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At least 127 records · Page 7

Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots

A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to move. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony's quadruped robots. Our evolutionary algorithm runs on board the robot and uses the robot's sensors to compute the quality of a gait without assistance from the experimenter. First we show the evolution of a pace and trot gait on the OPEN-R prototype robot. With the fastest gait, the robot moves at over 10/min/min., which is more than forty body-lengths/min. While these first gaits are somewhat sensitive to the robot and environment in which they are evolved, we then show the evolution of robust dynamic gaits, one of which is used on the ERS-110, the first consumer version of AIBO.

Hornby, Gregory S.

Faster Evolution of More Multifunctional Logic Circuits

A modification in a method of automated evolutionary synthesis of voltage-controlled multifunctional logic circuits makes it possible to synthesize more circuits in less time. Prior to the modification, the computations for synthesizing a four-function logic circuit by this method took about 10 hours. Using the method as modified, it is possible to synthesize a six-function circuit in less than half an hour. The concepts of automated evolutionary synthesis and voltage-controlled multifunctional logic circuits were described in a number of prior NASA Tech Briefs articles. To recapitulate: A circuit is designed to perform one of several different logic functions, depending on the value of an applied control voltage. The circuit design is synthesized following an automated evolutionary approach that is so named because it is modeled partly after the repetitive trial-and-error process of biological evolution. In this process, random populations of integer strings that encode electronic circuits play a role analogous to that of chromosomes. An evolved circuit is tested by computational simulation (prior to testing in real hardware to verify a final design). Then, in a fitness-evaluation step, responses of the circuit are compared with specifications of target responses and circuits are ranked according to how close they come to satisfying specifications. The results of the evaluation provide guidance for refining designs through further iteration.

Stoica, Adrian

Observational Effects of Magnetism in O Stars: Surface Nitrogen Abundances

Aims. We investigate the surface nitrogen content of the six magnetic O stars known to date as well as of the early B-type star Tau Sco.. We compare these abundances to predictions of evolutionary models to isolate the effects of magnetic field on the transport of elements in stellar interiors. Methods. We conduct a quantitative spectroscopic analysis of the ample stars with state-of-the-art atmosphere models. We rely on high signal-to-noise ratio, high resolution optical spectra obtained with ESPADONS at CFHT and NARVAL at TBL. Atmosphere models and synthetic spectra are computed with the code CMFGEN. Values of N/H together with their uncertainties are determined and compared to predictions of evolutionary models. Results. We find that the magnetic stars can be divided into two groups: one with stars displaying no N enrichment (one object); and one with stars most likely showing extra N enrichment (5 objects). For one star (Ori C) no robust conclusion can be drawn due to its young age. The star with no N enrichment is the one with the weakest magnetic field, possibly of dynamo origin. It might be a star having experienced strong magnetic braking under the condition of solid body rotation, but its rotational velocity is still relatively large. The five stars with high N content were probably slow rotators on the zero age main sequence, but they have surface N/H typical of normal O stars, indicating that the presence of a (probably fossil) magnetic field leads to extra enrichment. These stars may have a strong differential rotation inducing shear mixing. Our results shOuld be viewed as a basis on which new theoretical simulations can rely to better understand the effect of magnetism on the evolution of massive stars.

Martins, F.

Comparison of Computed and Measured Vortex Evolution for a UH-60A Rotor in Forward Flight

A Computational Fluid Dynamics (CFD) simulation using the Navier-Stokes equations was performed to determine the evolutionary and dynamical characteristics of the vortex flowfield for a highly flexible aeroelastic UH-60A rotor in forward flight. The experimental wake data were acquired using Particle Image Velocimetry (PIV) during a test of the fullscale UH-60A rotor in the National Full-Scale Aerodynamics Complex 40- by 80-Foot Wind Tunnel. The PIV measurements were made in a stationary cross-flow plane at 90 deg rotor azimuth. The CFD simulation was performed using the OVERFLOW CFD solver loosely coupled with the rotorcraft comprehensive code CAMRAD II. Characteristics of vortices captured in the PIV plane from different blades are compared with CFD calculations. The blade airloads were calculated using two different turbulence models. A limited spatial, temporal, and CFD/comprehensive-code coupling sensitivity analysis was performed in order to verify the unsteady helicopter simulations with a moving rotor grid system.

