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//**************************************************************
// File: A1_reactive_experiments.sci
// Authors: Gerd Doeben-Henisch
// Version Start: May-18, 2010
//---------------------------------
// Last: Nov-26, 2012, 21:44h
//
//**********************************************************
// Diary:
//******************************************************************
// CONTENT:
// environment_v5.sci := Framework to generate an environment
// A1_reactive_experiments.sci := Framework to start and stop experiments
// A1_reactive_19Nov2012.sci := Structure of an ANIMAT2
// A1_reactive_functions.sci := Collection of those functions which define the behavior of an ANIMAT
//
// APPLICATION
//
// (1) Generate an environment
// (2) Define an experiment
// (3) Run the experiment
//******************************************************************************
// liveR2()
//
//Running a simple experiment with a given number of RUNS
function [ANIMAT,HISTORY,GRID,FOOD]=liveR2(ANIMAT,X,Y,GRID, RUNS,SHOW,ACTDEPTH, CLASSIF,FOODIDX, VTHRESHOLD)
if (RUNS<0) then error('RUNS is not specified'),end
//SET GLOBAL VARIABLES AS START VALUES
HISTORY=[]
ANIMAT(1)=X
ANIMAT(2)=Y
ANIMAT(3)= FOODIDX //Initial Value FOODIDX
ANIMAT(4)=0
ANIMAT(5)= 0
ANIMAT(6)=1 //At start time the ANIMAT is supposed to be active
ANIMAT(7)=[]
ANIMAT(9)=ACTDEPTH //length of oldactions
ANIMAT(10)=FOODIDX
ANIMAT(12)=VTHRESHOLD //Schwellwert
ANIMAT(13)=[]
ANIMAT(14)=[]
MATCHSET=[]
ACTIONSET=[]
//Set all Feedback Values of CLASSIF to '000'
[ANIMAT]=zeroCLASSIFFEEDB(ANIMAT,CLASSIF)
//Set OLDACTIONS to a predefined value
[ANIMAT, OLDACTIONS]=oldActZero(ANIMAT,OLDACTIONS)
f=1 //Index to store in which cycle food has been found
FOOD=[] //Storage for differences
FOLD=0
FNEW=0
[YMAX,XMAX]= size(GRID)
//printf("DIMENSION OF GRID - ROWS = %d, COLUMNS = %d\n\n",ZMAX,XMAX)
k=1
while(k < RUNS+1),
// if (SHOW==1) then
printf("-----CYCLE %d---------------------------------------------------\n\n",k)
// end
// (1) Get actual position (XO,YO) from Animat
// Is given with argument ANIMAT(1) = rows and ANIMAT(2) = columns
XO= ANIMAT(1)
YO= ANIMAT(2)
// Insert ANIMAT into GRID
REPLACE=GRID(YO,XO)
GRID(YO,XO)='*'
// if (SHOW==1) then
disp(GRID),
// end
// Get SENSINPUT as string: PERC
[PERC]=ainp(YO,XO,GRID,SHOW)
//Select MATCHSET for PERC and VITAL
MATCHSET=ANIMAT(13)
[ANIMAT,MATCHSET]=selectM(ANIMAT, CLASSIF,PERC,MATCHSET,SHOW)
// Generate candidates for ACTion out of MATCHSET
// CAND are the classifiers selected
// IDXM is a randomly generated index into CAND
// Select ACTion
VITAL=ANIMAT(6)
if VITAL==0 then [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDfood(MATCHSET,SHOW)
else [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDpath(MATCHSET,SHOW)
end
//Delete ANIMAT in GRID
GRID(YO,XO)=REPLACE
//Generate new move
[YN, XN]=aout(ACT,SHOW, YO, XO)
ANIMAT(1)=XN, ANIMAT(2)=YN
if (SHOW==1) then
printf("liveR2: NEW POSITION PROPOSED=(YN,XN)= (%d, %d)\n\n",YN,XN),
end
// Decode the content of new position
[CELLVALUE]=decode(YN,XN,GRID,SHOW)
if (SHOW==5) then,
printf("CONTENT OF NEW POSITION= %s\n\n",CELLVALUE),
end
// Impact of perception onto ENERGY
[ANIMAT]=impact(CELLVALUE,ANIMAT,SHOW)
printf("ENERGY = %d, VITAL = %d\n",ANIMAT(3),ANIMAT(6))
// Compute Feedback of REW for last action ACT
[ANIMAT,OLDACTIONS]=manageOldActs(IDXM,CAND,OLDACTIONS,ACTIONSET,ANIMAT,FOODIDX,MAXREWARD)
// UPDATE HISTORY
[HISTORY]=updateHIST(HISTORY,k, CELLVALUE,XN,YN,ANIMAT)
