> ![](media/image1.png){width="1.5694444444444444in"
> height="2.1444444444444444in"}
>
> **Didier Keymeulen, Ph. D.**
>
> **Senior Member of Technical Staff**
>
> **Jet propulsion Laboratory, MS 303-300**
>
> **4800 Oak Grove Drive, Pasadena, CA 91006**
>
> **Phone: +1 (818) 354-4280**
>
> **Fax: +1 (818) 393-1545**

# Email: <Didier.keymeulen@jpl.nasa.gov>

Didier Keymeulen is a senior member of technical staff at JPL, Caltech,
Pasadena, CA.. His interests are in complex dynamical systems applied to
the design of adaptive embedded systems such as mobile robots. He was
the Belgium laureate of the Japanese JSPS Postdoctoral Fellowship for
Foreign Researchers and he was working at the Electrotechnical
Laboratory in the Evolvable Hardware group of Dr. Higuchi (Tsukuba,
Japan) before joining JPL. He obtained his M.Sc. and Ph.D. in Computer
Science and Engineering from the Artificial Intelligence Laboratory of
the Vrije Universiteit Brussel, Belgium. He has published more than 30
papers in journals and conferences in these areas.

**INTERNATIONAL RECOGNITION**

**Journals**

Member of the editorial Board of the *Journal of Genetic Programming and
Evolvable Machines*, Kluwer Academic.

**Conference/Workshop Chairs**

Co-chair, Program Co-chair and Chair for respectively the first, second
and third *NASA/DoD Workshop on Evolvable Hardware*, Pasadena (July
19-21, 1999), Palo Alto (July 13-15, 2000) and Long Beach (July 12-14,
2001)

Session chair at the first *NASA/JPL Workshop on Biomorphic Robotics*,
JPL (August 14-16, 2000)

**Conference/Workshop Program Committee**

Member of the Program Committee of *Genetic and Evolutionary Computation
Conference (GECCO)*, Florida, July 1999, Las Vegas, July 2000 and San
Francisco, July 2001.

Member of the Program Committee of the *International Conference on
Evolvable Systems: from Biology to Hardware (ICES)*, Edinburgh, April
2000.

Member of the Program Committee of the *IEEE Aerospace Conference*, Big
Sky, March 2000 and Big Sky, March 2001

Member of the Program Committee of the *European Conference on
Artificial Life (ECAL)*, Lausanne, Septembre 2000.

Member of the Program Committee of the *European Workshop on Genetic
Programming (EuroGP)*, Kinsale, Ireland, 2002.

Member of the Program Committee of the *Conference on Evolutionary
Computation (CEC2002)*, Honolulu, Hawaii, 2002.

**Invited Reviewers Journal**

*IEEE Transactions on CAD,* Giovanni De Micheli, Editor-in Chief. IEEE
Press

*New Generation Computing*, Hidehiko Tanaka, Editor-in Chief. Ohmsha,
Ltd. Press, Tokyo, Japan

*International Journal of Information, Education and Research in
Robotics and Artificial Intelligence,* J. Rose, Editor-in Chief.
Cambridge University Press, Lancs, UK

**PUBLICATIONS AT JPL (1998-current)**

### Journals/Books

**Evolvalbe Machine**

A.  Stoica, D. Keymeulen and Jason Lohn (eds.). *Proceedings of the
    First NASA/DoD Workshop on Evolvable Hardware*. Los Alamitos, CA
    90720, July 1999. IEEE computer Society Press.

J. Lohn, A. Stoica and D. Keymeulen (eds.). *Proceedings of the Second
NASA/DoD Workshop on Evolvable Hardware*. Los Alamitos, CA 90720, July
2000. IEEE computer Society Press

D. Keymeulen, A. Stoica, J. Lohn and R. Zebulum (eds.). *Proceedings of
the third NASA/DoD Workshop on Evolvable Hardware*. Los Alamitos, CA
90720, July 2001. IEEE computer Society Press

**Fault-Tolerant Systems**

D. Keymeulen, A. Stoica, R. Zebulum. Fault-Tolerant Evolvable Hardware
using Field Programmable Transistor Arrays. In *IEEE Transactions on
Reliability, Special Issue on Fault-Tolerant VLSI Sytsems*, vol. 49, No.
2, 2000 September. Piscataway, NJ, IEEE Press.

