On the Evolutionary Co-Adaptation of Morphology and Distributed Neural Controllers in Adaptive Agents

The attempt to evolve complete embodied and situated artificial creatures in which both morphological and control characteristics are adapted during the evolutionary process has been and still represents a long term goal key for the artificial life and the evolutionary robotics community. Loosely inspired by ancient biological organisms which are not provided with a central nervous system and by simple organisms such as stick insects, this thesis proposes a new genotype encoding which allows development and evolution of mor- phology and neural controller in artificial agents provided with a distributed neural network. In order to understand if this kind of network is appropriate for the evolution of non trivial behaviours in artificial agents, two experiments (description and results will be shown in chapter 3) in which evolution was applied only to the controller’s parameters were performed. The results obtained in the first experiment demonstrated how distributed neural networks can achieve a good level of organization by synchronizing the output of oscillatory elements exploiting acceleration/deceleration mechanisms based on local interactions. In the second experiment few variants on the topology of neural architecture were introduced. Results showed how this new control system was able to coordinate the legs of a simulated hexapod robot on two different gaits on the basis of the external circumstances. After this preliminary and successful investigation, a new genotype encoding able to develop and evolve artificial agents with no fixed morphology and with a distributed neural controller was proposed. A second set of experiments was thus performed and the results obtained confirmed both the effectiveness of genotype encoding and the ability of distributed neural network to perform the given task. The results have also shown the strength of genotype both in generating a wide range of different morphological structures and in favouring a direct co-adaptation between neural controller and morphology during the evolutionary process. Furthermore the simplicity of the proposed model has showed the effective role of specific elements in evolutionary experiments. In particular it has demonstrated the importance of the environment and its complexity in evolving non-trivial behaviours and also how adding an independent component to the fitness function could help the evolutionary process exploring a larger space solutions avoiding a premature convergence towards suboptimal solutions

Macroevolution: Explanation, Interpretation and Evidence

info:eu-repo/semantics/publishedVersio

Williams Syndrome, Human Self-Domestication, and Language Evolution

Language evolution resulted from changes in our biology, behavior, and culture. One source of these changes might be human self-domestication. Williams syndrome (WS) is a clinical condition with a clearly defined genetic basis which results in a distinctive behavioral and cognitive profile, including enhanced sociability. In this paper we show evidence that the WS phenotype can be satisfactorily construed as a hyper-domesticated human phenotype, plausibly resulting from the effect of the WS hemideletion on selected candidates for domestication and neural crest (NC) function. Specifically, we show that genes involved in animal domestication and NC development and function are significantly dysregulated in the blood of subjects with WS. We also discuss the consequences of this link between domestication and WS for our current understanding of language evolution

A comparative study of the life histories of the sister species, Pseudobarbus afer and Pseudobarbus asper, in the Gamtoos River system, South Africa

This thesis explores the biology, ecology, and life-history styles of two closely-related redfin minnows, Pseudobarbus afer and P. asper (pisces; Cyprinidae), which both occur in the Gamtoos River system of South Africa. Five of the seven species of flexible-rayed redfin minnows are in the South African Red Data Book - Fishes. This investigation was designed to provide the data which would enable conservation authorities to manage the remaining populations of the Pseudobarbus species. A thorough understanding of the Gamtoos River system was necessary to properly interpret the findings of this study. The palaeo river systems and the changing climates since the break-up of Gondwanaland are discussed so that the present day environments could be considered as well as the past environmental changes. P. afer and P. asper occur in the Gamtoos River system with no physical barrier separating the two species. P. afer only occurs in the clear mountain streams of the Cape Fold Mountain Belt whereas P. asper occurs in the highly saline and turbid Karoo section of the system. P. afer were found to be the more precocial form of the sister species. They had bigger eggs, lower relative fecundity, shorter breeding season, lower gonadosomatic indices, larger first feeding larval fish, matured later and had a longer life-span than did P. asper, which had more altricial life-history attributes. They differ in their tradeoffs with P. asper devoting more resources earlier to reproduction and having a shorter lifespan. The improvement in the one aspect of fitness (early maturity) leads to the deterioration in another, namely lifespan. Both species undertake breeding migrations to riffle areas where they spawn in mid-channel immediately above a pool after an increase in water flow. P. afer and P. asper are non-guarders of their non-adhesive eggs and young, open substrate spawners on coarse substrates (rocks) and have photophobic free embryos. The breeding season is shorter for P. afer whereas P. asper can spawn as late as April and impoundment releases can induce them to spawn. A study of comparative neuroecology revealed that of the four groups of fish analyzed (males and females of both species) male P. afer had the largest brains, especially the optic lobes and cerebellum. P. asper females had the smallest brains. No neural compensation in the external gustatory centre, the facial lobe, was found for P. asper inhabiting the turbid waters. P. afer also had significantly larger eyes and longer barbels. P. afer males were also found to have the highest density and largest nuptial tubercles as well as the most pronounced breeding colouration. It was concluded that P. asper is the more derived of the sister species pair with regard to life-history attributes. It is further suggested that investment per offspring is important in determining the life-history trajectories. Paedomorphosis has occurred and by this mechanism variability has been restored to the redfin minnows in the Groot River which enables them to survive in the highly variable, intermittent Karoo stream. The more precocial P. afer do not require this variability in the more constant and predictable environment of the Wit River

How Artificial Ontogenies Can Retard Evolution

Recently there has been much interest in the role of indirect genetic encodings as a means to achieve increased evolvability. From this perspective, artificial ontogenies have largely been seen as a vehicle to relate the indirect encodings to complex phenotypes. However, the introduction of a development phase does not come without other consequences. We show that the conjunction of the latent ontogenic stucture and the common practice of only evaluating the final phenotype obtained from development can have a net retarding effect on evolution. Using a formal model of development, we show that this effect arises primarily due to the relation between the ontogenic structure to the fitness function, which in turn impacts the properties being evaluated and selected for during evolution. This effect is empirically demonstrated with a toy search problem using LOGO-turtle based embryogenic processes

How artificial ontogenies can retard evolution

Recently there has been much interest in the role of indirect genetic encodings as a means to achieve increased evolvability. From this perspective, artificial ontogenies have largely been seen as a vehicle to relate the indirect encodings to complex phenotypes. However, the introduction of a development phase does not come without other consequences. We show that the conjunction of the latent ontogenic stucture and the common practice of only evaluating the final phenotype obtained from development can have a net retarding effect on evolution. Using a formal model of development, we show that this effect arises primarily due to the relation between the ontogenic structure to the fitness function, which in turn impacts the properties being evaluated and selected for during evolution. This effect is empirically demonstrated with a toy search problem using LOGO-turtle based embryogenic processes