NeatFA

NeatFA is an application of Neuro Evolution of Augmented Topologies to the foraging problem in swarm robotics. This project includes a forked version of ARGoS that evalutes an input neural network and returns the fitness. Also this project includes a controlling application that evolves the neural network using JNeat and evalutes the population with multiple ARGoS simulations in parallel.

Directions

This project has two parts. First is the application to evolve a neural network via NEAT to forage in ARGoS. Second, this project offers a handful of tools to evaluate the analyze the generated networks.

Build ARGoS

To start, you need to build ARGoS. This may require the installation of a handful of dependencies to be installed. Consult the README within the argos direcotry or the argos website for details on these.

Once the dependencies are installed, you need to add a build directory within argos and run the build.sh script within the argos directory to generate the iant_main executable within the argos/build/sources directory:

cd argos
mkdir build
./build.sh

The output of this script should look like the following:

./build.sh
-- GSL using gsl-config /usr/bin/gsl-config
-- Using GSL from /usr
-- Configuring done
-- Generating done
-- Build files have been written to: /home/john/dev/iAnt-ARGoS/argos/build
[  2%] Building CXX object source/CMakeFiles/BasicGA.dir/nn/Perceptron.cpp.o
[  5%] Building CXX object source/CMakeFiles/BasicGA.dir/nn/Neuron.cpp.o
[  8%] Building CXX object source/CMakeFiles/BasicGA.dir/nn/NeuralNetwork.cpp.o
[ 11%] Building CXX object source/CMakeFiles/BasicGA.dir/ga/Chromosome.cpp.o
[ 13%] Building CXX object source/CMakeFiles/BasicGA.dir/nn/NeuralNetFactory.cpp.o
[ 16%] Building CXX object source/CMakeFiles/BasicGA.dir/nn/ValueNeuron.cpp.o
[ 19%] Building CXX object source/CMakeFiles/BasicGA.dir/ga/BasicGA.cpp.o
[ 22%] Building CXX object source/CMakeFiles/BasicGA.dir/ga/Unique.cpp.o
[ 25%] Building CXX object source/CMakeFiles/BasicGA.dir/ga/ChromosomeFactory.cpp.o
Linking CXX shared library libBasicGA.so
[ 25%] Built target BasicGA
[ 27%] Building CXX object source/CMakeFiles/iAnt_controller.dir/iAnt_controller.cpp.o
[ 30%] Building CXX object source/CMakeFiles/iAnt_controller.dir/iAnt_loop_functions.cpp.o
[ 33%] Building CXX object source/CMakeFiles/iAnt_controller.dir/iAnt_pheromone.cpp.o
[ 36%] Building CXX object source/CMakeFiles/iAnt_controller.dir/nn/Perceptron.cpp.o
[ 38%] Building CXX object source/CMakeFiles/iAnt_controller.dir/nn/Neuron.cpp.o
[ 41%] Building CXX object source/CMakeFiles/iAnt_controller.dir/nn/NeuralNetwork.cpp.o
[ 44%] Building CXX object source/CMakeFiles/iAnt_controller.dir/ga/Chromosome.cpp.o
[ 47%] Building CXX object source/CMakeFiles/iAnt_controller.dir/nn/NeuralNetFactory.cpp.o
[ 50%] Building CXX object source/CMakeFiles/iAnt_controller.dir/nn/ValueNeuron.cpp.o
[ 52%] Building CXX object source/CMakeFiles/iAnt_controller.dir/ga/BasicGA.cpp.o
[ 55%] Building CXX object source/CMakeFiles/iAnt_controller.dir/ga/Unique.cpp.o
[ 58%] Building CXX object source/CMakeFiles/iAnt_controller.dir/ga/ChromosomeFactory.cpp.o
Linking CXX shared library libiAnt_controller.so
[ 58%] Built target iAnt_controller
[ 61%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/iAnt_loop_functions.cpp.o
[ 63%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/iAnt_controller.cpp.o
[ 66%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/iAnt_qt_user_functions.cpp.o
[ 69%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/iAnt_pheromone.cpp.o
[ 72%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/main.cpp.o
[ 75%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/nn/Perceptron.cpp.o
[ 77%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/nn/Neuron.cpp.o
[ 80%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/nn/NeuralNetwork.cpp.o
[ 83%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/ga/Chromosome.cpp.o
[ 86%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/nn/NeuralNetFactory.cpp.o
[ 88%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/nn/ValueNeuron.cpp.o
[ 91%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/ga/BasicGA.cpp.o
[ 94%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/ga/Unique.cpp.o
[ 97%] Building CXX object source/CMakeFiles/iAnt_loop_functions.dir/ga/ChromosomeFactory.cpp.o
Linking CXX shared library libiAnt_loop_functions.so
[ 97%] Built target iAnt_loop_functions
[100%] Building CXX object source/CMakeFiles/iant_main.dir/main.cpp.o
Linking CXX executable iant_main
[100%] Built target iant_main

