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[DPRG] Great Roborama!

Subject: [DPRG] Great Roborama!
From: Rud Merriam k5rud at arrl.net
Date: Tue Nov 25 09:16:49 CST 2008

Hi Jose,
Can you share more on how you develop the neural nets, do the simulations,
and genetic algorithms? Is this software proprietary to you or available
from others? 
I have had an interest in Genetic Algorithms and Programming for awhile.
Also have done some work with the NASA CLIPS expert system. 
I gather you are not training the neural network per se, but using GA to
derive networks and then test in simulation? 

Rud Merriam K5RUD
ARES AEC Montgomery County, TX 
http://TheHamNetwork.net <http://thehamnetwork.net/>  

-----Original Message-----
From: dprglist-bounces at dprg.org [mailto:dprglist-bounces at dprg.org] On Behalf
Of Francisco Jose Ayala
Sent: Monday, November 24, 2008 4:28 PM
To: dprglist at dprg.org
Subject: Re: [DPRG] Great Roborama!

Yes, our robots, 3piRoBrainia I and II, were driven by AI.   

Specifically, they were controlled by a neural system that we evolved in a
genetic algorithm-like virtual world of genes, genomes, organisms and
populations that all compete against one another in a rigorous selection
regime.  The end product is a "brain" composed of many identical subunits
(just as a human cortex is a massive array consisting of countless
repetitions of the same assemblage of neurons). 

The 3piRoBrainia brains consist of five such subunits, one for each
reflectance sensor.  You can see a picture of this brain here:

Each collection of blue circles is a parse tree that defines the processing
of a single neuron.  The lines represent neural connections, or axons: pink
lines are for connections within a subunit, and green lines for connections
between adjacent subunits.  Yellow circles represent the location of sensor

We often have no idea how these brains actually work; we simply select for
certain capabilities, such as line following, and then load the resulting
brains onto the robot.  The brains get better with every generation.  The
brains we entered into the roborama competition were produced in just 48
hours of evolution.  We'll bring improved brains to an upcoming RBNO.

Also, Dale Wheat is creating a modification of the 3pi for us that will have
a 2D array of 3x8 sensors, which will give the brains a much better picture
of the road ahead.  We'll have brains for that soon.


On Nov 24, 2008, at 8:34 AM, DeltaGraph at aol.com wrote:

Maybe you can elaborate?
Was that Jose Ayala and Carl Sturner's 3pi robots?
I heard brief mention of a "Brain".
Their robots were right up there in the fast run times.

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