Agency and Organisation: The Dialectics of Nature and Life

In recent decades, there have been major theoretical changes within evolutionary biology. In this dissertation, I critically reconstruct these developments through philosophy to assess how it may inform these debates. The overall aim is to show the mutual relevance between current trends in biology and the dialectical approach to nature. I argue that the repetition of the neglected tradition of organicism is anticipated both by a dialectical tradition within science and by Hegel’s philosophy – and that these theories may together inform the ongoing shift within evolutionary biology called the Extended Evolutionary Synthesis (EES). I stage the discussion by outlining the tenets and history of the modern synthesis (MS) and the alternative: the extended evolutionary synthesis (EES). It takes us into topics such as autonomy, organisation, reduction, and autopoiesis. Based on these discussions, I make the case that the most promising alternative to the MS is the so-called organisational approach formulated within theoretical biology and apply dialectics to strengthen this claim. In my view, they share a fundamental premise: Biology must surpass the physical worldview and adopt a more complex model to comprehend life as an ongoing regeneration of organisation and an expression of self-determination. To bring out the philosophical stakes of this shift, I take on Hegel’s writings on nature, life, and purposiveness and relate them to contemporary thinkers. The main contribution of this work lies not in a particularly novel reading of any of the theories I examine but in bringing them together – both within philosophy and biology and between them – and systematically mapping how philosophy and the humanities should deal with the natural sciences. The new kind of naturalism suggested here, which places life at its core, also calls for another scientific ideal which strives for unification without subsumption or eradication of differences

Self-Learning Longitudinal Control for On-Road Vehicles

Fahrerassistenzsysteme (Advanced Driver Assistance Systems) sind ein wichtiges Verkaufsargument für PKWs, fordern jedoch hohe Entwicklungskosten. Insbesondere die Parametrierung für Längsregelung, die einen wichtigen Baustein für Fahrerassistenzsysteme darstellt, benötigt viel Zeit und Geld, um die richtige Balance zwischen Insassenkomfort und Regelgüte zu treffen. Reinforcement Learning scheint ein vielversprechender Ansatz zu sein, um dies zu automatisieren. Diese Klasse von Algorithmen wurde bislang allerdings vorwiegend auf simulierte Aufgaben angewendet, die unter idealen Bedingungen stattfinden und nahezu unbegrenzte Trainingszeit ermöglichen. Unter den größten Herausforderungen für die Anwendung von Reinforcement Learning in einem realen Fahrzeug sind Trajektorienfolgeregelung und unvollständige Zustandsinformationen aufgrund von nur teilweise beobachteter Dynamik. Darüber hinaus muss ein Algorithmus, der in realen Systemen angewandt wird, innerhalb von Minuten zu einem Ergebnis kommen. Außerdem kann das Regelziel sich während der Laufzeit beliebig ändern, was eine zusätzliche Schwierigkeit für Reinforcement Learning Methoden darstellt. Diese Arbeit stellt zwei Algorithmen vor, die wenig Rechenleistung benötigen und diese Hürden überwinden. Einerseits wird ein modellfreier Reinforcement Learning Ansatz vorgeschlagen, der auf der Actor-Critic-Architektur basiert und eine spezielle Struktur in der Zustandsaktionswertfunktion verwendet, um mit teilweise beobachteten Systemen eingesetzt werden zu können. Um eine Vorsteuerung zu lernen, wird ein Regler vorgeschlagen, der sich auf eine Projektion und Trainingsdatenmanipulation stützt. Andererseits wird ein modellbasierter Algorithmus vorgeschlagen, der auf Policy Search basiert. Diesem wird eine automatisierte Entwurfsmethode für eine inversionsbasierte Vorsteuerung zur Seite gestellt. Die vorgeschlagenen Algorithmen werden in einer Reihe von Szenarien verglichen, in denen sie online, d.h. während der Fahrt und bei geschlossenem Regelkreis, in einem realen Fahrzeug lernen. Obwohl die Algorithmen etwas unterschiedlich auf verschiedene Randbedingungen reagieren, lernen beide robust und zügig und sind in der Lage, sich an verschiedene Betriebspunkte, wie zum Beispiel Geschwindigkeiten und Gänge, anzupassen, auch wenn Störungen während des Trainings einwirken. Nach bestem Wissen des Autors ist dies die erste erfolgreiche Anwendung eines Reinforcement Learning Algorithmus, der online in einem realen Fahrzeug lernt

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

Self-Learning Longitudinal Control for On-Road Vehicles

Reinforcement Learning is a promising tool to automate controller tuning. However, significant extensions are required for real-world applications to enable fast and robust learning. This work proposes several additions to the state of the art and proves their capability in a series of real world experiments

Parameter Search for Aesthetic Design and Composition

PhDThis thesis is about algorithmic creation in the arts – where an artist, designer or composer uses a formal generative process to assist in crafting forms and patterns – and approaches to finding effective input parameter values to these generative processes for aesthetic ends. Framed in three practical studies, approaches to navigating the aesthetic possibilities of generative processes in sound and visuals are presented, and strategies for eliciting the preferences of the consumers of the generated output are explored. The first study presents a musical interface that enables navigation of the possibilities of a stochastic generative process with respect to measures of subjective predictability. Through a mobile phone version of the application, aesthetic preferences are crowd-sourced. The second study presents an eye-tracking based framework for the exploration of the possibilities afforded by generative designs; the interaction between the viewers’ gaze patterns and the system engendering a fluid navigation of the state-space of the visual forms. The third study presents a crowd-sourced interactive evolutionary system, where populations of abstract colour images are shaped by thousands of preference selections from users worldwide For each study, the results of analyses eliciting the attributes of the generated outputs – and their associated parameter values – that are most preferred by the consumers/users of these systems are presented. Placed in a historical and theoretical context, a refined perspective on the complex interrelationships between generative processes, input parameters and perceived aesthetic value is presented. Contributions to knowledge include identified trends in objective aesthetic preferences in colour combinations and their arrangements, theoretical insights relating perceptual mechanisms to generative system design and analysis, strategies for effectively leveraging evolutionary computation in an empirical aesthetic context, and a novel eye-tracking based framework for the exploration of visual generative designs.Engineering and Physical Sciences Research Council (EPSRC) as part of the Doctoral Training Centre in Media and Arts Technology at Queen Mary University of London (ref: EP/G03723X/1)

Gaining Insight into Determinants of Physical Activity using Bayesian Network Learning

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