Exploring New Horizons in Evolutionary Design of Robots

International audienceThis introduction paper to the 2009 IROS workshop “Exploring new horizons in Evolutionary Design of Robots” considers the field of Evolutionary Robotics (ER) from the perspective of its potential users: roboticists. The core hypothesis motivating this field of research will be discussed, as well as the potential use of ER in a robot design process. Three main aspects of ER will be presented: (a) ER as an automatic parameter tuning procedure, which is the most mature application and is used to solve real robotics problem, (b) evolutionary-aided design, which may benefit the designer as an efficient tool to build robotic systems and (c) automatic synthesis, which corresponds to the automatic design of a mechatronic device. Critical issues will also be presented as well as current trends and pespectives in ER

Development of an Optimization Framework for the Design of High Speed Planing Craft

High speed planing craft play key roles in supporting several critical maritime activities, e.g., coastal surveillance, reconnaissance, life-saving operations, passenger and high value cargo transport. Despite their significant use, formal optimization frameworks have rarely been proposed to deal with their design challenges. In this thesis, an optimization framework for the preliminary design of high speed planing craft is presented. Several case studies of single- and multi-objective formulations of high speed planing craft design problem are solved using state-of-the-art optimization algorithms. The notion of scenario-based design optimization and innovization, i.e. a means to uncover design relations are also discussed. A modular, extensible design optimization framework that allows the analysis tools to be extended or replaced with the desired level of complexity or with the state-of-the-art analysis tools is proposed in this thesis. A validated 3D mathematical model of high speed planing craft hull form has been identified in this thesis. The use of global parametric transformation that preserves surface fairness and allows for the presence of curve discontinuities is incorporated. A suite of three state-of-the-art optimization algorithms, namely NSGA-II, IDEA and SA-EA is incorporated within the framework. The performances of the algorithms are compared using the case studies. Solutions to single-objective minimization of calm water resistance, resistance in a seaway and multi-objective formulations considering minimization of total resistance, vertical impact acceleration and steady turning diameter have been presented. The capability of the framework to capture design trade-offs is illustrated. The case studies are extended to provide for scenario-based design optimization in order to demonstrate the capability of the framework to solve optimization problems based on the ship's operational profile and operating conditions. A concept of innovization, which allows for the automatic discovery of design rules governing optimum hull forms, is introduced. The relationship gathered through the process of innovization is applied as a cheap pseudo-performance indicator within an optimization formulation, where the results compare favourably with the empirical estimate obtained from experimental data. Such extensions are new contributions to the ship design discipline, in which opens up the possibility of the development of optimum design rules for any particular ship class

Adaptive multimodal continuous ant colony optimization

Seeking multiple optima simultaneously, which multimodal optimization aims at, has attracted increasing attention but remains challenging. Taking advantage of ant colony optimization algorithms in preserving high diversity, this paper intends to extend ant colony optimization algorithms to deal with multimodal optimization. First, combined with current niching methods, an adaptive multimodal continuous ant colony optimization algorithm is introduced. In this algorithm, an adaptive parameter adjustment is developed, which takes the difference among niches into consideration. Second, to accelerate convergence, a differential evolution mutation operator is alternatively utilized to build base vectors for ants to construct new solutions. Then, to enhance the exploitation, a local search scheme based on Gaussian distribution is self-adaptively performed around the seeds of niches. Together, the proposed algorithm affords a good balance between exploration and exploitation. Extensive experiments on 20 widely used benchmark multimodal functions are conducted to investigate the influence of each algorithmic component and results are compared with several state-of-the-art multimodal algorithms and winners of competitions on multimodal optimization. These comparisons demonstrate the competitive efficiency and effectiveness of the proposed algorithm, especially in dealing with complex problems with high numbers of local optima

Current trends in evolutionary multi-objective optimization

In a short span of about 14 years, evolutionary multi-objective optimization (EMO) has established itself as a mature field of research and application with an extensive literature, many commercial softwares, numerous freely downloadable codes, a dedicated biannual conference running successfully four times so far since 2001, special sessions and workshops held at all major evolutionary computing conferences, and full-time researchers from universities and industries from all around the globe. In this paper, we make a brief outline of EMO principles, some EMO algorithms, and focus on current research and application potential of EMO. Besides, simply finding a set of Pareto-optimal solutions, EMO research has now diversified in hybridizing its search with multi-criterion decision-making tools to arrive at a single preferred solution, in utilizing EMO principle in solving different kinds of single-objective optimization problems efficiently, and in various interesting application domains which were not possible to be solved adequately due to the lack of a suitable solution technique

An Interactive and Dynamic Search-Based Approach to Software Refactoring Recommendations

