Learning without recall in directed circles and rooted trees

This work investigates the case of a network of agents that attempt to learn some unknown state of the world amongst the finitely many possibilities. At each time step, agents all receive random, independently distributed private signals whose distributions are dependent on the unknown state of the world. However, it may be the case that some or any of the agents cannot distinguish between two or more of the possible states based only on their private observations, as when several states result in the same distribution of the private signals. In our model, the agents form some initial belief (probability distribution) about the unknown state and then refine their beliefs in accordance with their private observations, as well as the beliefs of their neighbors. An agent learns the unknown state when her belief converges to a point mass that is concentrated at the true state. A rational agent would use the Bayes' rule to incorporate her neighbors' beliefs and own private signals over time. While such repeated applications of the Bayes' rule in networks can become computationally intractable; in this paper, we show that in the canonical cases of directed star, circle or path networks and their combinations, one can derive a class of memoryless update rules that replicate that of a single Bayesian agent but replace the self beliefs with the beliefs of the neighbors. This way, one can realize an exponentially fast rate of learning similar to the case of Bayesian (fully rational) agents. The proposed rules are a special case of the Learning without Recall approach that we develop in a companion paper, and it has the advantage that while preserving essential features of the Bayesian inference, they are made tractable. In particular, the agents can rely on the observational abilities of their neighbors and their neighbors' neighbors etc. to learn the unknown state; even though they themselves cannot distinguish the truth

Structural controllability of multi-agent networks: Robustness against simultaneous failures

In this paper, structural controllability of a leader-follower multi-agent system with multiple leaders is studied from a graph-theoretic point of view. The problem of preservation of structural controllability under simultaneous failures in both the communication links and the agents is investigated. The effects of the loss of agents and communication links on the controllability of an information flow graph are previously studied. In this work, the corresponding results are exploited to introduce some useful indices and importance measures that help characterize and quantify the role of individual links and agents in the controllability of the overall network. Existing results are then extended by considering the effects of losses in both links and agents at the same time. To this end, the concepts of joint (r,s)-controllability and joint t-controllability are introduced as quantitative measures of reliability for a multi-agent system, and their important properties are investigated. Lastly, the class of jointly critical digraphs is introduced, and it is stated that if a digraph is jointly critical, then joint t-controllability is a necessary and sufficient condition for remaining controllable following the failure of any set of links and agents, with cardinality less than t. Various examples are exploited throughout the paper to elaborate on the analytical findings. © 2013 Elsevier Ltd. All rights reserved

Distributed estimation and learning over heterogeneous networks

We consider several estimation and learning problems that networked agents face when making decisions given their uncertainty about an unknown variable. Our methods are designed to efficiently deal with heterogeneity in both size and quality of the observed data, as well as heterogeneity over time (intermittence). The goal of the studied aggregation schemes is to efficiently combine the observed data that is spread over time and across several network nodes, accounting for all the network heterogeneities. Moreover, we require no form of coordination beyond the local neighborhood of every network agent or sensor node. The three problems that we consider are (i) maximum likelihood estimation of the unknown given initial data sets, (ii) learning the true model parameter from streams of data that the agents receive intermittently over time, and (iii) minimum variance estimation of a complete sufficient statistic from several data points that the networked agents collect over time. In each case, we rely on an aggregation scheme to combine the observations of all agents; moreover, when the agents receive streams of data over time, we modify the update rules to accommodate the most recent observations. In every case, we demonstrate the efficiency of our algorithms by proving convergence to the globally efficient estimators given the observations of all agents. We supplement these results by investigating the rate of convergence and providing finite-time performance guarantees