Build Runner

Next you need to build the runner. cd inso the runner directory and build the java project with maven:

cd runner
mvn clean install

The output of this command should look like the following:

mvn clean install
[INFO] Scanning for projects...
[WARNING]
[WARNING] Some problems were encountered while building the effective model for edu.unm:iAntRunner:jar:1.0.0-SNAPSHOT
[WARNING] 'build.plugins.plugin.version' for org.apache.maven.plugins:maven-compiler-plugin is missing. @ line 13, column 21
[WARNING]
[WARNING] It is highly recommended to fix these problems because they threaten the stability of your build.
[WARNING]
[WARNING] For this reason, future Maven versions might no longer support building such malformed projects.
[WARNING]
[INFO]
[INFO] ------------------------------------------------------------------------
[INFO] Building iAntRunner 1.0.0-SNAPSHOT
[INFO] ------------------------------------------------------------------------
[INFO]
[INFO] --- maven-clean-plugin:2.5:clean (default-clean) @ iAntRunner ---
[INFO] Deleting /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/target
[INFO]
[INFO] --- maven-resources-plugin:2.3:resources (default-resources) @ iAntRunner ---
[WARNING] Using platform encoding (UTF-8 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] skip non existing resourceDirectory /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/src/main/resources
[INFO]
[INFO] --- maven-compiler-plugin:2.0.2:compile (default-compile) @ iAntRunner ---
[INFO] Compiling 61 source files to /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/target/classes
[INFO]
[INFO] --- maven-resources-plugin:2.3:testResources (default-testResources) @ iAntRunner ---
[WARNING] Using platform encoding (UTF-8 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] skip non existing resourceDirectory /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/src/test/resources
[INFO]
[INFO] --- maven-compiler-plugin:2.0.2:testCompile (default-testCompile) @ iAntRunner ---
[INFO] No sources to compile
[INFO]
[INFO] --- maven-surefire-plugin:2.10:test (default-test) @ iAntRunner ---
[INFO] No tests to run.
[INFO] Surefire report directory: /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/target/surefire-reports

-------------------------------------------------------
 T E S T S
-------------------------------------------------------

Results :

Tests run: 0, Failures: 0, Errors: 0, Skipped: 0

[INFO]
[INFO] --- maven-jar-plugin:2.2:jar (default-jar) @ iAntRunner ---
[INFO] Building jar: /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/target/iAntRunner-1.0.0-SNAPSHOT.jar
[INFO]
[INFO] --- maven-assembly-plugin:2.4:single (make-assembly) @ iAntRunner ---
[INFO] Building jar: /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/target/iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar
[INFO]
[INFO] --- maven-install-plugin:2.3:install (default-install) @ iAntRunner ---
[INFO] Installing /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/target/iAntRunner-1.0.0-SNAPSHOT.jar to /home/john/.m2/repository/edu/unm/iAntRunner/1.0.0-SNAPSHOT/iAntRunner-1.0.0-SNAPSHOT.jar
[INFO] Installing /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/pom.xml to /home/john/.m2/repository/edu/unm/iAntRunner/1.0.0-SNAPSHOT/iAntRunner-1.0.0-SNAPSHOT.pom
[INFO] Installing /mnt/hd1/home/john/dev/iAnt-ARGoS/runner/target/iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar to /home/john/.m2/repository/edu/unm/iAntRunner/1.0.0-SNAPSHOT/iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar
[INFO] ------------------------------------------------------------------------
[INFO] BUILD SUCCESS
[INFO] ------------------------------------------------------------------------
[INFO] Total time: 6.912s
[INFO] Finished at: Tue Aug 29 10:31:36 MDT 2017
[INFO] Final Memory: 23M/399M
[INFO] ------------------------------------------------------------------------

This generates the iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar artifact within the runner/target directory.

