Anthony J. Clark

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Designing a robotic fish is a challenging endeavor due to the non-linear dynamics of underwater environments. In this paper , we present an evolutionary computation approach for designing the caudal fin of a carangiform robotic fish. Evolutionary experiments are performed in a simulated environment utilizing a mathematical model to approximate the(More)
Fusarium head blight (FHB), or head scab, is an economically important disease of wheat (Triticum aestivum L.). In developing FHB-resistant soft winter wheat cultivars, breeders have relied on phenotypic selection, marker assisted selection (MAS), or a combination of the two. The objectives of this study were to estimate heritability of resistance in a(More)
Developing complex behaviors for aquatic robots is a difficult en- gineering challenge due to the uncertainty of an underwater environment. Neuroevolution provides one method of dealing with this type of problem. Artificial neural networks discern different conditions by mapping sensory input to responses, and evolutionary computation provides a training(More)
—In this paper, we apply evolutionary multiobjective optimization to the design of a robotic fish with a flexible caudal fin. Specifically, we use the NSGA-II algorithm to discover solutions (physical dimensions, flexibility, and control parameters) that optimize both swimming performance and power efficiency. The optimization is conducted in a custom(More)
Many robotic systems experience fluctuating dynamics during their lifetime. Variations can be attributed in part to material degradation and decay of mechanical hardware. One approach to mitigating these problems is to utilize an adaptive controller. For example, in model-free adaptive control (MFAC) a controller learns how to drive a system by continually(More)
Introduction. Web-based applications are highly accessible to users, providing rich, interactive content while eliminating the need to install software locally. Previous online evolutionary demonstrations (PicBreeder [Secretan et al., 2008], Endless Forms [Clune and Lipson, 2011], Lu-dobots [Bongard et al., 2012], and BoxCar2D) have successfully(More)
The nonlinear dynamics of an aquatic environment make robotic fish behavior difficult to predict and subsequently difficult to optimize. In this paper, we present a method for optimizing robotic fish propulsion through the evolution of control patterns and caudal fin flexibility. Evolved solutions are evaluated in a physics-based simulation environment.(More)
Robotic fish accomplish swimming by deforming their bodies or other fin-like appendages. As an emerging class of embedded computing system, robotic fish are anticipated to play an important role in environmental monitoring, inspection of underwater structures, tracking of hazardous wastes and oil spills, and the study of live fish behaviors. While(More)
A robust robotic system should be able to overcome unforeseen conditions, including physical damage and component failure occurring after deployment. A self-modeling system maintains an internal image of itself, which can be updated to reflect incurred damage. The robot can use this model to derive (or evolve) new behaviors such as gaits that account for(More)
One of the greatest problems in breeding for Fusarium head blight (FHB) resistance lies in the difficulty of assessing the disease. At the present time, researchers generally measure disease incidence and severity in the field, deoxynivalenol (DON) content and percentage Fusarium damaged kernels (FDK). FDK is presently measured in two ways: i) visual(More)