Biologically I nspir ed Biologically I nspir ed

Comput at ion Comput at ion

Mohamed A El Mohamed A El - - Shar kawi Shar kawi
The CI A lab The CI A lab
Depar t ment of Elect r ical Depar t ment of Elect r ical
Engineer ing Engineer ing
Univer sit y of Washingt on Univer sit y of Washingt on
Seat t le, WA 98195 Seat t le, WA 98195- - 2500 2500
elshar kawi@ee. washingt on. edu elshar kawi@ee. washingt on. edu
ht t p: / / ht t p: / / cialab. ee. washingt on. edu cialab. ee. washingt on. edu
M. A. El-Sharkawi, BIA 3
... the Babbling of Old Fools ? ... the Babbling of Old Fools ?
M. A. El-Sharkawi, BIA 4
! ! To an uninspired scientist with a hammer, To an uninspired scientist with a hammer,
everything looks like a nail everything looks like a nail
! ! If at first, the idea is not absurd, then there is no If at first, the idea is not absurd, then there is no
hope for it hope for it
Albert Einstein
Seek new ideas even if out of the Seek new ideas even if out of the
ordinary ordinary
M. A. El-Sharkawi, BIA 5
Seek new ideas even if you are Seek new ideas even if you are
unsure of their appeal unsure of their appeal
! ! If we knew what it was we were doing, it If we knew what it was we were doing, it
would not be called research, would it? would not be called research, would it?
M. A. El-Sharkawi, BIA 6
Wild Idea is a Sign of brilliance Wild Idea is a Sign of brilliance
! ! Imagination is more important Imagination is more important
than knowledge. than knowledge.
For knowledge is limited to all we For knowledge is limited to all we
now know and understand, now know and understand,
while imagination embraces the while imagination embraces the
entire world, and all there ever will entire world, and all there ever will
be to know and understand be to know and understand
! ! Logic will get you from A to B. Logic will get you from A to B.
Imagination will take you Imagination will take you
everywhere everywhere
Hist or y of Comput at ion
M. A. El-Sharkawi, BIA 8
5K YR Ago
RHIND
PA PYRUS
RHIND
PA PYRUS
RHIND
PA PYRUS
M. A. El-Sharkawi, BIA 12
Dr iven by necessi t y we have
pr ogr essed f r om
using f inger s
t o t ables
M. A. El-Sharkawi, BIA 14
t o abacus
t o mechanical machi nes
M. A. El-Sharkawi, BIA 16
t o slide r ules
t o mor e mechani cal machi nes
M. A. El-Sharkawi, BIA 18
t o calculat or s
M. A. El-Sharkawi, BIA 19
t o comput er s
M. A. El-Sharkawi, BIA 20
I mpact of Moder n Comput ing
Power
! St agger ing impact on our abilit y t o
Comput e t hr ough it er at ions
Cr eat e amazingly complex algor it hms
M. A. El-Sharkawi, BIA 21
New Wave of Comput ing
! Moor es law is st ill t r ue
comput er s double t heir power ever y 18
mont h.
! Comput at ionally int ensive t echniques
har d t o implement a f ew year s ago
ar e now f easible.
Among t hese t echniques ar e t he so
called biologically inspir ed algor it hms
(BI A).
M. A. El-Sharkawi, BIA 22
Biologically Inspired Algorithms Biologically Inspired Algorithms
M. A. El-Sharkawi, BIA 23
Biologically I nspir ed Syst ems Biologically I nspir ed Syst ems
! Philosopher s ar gued t hat wit h all
human achievement s in science and
engineer ing, nat ur e st ill pr ovides
t he best syst ems t hat can ever be
f ashioned.
M. A. El-Sharkawi, BIA 24
Biologically I nspir ed Syst ems Biologically I nspir ed Syst ems
This is t r ue
even if we
compar e t he
most complex
machine wit h
t he simplest
f or m of a
biological cell.
M. A. El-Sharkawi, BIA 25
And And heeeeere heeeeere s s Albert Albert
! ! When the solution is When the solution is
simple, God is answering. simple, God is answering.
Albert Einstein
M. A. El-Sharkawi, BIA 26
BI A or Biocomput at ion
! The use of biological pr ocesses or
behavior as met aphor , inspir at ion, or
enabler in developing new comput ing
t echnologies
! The f ield is highly mult idisciplinar y,
Engineer s, comput er scient ist s, molecular
biologist s, genet icist s, mat hemat icians,
physicist s, and ot her s.
M. A. El-Sharkawi, BIA 27
Main st eps of Biologically Main st eps of Biologically
