Abstract
This paper presents an evolutionary cellular automata based neural systems (Evolutionary CANS) for visual servoing of RV-M2 robot manipulator. The architecture of CANS consist of a two-dimensional (2-D) array of basic neurons. Each neuron of CANS has local connections only with contiguous neuron and acts as a form of pulse according to the dynamics of the chaotic neuron model. CANS are generated from initial cells according to the cellular automata (CA) rule. Therefore neural architecture is determined by both initial pattern of cells and production rule of CA. Production rules of CA are evolved based on a DNA coding. DNA coding has the redundancy and overlapping of gene and is apt for representation of the rule. In this paper we show the general expression of CA rule and propose translating method from DNA code to CA rule. In addition, we present visual servoing application using evolutionary CANS.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Yoshikawa, T., Furuhashi, T., Uchikawa, Y.: Effect of New Mechanismof Development from Artificial DNA and discovery of Fuzzy Control Rules. In: Proc. of IIZUKA 1996, pp. 498–501 (1996)
Boers, E.J.W., Kuiper, H., Happel, B.L.M., Kuyper, S.: Designing Modular Artificial Neural Networks. In: Proc. of Computer Science in the Netherlands, pp. 87–96 (1993)
Gruau, F., Whitley, D.: Adding Learning to the Cellular Development of Neural Networks: Evolution and the Baldwin Effect. Evolutionary Computation 1(3), 213–233 (1993)
de Garis, H.: CAM-BRAIN: The Genetic Programming of an Artificial Brain Which Grows/Evolves at Electronic Speeds in a Cellular Automata Machine. In: Proc. of The First Int Conf. on Evolutionary Computation, vol. 1, pp. 337b–339b (1994)
Sugisaka, M.: Design of an Artificial Brain for Robots. In: Proc. of The Third Int. Symp. on Artificial Life and Robotics, pp. (I-2)–(I-11)(1998)
Nagumo, J., Sato, S.: Response Characteristic of a Mathematical Neuron Model. Kybernetik 10, 155–164 (1972)
Sipper, M.: Non-Uniform Cellular Automata: Evaluation in Rule Space and Formation of Complex Structures. Artificial Life VI, 394–399 (1994)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lee, DW., Park, CH., Sim, KB. (2006). Evolutionary Cellular Automata Based Neural Systems for Visual Servoing. In: Wang, J., Yi, Z., Zurada, J.M., Lu, BL., Yin, H. (eds) Advances in Neural Networks - ISNN 2006. ISNN 2006. Lecture Notes in Computer Science, vol 3972. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11760023_57
Download citation
DOI: https://doi.org/10.1007/11760023_57
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-34437-7
Online ISBN: 978-3-540-34438-4
eBook Packages: Computer ScienceComputer Science (R0)