**Evolvable Analog/Digital Hardware**

A. Stoica, R. Zebulum, D. Keymeulen, R. Tawel, T. Daud and A. Thakoor.
Reconfigurable VLSI Architecture for Evolvable Hardware: From
Experimental Field Programmable Transistor Arrays to Evolution-Oriented
Chips. In *IEEE Transactions on Very Large Scale Integration,* Vol. 9,
N0. 1, February 2001. Piscataway, NJ, IEEE Press.

### Conference

**Evolutionary Computation**

D. Keymeulen, G. Klimeck, R. Zebulum, A. Stoica, and C. Lazaro. EHWPack:
A Parallel Software/Hardware Environment for Evolvable Hardware. In
Whitley Darrell (eds.), *Proceedings of the Genetic and Evolutionary
Computation Conference (GECCO-2000)*, July 8-12, 2000, Las Vegas, Nevada
USA. San Francisco, CA: Morgan Kaufmann.

D. Keymeulen, G. Klimeck, R. Zebulum, A. Stoica, Y. Jin, C. Lazaro.
EHWPack: an Evolvable Hardware Environment using the Spice Simulator and
the Field Programmable Transistor Array. In the *Proceedings of
ANNIE'2000 (Smart Enginering System Design)*, St. Louis, MO, November
5-8, 2000.

**Evolvable Analog/Digital Hardware**

A. Stoica, D. Keymeulen, C. Lazaro, W. Li, K. Hayworth, and R. Tawel.
Toward on-board synthesis and adaptation of electronic functions: An
evolvable hardware approach. In *Proceedings of the IEEE Aerospace
Conference,* 2408 Palm Avenue, Manhattan Beach, CA 90266, March 1999.
IEEE Press.

A. Stoica, C. Lazaro, D. Keymeulen, and K. Hayworth. Evolution of Cmos
circuits in simulations and directly in hardware on a programmable chip.
In *Proceedings of the Genetic and Evolutionary Computation Conference,*
445 Burgess Drive, Menlo Park, CA 94025, July 1999. AAAI Press.

A. Stoica, G. Klimeck, C. Lazaro, D. Keymeulen, and A. Thakoor.
Evolutionary design of electronic devices and circuit. In *Proceedings
of the 1999 Congress on Evolutionary Computation,* 2408 Palm Ave.,
Manhattan Beach, CA 90266, July 1999. IEEE Press.

A. Stoica, D. Keymeulen, R. Tawel, C. Lazaro and Wei-te Li. Evolutionary
experiments with a fine-grained reconfigurable architecture for analog
and digital CMOS circuits. In *Proceedings of the First NASA/DoD
Workshop on Evolvable Hardware.* pages 76-85, Los Alamitos, CA 90720,
July 1999. IEEE computer Society Press.

R. Zebulum, A. Stoica and D. Keymeulen. A Flexible Model of a CMOS Field
Programmable Transistor Array Targeted for Hardware Evolution. In
T.Fogarty. J. Miller, A. Thompson and P. Thompson, (eds.), *Proceedings
of the Third International Conference on Evolvable Systems: From Biology
to Hardware (ICES2000)*, April 17-19, 2000, Edinburgh, UK. New York,
USA, Springer Verlag.

A. Stoica, R. Zebulum and D. Keymeulen. Mixtrinsic Evolution. In T.
Fogarty, J. Miller, A. Thompson and P. Thompson, (eds.), *Proceedings of
the Third International Conference on Evolvable systems: From Biology to
Hardware (ICES2000)*, April 17-19, 2000, Edinburgh, UK. New York, USA,
Springer Verlag.

R. Zebulum, A. Stoica, D. Keymeulen. Design process of an evolutionary
oriented reconfigurable architecture. In Ali Zalzala(eds.), *Proceedings
of the Congress on Evolutionary Computation (CEC-2000)*, July 16-19,
2000, La Jolla, USA. Manhattan Beach, IEEE Press.

**Fault-Tolerant Systems**

A. Stoica, D. Keymeulen, V. Duong and C. Lazaro. Automatic Synthesis and
Fault-Tolerant Experiments on an Evolvable Hardware Platform. In R.
Profet, D. Woerner and R. Wright, (eds.), *Proceedings of IEEE Aerospace
Conference*, March 18-25, 2000, Big Sky, Montana, USA. Manhattan Beach,
CA: IEEE Press.

