature fusion and decision fusion techniques for emotion classification. Firstly, statistical knowledge-based methods were employed to select physiological signals and extract highly correlated and complementary features for feature-level fusion. Subsequently, a similarity weight, based on feature selection and statistical analysis, was incorporated into the decision fusion process. Our proposed method yielded promising results, achieving 82.5% accuracy and 75.2% macro f1 score for three-class classification (neutral vs. stress vs. amusement), 95.4% accuracy and 94.6% macro f1 score for two-class classification (stress vs. non-stress) using publicly available data from the WESAD dataset. These results demonstrate that employing a mutual fusion approach outperforms single fusion methods in emotion classification tasks. © 2024 IEEE.

关键词： Patient treatment

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An Improved IMMENS Framework to Handle Conflicting Temporal Plans in mAritime Environments

An Improved IMMENS Framework to Handle Conflicting Temporal ...

引用

OCEANS

作者： A. Van Keeken M.J.R. Van Den Heuvel H. Hildmann C.P.C. Elenbaas H.J. Veltman Z. Papp C.I. De Hartog J.A.A.J. Janssen Autonomous Systems & Robotics (formerly Intelligent Autonomous Systems) Group Smart Sensor Systems Group The Hague University of Applied Sciences Den Haag The Netherlands Quantum Technology Group at TNO Netherlands Organisation for Applied Scientific Research Den Haag The Netherlands

ISBN: (数字)9798350362077

ISBN: (纸本)9798350362084

The IMMENS framework focuses on enabling the dynamic cooperation of a collection of maritime on-board cyber-physical systems to collectively plan towards an overall (global) goal. In this paper we propose to augment the original IMMENS framework with a new module that implements a formal approach from the literature to facilitate the handling of temporal conflicts in plans. To show that the module is able to handle a sufficiently complex fusion of sub-plans to be incorporated into IMMENS, we applied it to a use-case taking inspiration from the literature. This use-case was used to show that the new module facilitates the merging of sub-plans with temporal dependencies by combining all events in the sub-plans, recalculating the temporal dependencies and finding possible incoherence in the final plan and pointing out where conflicts arise. We present the module and motivate its benefits. With this feature, IMMENS can temporally merge sub-plans. Furthermore, the new module can provide assistance to solve incoherent plans, which was an issue during temporal fusion before.

关键词： Oceans Merging Cyber-physical systems Planning

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Coxa Coordination System-Based Hierarchical Control Framework for Bipedal Wheel-Leg Robot with Sprawling Mechanism

Coxa Coordination System-Based Hierarchical Control Framewor...

引用

IEEE Conference on systems, Process & Control (ICSPC)

作者： Zulkifli Mansor Addie Irawan Robotics Intelligent Systems & Control Engineering (RiSC) research group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pekan Pahang Malaysia

ISBN: (数字)9798350391398

ISBN: (纸本)9798350391404

The paper presents a Coxa Coordination System-Based Hierarchical Control Framework (CCS-HCF) for a Bipedal Wheel-Leg Robot with a Sprawling Mechanism (BWLS), aimed at enhancing the flexibility navigation in rugged environments. The proposed method leverages the Coxa-Based Coordinate System (CCS) for optimizing leg motion and trajectory, facilitating stable and efficient locomotion across challenging terrains. The proposed method’s effectiveness is verified through various simulation works, highlighting the importance of specific parameter settings in the proposed CCSHCF, such as a Coxa angle for sprawling and mammalian postures, along with a swing height position. These configurations are crucial for maintaining stability and balance during operation. The findings demonstrate the bipedal wheel-legged robot such as BWLS system’s with the proposed CC-SHCF ready to be integrated by various stability and robust control layers for stable walking and skiing.

关键词： Legged locomotion Robust control Meters Navigation Robot kinematics Heuristic algorithms Control systems Stability analysis Trajectory Optimization

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Modeling and Analysis of Bipedal Wheel-legged Robot with Sprawling Legs Mechanism

Modeling and Analysis of Bipedal Wheel-legged Robot with Spr...