I nspir ed Syst ems I nspir ed Syst ems
! Obser ve and st udy:
Obser ve animal and human behavior s
and St udy biological st r uct ur es
! Mimic:
Acquir ed knowledge may help us mimic
nat ur e and develop bet t er engineer ing
syst ems and machines.
M. A. El-Sharkawi, BIA 28
The ABC The ABC s of BI A s of BI A
(Bezdek) (Bezdek)
A Ar t if icial r t if icial
B Biological iological C Comput at ional omput at ional
M. A. El-Sharkawi, BIA 29
BI A Syst ems BI A Syst ems
! ! Neur al Net wor ks Neur al Net wor ks
! ! Evolut ionar y Algor it hms Evolut ionar y Algor it hms
! ! Fuzzy Syst ems Fuzzy Syst ems
! ! Swar m I nt elligence Swar m I nt elligence
! ! Boids Boids
! ! Par t icle Swar m Par t icle Swar m
! ! DNA Comput ing DNA Comput ing
! ! Ar t if icial Lif e Ar t if icial Lif e
! ! I nt elligent Agent s I nt elligent Agent s
! !
M. A. El-Sharkawi, BIA 30
Nat ur e is a Power f ul Par adigm
! Brain " "" " Neural Networks
! Evolution theory " "" " Evolutionary Algorithms
! Flocking birds " "" "Particle Swarm Optimization,
Boids
! Insects " "" " Swarm Intelligence
!
!
M. A. El-Sharkawi, BIA 31
Why BI A? Why BI A?
# May r equir e lit t le or no knowledge of t he physical
syst em t hey emulat e.
# Syst em is developed by obser vat ions and int uit ion.
# Can f ind subst ance in dat a bases t hr ough
st ochast ic sear ch.
# Can be self - t uned using r aw exper ient ial dat a.
# Noise t oler ant and r obust .
# Obj ect ives no longer need t o be in r est r ict ive
mat hemat ical f or ms.
# Nonlinear it y is no longer a disabling const r aint .
M. A. El-Sharkawi, BIA 32
Key I mpr ovement s Key I mpr ovement s
$The per f or mance of BI As is bet t er
under st ood and appr eciat ed.
# NN can have an explanat ion f acilit ies
and is no longer a black boxes.
# St abilit y cr it er ia f or f uzzy cont r ol, long
lacking, can be est ablished
# Conver gence is impr oved and global
opt imizat ion wit hin a pr edet er mined
space can be achieved.
M. A. El-Sharkawi, BIA 33
Conventional Model based Conventional Model based
System System
Sensor s
-
Model
Desir ed
Par amet er
or St at e
Est imat ion
Decision
Model
M. A. El-Sharkawi, BIA 34
Non Non- -Model based System Model based System
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Desired Desired
Decision Decision
M. A. El-Sharkawi, BIA 35
Classical Control: Design
System
inputs
Control
Inputs
Constraints
M. A. El-Sharkawi, BIA 36
Classical Control: Operation
System
inputs
Control
Inputs
Constraints
M. A. El-Sharkawi, BIA 37
Intelligent Control
System
inputs
Control
Inputs
Constraints
M. A. El-Sharkawi, BIA 38
Intelligent Control
System
inputs
Control
Inputs
Constraints
M. A. El-Sharkawi, BIA 39
Neural Networks
M. A. El-Sharkawi, BIA 40
M. A. El-Sharkawi, BIA 41
M. A. El-Sharkawi, BIA 42
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Connect ions
I nput layer
Hidden layer
Out put layer
M. A. El-Sharkawi, BIA 43
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Out put layer
M. A. El-Sharkawi, BIA 44
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Out put layer
M. A. El-Sharkawi, BIA 45
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NN Training NN Training
M. A. El-Sharkawi, BIA 46
NN Training: NN Training: El-Sharkawis Quintuplets
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M. A. El-Sharkawi, BIA 47
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Testing of Trained NN Testing of Trained NN
M. A. El-Sharkawi, BIA 48
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Testing of Trained NN Testing of Trained NN
M. A. El-Sharkawi, BIA 49
Almost !
Almost !
Evolutionary Algorithms Evolutionary Algorithms
M. A. El-Sharkawi, BIA 51
Evolutionary Algorithm
! Single Search Technique (SST) could be trapped
in undesirable minima
! Convergence of SST depends on the selected
initial condition
M. A. El-Sharkawi, BIA 52
Evolutionary Algorithm vs SST
Single Sear ch
Evolut i onar y Sear ch
M. A. El-Sharkawi, BIA 53
Population Pool
1 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 0 0 0 0
...
Byte 1 Byte 2 Byte n

