“I would like to thank flocks, herds, and schools for existing: nature is the ultimate source of inspiration for computer graphics and animation.” in Craig Reynolds, “Flocks, Herds, and Schools: A Distributed Behavioral Model“, (paper link) published in Computer Graphics, 21(4), July 1987, pp. 25-34. (ACM SIGGRAPH ’87 Conference Proceedings, Anaheim, California, July 1987.)
“There is an entire genealogy to be written from the point of view of the challenge posed by insect coordination, by “swarm intelligence.” Again and again, poetic, philosophical, and biological studies ask the same question: how does this “intelligent,” global organization emerge from a myriad of local, “dumb” interactions?” — Alex Galloway and Eugene Thacker, The Exploit.
[...] The interest in swarms was intimately connected to the research on emergence and “superorganisms” that arose during the early years of the twentieth century, especially in the 1920s. Even though the author of the notion of superorganisms was the now somewhat discredited writer Herbert Spencer,63 who introduced it in 1898, the idea was fed into contemporary discourse surrounding swarms and emergence through myrmecologist William Morton Wheeler. In 1911 Wheeler had published his classic article “The Ant Colony as an Organism” (in Journal of Morphology), and similar interests continued to be expressed in his subsequent writings. His ideas became well known in the 1990s in discussions concerning artificial life and holistic swarm-like organization. For writers such as Kevin Kelly, mentioned earlier in this chapter, Wheeler’s ideas regarding superorganisms stood as the inspiration for the hype surrounding emergent behavior.64 Yet the actual context of his paper was a lecture given at the Marine Biological Laboratory at Woods Hole in 1910.65 As Charlotte Sleigh points out, Wheeler saw himself as continuing the work of holistic philosophers, and later, in the 1910s and 1920s, found affinities with Bergson’s philosophy of temporality as well.66 In 1926, when emergence had already been discussed in terms of, for example, emergent evolution, evolutionary naturalism, creative synthesis, organicism, and emergent vitalism, Wheeler noted that this phenomenon seemed to challenge the basic dualisms of determinism versus freedom, mechanism versus vitalism, and the many versus the one.67 An animal phenomenon thus presented a crisis for the fundamental philosophical concepts that did not seem to apply to such a transversal mode of organization, or agencement to use the term that Wheeler coined. It was a challenge to philosophy and simultaneously to the physical, chemical, psychological, and social sciences, a phenomenon that seemed to cut through these seemingly disconnected spheres of reality.
In addition to Wheeler, one of the key writers on emergence – again also for Kelly in his Out of Control 68 – was C. Lloyd Morgan, whose Emergent Evolution (1927) proposed to see evolution in terms of emergent “relatedness”. Drawing on Bergson and Whitehead, Morgan rejected a mechanistic dissecting view that the interactions of entities “whether physical or mental” always resulted only in “mixings” that could be seen beforehand. Instead he proposed that the continuity of the mechanistic relations were supplemented with sudden changes at times. At times reminiscent of Lucretius’s view that there is a basic force, clinamen, that is the active differentiating principle of the world, Morgan focused on how qualitative changes in direction could affect the compositions and aggregates. He was interested in the question of the new and how novelty is possible. In his curious modernization of Spinoza, Morgan argued for the primacy of relations – or “relatedness,” to be accurate.69 Instead of speaking of agencies or activities, which implied a self-enclosed view of interactions, in Emergent Evolution Morgan propagated in a way an ethological view of the world. Entities and organisms are characterized by relatedness, the tendency to relate to their environment and, for example, other organisms. So actually, what emerge are relations:
