Multi-criteria Evolution of Neural Network Topologies: Balancing Experience and Performance in Autonomous Systems

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or NEAT paradigm offers a powerful alternative by allowing the network topology and the connection weights to be simultaneously optimized through an evolutionary process. However, most NEAT implementations allow the consideration of only a single objective. There also persists the question of how to tractably introduce topological diversification that mitigates overfitting to training scenarios. To address these gaps, this paper develops a multi-objective neuro-evolution algorithm. While adopting the basic elements of NEAT, important modifications are made to the selection, speciation, and mutation processes. With the backdrop of small-robot path-planning applications, an experience-gain criterion is derived to encapsulate the amount of diverse local environment encountered by the system. This criterion facilitates the evolution of genes that support exploration, thereby seeking to generalize from a smaller set of mission scenarios than possible with performance maximization alone. The effectiveness of the single-objective (optimizing performance) and the multi-objective (optimizing performance and experience-gain) neuro-evolution approaches are evaluated on two different small-robot cases, with ANNs obtained by the multi-objective optimization observed to provide superior performance in unseen scenarios

A multi-agent based evolutionary algorithm in non-stationary environments

This article is posted here with permission of IEEE - Copyright @ 2008 IEEEIn this paper, a multi-agent based evolutionary algorithm (MAEA) is introduced to solve dynamic optimization problems. The agents simulate living organism features and co-evolve to find optimum. All agents live in a lattice like environment, where each agent is fixed on a lattice point. In order to increase the energy, agents can compete with their neighbors and can also acquire knowledge based on statistic information. In order to maintain the diversity of the population, the random immigrants and adaptive primal dual mapping schemes are used. Simulation experiments on a set of dynamic benchmark problems show that MAEA can obtain a better performance in non-stationary environments in comparison with several peer genetic algorithms.This work was suported by the Key Program of National Natural Science Foundation of China under Grant No. 70431003, the Science Fund for Creative Research Group of the National Natural Science Foundation of China under Grant No. 60521003, the National Science and Technology Support Plan of China under Grant No. 2006BAH02A09, and the Engineering and Physical Sciences Research Council of the United Kingdom under Grant No. EP/E060722/1

Optimising continuous microstructures: a comparison of gradient-based and stochastic methods

This work compares the use of a deterministic gradient based search with a stochastic genetic algorithm to optimise the geometry of a space frame structure. The goal is not necessarily to find a global optimum, but instead to derive a confident approximation of fitness to be used in a second optimisation of topology. The results show that although the genetic algorithm searches the space more broadly, and this space has several global optima, gradient descent achieves similar fitnesses with equal confidence. The gradient descent algorithm is advantageous however, as it is deterministic and results in a lower computational cost

Experimental study on population-based incremental learning algorithms for dynamic optimization problems

Copyright @ Springer-Verlag 2005.Evolutionary algorithms have been widely used for stationary optimization problems. However, the environments of real world problems are often dynamic. This seriously challenges traditional evolutionary algorithms. In this paper, the application of population-based incremental learning (PBIL) algorithms, a class of evolutionary algorithms, for dynamic problems is investigated. Inspired by the complementarity mechanism in nature a Dual PBIL is proposed, which operates on two probability vectors that are dual to each other with respect to the central point in the genotype space. A diversity maintaining technique of combining the central probability vector into PBIL is also proposed to improve PBILs adaptability in dynamic environments. In this paper, a new dynamic problem generator that can create required dynamics from any binary-encoded stationary problem is also formalized. Using this generator, a series of dynamic problems were systematically constructed from several benchmark stationary problems and an experimental study was carried out to compare the performance of several PBIL algorithms and two variants of standard genetic algorithm. Based on the experimental results, we carried out algorithm performance analysis regarding the weakness and strength of studied PBIL algorithms and identified several potential improvements to PBIL for dynamic optimization problems.This work was was supported by UK EPSRC under Grant GR/S79718/01

A sparse conditional Gaussian graphical model for analysis of genetical genomics data

Genetical genomics experiments have now been routinely conducted to measure both the genetic markers and gene expression data on the same subjects. The gene expression levels are often treated as quantitative traits and are subject to standard genetic analysis in order to identify the gene expression quantitative loci (eQTL). However, the genetic architecture for many gene expressions may be complex, and poorly estimated genetic architecture may compromise the inferences of the dependency structures of the genes at the transcriptional level. In this paper we introduce a sparse conditional Gaussian graphical model for studying the conditional independent relationships among a set of gene expressions adjusting for possible genetic effects where the gene expressions are modeled with seemingly unrelated regressions. We present an efficient coordinate descent algorithm to obtain the penalized estimation of both the regression coefficients and the sparse concentration matrix. The corresponding graph can be used to determine the conditional independence among a group of genes while adjusting for shared genetic effects. Simulation experiments and asymptotic convergence rates and sparsistency are used to justify our proposed methods. By sparsistency, we mean the property that all parameters that are zero are actually estimated as zero with probability tending to one. We apply our methods to the analysis of a yeast eQTL data set and demonstrate that the conditional Gaussian graphical model leads to a more interpretable gene network than a standard Gaussian graphical model based on gene expression data alone.Comment: Published in at http://dx.doi.org/10.1214/11-AOAS494 the Annals of Applied Statistics (http://www.imstat.org/aoas/) by the Institute of Mathematical Statistics (http://www.imstat.org

