Bio-Inspired Collective Decision-Making in Game Theoretic Models and Multi-Agent Systems

Collective decision-making can be investigated in a variety of different contexts, from opinion dynamics to swarm robotics. In the context of honeybee swarms, the evolutionary dynamics corresponding to the honeybee consensus problem can be studied via game theoretic tools. Evolutionary game theory provides the necessary tools to capture the relevant aspects for the decision-making process, whereas mean-field game theory serves well as a framework to analyse the optimal response of a large number of interacting players, even in the case of adversarial disturbance, where the aim is to ensure the robustness of the system to worst-case deterministic perturbations. The interactions among players, often originating in the corresponding real system from a social or physical structure, e.g. humans or animals for social and nodes of a power network for physical, can be captured by means of a network. In this thesis, the model originating in the context of bio-inspired collective decision-making is formulated in a game theoretic framework. The study of the corresponding consensus problem is carried out by analysing the stability property of the system and the corresponding optimal strategies in the presence of an adversarial disturbance. A threshold is identified to prevent a situation of deadlock, which happens when the population is stuck in a scenario where no option has predominantly taken over. The analysis is then extended to compartmental models, which share similarities with the original system and gives insight on asymmetric evolutions of the system. Through this link, other relevant applications are considered, such as duopolistic competition in marketing and virus propagation in smart grids. Finally, structured environments are explored as an extension to the original model, and the structure is captured by means of undirected graphs or of the Barabási-Albert scale-free (SF) complex network model

Performance Evaluation of Network Anomaly Detection Systems

Nowadays, there is a huge and growing concern about security in information and communication technology (ICT) among the scientific community because any attack or anomaly in the network can greatly affect many domains such as national security, private data storage, social welfare, economic issues, and so on. Therefore, the anomaly detection domain is a broad research area, and many different techniques and approaches for this purpose have emerged through the years. Attacks, problems, and internal failures when not detected early may badly harm an entire Network system. Thus, this thesis presents an autonomous profile-based anomaly detection system based on the statistical method Principal Component Analysis (PCADS-AD). This approach creates a network profile called Digital Signature of Network Segment using Flow Analysis (DSNSF) that denotes the predicted normal behavior of a network traffic activity through historical data analysis. That digital signature is used as a threshold for volume anomaly detection to detect disparities in the normal traffic trend. The proposed system uses seven traffic flow attributes: Bits, Packets and Number of Flows to detect problems, and Source and Destination IP addresses and Ports, to provides the network administrator necessary information to solve them. Via evaluation techniques, addition of a different anomaly detection approach, and comparisons to other methods performed in this thesis using real network traffic data, results showed good traffic prediction by the DSNSF and encouraging false alarm generation and detection accuracy on the detection schema. The observed results seek to contribute to the advance of the state of the art in methods and strategies for anomaly detection that aim to surpass some challenges that emerge from the constant growth in complexity, speed and size of today’s large scale networks, also providing high-value results for a better detection in real time.Atualmente, existe uma enorme e crescente preocupação com segurança em tecnologia da informação e comunicação (TIC) entre a comunidade científica. Isto porque qualquer ataque ou anomalia na rede pode afetar a qualidade, interoperabilidade, disponibilidade, e integridade em muitos domínios, como segurança nacional, armazenamento de dados privados, bem-estar social, questões econômicas, e assim por diante. Portanto, a deteção de anomalias é uma ampla área de pesquisa, e muitas técnicas e abordagens diferentes para esse propósito surgiram ao longo dos anos. Ataques, problemas e falhas internas quando não detetados precocemente podem prejudicar gravemente todo um sistema de rede. Assim, esta Tese apresenta um sistema autônomo de deteção de anomalias baseado em perfil utilizando o método estatístico Análise de Componentes Principais (PCADS-AD). Essa abordagem cria um perfil de rede chamado Assinatura Digital do Segmento de Rede usando Análise de Fluxos (DSNSF) que denota o comportamento normal previsto de uma atividade de tráfego de rede por meio da análise de dados históricos. Essa assinatura digital é utilizada como um limiar para deteção de anomalia de volume e identificar disparidades na tendência de tráfego normal. O sistema proposto utiliza sete atributos de fluxo de tráfego: bits, pacotes e número de fluxos para detetar problemas, além de endereços IP e portas de origem e destino para fornecer ao administrador de rede as informações necessárias para resolvê-los. Por meio da utilização de métricas de avaliação, do acrescimento de uma abordagem de deteção distinta da proposta principal e comparações com outros métodos realizados nesta tese usando dados reais de tráfego de rede, os resultados mostraram boas previsões de tráfego pelo DSNSF e resultados encorajadores quanto a geração de alarmes falsos e precisão de deteção. Com os resultados observados nesta tese, este trabalho de doutoramento busca contribuir para o avanço do estado da arte em métodos e estratégias de deteção de anomalias, visando superar alguns desafios que emergem do constante crescimento em complexidade, velocidade e tamanho das redes de grande porte da atualidade, proporcionando também alta performance. Ainda, a baixa complexidade e agilidade do sistema proposto contribuem para que possa ser aplicado a deteção em tempo real

