Parallel ACO with a Ring Neighborhood for Dynamic TSP

The current paper introduces a new parallel computing technique based on ant colony optimization for a dynamic routing problem. In the dynamic traveling salesman problem the distances between cities as travel times are no longer fixed. The new technique uses a parallel model for a problem variant that allows a slight movement of nodes within their Neighborhoods. The algorithm is tested with success on several large data sets.Comment: 8 pages, 1 figure; accepted J. Information Technology Researc

Reasoning with BDI robots: from simulation to physical environment – implementations and limitations

In this paper an overview of the state of research into cognitive robots is given. This is driven by insights arising from research that has moved from simulation to physical robots over the course of a number of sub-projects. A number of major issues arising from seminal research in the area are explored. In particular in the context of advances in the field of robotics and a slowly developing model of cognition and behaviour that is being mapped onto robot colonies. The work presented is ongoing but major themes such as the veracity of data and information, and their effect on robot control architectures are explored. A small number of case studies are presented where the theoretical framework has been used to implement control of physical robots. The limitations of the current research and the wider field of behavioral and cognitive robots are explored

Source bearing and steering-vector estimation using partially calibrated arrays

The problem of source direction-of-arrival (DOA) estimation using a sensor array is addressed, where some of the sensors are perfectly calibrated, while others are uncalibrated. An algorithm is proposed for estimating the source directions in addition to the estimation of unknown array parameters such as sensor gains and phases, as a way of performing array self-calibration. The cost function is an extension of the maximum likelihood (ML) criteria that were originally developed for DOA estimation with a perfectly calibrated array. A particle swarm optimization (PSO) algorithm is used to explore the high-dimensional problem space and find the global minimum of the cost function. The design of the PSO is a combination of the problem-independent kernel and some newly introduced problem-specific features such as search space mapping, particle velocity control, and particle position clipping. This architecture plus properly selected parameters make the PSO highly flexible and reusable, while being sufficiently specific and effective in the current application. Simulation results demonstrate that the proposed technique may produce more accurate estimates of the source bearings and unknown array parameters in a cheaper way as compared with other popular methods, with the root-mean-squared error (RMSE) approaching and asymptotically attaining the Cramer Rao bound (CRB) even in unfavorable conditions

Computing multi-scale organizations built through assembly

The ability to generate and control assembling structures built over many orders of magnitude is an unsolved challenge of engineering and science. Many of the presumed transformational benefits of nanotechnology and robotics are based directly on this capability. There are still significant theoretical difficulties associated with building such systems, though technology is rapidly ensuring that the tools needed are becoming available in chemical, electronic, and robotic domains. In this thesis a simulated, general-purpose computational prototype is developed which is capable of unlimited assembly and controlled by external input, as well as an additional prototype which, in structures, can emulate any other computing device. These devices are entirely finite-state and distributed in operation. Because of these properties and the unique ability to form unlimited size structures of unlimited computational power, the prototypes represent a novel and useful blueprint on which to base scalable assembly in other domains. A new assembling model of Computational Organization and Regulation over Assembly Levels (CORAL) is also introduced, providing the necessary framework for this investigation. The strict constraints of the CORAL model allow only an assembling unit of a single type, distributed control, and ensure that units cannot be reprogrammed - all reprogramming is done via assembly. Multiple units are instead structured into aggregate computational devices using a procedural or developmental approach. Well-defined comparison of computational power between levels of organization is ensured by the structure of the model. By eliminating ambiguity, the CORAL model provides a pragmatic answer to open questions regarding a framework for hierarchical organization. Finally, a comparison between the designed prototypes and units evolved using evolutionary algorithms is presented as a platform for further research into novel scalable assembly. Evolved units are capable of recursive pairing ability under the control of a signal, a primitive form of unlimited assembly, and do so via symmetry-breaking operations at each step. Heuristic evidence for a required minimal threshold of complexity is provided by the results, and challenges and limitations of the approach are identified for future evolutionary studies

Bits from Biology for Computational Intelligence

Computational intelligence is broadly defined as biologically-inspired computing. Usually, inspiration is drawn from neural systems. This article shows how to analyze neural systems using information theory to obtain constraints that help identify the algorithms run by such systems and the information they represent. Algorithms and representations identified information-theoretically may then guide the design of biologically inspired computing systems (BICS). The material covered includes the necessary introduction to information theory and the estimation of information theoretic quantities from neural data. We then show how to analyze the information encoded in a system about its environment, and also discuss recent methodological developments on the question of how much information each agent carries about the environment either uniquely, or redundantly or synergistically together with others. Last, we introduce the framework of local information dynamics, where information processing is decomposed into component processes of information storage, transfer, and modification -- locally in space and time. We close by discussing example applications of these measures to neural data and other complex systems