D. Keymeulen, A. Stoica, R. Zebulum, V. Duong. Results on the Fitness
and Population based Fault Tolerant Approaches using a Reconfigurable
Electronic Device. In Ali Zalzala (eds.), *Proceedings of the Congress
on Evolutionary Computation (CEC-2000)*, July 16-19, 2000, La Jolla,
USA. Manhattan Beach, IEEE Press

D. Keymeulen, A. Stoica, R. Zebulum, Y. Jin and V. Duong. Fault-Tolerant
Approaches based on Evolvable Hardware and using a Reconfigurable
Electronic Devices. In *Proceedings of the IEEE International Integrated
Reliability Workshop*, October 23-26, 2000, Lake Tahoe, CA, USA.
Manhattan Beach, CA: IEEE Press.

**Evolvable/Adaptive Sensing**

D. Keymeulen, A. Stoica, M. Buehler, R. Zebulum and V. Duong.
Evolutionary Mechanisms for Smart On-board Adaptive Sensing applied to
the MECA Electrometer. In *Proceedings of IEEE Aerospace Conference*,
March 10-17, 2001, Big Sky, Montana, USA. Manhattan Beach, CA: IEEE
Press

D. Keymeulen, A. Stoica, M. Buehler, R. Zebulum and V. Duong. Adaptive
Sensing using Evolvable Hardware. In *Proceedings of the Genetic and
Evolutionary Computation Conference (GECCO2001)*, July 7-11, 2001, USA.
Memlo Park, CA: AAAI Press

D. Keymeulen, R. Zebulum, A. Stoica, M. Buehler. Initial Experiments of
Reconfigurable Sensor Adapted by Evolution. In *Proceedings of the 4^th^
International Conference on Evolvalbe Systems: from Biology to Hardware
(ICES 2001),* October 3-5, 2001, Tokyo, Japan. New York, NY: Springer
Verlag.

#### PUBLICATIONS BEFORE JPL

## [Journals/Books]{.underline}

> **Computer Graphics**
>
> C. Hirsch, J. Torreele, D. Keymeulen, D. Vucinic and J. Decuyper.
> \"Distributed Visualization in CFD\" A. Scheidegger editor, *SPEEDUP
> Journal,* 8(1), 1994. Via Cantonale, CH-6928 Manno, Switzerland. Swiss
> Center for Scientific Computing Press.

**Evolutionary Robotics**

> D. Keymeulen, M. Iwata, K. Konaka, Y. Kuniyoshi and T. Higuchi.
> Evolvable hardware: a robot navigation system testbed. *New Generation
> Computing,* 16(2):97-122, 1998.
>
> D. Keymeulen, M. Iwata, Y. Kuniyoshi and T. Higuchi. On-line evolution
> for a self-adapting robotic navigation system using evolvable
> hardware. *Artificial Life,* 4(4):359-393, 1999. Special Issue on
> Evolutionary Robotics.
>
> **Evolvable Machine**
>
> T. Higuchi, M. Iwata, D. Keymeulen, H. Sakanashi, M. Murakawa, I.
> Kajitani, E. Takahashi, K. Toda et al. Real-World Applications of
> Analog and Digital Evolvable Hardware. *IEEE Transactions on
> Evolutionary Computation,* 3(3): 220-236, 1999. Special Issue on From
> Biology to Hardware and Back.

## [Conference]{.underline}

**Artificial Intelligence / Qualitative Physics**

J. Decuyper and D. Keymeulen. \"An Analogical Representation of Liquids
Based on a Physical Mechanism\". In *Proceedings of the Second Workshop
on Qualitative Physics*, Paris, 26-28 July 1988.

J. Decuyper and D. Keymeulen. \"Capturing the notion of pressure in an
analogical representation\". In *Proceedings of the Third Workshop on
Qualitative Physics*, Xerox Parc, Palo Alto, August 1989.

