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Mo#va#on'
Goal:'Improve(Autonomous(Robot(Control(
• Evolve'adap#ve'control:'– changes'to'a'control'signal'– changes'in'the'environment'– changes'in'dynamics'(morphology)'
• Not'behaviors'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 1'
Mo#va#on':'Robo#c'Fish'Industrial+ Biological+
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 2'
Outline'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 3'
Robo#c'Fish'Design'
Adap#ve'Control'
Velocity'Study'
Flow'Tank'Applica#on'
Future'Work'
Small'Robo#c'Fish'• S#ckleback'size'
– robot ':'7'cm'– real' ':'4'to'6'cm'
• Electrical'components'– 32Wbit'ARM'μWcontroller'– 3Waxis'accelerometer'– 3Waxis'gyroscope'– 2'light'sensors'– 2.4'GHz'wireless'– magne#c'motor'– 1'hour'ba[ery'life'– NOT'tethered'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 4'
REPLACE'PICTURE'
Design'Process'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 5'
Robot+Prototype+
Design'Process'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 6'
Dynamic+Modeling+
Robot'Prototype'
[Wang'2012,'Clark'2012]'
Design'Process'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 7'
Dynamic'Modeling'
Parameter+Iden<fica<on+
Robot'Prototype'
Design'Process'
Control'System'– r ':'desired'system'output'– y ':'actual'system'output'– e':'system'output'error'– u':'control'signal'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 8'
Dynamic'Modeling'
Control+Design+
Parameter'Iden#fica#on'
Robot'Prototype'
Controller' System'r' e' u' y'
+' _'
Design'Process'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 9'
Dynamic'Modeling'
Simula<on+
Control'Design'
Parameter'Iden#fica#on'
Robot'Prototype'
[Clark'2013]'
Design'Process'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 10'
Dynamic'Modeling'
Simula#on'
Control'Design'
Parameter'Iden#fica#on'
Robot'Prototype'
Physical+Experiments+
Design'Process'
Repeat'to'refine'– reduce'modeling'error'– improve'parameter'es#mates'
– model'noisy'sensors'
Repeat'for'new'robot'– different'parameters'– different'sensors'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 11'
Dynamic'Modeling'
Simula#on'
Control'Design'
Parameter'Iden#fica#on'
Robot'Prototype'
Physical'Experiments'
Outline'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 12'
Robo#c'Fish'Design'
Adap#ve'Control'
Velocity'Study'
Flow'Tank'Applica#on'
Future'Work'
Adap#ve'Control':'MRAC'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 13'
Controller' System'r'
e'
u' y' +'
_'Reference'Model'
Adap#ve'Law'
yp'
θ'
ModelWFree'Adap#ve'Control'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 14'
MFA'Controller' System'
r' e' u' y'+' _'
x'
d'
+'
+'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 15'
ModelWFree'Adap#ve'Control'
MFA'Controller' System'
r' e' u' y'+'_'
x'd'
+'
+'
Adap#ve'Neural'Network'
Network'Ac#va#on'– feedWforward'network'– propagated'error'– sigmoid'ac#va#on'
Network'Update'– minimize'error'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 16'
Adap#ve'Neural'Network'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 17'
Parameters'
Network'values'– hidden'layer'bias'– hidden'layer'bias'weights'– output'layer'bias'– output'layer'bias'weight'
Learning'Values'– learning'rate'
Network'topology'– number'of'input'nodes'– number'of'hidden'nodes'
Control'values'– gain'– error'bounds'– ac#va#on'period'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 18'
Outline'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 19'
Robo#c'Fish'Design'
Adap#ve'Control'
Velocity'Study'
Flow'Tank'Applica#on'
Future'Work'
Simula#on'Study'
Swim'at'a'given'(changing)'speed'
Adapt'to:'– different'control'signals'– changing'fin'flexibili#es'– changing'fin'lengths'
