Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

This paper describes an approach to the design of a population of cooperative robots based on concepts borrowed from Systems Theory and Artificial Intelligence. The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the project stands both for "Society of Robots" and "Soccer Robots", the case study where we are testing our population of robots. Designing soccer robots is a very challenging problem, where the robots must act not only to shoot a ball towards the goal, but also to detect and avoid static (walls, stopped robots) and dynamic (moving robots) obstacles. Furthermore, they must cooperate to defeat an opposing team. Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination, including cooperative reinforcement learning in cooperative and adversarial environments, and behavior-based architectures for real time task execution of cooperating robot teams

Analysis of the NIST database towards the composition of vulnerabilities in attack scenarios

The composition of vulnerabilities in attack scenarios has been traditionally performed based on detailed pre- and post-conditions. Although very precise, this approach is dependent on human analysis, is time consuming, and not at all scalable. We investigate the NIST National Vulnerability Database (NVD) with three goals: (i) understand the associations among vulnerability attributes related to impact, exploitability, privilege, type of vulnerability and clues derived from plaintext descriptions, (ii) validate our initial composition model which is based on required access and resulting effect, and (iii) investigate the maturity of XML database technology for performing statistical analyses like this directly on the XML data. In this report, we analyse 27,273 vulnerability entries (CVE 1) from the NVD. Using only nominal information, we are able to e.g. identify clusters in the class of vulnerabilities with no privilege which represent 52% of the entries

ACCEL : a tool for supporting concept generation in the early design phase

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Investigation of Team Formation in Dynamic Social Networks

Team Formation Problem (TFP) in Social Networks (SN) is to collect the group of individuals who match the requirements of given tasks under some constraints. It has several applications, including academic collaborations, healthcare, and human resource management. These types of problems are highly challenging because each individual has his or her own demands and objectives that might conflict with team objectives. The major contribution of this dissertation is to model a computational framework to discover teams of experts in various applications and predict the potential for collaboration in the future from a given SN. Inspired by an evolutionary search technique using a higher-order cultural evolution, a framework is proposed using Knowledge-Based Cultural Algorithms to identify teams from co-authorship and industrial settings. This model reduces the search domain while guiding the search direction by extracting situational knowledge and updating it in each evolution. Motivated from the above results, this research examines the palliative care multidisciplinary networks to identify and measure the performance of the optimal team of care providers in a highly dynamic and unbalanced SN of volunteer, community, and professional caregivers. Thereafter, a visualization framework is designed to explore and monitor the evolution in the structure of the care networks. It helps to identify isolated patients, imbalanced resource allocation, and uneven service distribution in the network. This contribution is recognized by Hospice and the Windsor Essex Compassion Care Community in partnership with the Faculty of Nursing. In each setting, several cost functions are attempted to measure the performance of the teams. To support this study, the temporal nature of two important evaluation metrics is analyzed in Dynamic Social Networks (DSN): dynamic communication cost and dynamic expertise level. Afterward, a novel generic framework for TFP is designed by incorporating essential cost functions, including the above dynamic cost functions. The Multi-Objective Cultural Algorithms (MOCA) is used for this purpose. In each generation, it keeps track of the best solutions and enhances exploration by driving mutation direction towards unexplored areas. The experimental results reach closest to the exact algorithm and outperform well-known searching methods. Subsequently, this research focuses on predicting suitable members for the teams in the future, which is typically a real-time application of Link Prediction. Learning temporal behavior of each vertex in a given DSN can be used to decide the future connections of the individual with the teams. A probability function is introduced based on the activeness of the individual. To quantify the activeness score, this study examines each vertex as to how actively it interacts with new and existing vertices in DSN. It incorporates two more objective functions: the weighted shortest distance and the weighted common neighbor index. Because it is technically a classification problem, deep learning methods have been observed as the most effective solution. The model is trained and tested with Multilayer Perceptron. The AUC achieves above 93%. Besides this, analyzing common neighbors with any two vertices, which are expected to connect, have a high impact on predicting the links. A new method is introduced that extracts subgraph of common neighbors and examines features of each vertex in the subgraph to predict the future links. The sequence of subgraphs\u27 adjacency matrices of DSN can be ordered temporally and treated as a video. It is tested with Convolutional Neural Networks and Long Short Term Memory Networks for the prediction. The obtained results are compared against heuristic and state-of-the-art methods, where the results reach above 96% of AUC. In conclusion, the knowledge-based evolutionary approach performs well in searching through SN and recommending effective teams of experts to complete given tasks successfully in terms of time and accuracy. However, it does not support the prediction problem. Deep learning methods, however, perform well in predicting the future collaboration of the teams

