4,297 research outputs found

    Contraction analysis of nonlinear systems and its application

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    The thesis addresses various issues concerning the convergence properties of switched systems and differential algebraic equation (DAE) systems. Specifically, we focus on contraction analysis problem, as well as tackling problems related to stabilization and synchronization. We consider the contraction analysis of switched systems and DAE systems. To address this, a transformation is employed to convert the contraction analysis problem into a stabilization analysis problem. This transformation involves the introduction of virtual systems, which exhibit a strong connection with the Jacobian matrix of the vector field. Analyzing these systems poses a significant challenge due to the distinctive structure of their Jacobian matrices. Regarding the switched systems, a time-dependent switching law is established to guarantee uniform global exponential stability (UGES). As for the DAE system, we begin by embedding it into an ODE system. Subsequently, the UGES property is ensured by analyzing its matrix measure. As our first application, we utilize our approach to stabilize time-invariant switched systems and time-invariant DAE systems, respectively. This involves designing control laws to achieve system contractivity, thereby ensuring that the trajectory set encompasses the equilibrium point. In oursecond application, we propose the design of a time-varying observer by treating the system’s output as an algebraic equation of the DAE system. In our study on synchronization problems, we investigate two types of synchronization issues: the trajectory tracking of switched oscillators and the pinning state synchronization. In the case of switched oscillators, we devise a time-dependent switching law to ensure that these oscillators effectively follow the trajectory of a time-varying system. As for the pinning synchronization problem, we define solvable conditions and, building upon these conditions, we utilize contraction theory to design dynamic controllers that guarantee synchronization is achieved among the agents

    Contraction analysis of nonlinear systems and its application

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    The thesis addresses various issues concerning the convergence properties of switched systems and differential algebraic equation (DAE) systems. Specifically, we focus on contraction analysis problem, as well as tackling problems related to stabilization and synchronization. We consider the contraction analysis of switched systems and DAE systems. To address this, a transformation is employed to convert the contraction analysis problem into a stabilization analysis problem. This transformation involves the introduction of virtual systems, which exhibit a strong connection with the Jacobian matrix of the vector field. Analyzing these systems poses a significant challenge due to the distinctive structure of their Jacobian matrices. Regarding the switched systems, a time-dependent switching law is established to guarantee uniform global exponential stability (UGES). As for the DAE system, we begin by embedding it into an ODE system. Subsequently, the UGES property is ensured by analyzing its matrix measure. As our first application, we utilize our approach to stabilize time-invariant switched systems and time-invariant DAE systems, respectively. This involves designing control laws to achieve system contractivity, thereby ensuring that the trajectory set encompasses the equilibrium point. In oursecond application, we propose the design of a time-varying observer by treating the system’s output as an algebraic equation of the DAE system. In our study on synchronization problems, we investigate two types of synchronization issues: the trajectory tracking of switched oscillators and the pinning state synchronization. In the case of switched oscillators, we devise a time-dependent switching law to ensure that these oscillators effectively follow the trajectory of a time-varying system. As for the pinning synchronization problem, we define solvable conditions and, building upon these conditions, we utilize contraction theory to design dynamic controllers that guarantee synchronization is achieved among the agents

    Learning partner selection rules that sustain cooperation in social dilemmas with the option of opting out

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    We study populations of self-interested agents playing a 2-person repeated Prisoner’s Dilemma game, with each player having the option of opting out of the interaction and choosing to be randomly assigned to another partner instead. The partner selection component makes these games akin to random matching, where defection is known to take over the entire population. Results in the literature have shown that, when forcing agents to obey a set partner selection rule known as Out-for-Tat, where defectors are systematically being broken ties with, cooperation can be sustained in the long run. In this paper, we remove this assumption and study agents that learn both action- and partner-selection strategies. Through multiagent reinforcement learning, we show that cooperation can be sustained without forcing agents to play predetermined strategies. Our simulations show that agents are capable of learning in-game strategies by themselves, such as Tit-for-Tat. What is more, they are also able to simultaneously discover cooperation-sustaining partner selection rules, notably Out-for-Tat, as well as other new rules that make cooperation prevail

    Principles of ontophylogenetic development of artificial general intelligence systems based on multi-agent neurocognitive architectures

