Synthesizing Electrically Equivalent Circuits for Use in Electrochemical Impedance Spectroscopy through Grammatical Evolution

Electrochemical impedance spectroscopy (EIS) is an important electrochemical technique that is used to detect changes and ongoing processes in a given material. The main challenge of EIS is interpreting the collected measurements, which can be performed in several ways. This article focuses on the electrical equivalent circuit (EEC) approach and uses grammatical evolution to automatically construct an EEC that produces an AC response that corresponds to one obtained by the measured electrochemical process(es). For fitting purposes, synthetic measurements and data from measurements in a realistic environment were used. In order to be able to faithfully fit realistic data from measurements, a new circuit element (ZARC) had to be implemented and integrated into the SPICE simulator, which was used for evaluating EECs. Not only is the presented approach able to automatically (i.e., with almost no user input) produce a more than satisfactory EEC for each of the datasets, but it also can also generate completely new EEC configurations. These new configurations may help researchers to find some new, previously overlooked ongoing electrochemical processes

A review of gait optimization based on evolutionary computation

Gait generation is very important as it directly affects the quality of locomotion of legged robots. As this is an optimization problem with constraints, it readily lends itself to Evolutionary Computation methods and solutions. This paper reviews the techniques used in evolution-based gait optimization, including why Evolutionary Computation techniques should be used, how fitness functions should be composed, and the selection of genetic operators and control parameters. This paper also addresses further possible improvements in the efficiency and quality of evolutionary gait optimization, some problems that have not yet been resolved and the perspectives for related future research

CLiFF Notes: Research in the Language, Information and Computation Laboratory of the University of Pennsylvania

One concern of the Computer Graphics Research Lab is in simulating human task behavior and understanding why the visualization of the appearance, capabilities and performance of humans is so challenging. Our research has produced a system, called Jack, for the definition, manipulation, animation and human factors analysis of simulated human figures. Jack permits the envisionment of human motion by interactive specification and simultaneous execution of multiple constraints, and is sensitive to such issues as body shape and size, linkage, and plausible motions. Enhanced control is provided by natural behaviors such as looking, reaching, balancing, lifting, stepping, walking, grasping, and so on. Although intended for highly interactive applications, Jack is a foundation for other research. The very ubiquitousness of other people in our lives poses a tantalizing challenge to the computational modeler: people are at once the most common object around us, and yet the most structurally complex. Their everyday movements are amazingly fluid, yet demanding to reproduce, with actions driven not just mechanically by muscles and bones but also cognitively by beliefs and intentions. Our motor systems manage to learn how to make us move without leaving us the burden or pleasure of knowing how we did it. Likewise we learn how to describe the actions and behaviors of others without consciously struggling with the processes of perception, recognition, and language. Present technology lets us approach human appearance and motion through computer graphics modeling and three dimensional animation, but there is considerable distance to go before purely synthesized figures trick our senses. We seek to build computational models of human like figures which manifest animacy and convincing behavior. Towards this end, we: Create an interactive computer graphics human model; Endow it with reasonable biomechanical properties; Provide it with human like behaviors; Use this simulated figure as an agent to effect changes in its world; Describe and guide its tasks through natural language instructions. There are presently no perfect solutions to any of these problems; ultimately, however, we should be able to give our surrogate human directions that, in conjunction with suitable symbolic reasoning processes, make it appear to behave in a natural, appropriate, and intelligent fashion. Compromises will be essential, due to limits in computation, throughput of display hardware, and demands of real-time interaction, but our algorithms aim to balance the physical device constraints with carefully crafted models, general solutions, and thoughtful organization. The Jack software is built on Silicon Graphics Iris 4D workstations because those systems have 3-D graphics features that greatly aid the process of interacting with highly articulated figures such as the human body. Of course, graphics capabilities themselves do not make a usable system. Our research has therefore focused on software to make the manipulation of a simulated human figure easy for a rather specific user population: human factors design engineers or ergonomics analysts involved in visualizing and assessing human motor performance, fit, reach, view, and other physical tasks in a workplace environment. The software also happens to be quite usable by others, including graduate students and animators. The point, however, is that program design has tried to take into account a wide variety of physical problem oriented tasks, rather than just offer a computer graphics and animation tool for the already computer sophisticated or skilled animator. As an alternative to interactive specification, a simulation system allows a convenient temporal and spatial parallel programming language for behaviors. The Graphics Lab is working with the Natural Language Group to explore the possibility of using natural language instructions, such as those found in assembly or maintenance manuals, to drive the behavior of our animated human agents. (See the CLiFF note entry for the AnimNL group for details.) Even though Jack is under continual development, it has nonetheless already proved to be a substantial computational tool in analyzing human abilities in physical workplaces. It is being applied to actual problems involving space vehicle inhabitants, helicopter pilots, maintenance technicians, foot soldiers, and tractor drivers. This broad range of applications is precisely the target we intended to reach. The general capabilities embedded in Jack attempt to mirror certain aspects of human performance, rather than the specific requirements of the corresponding workplace. We view the Jack system as the basis of a virtual animated agent that can carry out tasks and instructions in a simulated 3D environment. While we have not yet fooled anyone into believing that the Jack figure is real , its behaviors are becoming more reasonable and its repertoire of actions more extensive. When interactive control becomes more labor intensive than natural language instructional control, we will have reached a significant milestone toward an intelligent agent

