Discovering Evolutionary Stepping Stones through Behavior Domination

Behavior domination is proposed as a tool for understanding and harnessing the power of evolutionary systems to discover and exploit useful stepping stones. Novelty search has shown promise in overcoming deception by collecting diverse stepping stones, and several algorithms have been proposed that combine novelty with a more traditional fitness measure to refocus search and help novelty search scale to more complex domains. However, combinations of novelty and fitness do not necessarily preserve the stepping stone discovery that novelty search affords. In several existing methods, competition between solutions can lead to an unintended loss of diversity. Behavior domination defines a class of algorithms that avoid this problem, while inheriting theoretical guarantees from multiobjective optimization. Several existing algorithms are shown to be in this class, and a new algorithm is introduced based on fast non-dominated sorting. Experimental results show that this algorithm outperforms existing approaches in domains that contain useful stepping stones, and its advantage is sustained with scale. The conclusion is that behavior domination can help illuminate the complex dynamics of behavior-driven search, and can thus lead to the design of more scalable and robust algorithms.Comment: To Appear in Proceedings of the Genetic and Evolutionary Computation Conference (GECCO 2017

Researcher's guide to the NASA Ames Flight Simulator for Advanced Aircraft (FSAA)

Performance, limitations, supporting software, and current checkout and operating procedures are presented for the flight simulator, in terms useful to the researcher who intends to use it. Suggestions to help the researcher prepare the experimental plan are also given. The FSAA's central computer, cockpit, and visual and motion systems are addressed individually but their interaction is considered as well. Data required, available options, user responsibilities, and occupancy procedures are given in a form that facilitates the initial communication required with the NASA operations' group

Importance of Baryon-Baryon Coupling in Hypernuclei

The $\Lambda N - \Sigma N$ coupling in $\Lambda$--hypernuclei and $\Lambda \Lambda - \Xi N$ coupling in $\Lambda \Lambda$--hypernuclei produce novel physics not observed in the conventional, nonstrange sector. Effects of $\Lambda \leftrightarrow \Sigma$ conversion in $^3_{\Lambda}$H are reviewed. The role of $\Lambda N - \Sigma N$ coupling suppression in the $A=4,5$ $\Lambda$--hypernuclei due to Pauli blocking is highlighted, and the implications for the structure of $^{10}_{\;\, \Lambda}$B are explored. Suppression of $\Lambda \Lambda - \Xi N$ conversion in $^{\;\;\, 6}_{\Lambda \Lambda}$He is hypothesized as the reason that the $$ matrix element is small. Measurement of $^{\;\;\, 4}_{\Lambda \Lambda}$H is proposed to investigate the full $\Lambda \Lambda - \Xi N$ interaction. The implication for $\Lambda \Lambda$ analog states is discussed.Comment: 17 pages LATEX, 1 figure uuencoded postscrip

Iowa’s grain-elevator industry: Factors affecting its organization and structural adjustment

In December 1970, there were 1,178 grain elevators in Iowa. The total storage capacity of these elevators was in excess of 432 million bushels. In recent years, both the number and the storage capacity of elevators have been increasing. More than half the elevators had a storage capacity of 300,000 bushels or less. This group, however, accounted for only 21 percent of the total storage capacity. The current organization of the industry is typified by an elevator that receives com and soybeans from a supply area with a radius of 5 to 7 miles. A statistical cost function, derived from data from over 150 cooperative elevators, indicated that significant economies of scale exist in elevator operations. This cost function showed that an elevator with a capacity of 300,000 bushels would have an average cost of 11 cents per bushel of grain handled, compared with a cost of 7.9 cents for an elevator with a capacity of 2 million bushels. Since the statistical cost function was based on accounting data reflecting historical investment costs and interest rates, these estimates of elevator costs should be regarded as conservative

A STOL airworthiness investigation using a simulation of an augmentor wing transport. Volume 2: Simulation data and analysis

A simulator study of STOL airworthiness was conducted using a model of an augmentor wing transport. The approach, flare and landing, go-around, and takeoff phases of flight were investigated. The simulation and the data obtained are described. These data include performance measures, pilot commentary, and pilot ratings. A pilot/vehicle analysis of glide slope tracking and of the flare maneuver is included

