The balance between initial training and lifelong adaptation in evolving robot controllers.

A central aim of robotics research is to design robots that can perform in the real world; a real world that is often highly changeable in nature. An important challenge for researchers is therefore to produce robots that can improve their performance when the environment is stable, and adapt when the environment changes. This paper reports on experiments which show how evolutionary methods can provide lifelong adaptation for robots, and how this evolutionary process was embodied on the robot itself. A unique combination of training and lifelong adaptation are used, and this paper highlights the importance of training to this approach.

How do we evaluate artificial immune systems?

The field of Artificial Immune Systems (AIS) concerns the study and development of computationally interesting abstractions of the immune system. This survey tracks the development of AIS since its inception, and then attempts to make an assessment of its usefulness, defined in terms of 'distinctiveness' and 'effectiveness.' In this paper, the standard types of AIS are examined--Negative Selection, Clonal Selection and Immune Networks--as well as a new breed of AIS, based on the immunological 'danger theory.' The paper concludes that all types of AIS largely satisfy the criteria outlined for being useful, but only two types of AIS satisfy both criteria with any certainty.

On the use of qualitative reasoning to simulate and identify metabolic pathways.

MOTIVATION: Perhaps the greatest challenge of modern biology is to develop accurate in silico models of cells. To do this we require computational formalisms for both simulation (how according to the model the state of the cell evolves over time) and identification (learning a model cell from observation of states). We propose the use of qualitative reasoning (QR) as a unified formalism for both tasks. The two most commonly used alternative methods of modelling biochemical pathways are ordinary differential equations (ODEs), and logical/graph-based (LG) models. RESULTS: The QR formalism we use is an abstraction of ODEs. It enables the behaviour of many ODEs, with different functional forms and parameters, to be captured in a single QR model. QR has the advantage over LG models of explicitly including dynamics. To simulate biochemical pathways we have developed 'enzyme' and 'metabolite' QR building blocks that fit together to form models. These models are finite, directly executable, easy to interpret and robust. To identify QR models we have developed heuristic chemoinformatics graph analysis and machine learning procedures. The graph analysis procedure is a series of constraints and heuristics that limit the number of ways metabolites can combine to form pathways. The machine learning procedure is generate-and-test inductive logic programming. We illustrate the use of QR for modelling and simulation using the example of glycolysis. AVAILABILITY: All data and programs used are available on request.