//Update while loop
k=k+1,
end
disp(HISTORY)
[FOOD]=food(HISTORY,RUNS)
//if (SHOW==1) then
printf("ENERGY = %d,\n MEAN NUMNER OF ACTIONS = %f\n DENSITY OF FOODDETECTION = %f \n",ANIMAT(3),FOOD(4), FOOD(3))
// end
endfunction
//******************************************************************************
// liveR3()
//
//Running a simple experiment with a a defined end
// If the 'end' occurs then the experiment stops
// Here we use as an 'end' criterium the eating of food
function [ANIMAT,HISTORY,GRID,FOOD,k]=liveR3(ANIMAT,X,Y,GRID,SHOW,ACTDEPTH, CLASSIF,FOODIDX, VTHRESHOLD)
//SET GLOBAL VARIABLES AS START VALUES
HISTORY=[]
ANIMAT(1)=X
ANIMAT(2)=Y
ANIMAT(3)= FOODIDX //Initial Value FOODIDX
ANIMAT(4)=0
ANIMAT(5)= 0
ANIMAT(6)=1 //At start time the ANIMAT is supposed to be active
ANIMAT(7)=[]
ANIMAT(9)=ACTDEPTH //length of oldactions
ANIMAT(10)=FOODIDX
ANIMAT(12)=VTHRESHOLD //Schwellwert
ANIMAT(13)=[]
ANIMAT(14)=[]
MATCHSET=[]
ACTIONSET=[]
//Set all Feedback Values of CLASSIF to '000'
[ANIMAT]=zeroCLASSIFFEEDB(ANIMAT,CLASSIF)
//Set OLDACTIONS to a predefined value
[ANIMAT, OLDACTIONS]=oldActZero(ANIMAT,OLDACTIONS)
f=1 //Index to store in which cycle food has been found
FOOD=[] //Storage for differences
FOLD=0
FNEW=0
[YMAX,XMAX]= size(GRID)
//printf("DIMENSION OF GRID - ROWS = %d, COLUMNS = %d\n\n",ZMAX,XMAX)
ENDE=0
k=1
while(ENDE==0),
// if (SHOW==1) then
printf("-----CYCLE %d---------------------------------------------------\n\n",k)
// end
// (1) Get actual position (XO,YO) from Animat
// Is given with argument ANIMAT(1) = rows and ANIMAT(2) = columns
XO= ANIMAT(1)
YO= ANIMAT(2)
// Insert ANIMAT into GRID
REPLACE=GRID(YO,XO)
GRID(YO,XO)='*'
// if (SHOW==1) then
disp(GRID),
// end
// Get SENSINPUT as string: PERC
[PERC]=ainp(YO,XO,GRID,SHOW)
//Select MATCHSET for PERC and VITAL
MATCHSET=ANIMAT(13)
[ANIMAT,MATCHSET]=selectM(ANIMAT, CLASSIF,PERC,MATCHSET,SHOW)
// Generate candidates for ACTion out of MATCHSET
// CAND are the classifiers selected
// IDXM is a randomly generated index into CAND
// Select ACTion
VITAL=ANIMAT(6)
if VITAL==0 then [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDfood(MATCHSET,SHOW)
else [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDpath(MATCHSET,SHOW)
end
//Delete ANIMAT in GRID
GRID(YO,XO)=REPLACE
//Generate new move
[YN, XN]=aout(ACT,SHOW, YO, XO)
ANIMAT(1)=XN, ANIMAT(2)=YN
if (SHOW==1) then
printf("liveR2: NEW POSITION PROPOSED=(YN,XN)= (%d, %d)\n\n",YN,XN),
end
// Decode the content of new position
[CELLVALUE]=decode(YN,XN,GRID,SHOW)
if (SHOW==5) then,
printf("CONTENT OF NEW POSITION= %s\n\n",CELLVALUE),
end
// Impact of perception onto ENERGY
[ANIMAT]=impact(CELLVALUE,ANIMAT,SHOW)
if ANIMAT(15)==1 then ENDE=1
end
printf("ENERGY = %d, VITAL = %d\n",ANIMAT(3),ANIMAT(6))
// Compute Feedback of REW for last action ACT
[ANIMAT,OLDACTIONS]=manageOldActs(IDXM,CAND,OLDACTIONS,ACTIONSET,ANIMAT,FOODIDX,MAXREWARD,SHOW)
// UPDATE HISTORY
[HISTORY]=updateHIST(HISTORY,k, CELLVALUE,XN,YN,ANIMAT)
//Update while loop
k=k+1,
end
disp(HISTORY)
[FOOD]=food(HISTORY,k)
//if (SHOW==1) then
printf("ENERGY = %d,\n MEAN NUMNER OF ACTIONS = %f\n DENSITY OF FOODDETECTION = %f \n",ANIMAT(3),FOOD(4), FOOD(3))
// end
endfunction
//******************************************************************************
// liveR4()
//
//Running a simple experiment with a a defined end
// If the 'end' occurs then the experiment stops
// Here we use as an 'end' criterium the eating of food
// This version is for repetitions!
