Scalable Co-Optimization of Morphology and Control in Embodied Machines

Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The task of simultaneously co-optimizing the morphology and controller of an embodied robot has remained a challenge. In psychology, the theory of embodied cognition posits that behavior arises from a close coupling between body plan and sensorimotor control, which suggests why co-optimizing these two subsystems is so difficult: most evolutionary changes to morphology tend to adversely impact sensorimotor control, leading to an overall decrease in behavioral performance. Here, we further examine this hypothesis and demonstrate a technique for "morphological innovation protection", which temporarily reduces selection pressure on recently morphologically-changed individuals, thus enabling evolution some time to "readapt" to the new morphology with subsequent control policy mutations. We show the potential for this method to avoid local optima and converge to similar highly fit morphologies across widely varying initial conditions, while sustaining fitness improvements further into optimization. While this technique is admittedly only the first of many steps that must be taken to achieve scalable optimization of embodied machines, we hope that theoretical insight into the cause of evolutionary stagnation in current methods will help to enable the automation of robot design and behavioral training -- while simultaneously providing a testbed to investigate the theory of embodied cognition

Networking Behavior in Thin Film and Nanostructure Growth Dynamics

Thin film coatings have been essential in development of several micro and nano-scale devices. To realize thin film coatings various deposition techniques are employed, each yielding surface morphologies with different characteristics of interest. Therefore, understanding and control of the surface growth is of great interest. In this paper, we devise a novel network-based modeling of the growth dynamics of such thin films and nano-structures. We specifically map dynamic steps taking place during the growth to components (e.g., nodes, links) of a corresponding network. We present initial results showing that this network-based modeling approach to the growth dynamics can simplify our understanding of the fundamental physical dynamics such as shadowing and re-emission effects

Dynamic evolution of interface roughness during friction and wear processes

Dynamic evolution of surface roughness and influence of initial roughness (Sa=0.282 to 6.73 µm) during friction and wear processes has been analyzed experimentally. The mirror polished and rough surfaces (28 samples in total) have been prepared by surface polishing on Ti-6Al-4V and AISI 1045 samples. Friction and wear have been tested in classical sphere/plane configuration using linear reciprocating tribometer with very small displacement from 130 to 200 microns. After an initial period of rapid degradation, dynamic evolution of surface roughness converges to certain level specific to a given tribosystem. However, roughness at such dynamic interface is still increasing and analysis of initial roughness influence revealed that to certain extent, a rheology effect of interface can be observed and dynamic evolution of roughness will depend on initial condition and history of interface roughness evolution. Multiscale analysis shows that morphology created in wear process is composed from nano, micro and macro scale roughness. Therefore, mechanical parts working under very severe contact conditions, like rotor/blade contact, screws, clutch etc. with poor initial surface finishing are susceptible to have much shorter lifetime than a quality finished parts

VSI: the VLTI spectro-imager

The VLTI Spectro Imager (VSI) was proposed as a second-generation instrument of the Very Large Telescope Interferometer providing the ESO community with spectrally-resolved, near-infrared images at angular resolutions down to 1.1 milliarcsecond and spectral resolutions up to R=12000. Targets as faint as K=13 will be imaged without requiring a brighter nearby reference object. The unique combination of high-dynamic-range imaging at high angular resolution and high spectral resolution enables a scientific program which serves a broad user community and at the same time provides the opportunity for breakthroughs in many areas of astrophysic including: probing the initial conditions for planet formation in the AU-scale environments of young stars; imaging convective cells and other phenomena on the surfaces of stars; mapping the chemical and physical environments of evolved stars, stellar remnants, and stellar winds; and disentangling the central regions of active galactic nuclei and supermassive black holes. VSI will provide these new capabilities using technologies which have been extensively tested in the past and VSI requires little in terms of new infrastructure on the VLTI. At the same time, VSI will be able to make maximum use of new infrastructure as it becomes available; for example, by combining 4, 6 and eventually 8 telescopes, enabling rapid imaging through the measurement of up to 28 visibilities in every wavelength channel within a few minutes. The current studies are focused on a 4-telescope version with an upgrade to a 6-telescope one. The instrument contains its own fringe tracker and tip-tilt control in order to reduce the constraints on the VLTI infrastructure and maximize the scientific return.Comment: 12 pages, to be published in Proc. SPIE conference 7013 "Optical and Infrared Interferometry", Schoeller, Danchi, and Delplancke, F. (eds.). See also http://vsi.obs.ujf-grenoble.f

