19,975 research outputs found

    Evolution of Prehension Ability in an Anthropomorphic Neurorobotic Arm

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    In this paper we show how a simulated anthropomorphic robotic arm controlled by an artificial neural network can develop effective reaching and grasping behaviour through a trial and error process in which the free parameters encode the control rules which regulate the fine-grained interaction between the robot and the environment and variations of the free parameters are retained or discarded on the basis of their effects at the level of the global behaviour exhibited by the robot situated in the environment. The obtained results demonstrate how the proposed methodology allows the robot to produce effective behaviours thanks to its ability to exploit the morphological properties of the robot’s body (i.e. its anthropomorphic shape, the elastic properties of its muscle-like actuators, and the compliance of its actuated joints) and the properties which arise from the physical interaction between the robot and the environment mediated by appropriate control rules

    Evolution of Neural Networks for Helicopter Control: Why Modularity Matters

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    The problem of the automatic development of controllers for vehicles for which the exact characteristics are not known is considered in the context of miniature helicopter flocking. A methodology is proposed in which neural network based controllers are evolved in a simulation using a dynamic model qualitatively similar to the physical helicopter. Several network architectures and evolutionary sequences are investigated, and two approaches are found that can evolve very competitive controllers. The division of the neural network into modules and of the task into incremental steps seems to be a precondition for success, and we analyse why this might be so

    Causality, Information and Biological Computation: An algorithmic software approach to life, disease and the immune system

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    Biology has taken strong steps towards becoming a computer science aiming at reprogramming nature after the realisation that nature herself has reprogrammed organisms by harnessing the power of natural selection and the digital prescriptive nature of replicating DNA. Here we further unpack ideas related to computability, algorithmic information theory and software engineering, in the context of the extent to which biology can be (re)programmed, and with how we may go about doing so in a more systematic way with all the tools and concepts offered by theoretical computer science in a translation exercise from computing to molecular biology and back. These concepts provide a means to a hierarchical organization thereby blurring previously clear-cut lines between concepts like matter and life, or between tumour types that are otherwise taken as different and may not have however a different cause. This does not diminish the properties of life or make its components and functions less interesting. On the contrary, this approach makes for a more encompassing and integrated view of nature, one that subsumes observer and observed within the same system, and can generate new perspectives and tools with which to view complex diseases like cancer, approaching them afresh from a software-engineering viewpoint that casts evolution in the role of programmer, cells as computing machines, DNA and genes as instructions and computer programs, viruses as hacking devices, the immune system as a software debugging tool, and diseases as an information-theoretic battlefield where all these forces deploy. We show how information theory and algorithmic programming may explain fundamental mechanisms of life and death.Comment: 30 pages, 8 figures. Invited chapter contribution to Information and Causality: From Matter to Life. Sara I. Walker, Paul C.W. Davies and George Ellis (eds.), Cambridge University Pres
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