1
0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 0 0 0 0
...
1 0 0 1 1 1 1 1 1 1 0 0 0 0 0 0 1 1 1 1 0 0
0 0
...
1 0 0 1
1
1 1 1 1 1 0 0 0 0 0 0 1
1
1 1 0 0 0 0
...
0
individual
#1
#2
#3
#K

2

n
M. A. El-Sharkawi, BIA 54
Fitness Evaluation
# 1
# 2
# 3
I ndividuals
1 0 0 1 1 1 0
0 0 1 1 1 0
1 0 0 1 1 1 0
1 0 0 1 1 1 0
0
# n
Fit ness
Comput at ions
f (. )
Nor mali ze
Ranked I ndi viduals
# q
# p
0 0 1 1 1 0
1 0 0 1 1 1 0
# p
# q
0
0 0 1 1 1 0 0
1 0 0 1 1 1 0
# 1
1 0 0 1 1 1 0
1 0 0 1 1 1 0
# 3
# n
1 0 0 1 1 1 0
# 2
0 0 1 1 1 0 0
M. A. El-Sharkawi, BIA 55
Crossover
#p
#q
0 0 1 1 1 0 0
1 0 0 1 1 1 0
Crossover
0
0 1
1 1
0
0
1 0
0 1
1 1
0
#p
#q
Crossover point
M. A. El-Sharkawi, BIA 56
Success of Crossover
11111111 00000001 00000001 11111111
00000001 00000001 11111111 11111111
Global Optimality Global Optimality
Smartness Beauty
M. A. El-Sharkawi, BIA 57
Exper iment
M. A. El-Sharkawi, BIA 58
Fuzzy Systems
M. A. El-Sharkawi, BIA 59
And And heeeeere heeeeere s s Albert Albert
! ! The only real valuable The only real valuable
thing is intuition. thing is intuition.
Albert Einstein
M. A. El-Sharkawi, BIA 60
Universe (X)
Subset A
Subset B
Subset C
Crisp Set/Subset Crisp Set/Subset
1 =
A

1 =
B

1 =
C

0 =
A

M. A. El-Sharkawi, BIA 61
9
8
10
On a scale of
one to 10, how
good was the
dive?
! close, heavy, light, big, small, smart, fast, slow,
hot, cold, tall and short.
9.5
M. A. El-Sharkawi, BIA 62
! Fuzzy Probability
! Example #1
Billy has 9 toes. The
probability Billy has 10
toes is zero.
The fuzzy membership
of Billy in the set of
people with 10 toes is
nonzero.
M. A. El-Sharkawi, BIA 63
Example #2
A bottle of liquid has a probability of
of being rat poison and of being pure
water.
A second bottles contents, in the fuzzy
set of liquids containing lots of rat
poison, is .
The meaning of for the two bottles
clearly differs significantly and would
impact your choice should you be
dying of thirst.
(cite: Bezdek)
#1
#2
M. A. El-Sharkawi, BIA 64
Fuzzy Conflicts Fuzzy Conflicts
Tall Short
M. A. El-Sharkawi, BIA 65
Fuzzy Conflicts Fuzzy Conflicts
Tall Short Tall or Short? Tall or Short?
M. A. El-Sharkawi, BIA 66
Fuzzy Association Fuzzy Association
4
5
6
7
Very Tall
Tall
Medium
Short
Very Short
M. A. El-Sharkawi, BIA 67
M. A. El-Sharkawi, BIA 68
! Based on i ntui ti on and j udgment
! No need for a mathemati cal model
! Pr ovi des a smooth tr ansi ti on between
member s and nonmember s
! Rel ati vel y si mpl e, fast and adapti ve
! Less sensi ti ve to system fl uctuati ons
! Can i mpl ement desi gn obj ecti ves, di ffi cul t to
expr ess mathemati cal l y, i n l i ngui sti c or
descr i pti ve r ul es.
M. A. El-Sharkawi, BIA 69
Applications Domain Applications Domain
! Fuzzy Logic
! Fuzzy Modeling
Neuro-Fuzzy System
! Fuzzy Control
Intelligent Control
Hybrid Control
! Fuzzy Pattern Recognition
M. A. El-Sharkawi, BIA 70
Some Some Interesting Applications Interesting Applications
! Smooth ride control
! Camcorder auto-focus and jiggle control
! Braking systems
! Copier quality control
! Rice cooker temperature control
! High performance drives
! Air-conditioning systems
M. A. El-Sharkawi, BIA 71
Swarm Intelligence
Swarm Intelligence Swarm Intelligence
M. A. El-Sharkawi, BIA 73
Swarm Intelligence Swarm Intelligence
=
Coordination Coordination without without
Direct Communication Direct Communication
M. A. El-Sharkawi, BIA 74
Swar m I nt elligence
! Appear s in swar ms of cer t ain insect
species
! I nt er act ions is indir ect (st igmer gy)
! Complex f or ms of social behavior
can achieve a number of t asks
M. A. El-Sharkawi, BIA 75
SWI N - St igmer gy
! St igmer gy means communicat ion
t hr ough t he envir onment
Pher omone laying : pher omone at t r act s
ant s who lay even mor e pher omone
Task- r elat ed st igmer gy: e. g. t er mit e nest
building
M. A. El-Sharkawi, BIA 76
Pheromone Trails
M. A. El-Sharkawi, BIA 77
Feat ur es
! Dist r ibut ed and Mult i- agent sear ch
! Uses st igmer gy (communicat ion
t hr ough t he envi r onment ) f or agent
int er act ion
! Adapt ive
! Uses r einf or cement lear ning
! Randomness " "" " r obust ness
M. A. El-Sharkawi, BIA 78
Example of Swarm Intelligence Example of Swarm Intelligence
Application to Complex Systems Application to Complex Systems
(Routing in Data Networks) (Routing in Data Networks)
M. A. El-Sharkawi, BIA 79
Routing in Data Networks Routing in Data Networks
! Why is it so complex?
Distributed problem, requires coordination of a
number of nodes, which might not have direct
communication
Must cope with node failures
Must re-adjust routes that get congested
M. A. El-Sharkawi, BIA 80
Existing Schemes
! Wired
Distance vector (Bellman-Ford)
Linkstate (Dijkstras)
OSPF (Internet Standard linkstate-based)
! Wireless
Table-driven (all nodes have routing tables to all
destinations)
On-demand (routing tables are created on demand)
M. A. El-Sharkawi, BIA 81
Swar m Advant ages in Rout ing
Yes for distributed BF,
but not for link-state.
Yes, packets can be
re-routed if links fail
Robustness
Slow adaptation Yes, adapts to
congestion patterns
Load balancing
Some, but may cause
oscillations. Can be slow.
Yes, can be very fast Adaptive
Some of them(e.g
Bellman Ford)
Yes Distributed
Non-Swarm-based Swarm- based
M. A. El-Sharkawi, BIA 82
AntNet AntNet
! Introduced by Di Caro and Dorigo
! Designed for packet switching networks
! Uses ants who affect routing based on
trip times to destination
! This is not done directly, but through a
processed quantity
M. A. El-Sharkawi, BIA 83
ANTNET: Routing Tables ANTNET: Routing Tables
G
D
0.72 0.28
0.85 0.15
F B
Next Hop
D
e
s
t
i
n
a
t
i
o
n
Sum of row=1
Pr obabi l i t y t hat
nex t - hop i s B i f
dest i nat i on i s D
F
D
n
B
K
Current
M. A. El-Sharkawi, BIA 84
A
B
C
D
G
E
F
AB 0.23
BC 0.11
AB 0.23
CD 0.14
BC 0.11
AB 0.23
DE 0.15
CD 0.14
BC 0.11
AB 0.23
Forward Ants Forward Ants
M. A. El-Sharkawi, BIA 85
A
B
C
D
G
E
F
AB 0.23
BC 0.11
AB 0.23
CD 0.14
BC 0.11
AB 0.23
DE 0.15
CD 0.14
BC 0.11
AB 0.23
Backward Ants Backward Ants
M. A. El-Sharkawi, BIA 86
Information Carried by Information Carried by
Backward Ant Backward Ant
! Trip-time table
Contains trip-time estimate to every destination
G
D
0.01 0.18
0.02 0.24
Variance Mean
Time
D
e
s
t
i
n
a
t
i
o
n
M. A. El-Sharkawi, BIA 87
Why Forward and Backward
! Routing tables are updated only by ants
who were successful in reaching
destination
! If a ant is lost, it will not generate a
backward ant
next-hops that were not successful will not
be updated
M. A. El-Sharkawi, BIA 88
The Algorithm-Essential steps
! Launch forward ant
! Find path randomly, but based on
routing table probabilities
! Remember the path and the arrival times
for forward ant
! Backward ants trace path in reverse
! While at that, they update routing tables
M. A. El-Sharkawi, BIA 89
AntNet: Table updates
P
df
is the probability of choosing node f as next-hop, when the destination
is d
N is the set of neighbors of the current node
f is the next-hop node
n are all the other neighbor nodes

