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We aim to develop a new self-reconfigurable modular robot, Cross-Ball, so that we can apply bio-inspired morphogenesis mechanisms to modular robots to adapt to dynamic environments automatically. To this end, the mechanical design of modular robots has to be flexible and robust enough for various complex configurations. The major contributions of the design of this Cross-Ball robots include: 1) it...
The relationship between robustness and evolvability (easiness to evolve), and the evolutionary emergence of robust genetic circuits in biology have attracted much attention in systems biology. This paper investigates in silico the influence of the cis-regulation logic and the coupling of feedback loops on the evolvability and robustness of gene regulatory motifs that can generate sustained oscillation...
This paper deals with the internal force and the deformation matrixes, both of which can be used to analyze the topological relationship of a structure. Based on the reciprocal theorem, the relationship between the two matrixes is established, which greatly simplifies the computation of the internal force matrix. According to the characteristics of the internal force matrix, the transfer law of the...
Biological systems can generate robust and complex behaviors through limited local interactions in the presence of large amount of uncertainties. Inspired by biological organisms, we have proposed a gene regulatory network (GRN) based algorithm for self-organizing multiple robots into different shapes. The self-organization process is optimized using a genetic algorithm. This paper focuses on the...
This paper presents a robust least square constant modulus algorithm (LSCMA) for interference cancellation based on subspace decomposition in CDMA system. The conventional least square constant modulus algorithm (LSCMA) is easy to capture the interference signals in the system that has several constant modulus signals. In order to overcome this shortage, a linearly constrained LSCMA algorithm is proposed...
Simulation software is vital to ALife research. It is known that stoichiometry is important for modeling real world ecosystems. However, most currently available ALife simulators ignore stoichiometry mechanics. Of course, not all ALife research is trying to model life as it is found on earth. In this paper, we demonstrate the value of including simple stoichiometry in ALife simulation software. Through...
This paper presents a new object tracking algorithm that embeds swarming particles into generic particle filter framework to achieve more robustness and flexibility. Firstly a group of particles associated with potential solutions are initialized in a high-dimensional space. Then particle swarm optimization (PSO) is used to drive particles flying. The object is tracked when the particles reach convergence...
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