Dynamic clonal progression in xenografts of acute lymphoblastic leukemia with intrachromosomal amplification of chromosome 21

Intrachromosomal amplification of chromosome 21 is a heterogeneous chromosomal rearrangement occurring in 2% of childhood precursor B-cell acute lymphoblastic leukemia. There are no cell lines with iAMP21 and these abnormalities are too complex to faithfully engineer in animal models. As a resource for future functional and pre-clinical studies, we have created xenografts from intrachromosomal amplification of chromosome 21 leukemia patient blasts and characterised them by in-vivo and ex-vivo luminescent imaging, FLOW immunophenotyping, and histological and ultrastructural analysis of bone marrow and the central nervous system. Investigation of up to three generations of xenografts revealed phenotypic evolution, branching genomic architecture and, compared with other B-cell acute lymphoblastic leukemia genetic subtypes, greater clonal diversity of leukemia initiating cells. In support of intrachromosomal amplification of chromosome 21 as a primary genetic abnormality, it was always retained through generations of xenografts, although we also observed the first example of structural evolution of this rearrangement. Clonal segregation in xenografts revealed convergent evolution of different secondary genomic abnormalities implicating several known tumour suppressor genes and a region, containing the B-cell adaptor, PIK3AP1, and nuclear receptor co-repressor, LCOR, in the progression of B-ALL. Tracking of mutations in patients and derived xenografts provided evidence for co-operation between abnormalities activating the RAS pathway in B-ALL and for their aggressive clonal expansion in the xeno-environment. Bi-allelic loss of the CDKN2A/B locus was recurrently maintained or emergent in xenografts and also strongly selected as RNA sequencing demonstrated a complete absence of reads for genes associated with the deletions

Radial Gas Flows in Colliding Galaxies: Connecting Simulations and Observations

(abridged) We investigate the detailed response of gas to the formation of transient and long-lived dynamical structures induced in the early stages of a disk-disk collision, and identify observational signatures of radial gas inflow through a detailed examination of the collision simulation of an equal mass bulge dominated galaxy. Stars respond to the tidal interaction by forming both transient arms and long lived m=2 bars, but the gas response is more transient, flowing directly toward the central regions within about 10^8 years after the initial collision. The rate of inflow declines when more than half of the total gas supply reaches the inner few kpc, where the gas forms a dense nuclear ring inside the stellar bar. The average gas inflow rate to the central 1.8 kpc is \~7 Msun/yr with a peak rate of 17 Msun/yr. The evolution of gas in a bulgeless progenitor galaxy is also discussed, and a possible link to the ``chain galaxy'' population observed at high redshifts is inferred. The evolution of the structural parameters (the asymmetry and concentration) of both stars and gas are studied in detail. Further, a new structural parameter (the compactness parameter K) that traces the evolution of the size scale of the gas relative to the stellar disk is introduced. Non-circular gas kinematics driven by the perturbation of the non-axisymmetric structure can produce distinct emission features in the "forbidden velocity quadrants'' of the position-velocity diagram (PVD). The dynamical mass calculated using the rotation curve derived from fitting the emission envelope of the PVD can determine the true mass to within 20% to 40%. The evolution of the molecular fraction $M_H2/M_(H2 + HI) and the compactness (K) are potential tracers to quantitatively assign the age of the interaction.Comment: 52 pages, 20 figures (9 jpgs), accepted for publication in ApJ Version with all figures at http://cfa-www.harvard.edu/~diono/ms.ps.g