+
and
-
are the positive and negative reinforcement, respectively
r= weighting factor (step size)
N n , f n , P ) ' r (
) P )( ' r (
P P
P P
dn
df
dn dn
df df
=
=
+ =
+ =

+
1
1 1
M. A. El-Sharkawi, BIA 90
Weighting Factor
T= trip time from current node to the destination
= average of T
c= scaling factor (usually 2)

<
=
otherwise
c
T
if c
c
T
r
, 1
1 , 1 ,
'
M. A. El-Sharkawi, BIA 91
AntNet
! Equation are based on negative feedback:
Positive reinforcement (
+
) should be
smaller as probabilities get larger and vice
versa
Negative reinforcement (
-
) should be larger
as probabilities get larger and vice versa
M. A. El-Sharkawi, BIA 92
AntNet
! Problem: T could be unreliable (high
variance)
! Solution: Use over ratio to adjust r
! Why? Because high / means T is
unreliable and vice versa
M. A. El-Sharkawi, BIA 93
r = T/ > 0.5 r = T/ < 0.5
Adjusting r

<

'
1
a
e

)
'
1 (

a
e

>

a
e

a
e

+
Good time Bad time
! Add nonlinearity: r"(r)
h
! Why? To manipulate the learning rate r
! Choice of h: usually 2 (heuristic)
T unr el i abl e
T r el i abl e
Monot onically
decr easing
funct ion
M. A. El-Sharkawi, BIA 94
Wireless Issues
! Broadcast advantage
When node transmits, it can be heard by all nodes in its
range
! Energy constraints
Routing must take into account energy
Energy can also be adjusted by adjusting range
! Noise and bandwidth requirements also affect
energy and range
! Node mobility : nodes can move in and out of
range
M. A. El-Sharkawi, BIA 95
Swarm Control Swarm Control
M. A. El-Sharkawi, BIA 96
Objective Objective
! To move a group of vehicles (rovers,
robots, underwater vehicles)
independently to achieve common or
distributed objectives.
M. A. El-Sharkawi, BIA 97
Artificial Potential Field (APF) Artificial Potential Field (APF)
! The motion of the vehicle is governed by a
minimum of two fields: attractive and
repulsive fields.
! Attractive field: a force that moves the
vehicle toward the target position.
! Repulsive field: a force that moves the
vehicle away from obstacles or areas that is
being covered by other vehicles.
M. A. El-Sharkawi, BIA 98
Target
destination
Obstacle
V
r
V
a
V
V
r
V
a
V
V
r
V
a
V
M. A. El-Sharkawi, BIA 99
Attraction Velocity Attraction Velocity
Cartesian distance between the vehicle and the target
D
a
: distance between the vehicle and the target
: angle between the vehicle and the target
(

sin
cos
D V
a a
M. A. El-Sharkawi, BIA 100
Repulsion Velocity Repulsion Velocity
D
r
:distance between the vehicle and the obstacle.
: angle between the vehicle and the obstacle.
(

