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Proceedings

2003 NASA/DoD Conference on

Evolvable Hardware

July 9-11, 2003 • Chicago, Illinois, USA

Sponsored by National Aeronautics and Space Administration (NASA)

Department of Defense (DoD)

Supported by Information Sciences and Technology Directorate, NASA Ames Research Center

Computing, Information and Communications Technology Program, NASA Ames Research Center

Life Detection Science and Technology Program, JPL Space Exploration Technology Program, JPL

Navy Center for Applied Research in Artificial Intelligence, NRL

Hosted by NASA Ames Research Center

Edited by Jason Lohn

Ricardo Zebulum James Steincamp Didier Keymeulen

Adrian Stoica Michael I. Ferguson

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Los Alamitos, California

Washington • Brussels • Tokyo

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Copyright © 2003 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved

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Table of Contents 2003 NASA/DoD Conference on Evolvable Hardware

Preface ...............................................................................................................................................ix

Conference Organizers..................................................................................................................... x

Program Committee ..........................................................................................................................xi

1. Evolution of Digital Systems

Comparing Different Serial and Parallel Heuristics to Design Combinational Logic Circuits............................................................................................................... 3

C. Coello, E. Alba, G. Luque, and A. Aguirre

Fitness Landscape and Evolutionary Boolean Synthesis Using Information Theory Concepts ............................................................................................................ 13

A. Aguirre and C. Coello

Learning for Evolutionary Design ...................................................................................................... 17 S. Louis

Silicon Validation of Evolution-Designed Circuits .............................................................................. 21 A. Stoica, R. Zebulum, X. Guo, D. Keymeulen, M. Ferguson, and V. Duong

Implementing Evolution of FIR-Filters Efficiently in an FPGA............................................................ 26 K. Vinger and J. Torresen

2. Evolution of Analog Systems

The Importance of Reuse and Development in Evolvable Hardware ................................................ 33 J. Koza, M. Keane, and M. Streeter

The Once and Future Analog Alternative: Evolvable Hardware and Analog Computation.......................................................................................................................... 43

J. Gallagher

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An Experiment on Nonlinear Synthesis Using Evolutionary Techniques Based only on CMOS Transistors ..................................................................................................... 50

P. Botelho, L. Sá, P. Vieira, and A. Mesquita

An Empirical Comparison of Evolutionary Algorithms for Evolvable Hardware with Minimum Time-to-Reconfigure Requirements ........................................................... 59

G. Greenwood, E. Ramsden, and S. Ahmed

Evolving Sinusoidal Oscillators Using Genetic Algorithms ................................................................ 67 V. Aggarwal

Overview of Field Programmable Analog Arrays as Enabling Technology for Evolvable Hardware for High Reliability Systems ........................................................................ 77

J. Plante, H. Shaw, L. Mickens, and C. Johnson-Bey

3. Evolution of Controllers

Intrinsic Hardware Evolution for the Design and Reconfiguration of Analog Speed Controllers for a DC Motor ..................................................................................................... 81

D. Gwaltney and M. Ferguson

Robot Fault-Tolerance Using an Embryonic Array ............................................................................ 91 A. Jackson, R. Canham, and A. Tyrrell

Evolvable Building Blocks for Analog Fuzzy Logic Controllers........................................................ 101 J. Amaral, J. Amaral, C. Santini, R. Tanscheit, M. Vellasco, M. Pacheco, and A. Mesquita

4. Real World Applications

Power Dissipation Reductions with Genetic Algorithms .................................................................. 111 E. Takahashi, M. Murakawa, Y. Kasai, and T. Higuchi

An Evolutionary Power Management Algorithm for SoC Based EHW Systems.............................. 117 L. Tian and T. Arslan

The Evolutionary Design and Synthesis of Non-linear Digital VLSI Systems.................................. 125 R. Thomson and T. Arslan

Easily Testable Image Operators: The Class of Circuits Where Evolution Beats Engineers .............................................................................................................. 135

L. Sekanina and R. R ži ka

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Towards Evolvable IP Cores for FPGAs ......................................................................................... 145

L. Sekanina

Evolutionary Design of an X-Band Antenna for NASA’s Space Technology 5 Mission ..................................................................................................................... 155

J. Lohn, D. Linden, G. Hornby, W. Kraus, A. Rodríguez-Arroyo, and S. Seufert

Fitness Estimations for Evolutionary Antenna Design..................................................................... 164 L. Zinchenko and S. Sorokin

5. Fault Tolerance

Evolution of Combinatorial and Sequential On-Line Self-Diagnosing Hardware ............................. 177 M. Garvie and A. Thompson

Exploring FPGA Structures for Evolving Fault Tolerant Hardware .................................................. 184 A. Shanthi and R. Parthasarathi

Experimental Results in Evolutionary Fault-Recovery for Field Programmable Analog Devices....................................................................................................... 192

R. Zebulum, D. Keymeulen, V. Duong, X. Guo, M. Ferguson, and A. Stoica

6. From Biology to Robotics

Hardware Spiking Neural Network with Run-Time Reconfigurable Connectivity in an Autonomous Robot ............................................................................................ 199

D. Roggen, S. Hofmann, Y. Thoma, and D. Floreano

Robot Error Detection Using an Artificial Immune System .............................................................. 209 R. Canham, A. Jackson, and A. Tyrrell

Researches on Ingeniously Behaving Agents ................................................................................. 218 S. Kamio, H. Liu, H. Mitsuhasi, and H. Iba

5. Evolvable Hardware Platforms

A Scalable Platform for Intrinsic Hardware and in materio Evolution .............................................. 231

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S. Harding and J. Miller

Improvements to the *CGA Enabling Online Intrinsic Evolution in Compact EH Devices ...................................................................................................................... 235

G. Kramer and J. Gallagher

6. Cellular Automata

Data and Signals: A New Kind of Cellular Automaton for Growing Systems................................... 245 A. Stauffer and M. Sipper

Self-Protection Maintains Diversity of Artificial Self-Replicators Evolving in Cellular Automata........................................................................................................................ 252

H. Sayama

Evolved Reversible Cascades Realized on the CAM-Brain Machine (CBM)................................... 256 A. Buller and M. Perkowski

7. Embryonics and Bio-Inspired Architectures

Developmental Processes in Silicon: An Engineering Perspective ................................................. 265 G. Tempesti, D. Mange, E. Petraglio, A. Stauffer, and Y. Thoma

An Embryonic Array with Improved Efficiency and Fault Tolerance ................................................ 275 R. Canham and A. Tyrrell

Automatic Multi-Module Neural Network Evolution in an Artificial Brain.......................................... 283 J. Dinerstein, N. Dinerstein, and H. de Garis

Author Index .................................................................................................................................. 287