Anthony'J.'Clark,'Jared'M.'Moore,' and'Philip'K.'McKinley' - - PowerPoint PPT Presentation

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Sep 26, 2022 100 likes •378 views

Anthony'J.'Clark,'Jared'M.'Moore,' and'Philip'K.'McKinley' 2nd'Interna:onal'Workshop'on' 12th'European'Conference'on' the'Evolu:on'of'Physical'Systems' 'Ar:ficial'Life.'Taormina,'Italy' Aqua:c'dynamics' Passive'components'

SLIDE 1

Anthony'J.'Clark,'Jared'M.'Moore,' and'Philip'K.'McKinley'

2nd'Interna:onal'Workshop'on' the'Evolu:on'of'Physical'Systems' 12th'European'Conference'on' 'Ar:ficial'Life.'Taormina,'Italy'

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Aqua:c'dynamics'
Passive'components'
Flexible'components'
SelfKmodeling'uncertainty'

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Speed'and'maneuverability'

– Limited'actua:on'capability'for'small,'inexpensive'devices'

Accommoda:ng'aqua:c'environment'

– Highly'dynamic'condi:ons' – Uncertainty'in'external'condi:ons'and'robot'orienta:on' '

Overcoming'hardware'decay'and'physical'damage'

– Controller'designed/evolved'for'specific'morphology' – How'can'compensatory'behaviors'be'generated' dynamically'if'the'a'fin'or'flipper'is'damaged?'

SLIDE 5

Facili:es'

– Configurable'robots' – 4,500'gallon'test'tank' – flow'tank' – Mul:Kmaterial'3D'printer' – Compute'cluster'

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Create&Simula,on&

Develop'models'
Validate'model'

Evolve&solu,ons&

Evolve'in'simula:on'
Evolve'online'

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Industrial& Biological&research&

Elicit'schooling'
Act'as'predator'

Photograph'by'the'State'of'Michigan'

Water'quality''
Ecological'monitoring'

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Lighthill’s:'LargeKamplitude'

elongatedKbody'theory'of' fish'locomo:on'(1971)'

Validated'on'the'physical'

device'

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Passive'joints'
Evolved'for'flat'terrain'

and'water'

– fin'dimensions' – oscilla:ng'frequency'

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Evolved'for'both'ground'and'aqua:c'environments'

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Evolved'for'both'ground'and'aqua:c'environments'

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Paddles'are'flexible'and's:cky'
Evolu:on'

– arm'length' – foot'radius' – flexibility'

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Flexible'caudal'fin'

– spring'coefficients' – material'proper:es'

Evolve'with'control'

– neural'oscillators' – resonant'frequency'for'a' given'morphology'

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Increases'complexity'

– no'longer'on'the'surface'

Sta:on'keeping'

– maintain'posi:on' against'laminar'flow'

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Fitness'

– transient'phase' – spherical'gradient'

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Physical'damage'can'render'

a'robot'helpless''

Need'to'dynamically'

generate'new'behaviors'to' mi:gate'or'overcome' changes'in'actua:on'

Approach'based'on'

BongardKLipson’s' Explora:onKEs:ma:on' Algorithm'(EEA)'

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Damaged'robot' Best'performer'from'original'EEA' Best'performer'from'extended'EEA'

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BEACON'Congress'2013' 21'

−0.2 −0.1 0.0 0.1 0.2 1 2 3

X−axis Y−axis Trajectory of Undamaged and Target

−0.2 −0.1 0.0 0.1 0.2 1 2 3

X−axis Y−axis Trajectory of EEA and Target

−0.2 −0.1 0.0 0.1 0.2 1 2 3

X−axis Y−axis Trajectory of OoB EEA and Target

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Increased'complexity'

– tasks' – adap:ve'control'

Con:nue'evolu:on'online'

– refine'simulated'solu:ons' – selfKmodeling'to'handle'damage'

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Simula:on'is'courseKgrain'

– good'for'prototyping'techniques/concepts'

i.e.'flexibility,'passive'parts,'algorithms'etc.'

– gain'insight'into'problem'before'fabrica:on'

Online'evolu:on'will'be'necessary'

– finer'grain'evolu:on'

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The'SENS'Lab'
The'Smart'Microsystems'Laboratory'
The'BEACON'Center'

Na:onal'Science'Founda:on'grants'' CNSK1059373,'CNSK0915855,'DBIK0939454,' CCFK0820220,'IISK0916720,'ECCSK1050236,' ECCSK1029683,'CNSK0751155.''

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THANK'YOU'

SLIDE 26

Mathema:cal'modeling'
Amphibious'robot'
Crawler'with'flexible'paddles'
Robo:c'fish'
Aqua:c'robot'