Successful software products evolve through a process of continual change. However, this process may weaken the design of the software and make it unnecessarily complex, leading to significantly reduced productivity and increased fault-proneness. Refactoring improves the software design while preserving overall functionality and behavior, and is an important technique in managing the growing complexity of software systems. Most of the existing work on software refactoring uses either an entirely manual or a fully automated approach. Manual refactoring is time-consuming, error-prone and unsuitable for large-scale, radical refactoring. On the other hand, fully automated refactoring yields a static list of refactorings which, when applied, leads to a new and often hard to comprehend design. Furthermore, it is difficult to merge these refactorings with other changes performed in parallel by developers. In this paper, we propose a refactoring recommendation approach that dynamically adapts and interactively suggests refactorings to developers and takes their feedback into consideration. Our approach uses NSGA-II to find a set of good refactoring solutions that improve software quality while minimizing the deviation from the initial design. These refactoring solutions are then analyzed to extract interesting common features between them such as the frequently occurring refactorings in the best non-dominated solutions. Based on this analysis, the refactorings are ranked and suggested to the developer in an interactive fashion as a sequence of transformations. The developer can approve, modify or reject each of the recommended refactorings, and this feedback is then used to update the proposed rankings of recommended refactorings. After a number of introduced code changes and interactions with the developer, the interactive NSGA-II algorithm is executed again on the new modified system to repair the set of refactoring solutions based on the new changes and the feedback received from the developer. We evaluated our approach on a set of eight open source systems and two industrial projects provided by an industrial partner. Statistical analysis of our experiments shows that our dynamic interactive refactoring approach performed significantly better than four existing search-based refactoring techniques and one fully-automated refactoring tool not based on heuristic search

Meta-optimization of Bio-inspired Techniques for Object Recognition

Il riconoscimento di oggetti consiste nel trovare automaticamente un oggetto all'interno di un'immagine o in una sequenza video. Questo compito è molto importante in molti campi quali diagnosi mediche, assistenza di guida avanzata, visione artificiale, sorveglianza, realtà aumentata. Tuttavia, questo compito può essere molto impegnativo a causa di artefatti (dovuti al sistema di acquisizione, all'ambiente o ad altri effetti ottici quali prospettiva, variazioni di illuminazione, etc.) che possono influenzare l'aspetto anche di oggetti facili da identificare e ben definiti . Una possibile tecnica per il riconoscimento di oggetti consiste nell'utilizzare approcci basati su modello: in questo scenario viene creato un modello che rappresenta le proprietà dell'oggetto da individuare; poi, vengono generate possibili ipotesi sul posizionamento dell'oggetto, e il modello viene trasformato di conseguenza, fino a trovare la migliore corrispondenza con l'aspetto reale dell'oggetto. Per generare queste ipotesi in maniera intelligente, è necessario un buon algoritmo di ottimizzazione. Gli algoritmi di tipo bio-ispirati sono metodi di ottimizzazione che si basano su proprietà osservate in natura (quali cooperazione, evoluzione, socialità). La loro efficacia è stata dimostrata in molte attività di ottimizzazione, soprattutto in problemi di difficile soluzione, multi-modali e multi-dimensionali quali, per l'appunto, il riconoscimento di oggetti. Anche se queste euristiche sono generalmente efficaci, esse dipendono da molti parametri che influenzano profondamente le loro prestazioni; pertanto, è spesso richiesto uno sforzo significativo per capire come farle esprimere al massimo delle loro potenzialità. Questa tesi descrive un metodo per (i) individuare automaticamente buoni parametri per tecniche bio-ispirate, sia per un problema specifico che più di uno alla volta, e (ii) acquisire maggior conoscenza sul ruolo di un parametro in questi algoritmi. Inoltre, viene mostrato come le tecniche bio-ispirate possono essere applicate con successo in diversi ambiti nel riconoscimento di oggetti, e come è possibile migliorare ulteriormente le loro prestazioni mediante il tuning automatico dei loro parametri.Object recognition is the task of automatically finding a given object in an image or in a video sequence. This task is very important in many fields such as medical diagnosis, advanced driving assistance, image understanding, surveillance, virtual reality. Nevertheless, this task can be very challenging because of artefacts (related with the acquisition system, the environment or other optical effects like perspective, illumination changes, etc.) which may affect the aspect even of easy-to-identify and well-defined objects. A possible way to achieve object recognition is using model-based approaches: in this scenario a model (also called template) representing the properties of the target object is created; then, hypotheses on the position of the object are generated, and the model is transformed accordingly, until the best match with the actual appearance of the object is found. To generate these hypotheses intelligently, a good optimization algorithm is required. Bio-inspired techniques are optimization methods whose foundations rely on properties observed in nature (such as cooperation, evolution, emergence). Their effectiveness has been proved in many optimization tasks, especially in multi-modal, multi-dimensional hard problems like object recognition. Although these heuristics are generally effective, they depend on many parameters that strongly affect their performances; therefore, a significant effort must be spent to understand how to let them express their full potentialities. This thesis describes a method to (i) automatically find good parameters for bio-inspired techniques, both for a specific problem and for more than one at the same time, and (ii) acquire more knowledge of a parameter's role in such algorithms. Then, it shows how bio-inspired techniques can be successfully applied to different object recognition tasks, and how it is possible to further improve their performances by means of automatic parameter tuning

Interactive Refactoring via Clustering-Based Multi-objective Search

http://deepblue.lib.umich.edu/bitstream/2027.42/153328/1/ASE2018_Clustering_The_Pareto_Optimal_Solutions__Copy_DeepBlue.pd