Execution

The iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar includes an experiment runner and associated data analysis tools. The runner is executed by running the edu.unm.Runner class. Runner has the following parameters:

java -cp runner/target/iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar edu.unm.Runner -h
usage: edu.unm.Runner
 -a,--argosDirectory <arg>   Root directory of argos.
 -c,--entityCount <arg>      Number of experimental swarm entities.
 -d,--distribution <arg>     Seed distribution to use in the experiment, 0
                             = Random, 1 = Clustered, 2 = Semi-clustered.
 -e,--epochs <arg>           Number of epochs to run the experiment.
 -h,--help                   Prints this message.
 -m,--multiDistriution       Run the experiment against all three
                             distributions.
 -p,--populationSize <arg>   Size of the experiment controller collection
                             to evolve.
 -r,--runtime <arg>          Total runtime of each run of ARGOS in
                             seconds.
 -t,--template <arg>         iAnt.xml template file to use.

The following command executes the evolution runner:

java -cp runner/target/iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar edu.unm.Runner -t runner/iAnt.xml

This will output to standard out the following:

java -cp runner/target/iAntRunner-1.0.0-SNAPSHOT-jar-with-dependencies.jar edu.unm.Runner -t runner/iAnt.xmlExperimentParameters{populationSize=100, runtime=1800, entityCount=6, startTime=1504025619685}
Epoch 0
done: Fitness: 7.2 Chromosome: 1504025619685E0C9 384.0,1,1,17,0.20667403214228186;385.0,1,2,17,-0.9652435367638111;386.0,1,3,17,-0.2596144798178619;387.0,1,4,17,-0.2750226141241269;388.0,1,5,17,-0.4586270654771373;389.0,1,6,17,0.35689309983244266;390.0,1,7,17,0.7678478878838251;391.0,1,8,17,0.3890400816608781;392.0,1,9,17,-0.9364109454066221;393.0,1,10,17,0.5499534146109626;394.0,1,11,17,-0.5254498987276371;395.0,1,12,17,-0.36231278679351964;396.0,1,13,17,0.7696280900349702;397.0,1,14,17,-0.5060662091793511;398.0,1,15,17,-0.4224937290624058;399.0,1,16,17,0.5643348968581761;400.0,1,17,17,0.8475251291105462;401.0,1,18,17,0.6343071045550284;402.0,1,19,17,0.08415545451315765;405.0,1,22,17,-0.714518659780233;406.0,1,23,17,0.8707813530302323;407.0,1,24,17,0.6751790372879478;408.0,1,1,18,-0.9774390894433375;409.0,1,2,18,0.16451405225833893;410.0,1,3,18,0.9408185614666706;411.0,1,4,18,-0.8504274462871819;412.0,1,5,18,-0.5836513408747227;413.0,1,6,18,0.041364984414656636;414.0,1,7,18,-0.7025660223812218;415.0,1,8,18,0.9983793498488889;416.0,1,9,18,-0.9132732609539945;417.0,1,10,18,-0.974815922677134;418.0,1,11,18,0.3868643232439021;419.0,1,12,18,-0.30300177244931437;420.0,1,13,18,-0.960940155527197;421.0,1,14,18,-0.4516959474054899;422.0,1,15,18,0.42155589910399416;423.0,1,16,18,-0.21413579675701777;424.0,1,17,18,0.4460018442229756;425.0,1,18,18,0.3295390010243001;426.0,1,19,18,0.9912975515746014;429.0,1,22,18,-0.8333080133073334;430.0,1,23,18,0.5900382568753956;431.0,1,24,18,-0.5920484754898465;432.0,1,1,19,0.40512254550448257;433.0,1,2,19,0.1629375080446348;434.0,1,3,19,0.08757047589574873;435.0,1,4,19,-0.7291579650023