Evolution

The evolution of rotating stars. 1: Method and exploratory calculations for a 7 solar mass star

A method was developed which allows us to study the evolution of rotating stars beyond the main sequence stage. Four different cases of redistribution of angular momentum in an evolving star are considered. Evolutionary sequences for a 7 solar mass star, rotating according to these different cases, were computed from the ZAMS to the double shell source stage. Each sequence was begun with a (typical) equatorial velocity of 210 km/sec. On the main sequence, the effects of rotation are of minor importance. As the core contracts during later stages, important effects arise in all physically plausible cases. The outer regions of the cores approach critical velocities and develop unstable angular velocity distributions. The effects of these instabilities should significantly alter the subsequent evolution.

Endal, A. S.

Evolutionary design of smart analog circuits

This paper discusses the use of Evolvable Hardware (EHW) in automatic synthesis of electronic circuits for computational intelligence (CI) hardware.

evolvable hardware fuzzy logic reconfigurable devi

The 'Biologically-Inspired Computing' Column

The field of Biology changed dramatically in 1953, with the determination by Francis Crick and James Dewey Watson of the double helix structure of DNA. This discovery changed Biology for ever, allowing the sequencing of the human genome, and the emergence of a "new Biology" focused on DNA, genes, proteins, data, and search. Computational Biology and Bioinformatics heavily rely on computing to facilitate research into life and development. Simultaneously, an understanding of the biology of living organisms indicates a parallel with computing systems: molecules in living cells interact, grow, and transform according to the "program" dictated by DNA. Moreover, paradigms of Computing are emerging based on modelling and developing computer-based systems exploiting ideas that are observed in nature. This includes building into computer systems self-management and self-governance mechanisms that are inspired by the human body's autonomic nervous system, modelling evolutionary systems analogous to colonies of ants or other insects, and developing highly-efficient and highly-complex distributed systems from large numbers of (often quite simple) largely homogeneous components to reflect the behaviour of flocks of birds, swarms of bees, herds of animals, or schools of fish. This new field of "Biologically-Inspired Computing", often known in other incarnations by other names, such as: Autonomic Computing, Pervasive Computing, Organic Computing, Biomimetics, and Artificial Life, amongst others, is poised at the intersection of Computer Science, Engineering, Mathematics, and the Life Sciences. Successes have been reported in the fields of drug discovery, data communications, computer animation, control and command, exploration systems for space, undersea, and harsh environments, to name but a few, and augur much promise for future progress.

Hinchey, Mike

The evolution of rotating stars. I - Method and exploratory calculations for a 7-solar-mass star

A method is developed which allows the evolution of rotating stars to be studied well beyond the main-sequence stage. Four different cases of redistribution of angular momentum in an evolving star are considered. Evolutionary sequences for a 7-solar-mass star, rotating according to these different cases, were computed from the zero-age main-sequence to the double-shell-source stage. Each sequence was begun with a (typical) equatorial rotational velocity of 210 km/s. On the main sequence, the effects of rotation are of minor importance. However, as the core contracts during later stages, important effects arise in all physically plausible cases. The outer regions of the cores approach critical velocities and develop unstable angular-velocity distributions. The effects of these instabilities should significantly alter the subsequent evolution.

Endal, A. S.

A description and evaluation of TIMER: A time-based terminal flow-control concept

A description of a time-based ATC concept called TIMER (Traffic Intelligence for the Management of Efficient Runway-scheduling) and the results of a fast time and real time computer evaluation are presented. The concept was designed to improve the efficiency of extended terminal area operations (en route approach, transition, and terminal flight to the runway). TIMER integrates en route metering, fuel efficient cruise and profile descents, terminal sequencing and spacing together with computer-generated controller aids, in order to fully use runway capacity and improve efficiency of delay absorption. The concept, by using simplified aircraft models, accommodates both 4-D and non 4-D equipped aircraft and is designed for integration into the manual, voice linked ATC system in an evolutionary manner and still be able to accommodate proposed system upgrade features such as data link and further ground automation. Fast time and real time computer simulation results identify and show the effects and interactions of such key variables as horizon of control, metering fix and final approach delivery time errors, aircraft separation requirements, delay discounting, wind, flight technical error, and knowledge of aircraft final approach speed. The current ATC system has a runway interarrival-error standard deviation of approx. 26 seconds. Simulation results indicate that, with computer aiding, the runway interarrival-error standard deviation for non 4-D equipped traffic can be reduced to the region of 8 to 12 seconds if expected final approach speed is known; however, the reduction is only in the region of 16 to 20 seconds if expected final approach speed is unknown. Another major finding is that en route metering fix delivery-error standard deviation should be kept to less than a number somewhere between 35 to 45 seconds to achieve full runway capacity. This requirement implies the need for either airborne automation or assistance to the controller since the current manual performance in today's en route metering environment is in the order of 1.5 minutes.

