Embodied Computational Evolution: Feedback Between Development and Evolution in Simulated Biorobots.

Given that selection removes genetic variance from evolving populations, thereby reducing exploration opportunities, it is important to find mechanisms that create genetic variation without the disruption of adapted genes and genomes caused by random mutation. Just such an alternative is offered by random epigenetic error, a developmental process that acts on materials and parts expressed by the genome. In this system of embodied computational evolution, simulated within a physics engine, epigenetic error was instantiated in an explicit genotype-to-phenotype map as transcription error at the initiation of gene expression. The hypothesis was that transcription error would create genetic variance by shielding genes from the direct impact of selection, creating, in the process, masquerading genomes. To test this hypothesis, populations of simulated embodied biorobots and their developmental systems were evolved under steady directional selection as equivalent rates of random mutation and random transcriptional error were covaried systematically in an 11 × 11 fully factorial experimental design. In each of the 121 different experimental conditions (unique combinations of mutation and transcription error), the same set of 10 randomly created replicate populations of 60 individuals were evolved. Selection for the improved locomotor behavior of individuals led to increased mean fitness of populations over 100 generations at nearly all levels and combinations of mutation and transcription error. When the effects of both types of error were partitioned statistically, increasing transcription error was shown to increase the final genetic variance of populations, incurring a fitness cost but acting on variance independently and differently from genetic mutation. Thus, random epigenetic errors in development feed back through selection of individuals with masquerading genomes to the population's genetic variance over generational time. Random developmental processes offer an additional mechanism for exploration by increasing genetic variation in the face of steady, directional selection.

Morphological Evolution: Bioinspired Methods for Analyzing Bioinspired Robots.

To fully understand the evolution of complex morphologies, analyses cannot stop at selection: It is essential to investigate the roles and interactions of multiple processes that drive evolutionary outcomes. The challenges of undertaking such analyses have affected both evolutionary biologists and evolutionary roboticists, with their common interests in complex morphologies. In this paper, we present analytical techniques from evolutionary biology, selection gradient analysis and morphospace walks, and we demonstrate their applicability to robot morphologies in analyses of three evolutionary mechanisms: randomness (genetic mutation), development (an explicitly implemented genotype-to-phenotype map), and selection. In particular, we applied these analytical techniques to evolved populations of simulated biorobots-embodied robots designed specifically as models of biological systems, for the testing of biological hypotheses-and we present a variety of results, including analyses that do all of the following: illuminate different evolutionary dynamics for different classes of morphological traits; illustrate how the traits targeted by selection can vary based on the likelihood of random genetic mutation; demonstrate that selection on two selected sets of morphological traits only partially explains the variance in fitness in our biorobots; and suggest that biases in developmental processes could partially explain evolutionary dynamics of morphology. When combined, the complementary analytical approaches discussed in this paper can enable insight into evolutionary processes beyond selection and thereby deepen our understanding of the evolution of robotic morphologies.

Herbivore diet breadth mediates the cascading effects of carnivores in food webs.

Predicting the impact of carnivores on plants has challenged community and food web ecologists for decades. At the same time, the role of predators in the evolution of herbivore dietary specialization has been an unresolved issue in evolutionary ecology. Here, we integrate these perspectives by testing the role of herbivore diet breadth as a predictor of top-down effects of avian predators on herbivores and plants in a forest food web. Using experimental bird exclosures to study a complex community of trees, caterpillars, and birds, we found a robust positive association between caterpillar diet breadth (phylodiversity of host plants used) and the strength of bird predation across 41 caterpillar and eight tree species. Dietary specialization was associated with increased enemy-free space for both camouflaged (n = 33) and warningly signaled (n = 8) caterpillar species. Furthermore, dietary specialization was associated with increased crypsis (camouflaged species only) and more stereotyped resting poses (camouflaged and warningly signaled species), but was unrelated to caterpillar body size. These dynamics in turn cascaded down to plants: a metaanalysis (n = 15 tree species) showed the beneficial effect of birds on trees (i.e., reduced leaf damage) decreased with the proportion of dietary specialist taxa composing a tree species' herbivore fauna. We conclude that herbivore diet breadth is a key functional trait underlying the trophic effects of carnivores on both herbivores and plants.

A multiple time-scale computational model of a tumor and its micro environment.

Experimental evidence suggests that a tumor's environment may be critical to designing successful therapeutic protocols: Modeling interactions between a tumor and its environment could improve our understanding of tumor growth and inform approaches to treatment. This paper describes an efficient, flexible, hybrid cellular automaton-based implementation of numerical solutions to multiple time-scale reaction-diffusion equations, applied to a model of tumor proliferation. The growth and maintenance of cells in our simulation depend on the rate of cellular energy (ATP) metabolized from nearby nutrients such as glucose and oxygen. Nutrient consumption rates are functions of local pH as well as local concentrations of oxygen and other fuels. The diffusion of these nutrients is modeled using a novel variation of random-walk techniques. Furthermore, we detail the effects of three boundary update rules on simulations, describing their effects on computational efficiency and biological realism. Qualitative and quantitative results from simulations provide insight on how tumor growth is affected by various environmental changes such as micro-vessel density or lower pH, both of high interest in current cancer research.