079;436.0,1,5,19,0.9920356143485061;437.0,1,6,19,0.3673099180035626;438.0,1,7,19,0.5302306896204841;439.0,1,8,19,-0.90963133135601;440.0,1,9,19,-0.5870756412074172;441.0,1,10,19,0.4239183447329655;442.0,1,11,19,0.6574049188253769;443.0,1,12,19,-0.41660815018376984;444.0,1,13,19,-0.3263365466905066;445.0,1,14,19,-0.028088924405539673;446.0,1,15,19,0.09678736391246079;447.0,1,16,19,-0.2153387696278497;448.0,1,17,19,0.25677863643042653;449.0,1,18,19,-0.2985048952592978;450.0,1,19,19,-0.0047027941359195635;453.0,1,22,19,-0.3935429201128716;454.0,1,23,19,-0.23704964497397296;455.0,1,24,19,-0.08448149169675778;504.0,1,1,22,-0.8561605143947729;505.0,1,2,22,-0.9812163861337909;506.0,1,3,22,-0.2950977439114403;507.0,1,4,22,0.5376647206582822;508.0,1,5,22,-0.8154696883442981;509.0,1,6,22,-0.038032526695823354;510.0,1,7,22,-0.28760835498089965;511.0,1,8,22,-0.043142378947676696;512.0,1,9,22,0.7463166617065733;513.0,1,10,22,0.1593361084115783;514.0,1,11,22,-0.6301127983842919;515.0,1,12,22,0.7415565956122974;516.0,1,13,22,-0.21130049113854887;517.0,1,14,22,0.759586675736849;518.0,1,15,22,-0.5242594938943903;519.0,1,16,22,0.2703559023231553;520.0,1,17,22,-0.3402390235126941;521.0,1,18,22,-0.7553259526381157;522.0,1,19,22,-0.473838770413188;525.0,1,22,22,0.23636251502309735;526.0,1,23,22,-0.3986643881512594;527.0,1,24,22,0.9955478964755049;528.0,1,1,23,0.661720103041504;529.0,1,2,23,0.4527687078311432;530.0,1,3,23,-0.3067687835373517;531.0,1,4,23,-0.9298396424328828;532.0,1,5,23,-0.6482768838519104;533.0,1,6,23,0.4528064787620373;534.0,1,7,23,-0.3979601104271512;535.0,1,8,23,-0.3148161589698343;536.0,1,9,23,-0.7748961804983885;537.0,1,10,23,0.9728192046086175;538.0,1,11,23,-0.8778371366870997;539.0,1,12,23,0.0350400475546655;540.0,1,13,23,-0.024935098246317566;541.0,1,14,23,-0.3943427312343012;542.0,1,15,23,0.870865159333193;543.0,1,16,23,-0.45052931372916816;544.0,1,17,23,0.05449519012628701;545.0,1,18,23,0.8849905752790143;546.0,1,19,23,-0.6047721423711665;549.0,1,22,23,-0.7207092067375587;550.0,1,23,23,0.786527137689821;551.0,1,24,23,-0.6902217916988265;552.0,1,1,24,0.272511643421245;553.0,1,2,24,-0.732738754723321;554.0,1,3,24,-0.7283077797401618;555.0,1,4,24,0.6331152165229785;556.0,1,5,24,-0.8787475654523291;557.0,1,6,24,0.0658876557874587;558.0,1,7,24,-0.8728805691276567;559.0,1,8,24,0.9796198570999084;560.0,1,9,24,-0.9817777459891429;561.0,1,10,24,0.6352824283631769;562.0,1,11,24,0.2626304949612819;563.0,1,12,24,-0.9468107998553199;564.0,1,13,24,0.6015737833890317;565.0,1,14,24,-0.6069833729105297;566.0,1,15,24,-0.5951541094105938;567.0,1,16,24,-0.9677433390820598;568.0,1,17,24,-0.7084932320282936;569.0,1,18,24,0.9879727701386244;570.0,1,19,24,0.43974602122630513;573.0,1,22,24,-0.4967293763005387;574.0,1,23,24,0.022913474158374414;575.0,1,24,24,-0.14208134679653883;
