A fuzzy controller with supervised learning assisted reinforcement learning algorithm for obstacle avoidance

Fuzzy logic system promises an efficient way for obstacle avoidance. However, it is difficult to maintain the correctness, consistency, and completeness of a fuzzy rule base constructed and tuned by a human expert. Reinforcement learning method is capable of learning the fuzzy rules automatically. However, it incurs heavy learning phase and may result in an insufficiently learned rule base due to the curse of dimensionality. In this paper, we propose a neural fuzzy system with mixed coarse learning and fine learning phases. In the first phase, supervised learning method is used to determine the membership functions for the input and output variables simultaneously. After sufficient training, fine learning is applied which employs reinforcement learning algorithm to fine-tune the membership functions for the output variables. For sufficient learning, a new learning method using modified Sutton and Barto's model is proposed to strengthen the exploration. Through this two-step tuning approach, the mobile robot is able to perform collision-free navigation. To deal with the difficulty in acquiring large amount of training data with high consistency for the supervised learning, we develop a virtual environment (VE) simulator, which is able to provide desktop virtual environment (DVE) and immersive virtual environment (IVE) visualization. Through operating a mobile robot in the virtual environment (DVE/IVE) by a skilled human operator, the training data are readily obtained and used to train the neural fuzzy system.published_or_final_versio

Discovering and Utilising Expert Knowledge from Security Event Logs

Security assessment and configuration is a methodology of protecting computer systems from malicious entities. It is a continuous process and heavily dependent on human experts, which are widely attributed to being in short supply. This can result in a system being left insecure because of the lack of easily accessible experience and specialist resources. While performing security tasks, human experts often revert to a system's event logs to determine status of security, such as failures, configuration modifications, system operations etc. However, finding and exploiting knowledge from event logs is a challenging and time-consuming task for non-experts. Hence, there is a strong need to provide mechanisms to make the process easier for security experts, as well as providing tools for those with significantly less security expertise. Doing so automatically allows for persistent and methodical testing without an excessive amount of manual time and effort, and makes computer security more accessible to on-experts. In this thesis, we present a novel technique to process security event logs of a system that have been evaluated and configured by a security expert, extract key domain knowledge indicative of human decision making, and automatically apply acquired knowledge to previously unseen systems by non-experts to recommend security improvements. The proposed solution utilises association and causal rule mining techniques to automatically discover relationships in the event log entries. The relationships are in the form of cause and effect rules that define security-related patterns. These rules and other relevant information are encoded into a PDDL-based domain action model. The domain model and problem instance generated from any vulnerable system can then be used to produce a plan-of-action by employing a state-of-the-art automated planning algorithm. The plan can be exploited by non-professionals to identify the security issues and make improvements. Empirical analysis is subsequently performed on 21 live, real world event log datasets, where the acquired domain model and identified plans are closely examined. The solution's accuracy lies between 73% - 92% and gained a significant performance boost as compared to the manual approach of identifying event relationships. The research presented in this thesis is an automation of extracting knowledge from event data steams. The previous research and current industry practices suggest that this knowledge elicitation is performed by human experts. As evident from the empirical analysis, we present a promising line of work that has the capacity to be utilised in commercial settings. This would reduce (or even eliminate) the dire and immediate need for human resources along with contributing towards financial savings

Reinforcement Learning

Brains rule the world, and brain-like computation is increasingly used in computers and electronic devices. Brain-like computation is about processing and interpreting data or directly putting forward and performing actions. Learning is a very important aspect. This book is on reinforcement learning which involves performing actions to achieve a goal. The first 11 chapters of this book describe and extend the scope of reinforcement learning. The remaining 11 chapters show that there is already wide usage in numerous fields. Reinforcement learning can tackle control tasks that are too complex for traditional, hand-designed, non-learning controllers. As learning computers can deal with technical complexities, the tasks of human operators remain to specify goals on increasingly higher levels. This book shows that reinforcement learning is a very dynamic area in terms of theory and applications and it shall stimulate and encourage new research in this field

Considerations in designing a cybernetic simple 'learning' model; and an overview of the problem of modelling learning

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.Learning is viewed as a central feature of living systems and must be manifested in any artifact that claims to exhibit general intelligence. The central aims of the thesis are twofold: (1) - To review and critically assess the empirical and theoretical aspects of learning as have been addressed in a multitude of disciplines, with the aim of extracting fundamental features and elements. (2) - To develop a more systematic approach to the cybernetic modelling of learning than has been achieved hitherto. In pursuit of aim (1) above the following discussions are included: Historical and Philosophical backgrounds; Natural learning, both physiological and psychological aspects; Hierarchies of learning identified in the evolutionary, functional and developmental senses; An extensive section on the general problem of modelling of learning and the formal tools, is included as a link between aims (1) and (2). Following this a systematic and historically oriented study of cybernetic and other related approaches to the problem of modelling of learning is presented. This then leads to the development of a state-of-the-art general purpose experimental cybernetic learning model. The programming and use of this model is also fully described, including an elaborate scheme for the manifestation of simple learning

Investigations into Elasticity in Cloud Computing

The pay-as-you-go model supported by existing cloud infrastructure providers is appealing to most application service providers to deliver their applications in the cloud. Within this context, elasticity of applications has become one of the most important features in cloud computing. This elasticity enables real-time acquisition/release of compute resources to meet application performance demands. In this thesis we investigate the problem of delivering cost-effective elasticity services for cloud applications. Traditionally, the application level elasticity addresses the question of how to scale applications up and down to meet their performance requirements, but does not adequately address issues relating to minimising the costs of using the service. With this current limitation in mind, we propose a scaling approach that makes use of cost-aware criteria to detect the bottlenecks within multi-tier cloud applications, and scale these applications only at bottleneck tiers to reduce the costs incurred by consuming cloud infrastructure resources. Our approach is generic for a wide class of multi-tier applications, and we demonstrate its effectiveness by studying the behaviour of an example electronic commerce site application. Furthermore, we consider the characteristics of the algorithm for implementing the business logic of cloud applications, and investigate the elasticity at the algorithm level: when dealing with large-scale data under resource and time constraints, the algorithm's output should be elastic with respect to the resource consumed. We propose a novel framework to guide the development of elastic algorithms that adapt to the available budget while guaranteeing the quality of output result, e.g. prediction accuracy for classification tasks, improves monotonically with the used budget.Comment: 211 pages, 27 tables, 75 figure

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Ant Colony Optimization

Ant Colony Optimization (ACO) is the best example of how studies aimed at understanding and modeling the behavior of ants and other social insects can provide inspiration for the development of computational algorithms for the solution of difficult mathematical problems. Introduced by Marco Dorigo in his PhD thesis (1992) and initially applied to the travelling salesman problem, the ACO field has experienced a tremendous growth, standing today as an important nature-inspired stochastic metaheuristic for hard optimization problems. This book presents state-of-the-art ACO methods and is divided into two parts: (I) Techniques, which includes parallel implementations, and (II) Applications, where recent contributions of ACO to diverse fields, such as traffic congestion and control, structural optimization, manufacturing, and genomics are presented