function [ANIMAT,HISTORY,GRID,FOOD]=liveR4(ANIMAT,X,Y,GRID,SHOW,ACTDEPTH, CLASSIF,FOODIDX, VTHRESHOLD)
//SET GLOBAL VARIABLES AS START VALUES
HISTORY=[]
ANIMAT(1)=X
ANIMAT(2)=Y
ANIMAT(3)= FOODIDX //Initial Value FOODIDX
ANIMAT(4)=0
ANIMAT(5)= 0
ANIMAT(6)=1 //At start time the ANIMAT is supposed to be active
ANIMAT(7)=[]
ANIMAT(9)=ACTDEPTH //length of oldactions
ANIMAT(10)=FOODIDX
ANIMAT(12)=VTHRESHOLD //Schwellwert
ANIMAT(13)=[]
ANIMAT(14)=[]
MATCHSET=[]
if MATCHSET==[] then
//Set OLDACTIONS to a predefined value
[ANIMAT, OLDACTIONS]=oldActZero(ANIMAT,OLDACTIONS)
end
f=1 //Index to store in which cycle food has been found
FOOD=[] //Storage for differences
FOLD=0
FNEW=0
[YMAX,XMAX]= size(GRID)
//printf("DIMENSION OF GRID - ROWS = %d, COLUMNS = %d\n\n",ZMAX,XMAX)
ENDE=0
k=1
while(ENDE==0),
// if (SHOW==1) then
printf("-----CYCLE %d---------------------------------------------------\n\n",k)
// end
// (1) Get actual position (XO,YO) from Animat
// Is given with argument ANIMAT(1) = rows and ANIMAT(2) = columns
XO= ANIMAT(1)
YO= ANIMAT(2)
// Insert ANIMAT into GRID
REPLACE=GRID(YO,XO)
GRID(YO,XO)='*'
// if (SHOW==1) then
disp(GRID),
// end
// Get SENSINPUT as string: PERC
[PERC]=ainp(YO,XO,GRID,SHOW)
//Select MATCHSET for PERC and VITAL
MATCHSET=ANIMAT(13)
[ANIMAT,MATCHSET]=selectM(ANIMAT, CLASSIF,PERC,MATCHSET,SHOW)
// Generate candidates for ACTion out of MATCHSET
// CAND are the classifiers selected
// IDXM is a randomly generated index into CAND
// Select ACTion
VITAL=ANIMAT(6)
if VITAL==0 then [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDfood(MATCHSET,SHOW)
else [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDpath(MATCHSET,SHOW)
end
//Delete ANIMAT in GRID
GRID(YO,XO)=REPLACE
//Generate new move
[YN, XN]=aout(ACT,SHOW, YO, XO)
ANIMAT(1)=XN, ANIMAT(2)=YN
if (SHOW==1) then
printf("liveR2: NEW POSITION PROPOSED=(YN,XN)= (%d, %d)\n\n",YN,XN),
end
// Decode the content of new position
[CELLVALUE]=decode(YN,XN,GRID,SHOW)
if (SHOW==5) then,
printf("CONTENT OF NEW POSITION= %s\n\n",CELLVALUE),
end
// Impact of perception onto ENERGY
[ANIMAT]=impact(CELLVALUE,ANIMAT,SHOW)
if ANIMAT(15)==1 then ENDE=1
end
printf("ENERGY = %d, VITAL = %d\n",ANIMAT(3),ANIMAT(6))
// Compute Feedback of REW for last action ACT
[ANIMAT,OLDACTIONS]=manageOldActs(IDXM,CAND,OLDACTIONS,ACTIONSET,ANIMAT,FOODIDX,MAXREWARD,SHOW)
// UPDATE HISTORY
[HISTORY]=updateHIST(HISTORY,k, CELLVALUE,XN,YN,ANIMAT)
//Update while loop
k=k+1,
end
disp(HISTORY)
[FOOD]=food(HISTORY,RUNS)
//if (SHOW==1) then
printf("ENERGY = %d,\n MEAN NUMNER OF ACTIONS = %f\n DENSITY OF FOODDETECTION = %f \n",ANIMAT(3),FOOD(4), FOOD(3))
// end
endfunction
//******************************************************************************
// liveR4()
//
//Running a simple experiment with a a defined end
// If the 'end' occurs then the experiment stops
// Here we use as an 'end' criterium the eating of food
// This version is for repetitions!
