How a well-adapting immune system remembers

An adaptive agent predicting the future state of an environment must weigh trust in new observations against prior experiences. In this light, we propose a view of the adaptive immune system as a dynamic Bayesian machinery that updates its memory repertoire by balancing evidence from new pathogen encounters against past experience of infection to predict and prepare for future threats. This framework links the observed initial rapid increase of the memory pool early in life followed by a mid-life plateau to the ease of learning salient features of sparse environments. We also derive a modulated memory pool update rule in agreement with current vaccine response experiments. Our results suggest that pathogenic environments are sparse and that memory repertoires significantly decrease infection costs even with moderate sampling. The predicted optimal update scheme maps onto commonly considered competitive dynamics for antigen receptors

A brief review of neural networks based learning and control and their applications for robots

As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation

Advances in Reinforcement Learning

Reinforcement Learning (RL) is a very dynamic area in terms of theory and application. This book brings together many different aspects of the current research on several fields associated to RL which has been growing rapidly, producing a wide variety of learning algorithms for different applications. Based on 24 Chapters, it covers a very broad variety of topics in RL and their application in autonomous systems. A set of chapters in this book provide a general overview of RL while other chapters focus mostly on the applications of RL paradigms: Game Theory, Multi-Agent Theory, Robotic, Networking Technologies, Vehicular Navigation, Medicine and Industrial Logistic

Dynamic causal modelling for EEG and MEG

Dynamic Causal Modelling (DCM) is an approach first introduced for the analysis of functional magnetic resonance imaging (fMRI) to quantify effective connectivity between brain areas. Recently, this framework has been extended and established in the magneto/encephalography (M/EEG) domain. DCM for M/EEG entails the inversion a full spatiotemporal model of evoked responses, over multiple conditions. This model rests on a biophysical and neurobiological generative model for electrophysiological data. A generative model is a prescription of how data are generated. The inversion of a DCM provides conditional densities on the model parameters and, indeed on the model itself. These densities enable one to answer key questions about the underlying system. A DCM comprises two parts; one part describes the dynamics within and among neuronal sources, and the second describes how source dynamics generate data in the sensors, using the lead-field. The parameters of this spatiotemporal model are estimated using a single (iterative) Bayesian procedure. In this paper, we will motivate and describe the current DCM framework. Two examples show how the approach can be applied to M/EEG experiments

Optimal Control of Unknown Nonlinear System From Inputoutput Data

Optimal control designers usually require a plant model to design a controller. The problem is the controller\u27s performance heavily depends on the accuracy of the plant model. However, in many situations, it is very time-consuming to implement the system identification procedure and an accurate structure of a plant model is very difficult to obtain. On the other hand, neuro-fuzzy models with product inference engine, singleton fuzzifier, center average defuzzifier, and Gaussian membership functions can be easily trained by many well-established learning algorithms based on given input-output data pairs. Therefore, this kind of model is used in the current optimal controller design. Two approaches of designing optimal controllers of unknown nonlinear systems based on neuro-fuzzy models are presented in the thesis. The first approach first utilizes neuro-fuzzy models to approximate the unknown nonlinear systems, and then the feasible-direction algorithm is used to achieve the numerical solution of the Euler-Lagrange equations of the formulated optimal control problem. This algorithm uses the steepest descent to find the search direction and then apply a one-dimensional search routine to find the best step length. Finally several nonlinear optimal control problems are simulated and the results show that the performance of the proposed approach is quite similar to that of optimal control to the system represented by an explicit mathematical model. However, due to the limitation of the feasible-direction algorithm, this method cannot be applied to highly nonlinear and dimensional plants. Therefore, another approach that can overcome these drawbacks is proposed. This method utilizes Takagi-Sugeno (TS) fuzzy models to design the optimal controller. TS fuzzy models are first derived from the direct linearization of the neuro-fuzzy models, which is close to the local linearization of the nonlinear dynamic systems. The operating points are chosen so that the TS fuzzy model is a good approximation of the neuro-fuzzy model. Based on the TS fuzzy model, the optimal control is implemented for a nonlinear two-link flexible robot and a rigid asymmetric spacecraft, thus providing the possibility of implementing the well-established optimal control method on unknown nonlinear dynamic systems