sin
cos
D
V
r
r
1
M. A. El-Sharkawi, BIA 101
Total Velocity Total Velocity
! and are modulation parameters (can be
dynamically changing)
For example: if the vehicle is to achieve a
stand-still state at the target point, is set to
zero when D
a
approaches zero.
! is the effect of other influences (other
robots to avoid)
+ + =
r a
V V V
M. A. El-Sharkawi, BIA 102
Boids Boids
M. A. El-Sharkawi, BIA 103
History of History of Boids Boids (Flocking) (Flocking)
! Pioneered by Craig Reynolds
! Coherent flocking behavior using simple
rules was first demonstrated in the late
1980s .
To develop realistic motions of groups of
actors in computer animation.
Each actor (boid) has a scripted path
predetermined by the animator.
M. A. El-Sharkawi, BIA 104
Flocking rules
! Basic rules (necessary and sufficient)
Cohesion: fly towards the center of your local flock mates.
Separation: keep a certain distance away from nearest flock
mates.
Alignment: align your velocity vector with that of the local
flock
! additional rules (for better flocking dynamics)
Evasion: avoid occupying the same local airspace as your
nearest flockmate. Evasion is a localized form of separation.
Migration: fly towards a pre-specified location
M. A. El-Sharkawi, BIA 105
Cohesion
! Move toward the
center of local
flockmates
M. A. El-Sharkawi, BIA 106
Separation
! Steer to avoid collision
with local flockmates
M. A. El-Sharkawi, BIA 107
Alignment
Steer towards the
average heading of
local flockmates
M. A. El-Sharkawi, BIA 108
Evasion
Avoid occupying the
same local space as
your nearest
flockmate.
M. A. El-Sharkawi, BIA 109
Migration
Fly towards a pre-
specified location
M. A. El-Sharkawi, BIA 110
Final motion vector
Original velocity
Cohesion
Mitigation
Net velocity
Alignment
Evasion
Separation
M. A. El-Sharkawi, BIA 111
Control Applications
! Simple behaviors for individuals and pairs:
Seek and Flee
Pursue and Evade
Obstacle Avoidance
Path or wall Following
Flow Field Following
! Combined behaviors and groups:
Crowd Path Following
Leader Following
Unaligned Collision Avoidance
Queuing (at a doorway)
Flocking (combining: separation
M. A. El-Sharkawi, BIA 112
Tracking
Par t icle Swar m Opt imizat ion Par t icle Swar m Opt imizat ion
M. A. El-Sharkawi, BIA 114
Particle Swarm Optimization Particle Swarm Optimization
=
Coordination with Coordination with
Direct Direct Communication Communication
Par t icle Swar m Opt imizat ion
! I nvent or s: J ames Kennedy and Russell
Eber har t
! An Algor it hm or iginally developed t o
imit at e t he mot ion of a Flock of Bir ds,
or insect s
! Assumes I nf or mat ion Exchange (Social
I nt er act ions) among t he sear ch agent s
! Basic I dea: Keep t r ack of
Global Best
Self Best
How does it wor k?
! Pr oblem:
Find X which minimizes f (X)
! Par t icle Swar m:
St ar t : St ar t : Random set of solut ion vect or s
Exper iment : Exper iment : I nclude r andomness in t he choice
of new st at es.
Remember : Remember : Encode t he inf or mat ion about
good solut ions.
I mpr ovise: I mpr ovise: Use t he exper ience inf or mat ion
t o init iat e sear ch in a new r egions
Per sonal
Best at pr evious st ep
Cur r ent
mot ion
Component in t he
dir ect ion of per sonal best
Component in t he
dir ect ion of pr evious mot ion
Component in t he
dir ect ion of global best
New Mot ion
Global best
M. A. El-Sharkawi, BIA 121
PSO Modeling
! Each solut ion vect or is modeled as
The coor dinat es of a bir d or a par t icle in a
swar m f lying t hr ough t he sear ch space
All t he par t icles have a non- zer o velocit y and
t hus never st op f lying and ar e always
sampling new r egions.
! Each par t icle r emember s
Wher e t he global best and wher e t he local
best ar e.
M. A. El-Sharkawi, BIA 122
! The sear ch is guided by
The collect ive consciousness of t he
swar m
I nt r oducing r andomness int o t he
dynamics in a cont r olled manner
PSO Modeling
M. A. El-Sharkawi, BIA 123
I ner t ia I ner t ia
non- zer o velocit y
PS never st op f lying
Cont r olled r andomness
Par t icle Swar m Dynamics
)) ( ) ( ).( , 0 (
)) ( ) ( ).( , 0 ( ) ( . ) 1 (
2
1
k x k x a r
k x k x a r k v w k v
GroupBest
SelfBest
r r
r r r r
+
+ = +
) ( ) ( ) 1 ( k v k x k x
r r r
+ = +
The collect ive consciousness
of t he swar m
Self consciousness
of t he swar m
M. A. El-Sharkawi, BIA 124
PSO
x is a solution vector particle and v is the velocity
of this particle
a
1
and a
2
are two scalars,
w is the inertia
r(0,1) is a uniform random number generator
between 0 and 1
v
gb
v
sb
v
old
v
new
M. A. El-Sharkawi, BIA 125
Design Parameters
! a
1
and a
2
! w: Should be between [0.9 and 1.2]
High values of w gives a global search
Low values of w gives a local search
! v
max
: To be designed according to the
nature of the search surface.
