Formation of modules in a computational model of embryogeny

An investigation is conducted into the effects of a complex mapping between genotype and phenotype upon a simulated evolutionary process. A model of embryogeny is utilised to grow simple French flag like patterns. The system is shown to display a phenotypic robustness to damage and it is argued that this is a result of a modularity forming within the mapping process which causes a functional grouping of sections of the genotype

The impact of cellular characteristics on the evolution of shape homeostasis

The importance of individual cells in a developing multicellular organism is well known but precisely how the individual cellular characteristics of those cells collectively drive the emergence of robust, homeostatic structures is less well understood. For example cell communication via a diffusible factor allows for information to travel across large distances within the population, and cell polarisation makes it possible to form structures with a particular orientation, but how do these processes interact to produce a more robust and regulated structure? In this study we investigate the ability of cells with different cellular characteristics to grow and maintain homeostatic structures. We do this in the context of an individual-based model where cell behaviour is driven by an intra-cellular network that determines the cell phenotype. More precisely, we investigated evolution with 96 different permutations of our model, where cell motility, cell death, long-range growth factor (LGF), short-range growth factor (SGF) and cell polarisation were either present or absent. The results show that LGF has the largest positive impact on the fitness of the evolved solutions. SGF and polarisation also contribute, but all other capabilities essentially increase the search space, effectively making it more difficult to achieve a solution. By perturbing the evolved solutions, we found that they are highly robust to both mutations and wounding. In addition, we observed that by evolving solutions in more unstable environments they produce structures that were more robust and adaptive. In conclusion, our results suggest that robust collective behaviour is most likely to evolve when cells are endowed with long range communication, cell polarisation, and selection pressure from an unstable environment

Evolving spiking neural networks for temporal pattern recognition in the presence of noise

Creative Commons - Attribution-NonCommercial-NoDerivs 3.0 United StatesNervous systems of biological organisms use temporal patterns of spikes to encode sensory input, but the mechanisms that underlie the recognition of such patterns are unclear. In the present work, we explore how networks of spiking neurons can be evolved to recognize temporal input patterns without being able to adjust signal conduction delays. We evolve the networks with GReaNs, an artificial life platform that encodes the topology of the network (and the weights of connections) in a fashion inspired by the encoding of gene regulatory networks in biological genomes. The number of computational nodes or connections is not limited in GReaNs, but here we limit the size of the networks to analyze the functioning of the networks and the effect of network size on the evolvability of robustness to noise. Our results show that even very small networks of spiking neurons can perform temporal pattern recognition in the presence of input noiseFinal Published versio

Evolvability signatures of generative encodings: beyond standard performance benchmarks

Evolutionary robotics is a promising approach to autonomously synthesize machines with abilities that resemble those of animals, but the field suffers from a lack of strong foundations. In particular, evolutionary systems are currently assessed solely by the fitness score their evolved artifacts can achieve for a specific task, whereas such fitness-based comparisons provide limited insights about how the same system would evaluate on different tasks, and its adaptive capabilities to respond to changes in fitness (e.g., from damages to the machine, or in new situations). To counter these limitations, we introduce the concept of "evolvability signatures", which picture the post-mutation statistical distribution of both behavior diversity (how different are the robot behaviors after a mutation?) and fitness values (how different is the fitness after a mutation?). We tested the relevance of this concept by evolving controllers for hexapod robot locomotion using five different genotype-to-phenotype mappings (direct encoding, generative encoding of open-loop and closed-loop central pattern generators, generative encoding of neural networks, and single-unit pattern generators (SUPG)). We observed a predictive relationship between the evolvability signature of each encoding and the number of generations required by hexapods to adapt from incurred damages. Our study also reveals that, across the five investigated encodings, the SUPG scheme achieved the best evolvability signature, and was always foremost in recovering an effective gait following robot damages. Overall, our evolvability signatures neatly complement existing task-performance benchmarks, and pave the way for stronger foundations for research in evolutionary robotics.Comment: 24 pages with 12 figures in the main text, and 4 supplementary figures. Accepted at Information Sciences journal (in press). Supplemental videos are available online at, see http://goo.gl/uyY1R

Brain architecture: A design for natural computation

Fifty years ago, John von Neumann compared the architecture of the brain with that of computers that he invented and which is still in use today. In those days, the organisation of computers was based on concepts of brain organisation. Here, we give an update on current results on the global organisation of neural systems. For neural systems, we outline how the spatial and topological architecture of neuronal and cortical networks facilitates robustness against failures, fast processing, and balanced network activation. Finally, we discuss mechanisms of self-organization for such architectures. After all, the organization of the brain might again inspire computer architecture