done: Fitness: 6.1 Chromosome: 1504025619685E0C4 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done: Fitness: 0.2 Chromosome: 1504025619685E0C8 504.0,1,1,22,-0.361735093905611;505.0,1,2,22,-0.34631611264330775;506.0,1,3,22,0.9280642091500926;507.0,1,4,22,0.6311718717935518;508.0,1,5,22,0.44026203164609057;509.0,1,6,22,-0.9140348196478633;510.0,1,7,22,-0.6523602496439141;511.0,1,8,22,-0.6410293285269125;512.0,1,9,22,0.4047606717821449;513.0,1,10,22,-0.35259525874996167;514.0,1,11,22,-0.864067913817531;515.0,1,12,22,0.5407058004825182;516.0,1,13,22,0.38700027724028574;517.0,1,14,22,0.3578191484115585;518.0,1,15,22,0.5423661279481946;519.0,1,16,22,-0.2668569067574269;525.0,1,22,22,0.14205448077124483;526.0,1,23,22,0.9000210558906714;527.0,1,24,22,0.7882983967133107;528.0,1,1,23,-0.05640643006200652;529.0,1,2,23,0.037575154451641835;530.0,1,3,23,0.3134312997044115;531.0,1,4,23,0.6312759842737496;532.0,1,5,23,0.7135597515172165;533.0,1,6,23,0.5969206128134597;534.0,1,7,23,-0.03176102646232004;535.0,1,8,23,-0.7464733247544983;536.0,1,9,23,-0.23995922922177892;537.0,1,10,23,-0.9634322766868103;538.0,1,11,23,-0.6412992228675872;539.0,1,12,23,-0.9549279634737943;540.0,1,13,23,-0.7879246678210038;541.0,1,14,23,0.08307380193063651;542.0,1,15,23,-0.9142674410513185;543.0,1,16,23,0.626529321254312;549.0,1,22,23,-0.6214258688305121;550.0,1,23,23,0.8593619501788559;551.0,1,24,23,0.763787945185278;552.0,1,1,24,-0.5418895903977635;553.0,1,2,24,0.3580920524724316;554.0,1,3,24,0.05415959729520137;555.0,1,4,24,-0.16778157285820106;556.0,1,5,24,-0.13940994055827005;557.0,1,6,24,-0.43789939293094504;558.0,1,7,24,-0.060978964867367424;559.0,1,8,24,-0.5043178897209207;560.0,1,9,24,0.9851295734573858;561.0,1,10,24,0.28679545278453134;562.0,1,11,24,0.6188372200004104;563.0,1,12,24,-0.05918177823316584;564.0,1,13,24,-0.47099319006966966;565.0,1,14,24,-0.5798935018382374;566.0,1,15,24,0.0536776526141286;567.0,1,16,24,0.7633600516208326;573.0,1,22,24,-0.24719187433699985;574.0,1,23,24,-0.9693538223152512;575.0,1,24,24,-0.20454864424024344;
done: Fitness: 0.2 Chromosome: 1504025619685E0C0 504.0,1,1,22,-0.3739664292553935;505.0,1,2,22,-0.6538623791966536;506.0,1,3,22,0.07663967785876524;507.0,1,4,22,0.6430897163373862;508.0,1,5,22,0.9013652347681816;509.0,1,6,22,0.9357663197286581;510.0,1,7,22,-0.15687953334371918;511.0,1,8,22,0.42191000047403804;512.0,1,9,22,-0.500867625361427;513.0,1,10,22,-0.32897397390156247;514.0,1,11,22,-0.4810971299171607;515.0,1,12,22,0.19280684945505544;516.0,1,13,22,0.5454919684266908;517.0,1,14,22,-0.49806321284842126;518.0,1,15,22,0.48843936743992655;519.0,1,16,22,0.1362692922711345;525.0,1,22,22,-0.7385416338110494;526.0,1,23,22,-0.3568016327472957;527.0,1,24,22,0.0034089795210420215;528.0,1,1,23,0.5498402647013363;529.0,1,2,23,-0.09621420911012579;530.0,1,3,23,-0.643976559604718;531.0,1,4,23,-0.8446369140516633;532.0,1,5,23,0.22663721937959824;533.0,1,6,23,0.0855376168359614;534.0,1,7,23,0.763907136116179;535.0,1,8,23,-0.40376835840812786;536.0,1,9,23,0.6523925976360064;537.0,1,10,23,-0.38218705385526985;538.0,1,11,23,0.2607515209379272;539.0,1,12,23,0.32295799314163287;540.0,1,13,23,-0.7843928729355397;541.0,1,14,23,-0.6861135667351645;542.0,1,15,23,0.15278098052305678;543.0,1,16,23,-0.8436427123703646;549.0,1,22,23,-0.8403414090424175;550.0,1,23,23,0.11902409634984046;551.0,1,24,23,-0.05183294198402377;552.0,1,1,24,0.4293075182784618;553.0,1,2,24,0.17095638259596302;554.0,1,3,24,-0.08772691884924322;555.0,1,4,24,0.699212947098157;556.0,1,5,24,-0.7529564036579316;557.0,1,6,24,0.7617677412173831;558.0,1,7,24,0.02670316849642629;559.0,1,8,24,0.34930737866761863;560.0,1,9,24,0.8173865944222757;561.0,1,10,24,-0.5986992576111299;562.0,1,11,24,-0.011866028407713891;563.0,1,12,24,0.5848824635193037;564.0,1,13,24,0.6839644410025979;565.0,1,14,24,0.22708686970912284;566.0,1,15,24,0.9795852483458396;567.0,1,16,24,0.33414511995172835;573.0,1,22,24,0.22360839538331834;574.0,1,23,24,0.5701473011549215;575.0,1,24,24,-0.7893152610419409;