引用

International Conference on Mechatronics (ICOM)

作者： Zulkifli Mansor Addie Irawan Nor Maniha Abdul Ghani Azrul Azim Abdullah Hashim Robotics Intelligent Systems & Control Engineering (RiSC) research group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pekan Pahang Malaysia

ISBN: (数字)9798350349788

ISBN: (纸本)9798350349795

This paper presents the modeling and analysis of the novel Bipedal Wheel-Legged Robot with Sprawling Legs Mechanism (BWLS) utilizing multi body dynamics approaches and the proposed Coxa-Based Coordinate System (CCS) in kinematics modeling. The primary focus lies in transitioning the conceptual model of the BWLS into the Simscape Multibody (SM) environment. The proposed CCS is subjected to verification through the implementation of a Hierarchical Control Framework (HCF) utilizing a simple stand-up input trajectory. Through the analysis, initial angular positions and stable range angular joints are determined, revising previous determinations based on hardware structure. Furthermore, employing the Forward Kinematics (FK) model, the stable boundary is identified through spatial leg motion plots. The reliability of the proposed CCS kinematics model is affirmed, rendering the model ready for further in-depth studies and applications.

关键词： Legged locomotion Analytical models Mechatronics Robot kinematics Dynamics Kinematics Rendering (computer graphics)

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A Qualitative Observational Video-Based Study on Perceived Privacy in Social Robots’ Based on Robots Appearances

A Qualitative Observational Video-Based Study on Perceived P...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Diana S. Lindblom Marieke van Otterdijk Jim Torresen Department of Informatics (IFI) Robotics and Intelligent Systems Research Group (ROBIN) Oslo University of Oslo Oslo Norway University of Oslo IFI ROBIN RITMO Center of Excellence Oslo Norway

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

Privacy has recently got attention, especially since the introduction of the General Data Protection Regulation (GDPR) in Europe, the new Artificial Intelligence Act (AIA) and the new Machinery Regulation. Privacy can be defined as someone’s right to keep personal matters, including personal life, personal information, or relationships, to themselves. A social robot’s appearance (=the combination of embodiment and motion) may contribute to how human users perceive them, including how these robots are perceived in relation to privacy. If these robots are part of certain services such as home- or healthcare, these may also have consequences on how these services are perceived. This study aims at showcasing the users’ perception of privacy based on the perceived robot’s appearance. Three social robots were chosen for this purpose: PLEO (with a zoomorphic appearance), Pepper (with a childlike anthropomorphic appearance), and TIAGo (with a mechanical and asymmetrical appearance). The data was collected through an in-lab observational video-based study from 50 participants with very limited- or no experience with robots. Our findings show that PLEO was perceived as preserving most of the users’ privacy, while Pepper was perceived as more privacy-invasive than PLEO but less than TIAGo. TIAGo was perceived as hard to interpret in terms of privacy. Our findings also point out that designing robots with a cute appearance, such as PLEO, may contribute to participants trusting the robot more and thus being willing to share their data. The paper provides a list of characteristics that participants associated with a social robot as preserving or not their privacy. Further, the paper discusses the appearance of these social robots in terms of “cuteness” as a dark pattern in the design of social robots that may lead to data myopia, but also the possible consequences this may have, for vulnerable users, while trying to design more inclusive robots.

关键词： Privacy Pediatrics Data privacy Social robots Europe Medical services Regulation

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Investigation of starting conditions in generative processes for the design of engineering structures

Investigation of starting conditions in generative processes...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Edgar Buchanan Rahul Dubey Simon Hickinbotham Imelda Friel Andrew Colligan Mark Price Andy M. Tyrrell Intelligent Systems & Robotics Research Group School of Physics Engineering and Technology University of York UK School of Mechanical & Aerospace Engineering Queen's University Belfast

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