Embedded Evolutionary Robotics: The (1+1)-Restart-Online Adaptation Algorithm

This paper deals with online onboard behavior optimization for a autonomous mobile robot in the scope of the European FP7 Symbrion Project. The work presented here extends the (1+1)-online algorithm introduced in [4]. The (1+1)-online algorithm has a limitation regarding the ability to perform global search whenever a local optimum is reached. Our new implementation of the algorithm, termed (1+1)-restart-online algorithm, addresses this issue and has been successfully experimented using a Cortex M3 microcontroller connected to a realistic robot simulator as well as within an autonomous robot based on an Atmel ATmega128 microcontroller. Results from the experiments show that the new algorithm is able to escape local optima and to perform behavior optimization in a complete autonomous fashion. As a consequence, it is able to converge faster and provides a richer set of relevant controllers compared to the previous implementation

Mechanisms of human cerebellar dysmetria: experimental evidence and current conceptual bases.

The human cerebellum contains more neurons than any other region in the brain and is a major actor in motor control. Cerebellar circuitry is unique by its stereotyped architecture and its modular organization. Understanding the motor codes underlying the organization of limb movement and the rules of signal processing applied by the cerebellar circuits remains a major challenge for the forthcoming decades. One of the cardinal deficits observed in cerebellar patients is dysmetria, designating the inability to perform accurate movements. Patients overshoot (hypermetria) or undershoot (hypometria) the aimed target during voluntary goal-directed tasks. The mechanisms of cerebellar dysmetria are reviewed, with an emphasis on the roles of cerebellar pathways in controlling fundamental aspects of movement control such as anticipation, timing of motor commands, sensorimotor synchronization, maintenance of sensorimotor associations and tuning of the magnitudes of muscle activities. An overview of recent advances in our understanding of the contribution of cerebellar circuitry in the elaboration and shaping of motor commands is provided, with a discussion on the relevant anatomy, the results of the neurophysiological studies, and the computational models which have been proposed to approach cerebellar function.Journal ArticleResearch Support, Non-U.S. Gov'tReviewSCOPUS: ar.jinfo:eu-repo/semantics/publishe