The Complexity of Finding Effectors

The NP-hard EFFECTORS problem on directed graphs is motivated by applications in network mining, particularly concerning the analysis of probabilistic information-propagation processes in social networks. In the corresponding model the arcs carry probabilities and there is a probabilistic diffusion process activating nodes by neighboring activated nodes with probabilities as specified by the arcs. The point is to explain a given network activation state as well as possible by using a minimum number of "effector nodes"; these are selected before the activation process starts. We correct, complement, and extend previous work from the data mining community by a more thorough computational complexity analysis of EFFECTORS, identifying both tractable and intractable cases. To this end, we also exploit a parameterization measuring the "degree of randomness" (the number of "really" probabilistic arcs) which might prove useful for analyzing other probabilistic network diffusion problems as well.Comment: 28 page

Cycle-centrality in complex networks

Networks are versatile representations of the interactions between entities in complex systems. Cycles on such networks represent feedback processes which play a central role in system dynamics. In this work, we introduce a measure of the importance of any individual cycle, as the fraction of the total information flow of the network passing through the cycle. This measure is computationally cheap, numerically well-conditioned, induces a centrality measure on arbitrary subgraphs and reduces to the eigenvector centrality on vertices. We demonstrate that this measure accurately reflects the impact of events on strategic ensembles of economic sectors, notably in the US economy. As a second example, we show that in the protein-interaction network of the plant Arabidopsis thaliana, a model based on cycle-centrality better accounts for pathogen activity than the state-of-art one. This translates into pathogen-targeted-proteins being concentrated in a small number of triads with high cycle-centrality. Algorithms for computing the centrality of cycles and subgraphs are available for download

IK-FA, a new heuristic inverse kinematics solver using firefly algorithm

In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of joint-positions allowing a specific point of the system to achieve a target position. In IK-FA, the Fireflies positions are assumed to be a possible solution for joints elementary motions. For a robotic system with a known forward kinematic model, IK-Fireflies, is used to generate iteratively a set of joint motions, then the forward kinematic model of the system is used to compute the relative Cartesian positions of a specific end-segment, and to compare it to the needed target position. This is a heuristic approach for solving inverse kinematics without computing the inverse model. IK-FA tends to minimize the distance to a target position, the fitness function could be established as the distance between the obtained forward positions and the desired one, it is subject to minimization. In this paper IK-FA is tested over a 3 links articulated planar system, the evaluation is based on statistical analysis of the convergence and the solution quality for 100 tests. The impact of key FA parameters is also investigated with a focus on the impact of the number of fireflies, the impact of the maximum iteration number and also the impact of (a, ß, ¿, d) parameters. For a given set of valuable parameters, the heuristic converges to a static fitness value within a fix maximum number of iterations. IK-FA has a fair convergence time, for the tested configuration, the average was about 2.3394 × 10-3 seconds with a position error fitness around 3.116 × 10-8 for 100 tests. The algorithm showed also evidence of robustness over the target position, since for all conducted tests with a random target position IK-FA achieved a solution with a position error lower or equal to 5.4722 × 10-9.Peer ReviewedPostprint (author's final draft

Q-CP: Learning Action Values for Cooperative Planning

Research on multi-robot systems has demonstrated promising results in manifold applications and domains. Still, efficiently learning an effective robot behaviors is very difficult, due to unstructured scenarios, high uncertainties, and large state dimensionality (e.g. hyper-redundant and groups of robot). To alleviate this problem, we present Q-CP a cooperative model-based reinforcement learning algorithm, which exploits action values to both (1) guide the exploration of the state space and (2) generate effective policies. Specifically, we exploit Q-learning to attack the curse-of-dimensionality in the iterations of a Monte-Carlo Tree Search. We implement and evaluate Q-CP on different stochastic cooperative (general-sum) games: (1) a simple cooperative navigation problem among 3 robots, (2) a cooperation scenario between a pair of KUKA YouBots performing hand-overs, and (3) a coordination task between two mobile robots entering a door. The obtained results show the effectiveness of Q-CP in the chosen applications, where action values drive the exploration and reduce the computational demand of the planning process while achieving good performance

Feeling cold is contagious

Seeing someone plunge into an ice-cold bath induces feelings of cold. However, it was recently demonstrated that viewing another's skin temperature change also induces a small congruent temperature change in the observer. This synchronization suggests top-down influences on peripheral temperature regulation mechanisms and lends supports to somatic-simulation theories of inter-subjectivity