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An Analysis Of Neutral Drift's Effect On The Evolution Of A Ctrnn Locomotion Controller With Noisy Fitness Evaluation, Gregory Robert Kramer
An Analysis Of Neutral Drift's Effect On The Evolution Of A Ctrnn Locomotion Controller With Noisy Fitness Evaluation, Gregory Robert Kramer
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This dissertation focuses on the evolution of Continuous Time Recurrent Neural Networks (CTRNNs) as controllers for control systems. Existing research suggests that the process of neutral drift can greatly benefit evolution for problems whose fitness landscapes contain large-scale neutral networks. CTRNNs are known to be highly degenerate, providing a possible source of large-scale landscape neutrality, and existing research suggests that neutral drift benefits the evolution of simple CTRNNs. However, there has been no in-depth examination of the effects of neutral drift on complex CTRNN controllers, especially in the presence of noisy fitness evaluation. To address this problem, this dissertation presents …
An Analog Evolvable Hardware Device For Active Control, Saranyan A. Vigraham
An Analog Evolvable Hardware Device For Active Control, Saranyan A. Vigraham
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The field of Evolvable Hardware (EH) has recently gained a lot of interest due to the novel methodology it offers for designing electrical circuits and machines. EH techniques involve configuring a reconfigurable hardware platform with the aid of learning engines such as evolutionary algorithms. The EH devices normally act as closed loop controllers with the capability of learning necessary control laws adaptively. Current EH practices have several shortcomings, which have restricted their use as reliable controllers. This dissertation will present an improved EH device based on behavioral reconfigurability that addresses the current open challenges in the field of analog Evolvable …