M. A. El-Sharkawi, BIA 126
The Ar t of Fit ness Funct ion
! To move r obot s t o boundar y point s
Met r ic: | f (x)- boundar y value|
Result s - Case 1
M. A. El-Sharkawi, BIA 128
The Ar t of Fit ness Funct ion
! Dist r ibut e r obot s unif or mly on t he
boundar y
Met r ic:
| f (x)- boundar y value| -
Dist ance t o closest neighbor
(t o penalize pr oximit y t o neighbor s)
Result s - Case 2
M. A. El-Sharkawi, BIA 130
The Ar t of Fit ness Funct ion
! Dist r ibut e r obot s unif or mly on t he
boundar y close t o cur r ent st at e
Met r ic:
| f (x)- boundar y value| - Dist ance t o
closest neighbor + Dist ance t o
cur r ent st at e
(penalize pr oximit y t o nei ghbor s,
penalize dist ance f r om cur r ent
st at e)
Result s - Case 3
M. A. El-Sharkawi, BIA 132
PSO Challenges PSO Challenges
! Like any search technique, PSO could be
unsuccessful at distinguishing between global and
local minima
Local minimum is easier to find
If fitness function cannot amplify the difference
between global and local minima, PSO is likely
to stay in the local minima
M. A. El-Sharkawi, BIA 133
Modified PSO Modified PSO
! Two-step PSO (or gradient-approximation)
! Cluster PSO
M. A. El-Sharkawi, BIA 134
Two Two- -Step PSO Step PSO
! Each particle takes two steps: short and long
Then decide on optimal step based on steeper
negative gradient
x
0
x
S
x
L
M. A. El-Sharkawi, BIA 135
Two Two- -Step PSO Step PSO
! Better method at not overflying narrow
valleys
! Problems:
Particles may take the short step more often
than the long step, resulting in slower
convergence
Can still get trapped in local minima
M. A. El-Sharkawi, BIA 136
Cluster PSO Cluster PSO
! It is a hierarchical version of PSO:
PSO are arranged in clusters
Each cluster contains multiple agents
Each cluster has a centroid that acts,
effectively, as a standard PSO agent
Each agent within the cluster is attracted
to its personal best, the cluster best, and
the cluster centroid
M. A. El-Sharkawi, BIA 137
Cluster PSO Cluster PSO
v
c
v
gb
v
cb
v
ab
v
a
v
cb
v
cc
M. A. El-Sharkawi, BIA 138
Cluster PSO Cluster PSO
v
c
=w
c
v
c
+a
c1
(x
cb
-x
cc
) +a
c2
(x
gb
-x
cc
)
v
a
=w
a
v
a
+a
1
(x
ab
-x
a
)+a
2
(x
cb
-x
a
) +a
3
(x
cc
-x
a
)
x
cc
=x
cc
+v
c
x
a
=x
a
+v
c
+v
a
M. A. El-Sharkawi, BIA 139
Cluster PSO Cluster PSO
! Cluster PSO combines globally superior
ability of standard PSO in avoiding local
minima with the locally efficient search
which can find narrow global minima.
MAYBE!
Multiobjectives Multiobjectives Optimization & Optimization &
Pareto Fronts Pareto Fronts
M. A. El-Sharkawi, BIA 141
Conventional Optimization Conventional Optimization
! Any optimization problem can be framed as
finding the parameter minimizing a given
objective function
! find x
*
that minimizes y = f(x)
! Typically, one solution
x
f(x)
x
*
f(x
*
)
M. A. El-Sharkawi, BIA 142
Conventional Optimization Conventional Optimization
! Most optimization problems have several
(possibly conflicting) objectives.
! These problems are frequently treated as
Single-objective optimization problems by
transforming all but one objective into
constraints.
Single cost function where all objectives are
weighted according to their importance.
M. A. El-Sharkawi, BIA 143
Weighted Aggregation for Multi Weighted Aggregation for Multi- -
Objective Optimization Objective Optimization
! Objective: minimize the following functions
( ) ( ) ( ) x f ..., ... , x f , x f
n 2 1
( ) ( ) ( ) ( ) x f w ... ... x f w x f w x J
n n
+ + + =
2 2 1 1
! Formulation: aggregate all functions in a weighted
fashion to form one cost index
M. A. El-Sharkawi, BIA 144
Limitation of Aggregated Limitation of Aggregated
Optimization function Optimization function
! Single aggregated function leads to only
one solution.
! The relative importance must be selected
before hand and the final solution is
dependent on the selection.
! Trade offs can not be easily evaluated.
! Solution is not possible for nonconvex
search spaces.
M. A. El-Sharkawi, BIA 145
Trade Trade- -off Analysis (Example of Conflicting off Analysis (Example of Conflicting
Objectives) Objectives)
! Designing of distributed controllers while
reducing the cost.
! Place functional blocks on a chip such that chip
area is minimized and power dissipation is also
minimized.
! Find the vehicle that covers the most distance in a
day while requiring the least energy.
! Placing enough sensors to monitor a system while
reducing the cost.
M. A. El-Sharkawi, BIA 146
Simple Problem, Single solution Simple Problem, Single solution
Find x* such that
( ) ( ) x f x f
i
*
i
for all i
f
1
(x*)
f
2
(x*)
f
1
f
2
M. A. El-Sharkawi, BIA 147
Simple Problem, Multiple Solutions Simple Problem, Multiple Solutions
Example: Operational Amplifier Example: Operational Amplifier
DC gain [dB]
t
r
a
n
s
i
t

