1. AUTHOR: Hod Lipson, 216 Upson Hall, Cornell University, Ithaca NY,
hod.lipson@cornell.edu, 607 255 1686

2. Title: How to Draw a Straight Line Using a GP: Benchmarking Evolutionary
Design Against 19th Century Kinematic Synthesis

3. Abstract. This paper discusses the application of genetic programming to
the synthesis of compound 2D kinematic mechanisms, and benchmarks the
results against one of the classical kinematic challenges of 19th century
mechanical design. Considerations for selecting a representation for
mechanism design are presented, and a number of human-competitive inventions
are shown.

4. PDF attached to previous email

5. The resulting mechanisms are equal to or better than mechanisms that were
accepted as a new scientific result at the time when it was published in a
state of the art scientific publications. For example, the mechanism of
figure 7 is equivalent to Roberts mechanism (See Kempe, 1877). Mechanisms of
fig 7b and 10 outperform it. See conclusions.

6. Lipson H., (2004) "How to Draw a Straight Line Using a GP: Benchmarking
Evolutionary Design Against 19th Century Kinematic Synthesis", GECCO 2004
Late Breaking Papers, AAAI Press.