done: Fitness: 0.2 Chromosome: 1504025619685E0C3 384.0,1,1,17,0.8914773599631621;385.0,1,2,17,-0.7341972797805373;386.0,1,3,17,0.4786261011949623;387.0,1,4,17,0.8253939333339171;388.0,1,5,17,0.7533605660847392;389.0,1,6,17,0.7036671989770038;390.0,1,7,17,0.5979456922112437;391.0,1,8,17,0.05452549258116479;392.0,1,9,17,0.2203302875233174;393.0,1,10,17,-0.972424628600186;394.0,1,11,17,-0.18070946100411256;395.0,1,12,17,0.039819810558635815;396.0,1,13,17,0.2757390396489142;397.0,1,14,17,-0.05372721889045451;398.0,1,15,17,0.8778706099478034;399.0,1,16,17,0.9567599109074102;400.0,1,17,17,0.4688765497834203;405.0,1,22,17,-0.11601569273100287;406.0,1,23,17,0.018053550581099698;407.0,1,24,17,-0.14347643053268944;504.0,1,1,22,-0.9698233558506146;505.0,1,2,22,0.07584010616978665;506.0,1,3,22,-0.6591471681013727;507.0,1,4,22,-0.09078094007752346;508.0,1,5,22,0.43666580129857246;509.0,1,6,22,-0.3832321964973162;510.0,1,7,22,0.9778111033144917;511.0,1,8,22,0.5407943180681385;512.0,1,9,22,0.6587092231554009;513.0,1,10,22,0.9193779645057543;514.0,1,11,22,-0.04978161330753417;515.0,1,12,22,0.7547047664823957;516.0,1,13,22,-0.017102696798261374;517.0,1,14,22,-0.5862687090789233;518.0,1,15,22,-0.8497311481996087;519.0,1,16,22,-0.8679814090527997;520.0,1,17,22,-0.13103002510489392;525.0,1,22,22,0.32752806010939706;526.0,1,23,22,-0.707566638952639;527.0,1,24,22,0.9862978230060105;528.0,1,1,23,0.3335192660584009;529.0,1,2,23,0.2141779968873223;530.0,1,3,23,0.5970777462738948;531.0,1,4,23,0.14002321182944233;532.0,1,5,23,-0.1555486686201336;533.0,1,6,23,0.8909455671927782;534.0,1,7,23,-0.3357773099721849;535.0,1,8,23,0.18383154553777947;536.0,1,9,23,0.9594272033199398;537.0,1,10,23,0.6869247448515511;538.0,1,11,23,0.8589926075325245;539.0,1,12,23,0.1470506929649673;540.0,1,13,23,-0.5307197696370358;541.0,1,14,23,0.4249726849768851;542.0,1,15,23,-0.24852830677111304;543.0,1,16,23,0.777986288850398;544.0,1,17,23,0.44997016651796073;549.0,1,22,23,-0.8399851624898798;550.0,1,23,23,-0.6826600264757776;551.0,1,24,23,-0.12165179640426316;552.0,1,1,24,-0.6682150824857325;553.0,1,2,24,-0.2568933174007825;554.0,1,3,24,0.20034181462665523;555.0,1,4,24,0.8870249912523178;556.0,1,5,24,-0.010229467211615995;557.0,1,6,24,0.05144954379053279;558.0,1,7,24,-0.39320221256031196;559.0,1,8,24,0.23092909004434448;560.0,1,9,24,0.5424128293086906;561.0,1,10,24,-0.4841049362047358;562.0,1,11,24,0.34342091223518034;563.0,1,12,24,0.9665584139173784;564.0,1,13,24,-0.44341872016800743;565.0,1,14,24,0.8698732738429169;566.0,1,15,24,0.28755418420725465;567.0,1,16,24,0.32308264069137893;568.0,1,17,24,0.389609437675435;573.0,1,22,24,-0.13225521984405963;574.0,1,23,24,0.3138188864657786;575.0,1,24,24,0.38807594069391504;
...

This output will also be written to the runlog[timestamp].txt file