Computational Methods for Cognitive and Cooperative Robotics

In the last decades design methods in control engineering made substantial progress in the areas of robotics and computer animation. Nowadays these methods incorporate the newest developments in machine learning and artificial intelligence. But the problems of flexible and online-adaptive combinations of motor behaviors remain challenging for human-like animations and for humanoid robotics. In this context, biologically-motivated methods for the analysis and re-synthesis of human motor programs provide new insights in and models for the anticipatory motion synthesis. This thesis presents the author’s achievements in the areas of cognitive and developmental robotics, cooperative and humanoid robotics and intelligent and machine learning methods in computer graphics. The first part of the thesis in the chapter “Goal-directed Imitation for Robots” considers imitation learning in cognitive and developmental robotics. The work presented here details the author’s progress in the development of hierarchical motion recognition and planning inspired by recent discoveries of the functions of mirror-neuron cortical circuits in primates. The overall architecture is capable of ‘learning for imitation’ and ‘learning by imitation’. The complete system includes a low-level real-time capable path planning subsystem for obstacle avoidance during arm reaching. The learning-based path planning subsystem is universal for all types of anthropomorphic robot arms, and is capable of knowledge transfer at the level of individual motor acts. Next, the problems of learning and synthesis of motor synergies, the spatial and spatio-temporal combinations of motor features in sequential multi-action behavior, and the problems of task-related action transitions are considered in the second part of the thesis “Kinematic Motion Synthesis for Computer Graphics and Robotics”. In this part, a new approach of modeling complex full-body human actions by mixtures of time-shift invariant motor primitives in presented. The online-capable full-body motion generation architecture based on dynamic movement primitives driving the time-shift invariant motor synergies was implemented as an online-reactive adaptive motion synthesis for computer graphics and robotics applications. The last chapter of the thesis entitled “Contraction Theory and Self-organized Scenarios in Computer Graphics and Robotics” is dedicated to optimal control strategies in multi-agent scenarios of large crowds of agents expressing highly nonlinear behaviors. This last part presents new mathematical tools for stability analysis and synthesis of multi-agent cooperative scenarios.In den letzten Jahrzehnten hat die Forschung in den Bereichen der Steuerung und Regelung komplexer Systeme erhebliche Fortschritte gemacht, insbesondere in den Bereichen Robotik und Computeranimation. Die Entwicklung solcher Systeme verwendet heutzutage neueste Methoden und Entwicklungen im Bereich des maschinellen Lernens und der künstlichen Intelligenz. Die flexible und echtzeitfähige Kombination von motorischen Verhaltensweisen ist eine wesentliche Herausforderung für die Generierung menschenähnlicher Animationen und in der humanoiden Robotik. In diesem Zusammenhang liefern biologisch motivierte Methoden zur Analyse und Resynthese menschlicher motorischer Programme neue Erkenntnisse und Modelle für die antizipatorische Bewegungssynthese. Diese Dissertation präsentiert die Ergebnisse der Arbeiten des Autors im Gebiet der kognitiven und Entwicklungsrobotik, kooperativer und humanoider Robotersysteme sowie intelligenter und maschineller Lernmethoden in der Computergrafik. Der erste Teil der Dissertation im Kapitel “Zielgerichtete Nachahmung für Roboter” behandelt das Imitationslernen in der kognitiven und Entwicklungsrobotik. Die vorgestellten Arbeiten beschreiben neue Methoden für die hierarchische Bewegungserkennung und -planung, die durch Erkenntnisse zur Funktion der kortikalen Spiegelneuronen-Schaltkreise bei Primaten inspiriert wurden. Die entwickelte Architektur ist in der Lage, ‘durch Imitation zu lernen’ und ‘zu lernen zu imitieren’. Das komplette entwickelte System enthält ein echtzeitfähiges Pfadplanungssubsystem zur Hindernisvermeidung während der Durchführung von Armbewegungen. Das lernbasierte Pfadplanungssubsystem ist universell und für alle Arten von anthropomorphen Roboterarmen in der Lage, Wissen auf der Ebene einzelner motorischer Handlungen zu übertragen. Im zweiten Teil der Arbeit “Kinematische Bewegungssynthese für Computergrafik und Robotik” werden die Probleme des Lernens und der Synthese motorischer Synergien, d.h. von räumlichen und räumlich-zeitlichen Kombinationen motorischer Bewegungselemente bei Bewegungssequenzen und bei aufgabenbezogenen Handlungs übergängen behandelt. Es wird ein neuer Ansatz zur Modellierung komplexer menschlicher Ganzkörperaktionen durch Mischungen von zeitverschiebungsinvarianten Motorprimitiven vorgestellt. Zudem wurde ein online-fähiger Synthesealgorithmus für Ganzköperbewegungen entwickelt, der auf dynamischen Bewegungsprimitiven basiert, die wiederum auf der Basis der gelernten verschiebungsinvarianten Primitive konstruiert werden. Dieser Algorithmus wurde für verschiedene Probleme der Bewegungssynthese für die Computergrafik- und Roboteranwendungen implementiert. Das letzte Kapitel der Dissertation mit dem Titel “Kontraktionstheorie und selbstorganisierte Szenarien in der Computergrafik und Robotik” widmet sich optimalen Kontrollstrategien in Multi-Agenten-Szenarien, wobei die Agenten durch eine hochgradig nichtlineare Kinematik gekennzeichnet sind. Dieser letzte Teil präsentiert neue mathematische Werkzeuge für die Stabilitätsanalyse und Synthese von kooperativen Multi-Agenten-Szenarien