f
r
e
q
.

[
M
H
z
]
b
e
t
t
e
r
better
M. A. El-Sharkawi, BIA 148
F
1
f
2
f
F
1
f
2
f
Multi Multi- -Objective Optimization: Pareto Front Objective Optimization: Pareto Front
better
b
e
t
t
e
r
minimize
2 1
, f f
better
b
e
t
t
e
r
maximize 2 1
, f f
Pareto Front Pareto Front
M. A. El-Sharkawi, BIA 149
Goal of Multi Goal of Multi- -Objective Objective
Optimization (MOO) Optimization (MOO)
! Finding a set of decision variables that
satisfies constraints and
optimizes a vector of objectives.
! The term optimize means finding a
solution which would give values of all the
objective functions acceptable to the
designer
M. A. El-Sharkawi, BIA 150
feasible region
Mathematical Formulation of MOO Mathematical Formulation of MOO
! Find the vector x* =[x
1
*, x
2
*, ...,x
n
*]
T
which satisfies
m inequality constraints:
g
i
(x)>= 0, i=1,2,...,m
and p equality constraints:
h
i
(x) = 0, i=1,2,...,p
and optimizes the vector function;
f(x)=[f
1
(x), f
2
(x), ..., f
k
(x)]
T
M. A. El-Sharkawi, BIA 151
Terminologies used in MOO Terminologies used in MOO
! ! The solution is dominant if The solution is dominant if
( ) ( )
( ) ( ) ( ) k ..., ... ... , , i x f x f
i x f x f
i
*
i
i
*
i
2 1 one least at for
and , all for
<

! ! The solution is non The solution is non- -dominant if no more dominant dominant if no more dominant
solution is found solution is found
The search is converged to one solution The search is converged to one solution (Pareto optimal (Pareto optimal
point) point)
M. A. El-Sharkawi, BIA 152
1/distance
energy
Example: Transportation Problem
M. A. El-Sharkawi, BIA 153
1/distance
energy
Example: Transportation Problem
Pareto optimal solutions
Pareto-dominated solutions
M. A. El-Sharkawi, BIA 154
C
o
m
p
u
t
e

C
o
n
s
t
r
a
i
n
t
s
C
o
m
p
u
t
e

O
b
j
e
c
t
i
v
e
s
PSO, EC,
Delay
Test Test
Solution
infeasible
dominant
Pareto
Optimal
Point
F
e
a
s
i
b
l
e