> D. Keymeulen. \"Proposal for Research on the Realisation of an
> Autonomous Agent for the Manipulation of Liquids \". *AI-memo* 89-18,
> VUB AI-Lab, 1989.
>
> J. Decuyper and D. Keymeulen. \"Interactive Use of a Parallel Computer
> for Solving Problems in Artificial Intelligence\". In John Litt,
> editor, *Dap Group Proceedings 1990*, pages 43-46, 65 Suttons Park
> Avenue, Reading RG6 1AZ, Berkshire, U.K., 1990. Active Memory
> Technology Ltd.
>
> J. Decuyper, D. Keymeulen, and L. Steels. \"A Qualitative Model for
> the Behavior of Liquids in Daily-Life Circumstances\". In *Proceedings
> of the AAAI Spring Symposium*, Menlo Park, CA 94025, 1992. AAAI Press.
>
> J. Decuyper, D. Keymeulen and L. Steels. \"A Hybrid Architecture for
> Modeling Liquid Behavior\". In J. Glasgow, N.H. Narayanan and B.
> Chandrasekaran (eds.), Diagrammatic Reasoning, pages 731-751, Memlo
> Park, CA 94025, USA, 1995. AAAI Press/ MIT Press.

**Artificial Intelligence / Robotics**

D. Keymeulen and J. Decuyper. \"A Flexible Path Generator for a Mobile
Robot: a Mathematical Approach\". *AI-memo* 90-5, VUB AI-Lab, 1990.

J. Decuyper and D. Keymeulen. \"A Reactive Robot Navigation System Based
on a Fluid Dynamics Metaphor\". In Hans-Paul Schwefel and Reinhard
Maenner, editors, *Parallel Problem Solving from Nature*, Lecture Notes
in Computer Science, pages 348-355, New York, NY 10010, USA, 1991.
Springer Verlag.

> D. Keymeulen and J. Decuyper. \"A Flexible Path Generator for a Mobile
> Robot\". In *Proceedings of \'91 International Conference on Advanced
> Robotics,* 2408 Palm Avenue, Manhattan Beach, CA 90266, 1991. IEEE
> Press.

D. Keymeulen and J. Decuyper. \"The Fluid Dynamics applied to Mobile
Robot Motion: the Stream Field Method\". In *Proceedings of IEEE
International Conference on Robotics and Automation* , pages 378-385,
Piscataway, NJ 08855, USA, 1994. IEEE Press.

D. Keymeulen and J. Decuyper. \"The Stream Field Method applied to
Mobile Robot Navigation: a Topological Perspective\". In *Proceedings of
11th European Conference on Artificial Intelligence, ECAI,* pages
699-703, West Sussex Po19 1UD, England, 1994. John Wiley & Sons, Ltd.

D. Keymeulen. \"A Dynamic Approach to Mobile Robot Motion: the Stream
Field Method\". *PhD Thesis.* AI-Lab, VUB, July 1994.

D. Keymeulen and J. Decuyper. \"Self-organizing System for the Motion
Planning of Mobile Robots\". In *Proceedings of IEEE International
Conference on Robotics and Automation,* pages 3369-3374, 2408 Palm Ave.,
Manhattan Beach, CA 90266, 1996. IEEE Press.

> **Neural Network**

J. Decuyper and D. Keymeulen. \"An Electrodynamical Perspective On
Neural Field Theory\". In *Proceedings of International Joint Conference
on Neural Networks 1991*, Singapore, 18-21 November, 1991. IEEE Press.

> D. Keymeulen and J. Decuyper. \"On the self-organizing properties of
> topological maps\". In Varela, F. and Bourgine, P., editors, *Toward a
> Practice of Autonomous System*, Complex Adaptive Systems, pages 64-69,
> Cambridge, Massachusetts 02142-1407, USA, 1991. Bradford Book, MIT
> Press.

M. de Gerlache and D. Keymeulen. \"A neural network learning strategy
adapted for a rescheduling problem\". In *Proceedings of Sixth
International Conference on Neural Networks and their Applications,*
pages 33-42, 1993. Nime, France.

D. Keymeulen and M. de Gerlache. \"Comparison Training for a
Rescheduling Problem in Neural Networks\". In J. Cowan, G. Tesauro and
J. Alspector (eds.), *Advanced in Neural Information Processing Systems
6,* pages 801-808, San Francisco, CA 94104, 1994. Morgan Kaufmann Press.

> **Computer Graphics**

D. Vucinic, J. Decuyper, D. Keymeulen and C. Hirsch. \"Interactive
Visualization Techniques in CFD\". In Connor, J., Hernandes, S., Murthy,
T., and Power, H., editors, *Visualization and Intelligent Design in
Engineering and Architecture*, pages 331-345, 1993. Computational
Mechanics Publication & Elsevier Science Publishers.

