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In many real-world applications, the accurate number of clusters in the data set may be unknown in advance. In addition, clustering criteria are usually high dimensional, nonlinear and multi-model functions and most existing clustering algorithms are only able to achieve a clustering solution that locally optimizes them. Therefore, a single clustering criterion sometimes fails to identify all clusters...
This paper investigates advanced features of the PhysX physics simulation engine for simulated robotic evolution, with the goal of applying the results to a real world soft robotic system which is under construction. The cloth feature in PhysX has the potential of taking into account complex dynamics while at the same time being accelerated by a graphics processing unit. As an initial approach, muscle-shaped...
We propose a field programmable gate array (FPGA) implementation for a run-time adaptable evolvable hardware classifier system. Previous implementations have been based on a high-level virtual reconfigurable circuit technique which requires many FPGA resources. We therefore apply an intermediate level reconfiguration technique which consists of using the FPGA lookup tables as shift registers for reconfiguration...
Efficient heuristics are required for on-line optimization problems where search-based methods are unfeasible due to frequent dynamics in the environment. This is especially apparent when operating on combinatorial NP-complete problems involving a large number of items. However, designing new heuristics for these problems may be a difficult and time-consuming task even for domain experts. Therefore,...
A conceptual framework for online evolution in robotic systems called indirect online evolution (IDOE) is presented. A model specie automatically infers models of a hidden physical system by the use of gene expression programming (GEP). A parameter specie simultaneously optimizes the parameters of the inferred models according to a specified target vector. Training vectors required for modelling are...
In the not so distant future, robots looking like humans may be part of our everyday lifestyle. Then it would be important that they provide a natural behaviour and mimic. To make this possible, the way artificial skin is controlled by a number of actuators would have to be addressed. In this paper, we compare a number of partly novel algorithms for adapting to a number of different eye brow expressions...
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