S
o
l
u
t
i
o
n
Pareto Front Algorithm Pareto Front Algorithm
M. A. El-Sharkawi, BIA 155
The Future
M. A. El-Sharkawi, BIA 156
Time Time
I
n
t
e
r
e
s
t
I
n
t
e
r
e
s
t
Interest Interest
& &
Hype Hype
Backlash
Serious Serious
Development Development
Implementations Implementations
Li f e Cycl e of New Technol ogy Li f e Cycl e of New Technol ogy
M. A. El-Sharkawi, BIA 161
(NN, Fuzzy, . )
has no place in
scient if ic lit er at ur e.
Professor Bob Bitmead, IEEE
Control Systems Magazine, June
1993, p.7.
Alr eady, pr imit ive
I nt elligent Agent s ar e
buzzing ar ound on t he
int er net .
Time Magazine, March 25, 1996, P.57
M. A. El-Sharkawi, BIA 162
Thi s ` t elephone Thi s ` t elephone has t oo has t oo
many shor t comings t o be many shor t comings t o be
ser i ously consider ed as a ser i ously consider ed as a
means of communi cat i on. means of communi cat i on.
The device is i nher ent ly of The device is i nher ent ly of
no value t o us. no value t o us.
West er n Union West er n Union int er nal memo, int er nal memo,
1876. 1876.
Paradigm Shifts Paradigm Shifts
(Business) (Business)
The wir eless music box The wir eless music box
(r adio) has no imaginable (r adio) has no imaginable
commer cial value. Who commer cial value. Who
would pay f or a message would pay f or a message
sent t o nobody in sent t o nobody in
par t icular ? par t icular ?
David Sar nof f David Sar nof f s Associat es in s Associat es in
r esponse t o his ur gings f or r esponse t o his ur gings f or
invest ment in t he r adio in 1920 invest ment in t he r adio in 1920 s s
M. A. El-Sharkawi, BIA 163
Par adigm Shi f t s (Business) Par adigm Shi f t s (Business)
We don We don t like t heir sound, and guit ar music is t like t heir sound, and guit ar music is
on t he way out . on t he way out .
Decca Recor ding Company Decca Recor ding Company r ej ect ing t he Beat l es in 1962. r ej ect ing t he Beat l es in 1962.
M. A. El-Sharkawi, BIA 164
Louis Past eur Louis Past eur s t heor y s t heor y
of ger ms is r idiculous of ger ms is r idiculous
f ict ion f ict ion
Pier r e Pachet , Pr of essor at Pier r e Pachet , Pr of essor at
Toulouse, 1872 Toulouse, 1872. .
Air planes ar e int er est ing Air planes ar e int er est ing
t oys but of no milit ar y t oys but of no milit ar y
value value
Mar echal Fer dinand Foch, Pr of essor Mar echal Fer dinand Foch, Pr of essor
of St r at egy, Ecole Super ieur e de of St r at egy, Ecole Super ieur e de
Guer r e. Guer r e.
M. A. El-Sharkawi, BIA 165
Par adigm Shif t s (Comput er s) Par adigm Shif t s (Comput er s)
I t hink t her e is a wor ld I t hink t her e is a wor ld
mar ket f or maybe f ive mar ket f or maybe f ive
comput er s. comput er s.
Thomas Wat son, Chair man of Thomas Wat son, Chair man of I BM I BM, ,
1943. 1943.
But what is it good f or ? But what is it good f or ?
Advanced Comput ing Syst ems Advanced Comput ing Syst ems
Division of Division of I BM I BM engineer on t he engineer on t he
micr ochip, 1968. micr ochip, 1968.
Ther e is no Ther e is no
r eason anyone r eason anyone
would want a would want a
comput er in t heir comput er in t heir
home. home.
Ken Olson, Pr esident , Ken Olson, Pr esident ,
Chair man and Founder of Chair man and Founder of
Digit al Equipment Digit al Equipment
Cor por at ion Cor por at ion, 1977 , 1977
M. A. El-Sharkawi, BIA 166
Paradigm Shifts (Computing) Paradigm Shifts (Computing)
640 K ought to be enough for anybody. 640 K ought to be enough for anybody.
Bill Gates, 1981. Bill Gates, 1981.
M. A. El-Sharkawi, BIA 167
Remar ks
! BI A is t he wave of t he
f ut ur e.
Simplicit y and power of BI A
! The key t est is in t he
applicat ions.
! Sever al indust r ial
applicat ions and consumer
pr oduct s ar e equipped wit h
BI A based syst ems
M. A. El-Sharkawi, BIA 168
Real Test
! When saf et y is a concer n, BI A
may not be a st and- alone syst em.
St abil it y, r eliabil it y and availabi lit y of BI A can not ,
so f ar , be ver if ied by a closed f or m mat hemat i cs.
I f t he cont r ol br eakdown r esult s in saf et y hazar d, or
may lead t o expensive r epair
! For t hese syst ems, classical syst ems is pr obably
t he met hod of choice by most engineer s.
M. A. El-Sharkawi, BIA 169
Finis
Finis