“If it be asked: What is it that you claim to be emergent? the brief reply is: Some new kind of relation. Revert to the atom, the molecule, the thing (e.g. a crystal), the organism, the person. At each ascending step there is a new entity in virtue of some new kind of relation, or set of relations, within it, or, as I phrase it, intrinsic to it. Each exhibits also new ways of acting on, and reacting to, other entities. There are new kinds of extrinsic relatedness“.70
The evolutionary levels of mind, life, and matter are in this scheme intimately related, with the lower levels continuously affording the emergence of so-called higher functions, like those of humans. Different levels of relatedness might not have any understanding of the relations that define other levels of existence, but still these other levels with their relations affect the other levels. Morgan tried, nonetheless, to steer clear of the idealistic notions of humanism that promoted the human mind as representing a superior stage in emergence. His stance was much closer to a certain monism in which mind and matter are continuously in some kind of intimate correspondence whereby even the simplest expressions of life participate in a wider field of relatedness. In Emergent Evolution Morgan described relations as completely concrete. He emphasized that the issue is not only about relations in terms but as much about terms in relation, with concrete situations, or events, stemming from their relations.71 In a way, other views on emergence put similar emphasis on the priority of relations, expressing a kind of radical empiricism in the vein of William James. Drawing on E. G. Spaulding’s 1918 study The New Rationalism, Wheeler noted the unpredictable potentials in connectionism: a connected whole is more than (or at least nor reducible to) its constituent parts, implying the impossibility to find causal determination of aggregates. Whereas existing sciences might be able to recognize and track down certain relationships that they have normalized or standardized, the relations might still produce properties that are beyond those of the initial conditions – and thus also demand a vector of analysis that parts from existing theories – dealing with properties that open up only in relation to themselves (as a “law unto themselves”). 72 Instead, a more complicated mode of development was at hand, in which aggregates, or agencements, simultaneously involved various levels of reality. This also implied that aggregates, emergent orders, have no one direction but are constituted of relations that extend in various directions:
“We must also remember that most authors artificially isolate the emergent whole and fail to emphasize the fact that its parts have important relations not only with one another but also with the environment and that these external relations may contribute effectively towards producing both the whole and its novelty“.73 [...]
in (passage from), Jussi Parikka, “Insect Media: An Archaeology of Animals and Technology“, Chapter II – Genesis of Form: Insect Architecture and Swarms, (section) Emergence and Relatedness: A Radical Empiricism – take one, pp. 51-53, University of Minnesota Press, Minneapolis, 2011.
“I saw them hurrying from either side, and each shade kissed another, without pausing; Each by the briefest society satisfied. (Ants in their dark ranks, meet exactly so, rubbing each other’s noses, to ask perhaps; What luck they’ve had, or which way they should go.)” — Dante, Purgatorio, Canto XXVI.
Video documentary: A 15-minute program produced from February 1949 to April 1952, Kieran’s Kaleidoscope presented its writer and host in his well-acquainted role as the learned and witty guide to the complexities of human knowledge (Production Company: Almanac Films). This is probably the most genuinely entertaining of all the John Kieran‘s Kaleidoscope films. On Ant City (1949) [Internet Archive] produced by Paul F. Moss, the poor ants are anthropomorphized to the nth degree; we even hear the Wedding March when the “queen” and her drone fly away from the nest. Kieran‘s patter has never been more meandering; he sounds like a befuddled uncle narrating home movies. Clumsy but enjoyable.
