Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin...
-
date post
19-Dec-2015 -
Category
Documents
-
view
220 -
download
3
Transcript of Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin...
![Page 1: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/1.jpg)
www.kovan.ceng.metu.edu.tr
Parallelized Evolution System
Onur Soysal, Erkin Bahçeci
Erol Şahin
Dept. of Computer Engineering
Middle East Technical University
http://www.kovan.ceng.metu.edu.tr
ISCIS’03
04/11/2003
![Page 2: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/2.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Evolutionary MethodsSimulation of Natural Evolution
Using evolution mechanisms to solve optimization problems
Survival of the fittest...........
Generation n
Chrom.1: 0101011001...
Chrom.2: 1100110111...
.........
Generation n+1
SelectReproduceMutate
...........
Chrom.1: 1010001110...
Chrom.2: 0011110101...
.........
Population n
Population n+1
![Page 3: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/3.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Genetic AlgorithmsEncoding
Binary representation
Stochastic searchGuided by measure of fitness
Problem-specific fitness function
Genetic operatorsMutation
Crossover
![Page 4: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/4.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Evolutionary Robotics
MotivationController: Sensor-actuator relationshipDifficult to design manually in nontrivial tasksTo be in the shoes of a robot?
Solutions of evolutionary roboticsEvolving controllers
Sensors ActuatorsController
???
![Page 5: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/5.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Genotype Phenotype:Generic Controller
010101 100111...
Sensor data
Actuator outputs
Convert to controller
parameters Use the controller
in robots
ControllerController
Chromosome
![Page 6: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/6.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Genotype Phenotype:Neural Network Controller
010101 100111...
Sensor data
Actuator outputs
Convert to neural
network weightsUse the neural network
to control robots
Chromosome
![Page 7: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/7.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Fitness Evaluation
Use controlleron physical robots
on simulated robots
Observe behavior
Calculate fitness value
Repeat for each generation
• for each chromosome
![Page 8: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/8.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Physics Based SimulationImportance of realistic simulationsPros
Much faster runtimecompared to physical implementationBehavioral similarity to physical robotsRealistic interactions
ConsHigh processing demand!
Example libraries: ODE, Vortex, Havok
![Page 9: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/9.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Single Machine Limitations
Computation requiredSolving Ordinary Differential Equations
Increasing complexity with more collisions
Time estimates for single computerOrder of minutes for a single evaluation
For 100 chromosomes and 100 generations• Total time > a week on a single machine
![Page 10: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/10.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Cluster Computing
Cheap alternative to supercomputers
Large-grained problems
Example applicationSETI@home: Search for Extraterrestrial Intelligence at home
![Page 11: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/11.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Cluster Computing Solution to Evolutionary Robotics
Fitness evaluations dominate computation time
Fitness evaluations are independent
Master-Slave modelMaster: GA
Slaves: Fitness evaluations
![Page 12: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/12.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Parallel Evolution System (PES)Parallel Genetic Algorithm libraryDistributed fitness evaluationCentral genetic algorithmSupports interoperability of multiple platforms
![Page 13: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/13.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES Architecture
Server: GA
Clients: Fitness evaluation
PES-C
PES-C
PES-C
Client Application
Client Application
Client ApplicationPES-SServer
Application
![Page 14: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/14.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES Communication Model
PES Network Adapter
PES-C
PES Network Adapter
PES-S
Ping mechanism
Task and result packets
ping
ping reply
task
result
![Page 15: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/15.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES-S Architecture
Server Application
GA Engine
Task Manager
PES-S
Task generator
Best solutions
Network Adapter
![Page 16: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/16.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES-C Architecture
Client ApplicationNetwork Adapter
Task
Fitness
PES-C
![Page 17: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/17.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES Usage: Server
Server Code
#include <pes.h>int main(){
PES_INIT();for each generation{
PES_EVAL_INDIVIDUALS();PES_NEXT_GENERATION();
}}
![Page 18: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/18.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES Usage: Client
Client Code
#include <pes.h>int main(){
PES_INIT();while true{
RECEIVE_TASK();EVAL_TASK();SEND_RESULT();
}}
![Page 19: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/19.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES FeaturesMulti-platform support
Linux and Windows via PVM
Improved fault tolerancePing mechanism to detect non-responding clients
Supplies GA facilitiesBuilt-in crossover, mutation and selection functions
Simplified usageAutomatic task distribution / fitness collectionSingle line for evaluating fitness of whole populationBasic load balancing
![Page 20: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/20.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Our ApplicationTask: Aggregation
Getting 10 robots as close as possible
Minimal sensors and communication
Modified single layer NN for controlNo memory/learning
No world knowledge
Probabilistic inputs
Fitness evaluation 2000 steps of simulation
Total distance as fitness measure
1
2
3
1
3 2
31 2
31 2
R
![Page 21: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/21.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Sample Application Results
![Page 22: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/22.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Processor Load BalancingDynamic simulationVarying number of collisionsVarying task complexityVarying processor load
Diamonds: tasks Solid lines: Start of new generation
![Page 23: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/23.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Fault ToleranceProcessor 2 fails
Detected at ping at 15th sec
Task restart at 19th sec
Red lines: PingBlue lines: GenerationNumbers: Task index
![Page 24: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/24.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Efficiency & Speedup
![Page 25: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/25.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
Discussions & Future Work
Generation gapAsynchronous reproduction
Dynamic host list
Progress monitor
Extension to the Internet
![Page 26: Www.kovan.ceng.metu.edu.tr Parallelized Evolution System Onur Soysal, Erkin Bahçeci Erol Şahin Dept. of Computer Engineering Middle East Technical University.](https://reader030.fdocuments.us/reader030/viewer/2022032703/56649d375503460f94a1024a/html5/thumbnails/26.jpg)
ISCIS’03 www.kovan.ceng.metu.edu.tr
PES Sources & Documentation
Source distribution under Gnu Public License (GPL)
User manual
Functional reference
Sample applications
http://www.kovan.ceng.metu.edu.tr/software/PES