An intelligent knowledge based cost modelling system for innovative product development

This research work aims to develop an intelligent knowledge-based system for product cost modelling and design for automation at an early design stage of the product development cycle, that would enable designers/manufacturing planners to make more accurate estimates of the product cost. Consequently, a quicker response to customers’ expectations. The main objectives of the research are to: (1) develop a prototype system that assists an inexperienced designer to estimate the manufacturing cost of the product, (2) advise designers on how to eliminate design and manufacturing related conflicts that may arise during the product development process, (3) recommend the most economic assembly technique for the product in order to consider this technique during the design process and provide design improvement suggestions to simplify the assembly operations (i.e. to provide an opportunity for designers to design for assembly (DFA)), (4) apply a fuzzy logic approach to certain cases, and (5) evaluate the developed prototype system through five case studies. The developed system for cost modelling comprises of a CAD solid modelling system, a material selection module, knowledge-based system (KBS), process optimisation module, design for assembly module, cost estimation technique module, and a user interface. In addition, the system encompasses two types of databases, permanent (static) and temporary (dynamic). These databases are categorised into five separate groups of database, Feature database, Material database, Machinability database, Machine database, and Mould database. The system development process has passed through four major steps: firstly, constructing the knowledge-based and process optimisation system, secondly developing a design for assembly module. Thirdly, integrating the KBS with both material selection database and a CAD system. Finally, developing and implementing a ii fuzzy logic approach to generate reliable estimation of cost and to handle the uncertainty in cost estimation model that cannot be addressed by traditional analytical methods. The developed system has, besides estimating the total cost of a product, the capability to: (1) select a material as well as the machining processes, their sequence and machining parameters based on a set of design and production parameters that the user provides to the system, and (2) recommend the most economic assembly technique for a product and provide design improvement suggestion, in the early stages of the design process, based on a design feasibility technique. It provides recommendations when a design cannot be manufactured with the available manufacturing resources and capabilities. In addition, a feature-by-feature cost estimation report was generated using the system to highlight the features of high manufacturing cost. The system can be applied without the need for detailed design information, so that it can be implemented at an early design stage and consequently cost redesign, and longer lead-time can be avoided. One of the tangible advantages of this system is that it warns users of features that are costly and difficult to manufacture. In addition, the system is developed in such a way that, users can modify the product design at any stage of the design processes. This research dealt with cost modelling of both machined components and injection moulded components. The developed cost effective design environment was evaluated on real products, including a scientific calculator, a telephone handset, and two machined components. Conclusions drawn from the system indicated that the developed prototype system could help companies reducing product cost and lead time by estimating the total product cost throughout the entire product development cycle including assembly cost. Case studies demonstrated that designing a product using the developed system is more cost effective than using traditional systems. The cost estimated for a number of products used in the case studies was almost 10 to 15% less than cost estimated by the traditional system since the latter does not take into consideration process optimisation, design alternatives, nor design for assembly issue

Robotic Training for the Integration of Material Performances in Timber Manufacturing

The research focuses on testing a series of material-sensitive robotic training methods that flexibly extend the range of subtractive manufacturing processes available to designers based on the integration of manufacturing knowledge at an early design stage. In current design practices, the lack of feedback information between the different steps of linear design workflows forces designers to engage with only a limited range of standard materials and manufacturing techniques, leading to wasteful and inefficient solutions. With a specific focus on timber subtractive manufacturing, the work presented in this thesis addresses the main issue hindering the utilisation of non-standard tools and heterogeneous materials in design processes which is the significant deviation between what is prescribed in the digital design environment and the respective fabrication outcome. To begin, it has been demonstrated the extent to which the heterogeneous properties of timber affect the outcome of the robotic carving process beyond the acceptable tolerance thresholds for design purposes. Resting on this premise, the devised strategy to address such a material variance involved capturing, transferring, augmenting and integrating manufacturing knowledge through the collection of real- world fabrication data, both by human experts and robotic sessions, and training of machine learning models (i.e. Artificial Neural Networks) to achieve an accurate simulation of the robotic manufacturing task informed by specific sets of tools affordances and material behaviours. The results of the training process have demonstrated that it is possible to accurately simulate the carving process to a degree sufficient for design applications, anticipating the influence of material and tool properties on the carved geometry. The collaborations with the industry partners of the project, ROK Architects (Zürich) and BIG (Copenhagen), provided the opportunity to assess the different practical uses and related implications of the tools in a real-world scenario following an open-ended and explorative approach based on several iterations of the full design-to-production cycle. The findings have shown that the devised strategy supports decision-making procedures at an early stage of the design process and enables the exploration of novel, previously unavailable, solutions informed by material and tool affordances