Automated Discovery of Numerical Approximation Formulae Via Genetic Programming

This thesis describes the use of genetic programming to automate the discovery of numerical approximation formulae. Results are presented involving rediscovery of known approximations for Harmonic numbers and discovery of rational polynomial approximations for functions of one or more variables, the latter of which are compared to Padé approximations obtained through a symbolic mathematics package. For functions of a single variable, it is shown that evolved solutions can be considered superior to Padé approximations, which represent a powerful technique from numerical analysis, given certain tradeoffs between approximation cost and accuracy, while for functions of more than one variable, we are able to evolve rational polynomial approximations where no Padé approximation can be computed. Furthermore, it is shown that evolved approximations can be iteratively improved through the evolution of approximations to their error function. Based on these results, we consider genetic programming to be a powerful and effective technique for the automated discovery of numerical approximation formulae

An Investigation of the Sculpture/Language Homology

Merged with duplicate record 10026.1/691 on 03.04.2017 by CS (TIS)This research is concerned with the implications of reading sculpture as a mode of communication that is indicative of an art/language homology. An investigation of the inter-relationship of the functions of ‘Language’ and 'Conventions of Visual Communication' is viewed against contemporary redefinitions of the role of sculpture, its character of presentation and mode of engagement with respondents. Theoretical investigation examines models of communication and identifies corresponding systems in an art that is exemplified by the sculpture of Tony Cragg. Cragg's significantly organised collections of commonplace objects, presenting the visual assertiveness of the 'ready-made' prompt a reconsideration of the object as a semantic commodity that embodies narrative. The artifact itself is viewed as a visual reference that induces a sequence of complex associations. A reading of the sculpture's multi-layered mimetic, metaphorical and metonymic indices implies the acceptance of paradigmatic conventions of signification within a communication system frequently described as a 'language of sculpture'. The connotative and denotative nature of a materialised, but idealised, presentation of object imagery suggests that Cragg's sculpture is the vehicle of a dialectic process. It is the art of the 'bricoleur' that embodies a readily accessible lexical and semantic content constructed from the readily available signifiers 'to hand'. The exploratory and reflective investigations of the integral studio projects are concerned with the communication values of contiguous object-entities, in a visual process that links associations in the manner of rhetorical tropes. In a polysemic interaction of visual identities this semantic transposition of a sculptural aesthetic aims to expose relationships connecting expressive material form, image semiosis and object/word associations. The sculptural processes of making-to-reading reveal a systematic structuring of meaning, as the mechanisms of perception are directed by the conceptual modelling of cognitive thought patterns.Theoretical exploration of the notions of a `Language' of Sculpture, a Sculpture/Language homology and the relationship of language functions to visual systems of communication. A critical reading of Cragg's work and practice identifying modes of communication that function as language.A reflexive practical exploration of sculptural object-entities pared down to basic elements to expose the homologous `language' functions of a communicative content