[...] In conclusion, much elegant work has been done starting from activated mono-nucleotides. However, the prebiotic synthesis of a specific macromolecular sequence does not seem to be at hand, giving us the same problem we have with polypeptide sequences. Since there is no ascertained prebiotic pathway to their synthesis, it may be useful to try to conceive some working hypothesis. In order to do that, I would first like to consider a preliminary question about the proteins we have on our Earth: “Why these proteins … and not other ones?”. Discussing this question can in fact give us some clue as to how orderly sequences might have originated. [...] A grain of sand in the Sahara – This is indeed a central question in our world of proteins. How have they been selected out? There is a well-known arithmetic at the basis of this question, (see for example De Duve, 2002) which says that for a polypeptide chain with 100 residues, 20^100 different chains are in principle possible: a number so large that it does not convey any physical meaning. In order to grasp it somewhat, consider that the proteins existing on our planet are of the order of a few thousand billions, let us say around 10^13 (and with all isomers and mutations we may arrive at a few orders of magnitude more). This sounds like a large number. However, the ratio between the possible (say 20^100) and the actual chains (say 10^15) corresponds approximately to the ratio between the radius of the universe and the radius of a hydrogen atom! Or, to use another analogy, nearer to our experience, a ratio many orders of magnitude greater than the ratio between all the grains of sand in the vast Sahara and a single grain. The space outside “our atom”, or our grain of sand, is the space of the “never-born proteins”, the proteins that are not with us – either because they didn’t have the chance to be formed, or because they “came” and were then obliterated. This arithmetic, although trivial, bears an important message: in order to reproduce our proteins we would have to hit the target of that particular grain of sand in the whole Sahara. Christian De Duve, in order to avoid this “sequence paradox” (De Duve, 2002), assumes that all started with short polypeptides – and this is in fact reasonable. However, the theoretically possible total number of long chains does not change if you start with short peptides instead of amino acids. The only way to limit the final number of possible chains would be to assume, for example, that peptide synthesis started only under a particular set of conditions of composition and concentration, thus bringing contingency into the picture. As a corollary, then, this set of proteins born as a product of contingency would have been the one that happened to start life. Probably there is no way of eliminating contingency from the aetiology of our set of proteins. [...]
Figure – The ratio between the theoretical number of possible proteins and their actual number is many orders of magnitude greater than the ratio between all sand of the vast Sahara and a single grain of sand (caption on page 69).
[...] The other objection to the numerical meaning suggested by Figure (above) is that the maximum number of proteins is much smaller because a great number of chain configurations are prohibited for energetic reasons. This is reasonable. Let us then assume that 99.9999% of theoretically possible protein chains cannot exist because of energy reasons. This would leave only one protein out of one million, reducing the number of never-born proteins from, say, 10^60 to 10^54. Not a big deal. Of course one could also assume that the total number of energetically allowed proteins is extremely small, no larger than, say, 10^10. This cannot be excluded a priori, but is tantamount to saying that there is something very special about “our” proteins, namely that they are energetically special. Whether or not this is so can be checked experimentally as will be seen later in a research project aimed at this target. The assumption that “our” proteins have something special from the energetic point of view, would correspond to a strict deterministic view that claims that the pathway leading to our proteins was determined, that there was no other possible route. Someone adhering strictly to a biochemical anthropic principle might even say that these proteins are the way they are in order to allow life and the development of mankind on Earth. The contingency view would recite instead the following: if our proteins or nucleic acids have no special properties from the point of view of thermodynamics, then run the tape again and a different “grain of sand” might be produced – one that perhaps would not have supported life. Some may say at this point that proteins derive in any case from nucleic-acid templates – perhaps through a primitive genetic code. However, this is really no argument – it merely shifts the problem of the etiology of peptide chains to etiology of oligonucleotide chains, all arithmetic problems remaining more or less the same. [...] pp. 68-70, in Pier Luigi Luisi, “The Emergence of Life: From Chemical Origins to Synthetic Biology“, Cambridge University Press, US, 2006.
Ever tried to solve a problem where its own problem statement is changing constantly? Have a look on our approach:
Vitorino Ramos, David M.S. Rodrigues, Jorge Louçã, “Spatio-Temporal Dynamics on Co-Evolved Stigmergy“, in European Conference on Complex Systems, ECCS’11, Vienna, Austria, Sept. 12-16 2011.