Progressive introduction of network softwarization in operational telecom networks: advances at architectural, service and transport levels

Technological paradigms such as Software Defined Networking, Network Function Virtualization and Network Slicing are altogether offering new ways of providing services. This process is widely known as Network Softwarization, where traditional operational networks adopt capabilities and mechanisms inherit form the computing world, such as programmability, virtualization and multi-tenancy. This adoption brings a number of challenges, both from the technological and operational perspectives. On the other hand, they provide an unprecedented flexibility opening opportunities to developing new services and new ways of exploiting and consuming telecom networks. This Thesis first overviews the implications of the progressive introduction of network softwarization in operational networks for later on detail some advances at different levels, namely architectural, service and transport levels. It is done through specific exemplary use cases and evolution scenarios, with the goal of illustrating both new possibilities and existing gaps for the ongoing transition towards an advanced future mode of operation. This is performed from the perspective of a telecom operator, paying special attention on how to integrate all these paradigms into operational networks for assisting on their evolution targeting new, more sophisticated service demands.Programa de Doctorado en Ingeniería Telemática por la Universidad Carlos III de MadridPresidente: Eduardo Juan Jacob Taquet.- Secretario: Francisco Valera Pintor.- Vocal: Jorge López Vizcaín

Applied Analysis and Synthesis of Complex Systems: Proceedings of the IIASA-Kyoto University Joint Seminar, June 28-29, 2004

This two-day seminar aimed at introducing the new development of the COE by Kyoto University to IIASA and discussing general modeling methodologies for complex systems consisting of many elements, mostly via nonlinear, large-scale interactions. We aimed at clarifying fundamental principles in complex phenomena as well as utilizing and synthesizing the knowledge derived out of them. The 21st Century COE (Center of Excellence) Program is an initiative by the Japanese Ministry of Education, Culture, Science and Technology (MEXT) to support universities establishing discipline-specific international centers for education and research, and to enhance the universities to be the world's apex of excellence with international competitiveness in the specific research areas. Our program of "Research and Education on Complex Functional Mechanical Systems" is successfully selected to be awarded the fund for carrying out new research and education as Centers of Excellence in the field of mechanical engineering in 2003 (five-year project), and is expected to lead Japanese research and education, and endeavor to be the top in the world. The program covers general backgrounds in diverse fields as well as a more in-depth grasp of specific branches such as complex system modeling and analysis of the problems including: nonlinear dynamics, micro-mesoscopic physics, turbulent transport phenomena, atmosphere-ocean systems, robots, human-system interactions, and behaviors of nano-composites and biomaterials. Fundamentals of those complex functional mechanical systems are macroscopic phenomena of complex systems consisting of microscopic elements, mostly via nonlinear, large-scale interactions, which typically present collective behavior such as self-organization, pattern formation, etc. Such phenomena can be observed or created in every aspect of modern technologies. Especially, we are focusing upon; turbulent transport phenomena in climate modeling, dynamical and chaotic behaviors in control systems and human-machine systems, and behaviors of mechanical materials with complex structures. As a partial attainment of this program, IIASA and Kyoto University have exchanged Consortia Agreement at the beginning of the program in 2003, and this seminar was held to introduce the outline of the COE program of Kyoto University to IIASA researchers and to deepen the shared understandings on novel complex system modeling and analysis, including novel climate modeling and carbonic cycle management, through joint academic activities by mechanical engineers and system engineers. In this seminar, we invited a distinguished researcher in Europe as a keynote speaker and our works attained so far in the project were be presented by the core members of the project as well as by the other contributing members who participated in the project. All IIASA research staff and participants of YSSP (Young Scientist Summer Program) were cordially invited to attend this seminar to discuss general modeling methodologies for complex systems