function [ANIMAT,HISTORY,GRID,FOOD,k]=liveR5(ANIMAT,X,Y,GRID,SHOW,ACTDEPTH, CLASSIF,FOODIDX, VTHRESHOLD)
//SET GLOBAL VARIABLES AS START VALUES
HISTORY=[]
ANIMAT(1)=X
ANIMAT(2)=Y
ANIMAT(3)= FOODIDX //Initial Value FOODIDX
ANIMAT(4)=0
ANIMAT(5)= 0
ANIMAT(6)=1 //At start time the ANIMAT is supposed to be active
ANIMAT(7)=[]
ANIMAT(9)=ACTDEPTH //length of oldactions
ANIMAT(10)=FOODIDX
ANIMAT(12)=VTHRESHOLD //Schwellwert
ANIMAT(13)=[]
ANIMAT(14)=[]
MATCHSET=[]
if MATCHSET==[] then
//Set OLDACTIONS to a predefined value
[ANIMAT, OLDACTIONS]=oldActZero(ANIMAT,OLDACTIONS)
end
f=1 //Index to store in which cycle food has been found
FOOD=[] //Storage for differences
FOLD=0
FNEW=0
[YMAX,XMAX]= size(GRID)
//printf("DIMENSION OF GRID - ROWS = %d, COLUMNS = %d\n\n",ZMAX,XMAX)
ENDE=0
k=1
while(ENDE==0),
// if (SHOW==1) then
printf("-----CYCLE %d---------------------------------------------------\n\n",k)
// end
// (1) Get actual position (XO,YO) from Animat
// Is given with argument ANIMAT(1) = rows and ANIMAT(2) = columns
XO= ANIMAT(1)
YO= ANIMAT(2)
// Insert ANIMAT into GRID
REPLACE=GRID(YO,XO)
GRID(YO,XO)='*'
// if (SHOW==1) then
disp(GRID),
// end
// Get SENSINPUT as string: PERC
[PERC]=ainp(YO,XO,GRID,SHOW)
//Select MATCHSET for PERC and VITAL
MATCHSET=ANIMAT(13)
[ANIMAT,MATCHSET]=selectM(ANIMAT, CLASSIF,PERC,MATCHSET,SHOW)
// Generate candidates for ACTion out of MATCHSET
// CAND are the classifiers selected
// IDXM is a randomly generated index into CAND
// Select ACTion
VITAL=ANIMAT(6)
if VITAL==0 then [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDfood(MATCHSET,SHOW)
else [IDXM,CAND, MATCHSET,ACTIONSET,ACT]=makeCANDpath(MATCHSET,SHOW)
end
//Delete ANIMAT in GRID
GRID(YO,XO)=REPLACE
//Generate new move
[YN, XN]=aout(ACT,SHOW, YO, XO)
ANIMAT(1)=XN, ANIMAT(2)=YN
if (SHOW==1) then
printf("liveR2: NEW POSITION PROPOSED=(YN,XN)= (%d, %d)\n\n",YN,XN),
end
// Decode the content of new position
[CELLVALUE]=decode(YN,XN,GRID,SHOW)
if (SHOW==5) then,
printf("CONTENT OF NEW POSITION= %s\n\n",CELLVALUE),
end
// Impact of perception onto ENERGY
[ANIMAT]=impact(CELLVALUE,ANIMAT,SHOW)
if ANIMAT(15)==1 then ENDE=1
end
printf("ENERGY = %d, VITAL = %d\n",ANIMAT(3),ANIMAT(6))
// Compute Feedback of REW for last action ACT
[ANIMAT,OLDACTIONS]=manageOldActs(IDXM,CAND,OLDACTIONS,ACTIONSET,ANIMAT,FOODIDX,MAXREWARD,SHOW)
// UPDATE HISTORY
[HISTORY]=updateHIST(HISTORY,k, CELLVALUE,XN,YN,ANIMAT)
//Update while loop
k=k+1,
end
disp(HISTORY)
[FOOD]=food(HISTORY,k)
//if (SHOW==1) then
printf("ENERGY = %d,\n MEAN NUMNER OF ACTIONS = %f\n DENSITY OF FOODDETECTION = %f \n",ANIMAT(3),FOOD(4), FOOD(3))
// end
endfunction