Credeur, Leonard

NASA Tech Briefs, September 2006

Topics covered include: Improving Thermomechanical Properties of SiC/SiC Composites; Aerogel/Particle Composites for Thermoelectric Devices; Patches for Repairing Ceramics and Ceramic- Matrix Composites; Lower-Conductivity Ceramic Materials for Thermal-Barrier Coatings; An Alternative for Emergency Preemption of Traffic Lights; Vehicle Transponder for Preemption of Traffic Lights; Automated Announcements of Approaching Emergency Vehicles; Intersection Monitor for Traffic-Light-Preemption System; Full-Duplex Digital Communication on a Single Laser Beam; Stabilizing Microwave Frequency of a Photonic Oscillator; Microwave Oscillators Based on Nonlinear WGM Resonators; Pointing Reference Scheme for Free-Space Optical Communications Systems; High-Level Performance Modeling of SAR Systems; Spectral Analysis Tool 6.2 for Windows; Multi-Platform Avionics Simulator; Silicon-Based Optical Modulator with Ferroelectric Layer; Multiplexing Transducers Based on Tunnel-Diode Oscillators; Scheduling with Automated Resolution of Conflicts; Symbolic Constraint Maintenance Grid; Discerning Trends in Performance Across Multiple Events; Magnetic Field Solver; Computing for Aiming a Spaceborne Bistatic- Radar Transmitter; 4-Vinyl-1,3-Dioxolane-2-One as an Additive for Li-Ion Cells; Probabilistic Prediction of Lifetimes of Ceramic Parts; STRANAL-PMC Version 2.0; Micromechanics and Piezo Enhancements of HyperSizer; Single-Phase Rare-Earth Oxide/Aluminum Oxide Glasses; Tilt/Tip/Piston Manipulator with Base-Mounted Actuators; Measurement of Model Noise in a Hard-Wall Wind Tunnel; Loci-STREAM Version 0.9; The Synergistic Engineering Environment; Reconfigurable Software for Controlling Formation Flying; More About the Tetrahedral Unstructured Software System; Computing Flows Using Chimera and Unstructured Grids; Avoiding Obstructions in Aiming a High-Gain Antenna; Analyzing Aeroelastic Stability of a Tilt-Rotor Aircraft; Tracking Positions and Attitudes of Mars Rovers; Stochastic Evolutionary Algorithms for Planning Robot Paths; Compressible Flow Toolbox; Rapid Aeroelastic Analysis of Blade Flutter in Turbomachines; General Flow-Solver Code for Turbomachinery Applications; Code for Multiblock CFD and Heat-Transfer Computations; Rotating-Pump Design Code; Covering a Crucible with Metal Containing Channels; Repairing Fractured Bones by Use of Bioabsorbable Composites; Kalman Filter for Calibrating a Telescope Focal Plane; Electronic Absolute Cartesian Autocollimator; Fiber-Optic Gratings for Lidar Measurements of Water Vapor; Simulating Responses of Gravitational-Wave Instrumentation; SOFTC: A Software Correlator for VLBI; Progress in Computational Simulation of Earthquakes; Database of Properties of Meteors; Computing Spacecraft Solar-Cell Damage by Charged Particles; Thermal Model of a Current-Carrying Wire in a Vacuum; Program for Analyzing Flows in a Complex Network; Program Predicts Performance of Optical Parametric Oscillators; Processing TES Level-1B Data; Automated Camera Calibration; Tracking the Martian CO2 Polar Ice Caps in Infrared Images; Processing TES Level-2 Data; SmaggIce Version 1.8; Solving the Swath Segment Selection Problem; The Spatial Standard Observer; Less-Complex Method of Classifying MPSK; Improvement in Recursive Hierarchical Segmentation of Data; Using Heaps in Recursive Hierarchical Segmentation of Data; Tool for Statistical Analysis and Display of Landing Sites; Automated Assignment of Proposals to Reviewers; Array-Pattern-Match Compiler for Opportunistic Data Analysis; Pre-Processor for Compression of Multispectral Image Data; Compressing Image Data While Limiting the Effects of Data Losses; Flight Operations Analysis Tool; Improvement in Visual Target Tracking for a Mobile Robot; Software for Simulating Air Traffic; Automated Vectorization of Decision-Based Algorithms; Grayscale Optical Correlator Workbench; "One-Stop Shopping" for Ocean Remote-Sensing and Model Data; State Analysis Database Tool; Generating CAHV and CAHVOmages with Shadows in ROAMS; Improving UDP/IP Transmission Without Increasing Congestion; FORTRAN Versions of Reformulated HFGMC Codes; Program for Editing Spacecraft Command Sequences; Flight-Tested Prototype of BEAM Software; Mission Scenario Development Workbench; Marsviewer; Tool for Analysis and Reduction of Scientific Data; ASPEN Version 3.0; Secure Display of Space-Exploration Images; Digital Front End for Wide-Band VLBI Science Receiver; Multifunctional Tanks for Spacecraft; Lightweight, Segmented, Mostly Silicon Telescope Mirror; Assistant for Analyzing Tropical-Rain-Mapping Radar Data; and Anion-Intercalating Cathodes for High-Energy- Density Cells.