Robustness of optimal inter-city railway network structure in Japan against alternative population distributions

It takes long time and huge amount of money to construct inter-city railway network. Careful demand forecasting and rational service planning are therefore required. However, long ranged demand forecasting is always facing to unintended change of regional population or change of the service level of competing transportation modes such as airline and inter-city express bus. Those changes sometimes resulted in severe decrease of demand for the constructed railway lines and discussion of abolishment of train service occurs. In order to avoid such tragedy, we want to build a robust network plan not vulnerable for the changes in forecasting conditions. This paper discusses the robustness of optimal inter-city railway network structure in Japan against alternative population distributions. Genetic Algorithm is applied to find best mixture of maximum operation speed category and number of daily train service for each link, which maximize the total consumer surplus of inter-city railway passengers. Consumer surplus is assessed by a gravity demand model considering service level along several routes for each OD pair. Travel time calculated by allocated link speed category, allocated train frequency, and estimated fare regressed by travel speed, will be summarized as route service level via ML route choice model parameters. In the GA, we consider a chromosome consists of two parts; speed category of 275 links and relative operation distance of trains in those links. Besides the real distribution of population in 197 Japanese local areas in the year of 1995, we set four other hypothetic population distributions; two of them concentrate in megalopolises like Tokyo, others disperse along geographically remote areas. We first obtain network structures optimized by the GA for each population setting. Speed category allocation will be compared for the five network plans. Secondly, we calculate total consumer surplus of each network plan under the different population settings and discuss the vulnerability of those plans. Thirdly, we optimize train operation plans for different population settings under the given speed category arrangements. The results shows that spatial arrangement of high speed railway service in 1995 keeps optimality for wide range of population settings, if we adjust number of trains according to alternative population distribution.

Prediction of haplotypes for ungenotyped animals and its effect on marker-assisted breeding value estimation

Background: In livestock populations, missing genotypes on a large proportion of animals are a major problem to implement the estimation of marker-assisted breeding values using haplotypes. The objective of this article is to develop a method to predict haplotypes of animals that are not genotyped using mixed model equations and to investigate the effect of using these predicted haplotypes on the accuracy of marker-assisted breeding value estimation. Methods: For genotyped animals, haplotypes were determined and for each animal the number of haplotype copies (nhc) was counted, i.e. 0, 1 or 2 copies. In a mixed model framework, nhc for each haplotype were predicted for ungenotyped animals as well as for genotyped animals using the additive genetic relationship matrix. The heritability of nhc was assumed to be 0.99, allowing for minor genotyping and haplotyping errors. The predicted nhc were subsequently used in marker-assisted breeding value estimation by applying random regression on these covariables. To evaluate the method, a population was simulated with one additive QTL and an additive polygenic genetic effect. The QTL was located in the middle of a haplotype based on SNP-markers. Results: The accuracy of predicted haplotype copies for ungenotyped animals ranged between 0.59 and 0.64 depending on haplotype length. Because powerful BLUP-software was used, the method was computationally very efficient. The accuracy of total EBV increased for genotyped animals when marker-assisted breeding value estimation was compared with conventional breeding value estimation, but for ungenotyped animals the increase was marginal unless the heritability was smaller than 0.1. Haplotypes based on four markers yielded the highest accuracies and when only the nearest left marker was used, it yielded the lowest accuracy. The accuracy increased with increasing marker density. Accuracy of the total EBV approached that of gene-assisted BLUP when 4-marker haplotypes were used with a distance of 0.1 cM between the markers. Conclusions: The proposed method is computationally very efficient and suitable for marker-assisted breeding value estimation in large livestock populations including effects of a number of known QTL. Marker-assisted breeding value estimation using predicted haplotypes increases accuracy especially for traits with low heritabilit

Mapping Subsets of Scholarly Information

We illustrate the use of machine learning techniques to analyze, structure, maintain, and evolve a large online corpus of academic literature. An emerging field of research can be identified as part of an existing corpus, permitting the implementation of a more coherent community structure for its practitioners.Comment: 10 pages, 4 figures, presented at Arthur M. Sackler Colloquium on "Mapping Knowledge Domains", 9--11 May 2003, Beckman Center, Irvine, CA, proceedings to appear in PNA