Abstract: Research over hard NP-complete Combinatorial Optimization Problems (COP’s) has been focused in recent years, on several robust bio-inspired meta-heuristics, like those involving Evolutionary Computation (EC) algorithmic paradigms. One particularly successful well-know meta-heuristic approach is based on Swarm Intelligence (SI), i.e., the self-organized stigmergic-based property of a complex system whereby the collective behaviors of (unsophisticated) entities interacting locally with their environment cause coherent functional global patterns to emerge. This line of research recognized as Ant Colony Optimization (ACO), uses a set of stochastic cooperating ant-like agents to find good solutions, using self-organized stigmergy as an indirect form of communication mediated by artificial pheromone, whereas agents deposit pheromone-signs on the edges of the problem-related graph complex network, encompassing a family of successful algorithmic variations such as: Ant Systems (AS), Ant Colony Systems (ACS), Max-Min Ant Systems (Max-Min AS) and Ant-Q.
Albeit being extremely successful these algorithms mostly rely on positive feedback’s, causing excessive algorithmic exploitation over the entire combinatorial search space. This is particularly evident over well known benchmarks as the symmetrical Traveling Salesman Problem (TSP). Being these systems comprised of a large number of frequently similar components or events, the principal challenge is to understand how the components interact to produce a complex pattern feasible solution (in our case study, an optimal robust solution for hard NP-complete dynamic TSP-like combinatorial problems). A suitable approach is to first understand the role of two basic modes of interaction among the components of Self-Organizing (SO) Swarm-Intelligent-like systems: positive and negative feedback. While positive feedback promotes a snowballing auto-catalytic effect (e.g. trail pheromone upgrading over the network; exploitation of the search space), taking an initial change in a system and reinforcing that change in the same direction as the initial deviation (self-enhancement and amplification) allowing the entire colony to exploit some past and present solutions (environmental dynamic memory), negative feedback such as pheromone evaporation ensure that the overall learning system does not stables or freezes itself on a particular configuration (innovation; search space exploration). Although this kind of (global) delayed negative feedback is important (evaporation), for the many reasons given above, there is however strong assumptions that other negative feedbacks are present in nature, which could also play a role over increased convergence, namely implicit-like negative feedbacks. As in the case for positive feedbacks, there is no reason not to explore increasingly distributed and adaptive algorithmic variations where negative feedback is also imposed implicitly (not only explicitly) over each network edge, while the entire colony seeks for better answers in due time.
In order to overcome this hard search space exploitation-exploration compromise, our present algorithmic approach follows the route of very recent biological findings showing that forager ants lay attractive trail pheromones to guide nest mates to food, but where, the effectiveness of foraging networks were improved if pheromones could also be used to repel foragers from unrewarding routes. Increasing empirical evidences for such a negative trail pheromone exists, deployed by Pharaoh’s ants (Monomorium pharaonis) as a ‘no entry‘ signal to mark unrewarding foraging paths. The new algorithm comprises a second order approach to Swarm Intelligence, as pheromone-based no entry-signals cues, were introduced, co-evolving with the standard pheromone distributions (collective cognitive maps) in the aforementioned known algorithms.
To exhaustively test his adaptive response and robustness, we have recurred to different dynamic optimization problems. Medium-size and large-sized dynamic TSP problems were created. Settings and parameters such as, environmental upgrade frequencies, landscape changing or network topological speed severity, and type of dynamic were tested. Results prove that the present co-evolved two-type pheromone swarm intelligence algorithm is able to quickly track increasing swift changes on the dynamic TSP complex network, compared to standard algorithms.
Keywords: Self-Organization, Stigmergy, Co-Evolution, Swarm Intelligence, Dynamic Optimization, Foraging, Cooperative Learning, Combinatorial Optimization problems, Dynamical Symmetrical Traveling Salesman Problems (TSP).

Fig. – Recovery times over several dynamical stress tests at the fl1577 TSP problem (1577 node graph) – 460 iter max – Swift changes at every 150 iterations (20% = 314 nodes, 40% = 630 nodes, 60% = 946 nodes, 80% = 1260 nodes, 100% = 1576 nodes). [click to enlarge]
David M.S. Rodrigues, Jorge Louçã, Vitorino Ramos, “From Standard to Second Order Swarm Intelligence Phase-space maps“, in European Conference on Complex Systems, ECCS’11, Vienna, Austria, Sept. 12-16 2011.
