The problem of designing optimal trajectory for redundant manipulators has attracted many researchers for the last three decades. One of the main reasons is the use of kinematically redundant robots is expected to increase in the future due to their increased flexibility. Some of the extra capabilities include the ability to avoid internal singularities or exte rnal obstacles over their entire workspace (Parket et al.,1989). Also, the inverse kinematics problem is underdetermined and admits an infinite number of distinct feasible solutions, meaning that a given end-effector pos es can be realized by an infinite number of distinct manipulator configurations (McAvoy, et al, 2000). In order to overcome the shortcomings inherent in non-redundant robots, redundant robots have been utilized in industrial applications to increase fl exibility and dexterity around a restricted task space in pres ence of obstacle.

Researchers in the field of biocomputing have, for many years, successfully "harvested and exploited" the natural world for inspiration in developing systems that are robust, adaptable and capable of generating novel and even "creative" solutions to human-defined problems. However, in this position paper we argue that the time has now come for a reassessment of how we exploit biology to generate new computational systems. Previous solutions (the "first generation" of biocomputing techniques), whilst reasonably effective, are crude analogues of actual biological systems. We believe that a new, inherently inter-disciplinary approach is needed for the development of the emerging "second generation" of bio-inspired methods. This new modus operandi will require much closer interaction between the engineering and life sciences communities, as well as a bidirectional flow of concepts, applications and expertise. We support our argument by examining, in this new light, three existing areas of biocomputing (genetic programming, artificial immune systems and evolvable hardware), as well as an emerging area (natural genetic engineering) which may provide useful pointers as to the way forward.

Artificial life models, swarm intelligent and evolutionary computation algorithms are usually built on fixed size populations. Some studies indicate however that varying the population size can increase the adaptability of these systems and their capability to react to changing environments. In this paper we present an extended model of an artificial ant colony system designed to evolve on digital image habitats. We will show that the present swarm can adapt the size of the population according to the type of image on which it is evolving and reacting faster to changing images, thus converging more rapidly to the new desired regions, regulating the number of his image foraging agents. Finally, we will show evidences that the model can be associated with the Mathematical Morphology Watershed algorithm to improve the segmentation of digital grey-scale images. KEYWORDS: Swarm Intelligence, Perception and Image Processing, Pattern Recognition, Mathematical Morphology, Social Cognitive Maps, Social Foraging, Self-Organization, Distributed Search.

Evolutionary computing (EC) is an exciting development in Computer Science. It amounts to building, applying and studying algorithms based on the Darwinian principles of natural selection. In this paper we briefly introduce the main concepts behind evolutionary computing. We present the main components all evolutionary algorithms (EA), sketch the differences between different types of EAs and survey application areas ranging from optimization, modeling and simulation to entertainment.

Train timetabling is a difficult and very tightly constrained combinatorial problem that deals with the construction of train schedules. We focus on the particular problem of local reconstruction of the schedule following a small perturbation, seeking minimisation of the total accumulated delay by adapting times of departure and arrival for each train and allocation of resources (tracks, routing nodes, etc.). We describe a permutation-based evolutionary algorithm that relies on a semi-greedy heuristic to gradually reconstruct the schedule by inserting trains one after the other following the permutation. This algorithm can be hybridised with ILOG commercial MIP programming tool CPLEX in a coarse-grained manner: the evolutionary part is used to quickly obtain a good but suboptimal solution and this intermediate solution is refined using CPLEX. Experimental results are presented on a large real-world case involving more than one million variables and 2 million constraints. Results are surprisingly good as the evolutionary algorithm, alone or hybridised, produces excellent solutions much faster than CPLEX alone.

This paper presents an artificial evolution-based method for stereo image analysis and its application to real-time obstacle detection and avoidance for a mobile robot. It uses the Parisian approach, which consists here in splitting the representation of the robot's environment into a large number of simple primitives, the "flies", which are evolved following a biologically inspired scheme and give a fast, low-cost solution to the obstacle detection problem in mobile robotics.

Imitation is fundamental in the understanding of social system dynamics. But the diversity of imitation rules employed by modelers proves that the modeling of mimetic processes cannot avoid the traditional problem of endogenization of all the choices, including the one of the mimetic rules. Starting from the remark that human reflexive capacities are the ground for a new class of mimetic rules, I propose a formal framework, metamimetic games, that enable to endogenize the distribution of imitation rules while being human specific. The corresponding concepts of equilibrium - counterfactually stable state - and attractor are introduced. Finally, I give an interpretation of social differentiation in terms of cultural co-evolution among a set of possible motivations, which departs from the traditional view of optimization indexed to criteria that exist prior to the activity of agents.

A human subject experiment was conducted to investigate caffeine’s effect on appraisal and performance of a mental serial subtraction task. Serial subtraction performance data was collected from three treatment groups: placebo, 200, and 400 mg caffeine. The data were analyzed by caffeine treat ment group and how subjects appraised the task (as challenging or threatening). A cognitive model of the serial subtraction task was developed. The model was fit to the human performance data using a parallel genetic algorithm. How the model’s parameters change to fit the data suggest how cognition changes due to caffeine and appraisal. Over all, the cognitive modeling and optimization results suggest that the speed of vocalization varies the most along with changes to declarative memory. This approach provides a way to compute how cognitive mechanisms change due to moderators.

This extended abstract outlines my invited keynote presentation of the recent work on neuromorphic networks ("CrossNets") based on hybrid CMOS/nanoelectronic ("CMOL") circuits, in the space-saving Q/A format.

This paper claims for a shift towards "the formal sciences" in the cognitive sciences. In order to explain the phenomenon of cognition, including aspects such as learning and intelligence, it is necessary to explore the concepts and methodologies offered by the formal sciences. In particular, category theory is proposed as the most fitting tool for the building of an unified theory of cognition. This paper proposes a radically new view based in category theory is provided. A cognitive model is informally defined as a mapping between two different structures, while a structure is the set of components of a system and their relationships. Put formally in categorical terms, a model is a functor between categories that reflects the structural invariance between them. In the paper, the theory of categories is presented as the best possible framework to deal with complex system modeling -ie: biologically inspired systems that transcend and offer a much more powerful tool kit to deal with the phenomenon of cognition that other purely verbal tools like the psychological categories that Rosch or Harnad refer.