Adaptation of Robot Behaviour through Online Evolution and Neuromodulated Learning

Abstract. We propose and evaluate a novel approach to the online syn-thesis of neural controllers for autonomous robots. We combine online evolution of weights and network topology with neuromodulated learn-ing. We demonstrate our method through a series of simulation-based ex-periments in which an e-puck-like robot must perform a dynamic concur-rent foraging task. In this task, scattered food items periodically change their nutritive value or become poisonous. Our results show that when neuromodulated learning is employed, neural controllers are synthesised faster than by evolution alone. We demonstrate that the online evolu-tionary process is capable of generating controllers well adapted to the periodic task changes. An analysis of the evolved networks shows that they are characterised by specialised modulatory neurons that exclusively regulate the output neurons

The development and general morphology of the telencephalon of actinopterygian fishes: synopsis, documentation and commentary

The Actinopterygii or ray-finned fishes comprise, in addition to the large superorder of teleosts, four other superorders, namely the cladistians, the chondrosteans, the ginglymodes, and the halecomorphs, each with a limited number of species. The telencephalon of actinopterygian fishes differs from that in all other vertebrates in that it consists of a pair of solid lobes. Lateral ventricles surrounded by nervous tissue are entirely lacking. At the end of the nineteenth century, the theory was advanced that the unusual configuration of the forebrain in actinopterygians results from an outward bending or eversion of its lateral walls. This theory was accepted by some authors, rejected or neglected by others, and modified by some other authors. The present paper is based on the data derived from the literature, complemented by new observations on a large collection of histological material comprising specimens of all five actinopterygian superorders. The paper consists of three parts. In the first, a survey of the development of the telencephalon in actinopterygian fishes is presented. The data collected show clearly that an outward bending or eversion of the pallial parts of the solid hemispheres is the principal morphogenetic event in all five actinopterygian superorders. In all of these superorders, except for the cladistians, eversion is coupled with a marked thickening of the pallial walls. In the second part, some aspects of the general morphology of the telencephalon in mature actinopterygians are highlighted. It is pointed out that (1) the degree of eversion varies considerably among the various actinopterygian groups; (2) eversion leads to the transformation of the telencephalic roof plate into a wide membrane or tela choroidea, which is bilaterally attached to the lateral or ventrolateral aspect of the solid hemispheres; (3) the lines of attachment or taeniae of the tela choroidea form the most important landmarks in the telencephalon of actinopterygians, indicating the sites where the greatly enlarged ventricular surface of the hemispheres ends and its reduced meningeal surface begins; (4) the meningeal surface of the telencephalon shows in most actinopterygians bilaterally a longitudinally oriented sulcus externus, the depth of which is generally positively correlated with the degree of eversion; (5) a distinct lateral olfactory tract, occupying a constant topological position close to the taenia, is present in all actinopterygians studied; and (6) this tract is not homologous to the tract of the same name in the evaginated and inverted forebrains of other groups of vertebrates. In the third and final section, the concept that the structural organization of the pallium in actinopterygians can be fully explained by a simple eversion of its walls, and the various theories, according to which the eversion is complicated by extensive shifts of its constituent cell groups, are discussed and evaluated. It is concluded that there are no reasons to doubt that the pallium of actinopterygian fishes is the product of a simple and complete eversion

A mathematical programming computational model for disproportionate collapse analysis of steel building frames

Disproportionate collapse analysis aims to assure that frames, a commonstructural system of buildings, can survive unforeseen local events and a central modelingtool of such abnormal deterioration is the concept of column loss. This paperformulates an appropriate computational model on the basis of mathematical optimization,using the collapse load analysis problem of steel frames with pre-existingdamage. A respective collapse load robustness measure is proposed. The model hasthe ability to consider both full and partial column/node removals. It renders to be alinear programming model, if the US steel design regulations are used. A practicalexample is presented and several aspects are discussed

Robust optimisation for deciding on real-time flexibility of storage-integrated photovoltaic units controlled by intelligent software agents

The increasing penetration of Renewable Energy Sources (RES), the liberalization of the electricity markets across the world and devices such as smart meters to realize bidirectional communication with centralized computer systems present the end-users of the power system with new opportunities to decrease their electricity costs or become active electricity market participants. However, the intermittent nature of RES and dynamic electricity prices require tools against uncertainty to protect the end-users from under utilizing their assets. In this work, we examine the effectiveness of Robust Optimization (RO)in maximizing the economic benefit of the owner of a home battery storage system in the presence of uncertainty in dynamic electricity prices. The advantage of the robust model is that it keeps its linear class, thus it is not too computationally intensive to be included in the control algorithm of a residential energy storage controller. We examine the effectiveness of the RO model in doing dynamic electricity price arbitrage and in providing fast response to requests from an aggregating entity for power injection or absorption. In the use-case, the aggregating entity makes requests for flexibility and coordinates 100 such devices using a price signal. The results indicated that the RO approach can be beneficial for a non-conservative agent in the case of low daily price fluctuations. However, if the daily price fluctuations are higher, as in summer, the agent is better off by ignoring uncertainty in the dynamic electricity prices

Principles governing recruitment of motoneurons during swimming in zebrafish

Locomotor movements are coordinated by a network of neurons that produces sequential muscle activation. Different motoneurons need to be recruited in an orderly manner to generate movement with appropriate speed and force. However, the mechanisms governing recruitment order have not been fully clarified. Using an in vitro juvenile/adult zebrafish brainstem−spinal cord preparation, we found that motoneurons were organized into four pools with specific topographic locations and were incrementally recruited to produce swimming at different frequencies. The threshold of recruitment was not dictated by the input resistance of motoneurons, but was instead set by a combination of specific biophysical properties and the strength of the synaptic currents. Our results provide insights into the cellular and synaptic computations governing recruitment of motoneurons during locomotio