Abstract: Standard Stigmergic approaches to Swarm Intelligence encompasses the use of a set of stochastic cooperating ant-like agents to find optimal solutions, using self-organized Stigmergy as an indirect form of communication mediated by a singular artificial pheromone. Agents deposit pheromone-signs on the edges of the problem-related graph to give rise to a family of successful algorithmic approaches entitled Ant Systems (AS), Ant Colony Systems (ACS), among others. These mainly rely on positive feedback’s, to search for an optimal solution in a large combinatorial space. The present work shows how, using two different sets of pheromones, a second-order co-evolved compromise between positive and negative feedback’s achieves better results than single positive feedback systems. This follows the route of very recent biological findings showing that forager ants, while laying attractive trail pheromones to guide nest mates to food, also gained foraging effectiveness by the use of pheromones that repelled foragers from unrewarding routes. The algorithm presented here takes inspiration precisely from this biological observation.
The new algorithm was exhaustively tested on a series of well-known benchmarks over hard NP-complete Combinatorial Optimization Problems (COP’s), running on symmetrical Traveling Salesman Problems (TSP). Different network topologies and stress tests were conducted over low-size TSP’s (eil51.tsp; eil78.tsp; kroA100.tsp), medium-size (d198.tsp; lin318.tsp; pcb442.tsp; att532.tsp; rat783.tsp) as well as large sized ones (fl1577.tsp; d2103.tsp) [numbers here referring to the number of nodes in the network]. We show that the new co-evolved stigmergic algorithm compared favorably against the benchmark. The algorithm was able to equal or majorly improve every instance of those standard algorithms, not only in the realm of the Swarm Intelligent AS, ACS approach, as in other computational paradigms like Genetic Algorithms (GA), Evolutionary Programming (EP), as well as SOM (Self-Organizing Maps) and SA (Simulated Annealing). In order to deeply understand how a second co-evolved pheromone was useful to track the collective system into such results, a refined phase-space map was produced mapping the pheromones ratio between a pure Ant Colony System (where no negative feedback besides pheromone evaporation is present) and the present second-order approach. The evaporation rate between different pheromones was also studied and its influence in the outcomes of the algorithm is shown. A final discussion on the phase-map is included. This work has implications in the way large combinatorial problems are addressed as the double feedback mechanism shows improvements over the single-positive feedback mechanisms in terms of convergence speed and on major results.
Keywords: Stigmergy, Co-Evolution, Self-Organization, Swarm Intelligence, Foraging, Cooperative Learning, Combinatorial Optimization problems, Symmetrical Traveling Salesman Problems (TSP), phase-space.
Fig. – Comparing convergence results between Standard algorithms vs. Second Order Swarm Intelligence, over TSP fl1577 (click to enlarge).
Picture – (click to enlarge) We all are on a huge spacecraft full of water, … the big blue marble. The new OMEGA watch campaign, Planet Ocean, features a giant swarm of sardines in deep blue ocean along with a well known quote from Buzz Aldrin, the astronaut (Wien, Sept. 2011).
“Standing on the Moon looking back at Earth – this lovely place you just came from – you see all the colours, and you know what they represent. Having left the water planet, with all that water brings to Earth in terms of colour and abudance life, the absence of water and atmosphere on the desolate surface of the Moon gives rise to a stark contrast.”, ~ Buzz Aldrin, astronaut.
Darwin by Peter Greenaway (1993) – Although British director Peter Greenaway is best known for feature films like The Cook, the Thief, His Wife and Her Lover, Prospero’s Books, and The Pillow Book, he has also completed several highly respected projects for television, including this 53-minute exploration (now free) of the life and work of Charles Darwin. Darwin is structured around 18 separate tableaux, each focusing on another chapter in the naturalist’s life, and each consisting of just one long uninterrupted shot. Other than the narrator’s voice-over, there is no dialogue.

















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