Source record

On Improving Efficiency of Differential Evolution for Aerodynamic Shape Optimization Applications

Differential Evolution (DE) is a simple and robust evolutionary strategy that has been provEn effective in determining the global optimum for several difficult optimization problems. Although DE offers several advantages over traditional optimization approaches, its use in applications such as aerodynamic shape optimization where the objective function evaluations are computationally expensive is limited by the large number of function evaluations often required. In this paper various approaches for improving the efficiency of DE are reviewed and discussed. Several approaches that have proven effective for other evolutionary algorithms are modified and implemented in a DE-based aerodynamic shape optimization method that uses a Navier-Stokes solver for the objective function evaluations. Parallelization techniques on distributed computers are used to reduce turnaround times. Results are presented for standard test optimization problems and for the inverse design of a turbine airfoil. The efficiency improvements achieved by the different approaches are evaluated and compared.

Madavan, Nateri K.

Efficiency of parallel direct optimization

Tremendous progress has been made at the level of sequential computation in phylogenetics. However, little attention has been paid to parallel computation. Parallel computing is particularly suited to phylogenetics because of the many ways large computational problems can be broken into parts that can be analyzed concurrently. In this paper, we investigate the scaling factors and efficiency of random addition and tree refinement strategies using the direct optimization software, POY, on a small (10 slave processors) and a large (256 slave processors) cluster of networked PCs running LINUX. These algorithms were tested on several data sets composed of DNA and morphology ranging from 40 to 500 taxa. Various algorithms in POY show fundamentally different properties within and between clusters. All algorithms are efficient on the small cluster for the 40-taxon data set. On the large cluster, multibuilding exhibits excellent parallel efficiency, whereas parallel building is inefficient. These results are independent of data set size. Branch swapping in parallel shows excellent speed-up for 16 slave processors on the large cluster. However, there is no appreciable speed-up for branch swapping with the further addition of slave processors (>16). This result is independent of data set size. Ratcheting in parallel is efficient with the addition of up to 32 processors in the large cluster. This result is independent of data set size. c2001 The Willi Hennig Society.

NASA Discipline Evolutionary Biology

Thioredoxin and evolution

Comparisons of primary structure have revealed significant homology between the m type thioredoxins of chloroplasts and the thioredoxins from a variety of bacteria. Chloroplast thioredoxin f, by comparison, remains an enigma: certain residues are invariant with those of the other thioredoxins, but a phylogenetic relationship to bacterial or m thioredoxins seems distant. Knowledge of the evolutionary history of thioredoxin f is, nevertheless, of interest because of its role in photosynthesis. Therefore, we have attempted to gain information on the evolutionary history of chloroplast thioredoxin f, as well as m. Our goal was first to establish the utility of thioredoxin as a phylogenetic marker, and, if found suitable, to deduce the evolutionary histories of the chloroplast thioredoxins. To this end, we have constructed phylogenetic (minimal replacement) trees using computer analysis. The results show that the thioredoxins of bacteria and animals fall into distinct phylogenetic groups - the bacterial group resembling that derived from earlier 16s RNA analysis and the animal group showing a cluster consistent with known relationships. The chloroplast thioredoxins show a novel type of phylogenetic arrangement: one m type aligns with its counterpart of eukaryotic algae, cyanobacteria and other bacteria, whereas the second type (f type) tracks with animal thioredoxin. The results give new insight into the evolution of photosynthesis.