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    The purpose of the study is to study the possibilities of multigenerational optimization of behavior control systems for agents of general artificial intelligence capable of independently solving a universal range of tasks in a real environment. The main principles of ontophylogenetic synthesis of control systems for agents of general artificial intelligence based on multi-agent neurocognitive architectures have been developed. Methods and algorithms for synthesizing the phenotypes of control systems of intelligent agents according to their genotypes are proposed. A software package for simulating the processes of ontophylogenetic synthesis of multi-agent neurocognitive architectures has been developed and experiments have been carried out to create phenotypes of intelligent agents based on them. A complex genome of an intelligent agent has been developed, the features of a multichromosome genetic algorithm for organizing calculations in the paradigm of multigenerational optimization of multiagent neurocognitive architectures have been established and substantiated. It is shown that multigenerational optimization of the multi-agent neurocognitive architecture of intelligent agents can contribute to the achievement of adaptive resistance to the operating conditions of a general artificial intelligence agent, provide the synthesis of its suboptimal structural and functional scheme, accelerate learning and algorithms for finding solutions to a universal range of problems solved by this agent in its ecological niche

    The AddACO: A bio-inspired modified version of the ant colony optimization algorithm to solve travel salesman problems

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    The Travel Salesman Problem (TSP) consists in finding the minimal-length closed tour that connects the entire group of nodes of a given graph. We propose to solve such a combinatorial optimization problem with the AddACO algorithm: it is a version of the Ant Colony Optimization method that is characterized by a modified probabilistic law at the basis of the exploratory movement of the artificial insects. In particular, the ant decisional rule is here set to amount in a linear convex combination of competing behavioral stimuli and has therefore an additive form (hence the name of our algorithm), rather than the canonical multiplicative one. The AddACO intends to address two conceptual shortcomings that characterize classical ACO methods: (i) the population of artificial insects is in principle allowed to simultaneously minimize/maximize all migratory guidance cues (which is in implausible from a biological/ecological point of view) and (ii) a given edge of the graph has a null probability to be explored if at least one of the movement trait is therein equal to zero, i.e., regardless the intensity of the others (this in principle reduces the exploratory potential of the ant colony). Three possible variants of our method are then specified: the AddACO-V1, which includes pheromone trail and visibility as insect decisional variables, and the AddACO-V2 and the AddACO-V3, which in turn add random effects and inertia, respectively, to the two classical migratory stimuli. The three versions of our algorithm are tested on benchmark middle-scale TPS instances, in order to assess their performance and to find their optimal parameter setting. The best performing variant is finally applied to large-scale TSPs, compared to the naive Ant-Cycle Ant System, proposed by Dorigo and colleagues, and evaluated in terms of quality of the solutions, computational time, and convergence speed. The aim is in fact to show that the proposed transition probability, as long as its conceptual advantages, is competitive from a performance perspective, i.e., if it does not reduce the exploratory capacity of the ant population w.r.t. the canonical one (at least in the case of selected TSPs). A theoretical study of the asymptotic behavior of the AddACO is given in the appendix of the work, whose conclusive section contains some hints for further improvements of our algorithm, also in the perspective of its application to other optimization problems

    Multidisciplinary perspectives on Artificial Intelligence and the law

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    This open access book presents an interdisciplinary, multi-authored, edited collection of chapters on Artificial Intelligence (‘AI’) and the Law. AI technology has come to play a central role in the modern data economy. Through a combination of increased computing power, the growing availability of data and the advancement of algorithms, AI has now become an umbrella term for some of the most transformational technological breakthroughs of this age. The importance of AI stems from both the opportunities that it offers and the challenges that it entails. While AI applications hold the promise of economic growth and efficiency gains, they also create significant risks and uncertainty. The potential and perils of AI have thus come to dominate modern discussions of technology and ethics – and although AI was initially allowed to largely develop without guidelines or rules, few would deny that the law is set to play a fundamental role in shaping the future of AI. As the debate over AI is far from over, the need for rigorous analysis has never been greater. This book thus brings together contributors from different fields and backgrounds to explore how the law might provide answers to some of the most pressing questions raised by AI. An outcome of the Católica Research Centre for the Future of Law and its interdisciplinary working group on Law and Artificial Intelligence, it includes contributions by leading scholars in the fields of technology, ethics and the law.info:eu-repo/semantics/publishedVersio

