Linear Phase Second Order Recursive Digital Integrators and Differentiators

In this paper, design of linear phase second order recursive digital integrators and differentiators is discussed. New second order integrators have been designed by using Genetic Algorithm (GA) optimization method. Thereafter, by modifying the transfer function of these integrators appropriately, new digital differentiators have been obtained. The proposed digital integrators and differentiators accurately approximate the ideal ones and have linear phase response over almost entire Nyquist frequency range. The proposed operators also outperform the existing operators in terms of both magnitude and phase response

An Investigation Into the use of Swarm Intelligence for an Evolutionary Algorithm Optimisation; The Optimisation Performance of Differential Evolution Algorithm Coupled with Stochastic Diffusion Search

The integration of Swarm Intelligence (SI) algorithms and Evolutionary algorithms (EAs) might be one of the future approaches in the Evolutionary Computation (EC). This work narrates the early research on using Stochastic Diffusion Search (SDS) -- a swarm intelligence algorithm -- to empower the Differential Evolution (DE) -- an evolutionary algorithm -- over a set of optimisation problems. The results reported herein suggest that the powerful resource allocation mechanism deployed in SDS has the potential to improve the optimisation capability of the classical evolutionary algorithm used in this experiment. Different performance measures and statistical analyses were utilised to monitor the behaviour of the final coupled algorithm

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