Buchanan, B. B.

The determination of the core mass at the helium flash in globular cluster stars

Evolutionary sequences for the red giant branch (RGB) phase of a representative globular cluster star have been computed in order to investigate the reliability of the current canonical values of the core mass M(sub c) at the helium flash. These computations were motivated by recent suggestions that the canonical values of M(sub c) may be systematically too small due to the numerical algorithms for shifting the hydrogen shell and advancing the chemical composition during the RGB phase. Our results show that these algorithms do not, in fact, introduce a significant error in the values of M(sub c). Moreover, we demonstrate that a procedure for advancing the chemical composition which is implicit only in the hydrogen abundance will systematically underestimate the amount of hydrogen fuel consumption between RGB models and therefore should not be used in RGB computations. Overall we estimate the uncertainty in the core masses of Sweigart & Gross (1978) due to numerical effects to be approximately equals 0.003 solar mass. From a consideration of the available canonical models we conclude that a change in the canonical values of M(sub c) by a few 10(exp -2) solar mass would require either a substantial change in the canonical input physics or some noncanonical effect such as rotation. Finally our models show that the use of short time steps can significantly increase the extent of the inner tail of the hydrogen shell. This effect may enhance the likelihood of hydrogen mixing following a helium shell flash in an asymptotic giant branch star.

Sweigart, Allen V.

The development of the red giant branch. I - Theoretical evolutionary sequences

A grid of 100 evolutionary sequences extending from the zero-age main sequence to the onset of helium burning has been computed for stellar masses between 1.4 and 3.4 solar masses, helium abundances of 0.20 and 0.30, and heavy-element abundances of 0.004, 0.01, and 0.04. Using these computations the transition in the morphology of the red giant branch (RGB) between low-mass stars, which have an extended and luminous first RGB phase prior to helium ignition, and intermediate-mass stars, which do not, is investigated. Extensive tabulations of the numerical results are provided to aid in applying these sequences. The effects of the first dredge-up on the surface helium and CNO abundances of the sequences is discussed.

Sweigart, Allen V.

Photoionization modeling of the LWS fine-structure lines in IR bright galaxies

The long wavelength spectrometer (LWS) fine structure line spectra from infrared luminous galaxies were modeled using stellar evolutionary synthesis models combined with photoionization and photodissociation region models. The calculations were carried out by using the computational code CLOUDY. Starburst and active galactic nuclei models are presented. The effects of dust in the ionized region are examined.

Satyapal, S.

Evolutionary Design of a Phased Array Antenna Element

We present an evolved S-band phased array antenna element design that meets the requirements of NASA's TDRS-C communications satellite scheduled for launch early next decade. The original specification called for two types of elements, one for receive only and one for transmit/receive. We were able to evolve a single element design that meets both specifications thereby simplifying the antenna and reducing testing and integration costs. The highest performance antenna found using a genetic algorithm and stochastic hill-climbing has been fabricated and tested. Laboratory results are largely consistent with simulation. Researchers have been investigating evolutionary antenna design and optimization since the early 1990s, and the field has grown in recent years its computer speed has increased and electromagnetic simulators have improved. Many antenna types have been investigated, including wire antennas, antenna arrays and quadrifilar helical antennas. In particular, our laboratory evolved a wire antenna design for NASA's Space Technology 5 (ST5) spacecraft. This antenna has been fabricated, tested, and is scheduled for launch on the three spacecraft in 2006.

Globus, Al

Confessions of a robot lobotomist

Since its inception, numerically controlled (NC) machining methods have been used throughout the aerospace industry to mill, drill, and turn complex shapes by sequentially stepping through motion programs. However, the recent demand for more precision, faster feeds, exotic sensors, and branching execution have existing computer numerical control (CNC) and distributed numerical control (DNC) systems running at maximum controller capacity. Typical disadvantages of current CNC's include fixed memory capacities, limited communication ports, and the use of multiple control languages. The need to tailor CNC's to meet specific applications, whether it be expanded memory, additional communications, or integrated vision, often requires replacing the original controller supplied with the commercial machine tool with a more powerful and capable system. This paper briefly describes the process and equipment requirements for new controllers and their evolutionary implementation in an aerospace environment. The process of controller retrofit with currently available machines is examined, along with several case studies and their computational and architectural implications.

Gottshall, R. Marc