Cis-regulatory elements of the mitotic regulator, string/Cdc25

Mitosis in most Drosophila cells is triggered by brief bursts of transcription of string (stg), a Cdc25-type phosphatase that activates the mitotic kinase, Cdk1 (Cdc2). To understand how string transcription is regulated, we analyzed the expression of string-lacZ reporter genes covering approximately 40 kb of the string locus. We also tested protein coding fragments of the string locus of 6 kb to 31.6 kb for their ability to complement loss of string function in embryos and imaginal discs. A plethora of cis-acting elements spread over >30 kb control string transcription in different cells and tissue types. Regulatory elements specific to subsets of epidermal cells, mesoderm, trachea and nurse cells were identified, but the majority of the string locus appears to be devoted to controlling cell proliferation during neurogenesis. Consistent with this, compact promotor-proximal sequences are sufficient for string function during imaginal disc growth, but additional distal elements are required for the development of neural structures in the eye, wing, leg and notum. We suggest that, during evolution, cell-type-specific control elements were acquired by a simple growth-regulated promoter as a means of coordinating cell division with developmental processes, particularly neurogenesis.Dara A. Lehman; Briony Patterson, Laura A. Johnston; Tracy Balzer; Jessica S. Britton; Robert Saint and Bruce A. Edga

Discovering the Elite Hypervolume by Leveraging Interspecies Correlation

Evolution has produced an astonishing diversity of species, each filling a different niche. Algorithms like MAP-Elites mimic this divergent evolutionary process to find a set of behaviorally diverse but high-performing solutions, called the elites. Our key insight is that species in nature often share a surprisingly large part of their genome, in spite of occupying very different niches; similarly, the elites are likely to be concentrated in a specific "elite hypervolume" whose shape is defined by their common features. In this paper, we first introduce the elite hypervolume concept and propose two metrics to characterize it: the genotypic spread and the genotypic similarity. We then introduce a new variation operator, called "directional variation", that exploits interspecies (or inter-elites) correlations to accelerate the MAP-Elites algorithm. We demonstrate the effectiveness of this operator in three problems (a toy function, a redundant robotic arm, and a hexapod robot).Comment: In GECCO 201

Predator hunting mode and host plant quality shape attack-abatement patterns of predation risk in an insect herbivore

Group formation reduces individual predation risk when the proportion of prey taken per predator encounter declines faster than the increase in group encounter rate (a ack-abatement). Despite a ack-abatement being an important component of group formation ecology, several key aspects have not been empirically studied, that is, interactions with the hunting mode of the predator and how these relationships are modi ed by local habitat quality. In 79 cage trials, we examined individual egg predation risk in di erent-sized egg clutches from the blue willow beetle Phratora vulgatissima for two predators with di erent hunting modes (consumption of full group [Orthotylus marginalis] vs. part group [Anthocoris nemorum]). Because these predators also take nutrients from plant sap, we could examine how the quality of alternative food sources (high- vs. low-quality host plant sap) in uenced a ack-abatement pa erns in the presence of di erent hunting strategies. For the O. marginalis predator, individual egg predation risk was largely independent of group size. For A. nemorum, egg predation risk clearly declined with increasing group size. However, approximately one-third of the grouping bene t was lost to an increase in group detectability. There were clear di erences in a ack-abatement pa erns between plants with high- vs. low-quality sap. When O. marginalis was the predator, there was no clear change in a ack-abatement in relation to host plant quality. However, for A. nemorum there was a clear reduction in overall predation risk and a stronger a ack-abatement pa ern with increasing group size when plant sap quality increased. This implies that the relative bene ts of prey grouping behavior for any species might show diurnal or seasonal changes as other aspects of resource/habitat quality change for the focal predator. Modulation of a ack-abatement by bo om-up e ects such as plant-based food resources is yet to be incorporated into general theory, despite the ubiquity of omnivorous predators and with omnivory being important for shaping food webs, ecosystem functions, and in biological control. Thus, ongoing re nement of a ack- abatement theory by focusing on bo om-up vs. top-down processes could have signi cant impacts on many important contemporary elds of study

Open-Ended Evolutionary Robotics: an Information Theoretic Approach

This paper is concerned with designing self-driven fitness functions for Embedded Evolutionary Robotics. The proposed approach considers the entropy of the sensori-motor stream generated by the robot controller. This entropy is computed using unsupervised learning; its maximization, achieved by an on-board evolutionary algorithm, implements a "curiosity instinct", favouring controllers visiting many diverse sensori-motor states (sms). Further, the set of sms discovered by an individual can be transmitted to its offspring, making a cultural evolution mode possible. Cumulative entropy (computed from ancestors and current individual visits to the sms) defines another self-driven fitness; its optimization implements a "discovery instinct", as it favours controllers visiting new or rare sensori-motor states. Empirical results on the benchmark problems proposed by Lehman and Stanley (2008) comparatively demonstrate the merits of the approach