J. Torreele, D. Keymeulen, D. Vucinic, C. Hirsch, S. Van den Berg and J.
Graat. \"Parallel CFView:a SIMD/MIMD CFD Visualisation System in a
Heterogeneous and Distributed Environment\". In *Proceedings of the
International Conference on Massively Parallel processing*, pages
895-902, Delft, The Netherlands, June 1994.

D. Vucini, J. Torreele, D. Keymeulen, C. Hirsch. \"Interactive Fluid
Flow Visualisation with CFView in a Distributed Environment\". In
*Proceedings of Sixth Eurographics Workshop on Visualisation in
Scientific Computing.* Cagliari, Italy, 3-5 May 1995.

**Evolutionary Robotics**

T. Hoshino, D. Mitsumoto, T. Nagano and D. Keymeulen. \"Loss of
Robustness in Evolution of Robot Navigation\". In *Proceedings of
Artificial Life V Conference,* Complex Adaptive Systems. Bradford Book
and MIT Press, Cambridge, Massachusetts 02142-1407, USA, 1996. Poster
Presentation.

\*D. Keymeulen, M. Durantez, K. Konaka, Y. Kuniyoshi and T. Higuchi. An
evolutionary robot navigation system using a gate-level evolvable
hardware. In *Proceeding of the First International Conference on
Evolvable Systems: from Biology to hardware,* Lecture Notes in Computer
Science, 1259, pages 195-210, New York, NY 10010, USA, 1996. Springer
Verlag.

D. Keymeulen, K. Konaka, M. Iwata, Y. Kuniyoshi and T. Higuchi. Robot
Learning using Gate-level Evolvable Hardware. In *Proceeding of Sixth
European Workshop on Learning Robots,* Lecture Notes in Artificial
Intelligence, 1545, pages 173-188, New York, NY 10010, USA, 1998.
Springer Verlag.

D. Keymeulen, K. Konaka, M. Iwata, Y. Kuniyoshi and T. Higuchi.
Evolvable Reactive Execution System using Reconfigurable Hardware: a
Robot Navigation System case Study. In *Working notes of AAAI 1997 Fall
Symposium on Model-directed Autonomous Systems,* pages 23-31, Memlo
Park, CA 94025, USA, 1997. AAAI Press.

D. Keymeulen, M. Iwata, K. Konaka, Y. Kuniyoshi and T. Higuchi. On-line
Model-free and On-line Model-based Evolution for Tracking Navigation
using Evolvable Hardware. In *Proceedings of the First European Wokshop
on Evolutionary Robotics,* Lecture Notes in Computer Science, 1468,
pages 211-226, New York, NY 10010, USA, 1998. Springer Verlag.

D. Keymeulen, M. Iwata, Y. Kuniyoshi and T. Higuchi. Comparison between
an off-line Model-free and an On-line Model-based Evolution applied to a
Robotics Navigation System using Evolvable Hardware. In *Proceedings of
the Sixth International Conference on Artificial Life*, pages 199-209,
Cambridge, Massachusetts 02142-1407, USA, June 1998. MIT Press.

D. Keymeulen, M. Iwata, Y. Kuniyoshi, and T. Higuchi. On-line
model-based learning using evolvable hardware for a robotics tracking
system. In *Proceeding of the Third Annual Conference on Genetic
Programming,* San Francisco, CA 94104, USA, July 1998. Morgan Kaufmann.

I. Kajitani, T. Hoshino, D. Nishikawa, H. Yokoi, S. Nakaya, T. Yamauchi,
T Inuo, N. Kajihara, M. Iwata, D. Keymeulen, and T. Higuchi. A
gate-level ehw chip: Implementing GA operations and reconfigurable
hardware on a single lsi. In *Proceedings of the International
Conference on Evolvable Systems,* Lecture Notes in Computer Science,
1478, pages 1-12, New York, NY 10010, USA, 1998. Springer Verlag.

I. Kajitani, M. Murakawa, D. Nishikawa, H. Yokoi, N. Kajihara, M. Iwata,
D. Keymeulen, H. Sakanashi, and T. Higuchi. An evolvable hardware chip
for prosthetic hand controller. In *Proceedings of the 7^th^
International Conference on Microelectronics for Neural, Fuzzy and
Bio-inspired Systems,* Los Alimitos, CA 90720-1264, USA, 1999. IEEE
Computer Society Press.