    Climate Change and Critical Agrarian Studies

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    Climate change is perhaps the greatest threat to humanity today and plays out as a cruel engine of myriad forms of injustice, violence and destruction. The effects of climate change from human-made emissions of greenhouse gases are devastating and accelerating; yet are uncertain and uneven both in terms of geography and socio-economic impacts. Emerging from the dynamics of capitalism since the industrial revolution — as well as industrialisation under state-led socialism — the consequences of climate change are especially profound for the countryside and its inhabitants. The book interrogates the narratives and strategies that frame climate change and examines the institutionalised responses in agrarian settings, highlighting what exclusions and inclusions result. It explores how different people — in relation to class and other co-constituted axes of social difference such as gender, race, ethnicity, age and occupation — are affected by climate change, as well as the climate adaptation and mitigation responses being implemented in rural areas. The book in turn explores how climate change – and the responses to it - affect processes of social differentiation, trajectories of accumulation and in turn agrarian politics. Finally, the book examines what strategies are required to confront climate change, and the underlying political-economic dynamics that cause it, reflecting on what this means for agrarian struggles across the world. The 26 chapters in this volume explore how the relationship between capitalism and climate change plays out in the rural world and, in particular, the way agrarian struggles connect with the huge challenge of climate change. Through a huge variety of case studies alongside more conceptual chapters, the book makes the often-missing connection between climate change and critical agrarian studies. The book argues that making the connection between climate and agrarian justice is crucial

    Spatial adaptive settlement systems in archaeology. Modelling long-term settlement formation from spatial micro interactions

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    Despite research history spanning more than a century, settlement patterns still hold a promise to contribute to the theories of large-scale processes in human history. Mostly they have been presented as passive imprints of past human activities and spatial interactions they shape have not been studied as the driving force of historical processes. While archaeological knowledge has been used to construct geographical theories of evolution of settlement there still exist gaps in this knowledge. Currently no theoretical framework has been adopted to explore them as spatial systems emerging from micro-choices of small population units. The goal of this thesis is to propose a conceptual model of adaptive settlement systems based on complex adaptive systems framework. The model frames settlement system formation processes as an adaptive system containing spatial features, information flows, decision making population units (agents) and forming cross scale feedback loops between location choices of individuals and space modified by their aggregated choices. The goal of the model is to find new ways of interpretation of archaeological locational data as well as closer theoretical integration of micro-level choices and meso-level settlement structures. The thesis is divided into five chapters, the first chapter is dedicated to conceptualisation of the general model based on existing literature and shows that settlement systems are inherently complex adaptive systems and therefore require tools of complexity science for causal explanations. The following chapters explore both empirical and theoretical simulated settlement patterns based dedicated to studying selected information flows and feedbacks in the context of the whole system. Second and third chapters explore the case study of the Stone Age settlement in Estonia comparing residential location choice principles of different periods. In chapter 2 the relation between environmental conditions and residential choice is explored statistically. The results confirm that the relation is significant but varies between different archaeological phenomena. In the third chapter hunter-fisher-gatherer and early agrarian Corded Ware settlement systems were compared spatially using inductive models. The results indicated a large difference in their perception of landscape regarding suitability for habitation. It led to conclusions that early agrarian land use significantly extended land use potential and provided a competitive spatial benefit. In addition to spatial differences, model performance was compared and the difference was discussed in the context of proposed adaptive settlement system model. Last two chapters present theoretical agent-based simulation experiments intended to study effects discussed in relation to environmental model performance and environmental determinism in general. In the fourth chapter the central place foragingmodel was embedded in the proposed model and resource depletion, as an environmental modification mechanism, was explored. The study excluded the possibility that mobility itself would lead to modelling effects discussed in the previous chapter. The purpose of the last chapter is the disentanglement of the complex relations between social versus human-environment interactions. The study exposed non-linear spatial effects expected population density can have on the system and the general robustness of environmental inductive models in archaeology to randomness and social effect. The model indicates that social interactions between individuals lead to formation of a group agency which is determined by the environment even if individual cognitions consider the environment insignificant. It also indicates that spatial configuration of the environment has a certain influence towards population clustering therefore providing a potential pathway to population aggregation. Those empirical and theoretical results showed the new insights provided by the complex adaptive systems framework. Some of the results, including the explanation of empirical results, required the conceptual model to provide a framework of interpretation

    Conversations on Empathy

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    In the aftermath of a global pandemic, amidst new and ongoing wars, genocide, inequality, and staggering ecological collapse, some in the public and political arena have argued that we are in desperate need of greater empathy — be this with our neighbours, refugees, war victims, the vulnerable or disappearing animal and plant species. This interdisciplinary volume asks the crucial questions: How does a better understanding of empathy contribute, if at all, to our understanding of others? How is it implicated in the ways we perceive, understand and constitute others as subjects? Conversations on Empathy examines how empathy might be enacted and experienced either as a way to highlight forms of otherness or, instead, to overcome what might otherwise appear to be irreducible differences. It explores the ways in which empathy enables us to understand, imagine and create sameness and otherness in our everyday intersubjective encounters focusing on a varied range of "radical others" – others who are perceived as being dramatically different from oneself. With a focus on the importance of empathy to understand difference, the book contends that the role of empathy is critical, now more than ever, for thinking about local and global challenges of interconnectedness, care and justice
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