Evalua#on'– simulate'for'60'seconds'with'a'varying'control'signal'– fitness'='mean'absolute'error'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 20'
UnWtuned'Parameters'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 21'
Single'Trial'Evolu#on'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 22'
Mul#Wtrial'Evolu#on''
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 23'
Mul#Wtrial'Evolu#on''
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 24'
Changing'Dynamics'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 25'
Outline'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 26'
Robo#c'Fish'Design'
Adap#ve'Control'
Velocity'Study'
Flow'Tank'Applica#on'
Future'Work'
Sta#on'Keeping'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 27'
Video'of'new'fish'
SISO'to'MIMO'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 28'
MFA'Controller'
r1' e1' u1' y1'+'_'
x1'
d1'
+'+'
System'
MFA'Controller'r2'
e2'u2' y2'
+' _'
x2'
d2'+'
+'
(x'accelera#on)'
(y'accelera#on)'
(frequency)'
(bias)'
(IMU'xWaxis)'
(IMU'yWaxis)'
SISO'to'MIMO'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 29'
MFA'Controller'
r1' e1'u1' y1'+'
_'
x1'
d1'
+'
+'
System'
MFA'Controller'r2' e2' u2' y2'
+' _'
x2'
d2'
+'
+'
Coupler'
Coupler'
(x'accelera#on)'
(y'accelera#on)'
(frequency)'
(bias)'
(IMU'xWaxis)'
(IMU'yWaxis)'
Outline'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 30'
Robo#c'Fish'Design'
Adap#ve'Control'
Velocity'Study'
Flow'Tank'Applica#on'
Future'Work'
Future'Work':'HighWlevel'Control'
• Higher'level'control'– FSM'– ANN'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 31'
MFA'Controller' System'
r' e' u' y'+'_'
x'
d'
+'
+'HighWlevel'Control'
(behaviors)'
Future'Work':'Failure'
• When'MFA'fails'– the'error'signal'gets'to'high'– combine'with'SelfWmodeling'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 32'
[Rose'2013,'Bongard'2006]'
Conclusions'
• Increase'adaptability'of'autonomous'robots'– control'signals,'morphology,'noise'
• Decrease'modeling'effort'– evolve'online/onboard'
• Help'cross'the'reality'gap'in'tradi#onal'ER'– handle'disparity'between'simula#on'and'reality'
• Requires'higherWlevel'control'for'behaviors'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 33'
'The'authors'gratefully'acknowledge'the'contribu#ons'and'feedback'on'the'work'provided'by:'• Jared'Moore,''• Jianxun'Wang,'and''• the'BEACON'Center'at'Michigan'State'University.''
This'work'was'supported'in'part'by'Na#onal'Science'Founda#on'grants'IISW1319602,'CCFW1331852,'CNSW1059373,'CNSW0915855,'and'DBIW0939454,'and'by'a'grant'from'Michigan'State'University.'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 34'
Thank'You'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 35'
Robo#c'Fish'Design'
Adap#ve'Control'
Velocity'Study'
Flow'Tank'Applica#on'
Future'Work'
Ques#ons?'
References'• [Wang'2012]':'Dynamic(modeling(of(robo:c(fish(with(a(flexible(caudal(fin.'
– In'Proceedings'of'the'ASME'2012'5th'Annual'Dynamic'Systems'and'Control'Conference,'joint'with'the'JSME'2012'11th'Mo#on'and'Vibra#on'Conference,'Ft.'Lauderdale,'Florida,'USA,'October'2012.'
• [Clark'2012]':'Evolu:onary(design(and(experimental(valida:on(of(a(flexible(caudal(fin(for(robo:c(fish.((– In'Proceedings'of'the'Thirteenth'Interna#onal'Conference'on'the'Synthesis'and'
Simula#on'of'Living'Systems,'pages'325–332,'East'Lansing,'Michigan,'USA,'July'2012.'
• [Bongard'2006]':'Resilient(machines(through(con:nuous(selfBmodeling.(– Science'314.5802'(2006):'1118W1121.'
• [Rose'2013]':'Just'Keep'Swimming:'Accoun#ng'for'Uncertainty'in'SelfWModeling'Aqua#c'Robots'– In'Proceedings'of'the'6th'Interna#onal'Workshop'on'Evolu#onary'and'Reinforcement'
Learning'for'Autonomous'Robot'Systems,'Taormina,'Italy,'September'2013'
Anthony'J.'Clark''|''ALIFE'2014':'EPS'Workshop' 36'
