Evolutionary Networks for Multi-Behavioural Robot Control : A thesis presented in partial fulfilment of the requirements for the degree of Master of Science in Computer Science Massey University, Albany, New Zealand

Artificial Intelligence can be applied to a wide variety of real world problems, with varying levels of complexity; nonetheless, real world problems often demand for capabilities that are difficult, if not impossible to achieve using a single Artificial Intelligence algorithm. This challenge gave rise to the development of hybrid systems that put together a combination of complementary algorithms. Hybrid approaches come at a cost however, as they introduce additional complications for the developer, such as how the algorithms should interact and when the independent algorithms should be executed. This research introduces a new algorithm called Cascading Genetic Network Programming (CGNP), which contains significant changes to the original Genetic Network Programming. This new algorithm has the facility to include any Artificial Intelligence algorithm into its directed graph network, as either a judgement or processing node. CGNP introduces a novel ability for a scalable multiple layer network, of independent instances of the CGNP algorithm itself. This facilitates problem subdivision, independent optimisation of these underlying layers and the ability to develop varying levels of complexity, from individual motor control to high level dynamic role allocation systems. Mechanisms are incorporated to prevent the child networks from executing beyond their requirement, allowing the parent to maintain control. The ability to optimise any data within each node is added, allowing for general purpose node development and therefore allowing node reuse in a wide variety of applications without modification. The abilities of the Cascaded Genetic Network Programming algorithm are demonstrated and proved through the development of a multi-behavioural robot soccer goal keeper, as a testbed where an individual Artificial Intelligence system may not be sufficient. The overall role is subdivided into three components and individually optimised which allow the robot to pursue a target object or location, rotate towards a target and provide basic functionality for defending a goal. These three components are then used in a higher level network as independent nodes, to solve the overall multi- behavioural goal keeper. Experiments show that the resulting controller defends the goal with a success rate of 91%, after 12 hours training using a population of 400 and 60 generations

Connectionist Theory Refinement: Genetically Searching the Space of Network Topologies

An algorithm that learns from a set of examples should ideally be able to exploit the available resources of (a) abundant computing power and (b) domain-specific knowledge to improve its ability to generalize. Connectionist theory-refinement systems, which use background knowledge to select a neural network's topology and initial weights, have proven to be effective at exploiting domain-specific knowledge; however, most do not exploit available computing power. This weakness occurs because they lack the ability to refine the topology of the neural networks they produce, thereby limiting generalization, especially when given impoverished domain theories. We present the REGENT algorithm which uses (a) domain-specific knowledge to help create an initial population of knowledge-based neural networks and (b) genetic operators of crossover and mutation (specifically designed for knowledge-based networks) to continually search for better network topologies. Experiments on three real-world domains indicate that our new algorithm is able to significantly increase generalization compared to a standard connectionist theory-refinement system, as well as our previous algorithm for growing knowledge-based networks.Comment: See http://www.jair.org/ for any accompanying file

Improved detection of Probe Request Attacks : Using Neural Networks and Genetic Algorithm

The Media Access Control (MAC) layer of the wireless protocol, Institute of Electrical and Electronics Engineers (IEEE) 802.11, is based on the exchange of request and response messages. Probe Request Flooding Attacks (PRFA) are devised based on this design flaw to reduce network performance or prevent legitimate users from accessing network resources. The vulnerability is amplified due to clear beacon, probe request and probe response frames. The research is to detect PRFA of Wireless Local Area Networks (WLAN) using a Supervised Feedforward Neural Network (NN). The NN converged outstandingly with train, valid, test sample percentages 70, 15, 15 and hidden neurons 20. The effectiveness of an Intruder Detection System depends on its prediction accuracy. This paper presents optimisation of the NN using Genetic Algorithms (GA). GAs sought to maximise the performance of the model based on Linear Regression (R) and generated R > 0.95. Novelty of this research lies in the fact that the NN accepts user and attacker training data captured separately. Hence, security administrators do not have to perform the painstaking task of manually identifying individual frames for labelling prior training. The GA provides a reliable NN model and recognises the behaviour of the NN for diverse configurations

Multi-learner based recursive supervised training

In this paper, we propose the Multi-Learner Based Recursive Supervised Training (MLRT) algorithm which uses the existing framework of recursive task decomposition, by training the entire dataset, picking out the best learnt patterns, and then repeating the process with the remaining patterns. Instead of having a single learner to classify all datasets during each recursion, an appropriate learner is chosen from a set of three learners, based on the subset of data being trained, thereby avoiding the time overhead associated with the genetic algorithm learner utilized in previous approaches. In this way MLRT seeks to identify the inherent characteristics of the dataset, and utilize it to train the data accurately and efficiently. We observed that empirically, MLRT performs considerably well as compared to RPHP and other systems on benchmark data with 11% improvement in accuracy on the SPAM dataset and comparable performances on the VOWEL and the TWO-SPIRAL problems. In addition, for most datasets, the time taken by MLRT is considerably lower than the other systems with comparable accuracy. Two heuristic versions, MLRT-2 and MLRT-3 are also introduced to improve the efficiency in the system, and to make it more scalable for future updates. The performance in these versions is similar to the original MLRT system

A computational framework for aesthetical navigation in musical search space

Paper presented at 3rd AISB symposium on computational creativity, AISB 2016, 4-6th April, Sheffield. Abstract. This article addresses aspects of an ongoing project in the generation of artificial Persian (-like) music. Liquid Persian Music software (LPM) is a cellular automata based audio generator. In this paper LPM is discussed from the view point of future potentials of algorithmic composition and creativity. Liquid Persian Music is a creative tool, enabling exploration of emergent audio through new dimensions of music composition. Various configurations of the system produce different voices which resemble musical motives in many respects. Aesthetical measurements are determined by Zipf’s law in an evolutionary environment. Arranging these voices together for producing a musical corpus can be considered as a search problem in the LPM outputs space of musical possibilities. On this account, the issues toward defining the search space for LPM is studied throughout this paper

Neural network parametrization of spectral functions from hadronic tau decays and determination of QCD vacuum condensates

The spectral function $\rho_{V-A}(s)$ is determined from ALEPH and OPAL data on hadronic tau decays using a neural network parametrization trained to retain the full experimental information on errors, their correlations and chiral sum rules: the DMO sum rule, the first and second Weinberg sum rules and the electromagnetic mass splitting of the pion sum rule. Nonperturbative QCD vacuum condensates can then be determined from finite energy sum rules. Our method minimizes all sources of theoretical uncertainty and bias producing an estimate of the condensates which is independent of the specific finite energy sum rule used. The results for the central values of the condensates $O_6$ and $O_8$ are both negative.Comment: 29 pages, 18 ps figure

Mechanical properties of the concrete containing porcelain waste as sand

The demand of concrete have been increases on a daily bases which consume a lot of natural resource such as sand and gravel, there is an immediate need for finding suitable alternative which can be used to replace sand partially with another materials with high propor-tion . Ceramic waste is one of the strongest research areas that include the activity of replacement in all the sides of construction materi-als. This research aims to improve the performance of concrete using ceramic waste, and demonstrate the performance of mechanical properties to the concrete with partial replacement of sand by using waste porcelain. For these, we analyzed the mechanical properties of the concrete such as compressive strength, split tensile and flexural strength, the specimen were measured based on 10% ,20% ,30% ,40%, and 50% weight ratio of replace sand with waste porcelain at different time under water for 7 days , 28 days , 60 days . The optimum consideration were given to mechanical properties of the concrete, at different amount of ceramic waste as sand