Multiagent Learning Through Indirect Encoding

Designing a system of multiple, heterogeneous agents that cooperate to achieve a common goal is a difficult task, but it is also a common real-world problem. Multiagent learning addresses this problem by training the team to cooperate through a learning algorithm. However, most traditional approaches treat multiagent learning as a combination of multiple single-agent learning problems. This perspective leads to many inefficiencies in learning such as the problem of reinvention, whereby fundamental skills and policies that all agents should possess must be rediscovered independently for each team member. For example, in soccer, all the players know how to pass and kick the ball, but a traditional algorithm has no way to share such vital information because it has no way to relate the policies of agents to each other. In this dissertation a new approach to multiagent learning that seeks to address these issues is presented. This approach, called multiagent HyperNEAT, represents teams as a pattern of policies rather than individual agents. The main idea is that an agent’s location within a canonical team layout (such as a soccer team at the start of a game) tends to dictate its role within that team, called the policy geometry. For example, as soccer positions move from goal to center they become more offensive and less defensive, a concept that is compactly represented as a pattern. iii The first major contribution of this dissertation is a new method for evolving neural network controllers called HyperNEAT, which forms the foundation of the second contribution and primary focus of this work, multiagent HyperNEAT. Multiagent learning in this dissertation is investigated in predator-prey, room-clearing, and patrol domains, providing a real-world context for the approach. Interestingly, because the teams in multiagent HyperNEAT are represented as patterns they can scale up to an infinite number of multiagent policies that can be sampled from the policy geometry as needed. Thus the third contribution is a method for teams trained with multiagent HyperNEAT to dynamically scale their size without further learning. Fourth, the capabilities to both learn and scale in multiagent HyperNEAT are compared to the traditional multiagent SARSA(λ) approach in a comprehensive study. The fifth contribution is a method for efficiently learning and encoding multiple policies for each agent on a team to facilitate learning in multi-task domains. Finally, because there is significant interest in practical applications of multiagent learning, multiagent HyperNEAT is tested in a real-world military patrolling application with actual Khepera III robots. The ultimate goal is to provide a new perspective on multiagent learning and to demonstrate the practical benefits of training heterogeneous, scalable multiagent teams through generative encoding

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

Automated manipulation of musical grammars to support episodic interactive experiences

Music is used to enhance the experience of participants and visitors in a range of settings including theatre, film, video games, installations and theme parks. These experiences may be interactive, contrastingly episodic and with variable duration. Hence, the musical accompaniment needs to be dynamic and to transition between contrasting music passages. In these contexts, computer generation of music may be necessary for practical reasons including distribution and cost. Automated and dynamic composition algorithms exist but are not well-suited to a highly interactive episodic context owing to transition-related problems including discontinuity, abruptness, extended repetitiveness and lack of musical granularity and musical form. Addressing these problems requires algorithms capable of reacting to participant behaviour and episodic change in order to generate formic music that is continuous and coherent during transitions. This thesis presents the Form-Aware Transitioning and Recovering Algorithm (FATRA) for realtime, adaptive, form-aware music generation to provide continuous musical accompaniment in episodic context. FATRA combines stochastic grammar adaptation and grammar merging in real time. The Form-Aware Transition Engine (FATE) implementation of FATRA estimates the time-occurrence of upcoming narrative transitions and generates a harmonic sequence as narrative accompaniment with a focus on coherent, form-aware music transitioning between music passages of contrasting character. Using FATE, FATRA has been evaluated in three perceptual user studies: An audioaugmented real museum experience, a computer-simulated museum experience and a music-focused online study detached from narrative. Music transitions of FATRA were benchmarked against common approaches of the video game industry, i.e. crossfading and direct transitions. The participants were overall content with the music of FATE during their experience. Transitions of FATE were significantly favoured against the crossfading benchmark and competitive against the direct transitions benchmark, without statistical significance for the latter comparison. In addition, technical evaluation demonstrated capabilities of FATRA including form generation, repetitiveness avoidance and style/form recovery in case of falsely predicted narrative transitions. Technical results along with perceptual preference and competitiveness against the benchmark approaches are deemed as positive and the structural advantages of FATRA, including form-aware transitioning, carry considerable potential for future research