Asia-Pacific Perspectives on Environmental Ethics

Papers from the Pacific islands, India, Bangladesh and elsewhere illustrate the ethical dilemma of environmental policy, sustainable development and the needs of communities to make a living

Proceedings of the International Conference ‘Between Data and Senses; Architecture, Neuroscience and the Digital Worlds’.

The cross-over between the digital and the physical is being increasingly addressed in design disciplines, architecture, arts and urban studies. Artists and designers increasingly make use of hard data to interpret the world and/or create meaningful and sensuous environments or design objects. Architects attempt to measure neurophysiological data to understand better the human experience in spaces. Designers script parametric processes to translate data into responsive, meaningful and/or aesthetically intriguing installations. Scientists and architects/ artists/ designers collaborate to visualise data in new and creative ways so as to trigger and reveal further connections, interpretations and readings. Practices such as the above attempt to break down the dichotomy between data and the sensuous (or else the digital and the physical). They translate elusive, ephemeral and intangible aspects of a place into solid data. In other instances the solid data are interpreted and represented in a way so as to be perceived by the different senses and/or experienced in a different manner. In this context, methods and conceptual frameworks of different disciplines need to engage in a dialogue; and through these cross-disciplinary practices, new strategies and processes emerge. This publication aims to present collaborative projects, where methods from more than one discipline are involved. This publication also addresses how collaborators from different disciplines can work together to deal with current design and social issues

Dynamics of Macrosystems; Proceedings of a Workshop, September 3-7, 1984

There is an increasing awareness of the important and persuasive role that instability and random, chaotic motion play in the dynamics of macrosystems. Further research in the field should aim at providing useful tools, and therefore the motivation should come from important questions arising in specific macrosystems. Such systems include biochemical networks, genetic mechanisms, biological communities, neutral networks, cognitive processes and economic structures. This list may seem heterogeneous, but there are similarities between evolution in the different fields. It is not surprising that mathematical methods devised in one field can also be used to describe the dynamics of another. IIASA is attempting to make progress in this direction. With this aim in view this workshop was held at Laxenburg over the period 3-7 September 1984. These Proceedings cover a broad canvas, ranging from specific biological and economic problems to general aspects of dynamical systems and evolutionary theory