Controllability Gramian spectra of random networks

We propose a theoretical framework to study the eigenvalue spectra of the controllability Gramian of systems with random state matrices, such as networked systems with a random graph structure. Using random matrix theory, we provide expressions for the moments of the eigenvalue distribution of the controllability Gramian. These moments can then be used to derive useful properties of the eigenvalue distribution of the Gramian (in some cases, even closed-form expressions for the distribution). We illustrate this framework by considering system matrices derived from common random graph and matrix ensembles, such as the Wigner ensemble, the Gaussian Orthogonal Ensemble (GOE), and random regular graphs. Subsequently, we illustrate how the eigenvalue distribution of the Gramian can be used to draw conclusions about the energy required to control random system

Digraphs with distinguishable dynamics under the multi-agent agreement protocol

This work studies the ability to distinguish digraphs from the output response of some observing agents in a multi-agent network under the agreement protocol. Given a fixed observation point, it is desired to find sufficient graphical conditions under which the failure of a set of edges in the network information flow digraph is distinguishable from another set. When the latter is empty, this corresponds to the detectability of the former link set given the response of the observing agent. In developing the results, a powerful extension of the all-minors matrix tree theorem in algebraic graph theory is proved which relates the minors of the transformed Laplacian of a directed graph to the number and length of the shortest paths between its vertices. The results reveal an intricate relationship between the ability to distinguish the responses of a healthy and a faulty multi-agent network and the inter-nodal paths in their information flow digraphs. The results have direct implications for the operation and design of multi-agent systems subject to multiple link losses. Simulations and examples are presented to illustrate the analytic findings

Automated Planning of Concrete Joint Layouts with 4D-BIM

Concrete pouring represents a major critical path activity that is often affected by design limitations, structural considerations and on-site operational constraints. As such, meticulous planning is required to ensure that both the aesthetic and structural integrity of joints between cast in-situ components is achieved. Failure to adequately plan concrete pouring could lead to structural defects, construction rework or structural instability, all having major financial implications. Given the inherent complexity of large-scale construction projects, the ‘manual planning’ of concrete pouring is a challenging task and prone to human errors. Against this backdrop, this study developed 4D Building Information Management (BIM) approach to facilitate automated concrete joint positioning solution (as a proof of concept) for design professionals and contractors. The study first developed structural model in Revit, then extracted spatial information regarding all construction joints and linked them to dynamic Microsoft (MS) Excel and Matlab spreadsheets using integration facilitated by Dynamo software. Midspan points of each beam as well as floor perimeter information were gathered via codes developed in MS Excel macros. Based on the Excel outputs, Matlab programming was used to determine best concreating starting points and directions, and daily allowed concrete volume, considering limitations due to cold joints. These information were then pushed back to Revit via Dynamo in order to develop daily concrete scheduling. The developed automated programme framework offers a cost-effective and accurate methodology to address the limitations and inefficiencies of traditional methods of designing construction joints and planning pours. This framework extends the body of knowledge by introducing innovative solutions to integrate structural design considerations, constructional procedures and operational aspects for mitigating human error, and providing a novel, yet technically sound, basis for further application of BIM in structural engineering

Adenosine A2A receptors: localization and function

Adenosine is an endogenous purine nucleoside present in all mammalian tissues, that originates from the breakdown of ATP. By binding to its four receptor subtypes (A1, A2A, A2B, and A3), adenosine regulates several important physiological functions at both the central and peripheral levels. Therefore, ligands for the different adenosine receptors are attracting increasing attention as new potential drugs to be used in the treatment of several diseases. This chapter is aimed at providing an overview of adenosine metabolism, adenosine receptors localization and their signal transduction pathways. Particular attention will be paid to the biochemistry and pharmacology of A2A receptors, since antagonists of these receptors have emerged as promising new drugs for the treatment of Parkinson's disease. The interactions of A2A receptors with other nonadenosinergic receptors, and the effects of the pharmacological manipulation of A2A receptors on different body organs will be discussed, together with the usefulness of A2A receptor antagonists for the treatment of Parkinson's disease and the potential adverse effects of these drugs

Machine learning for estimation of building energy consumption and performance:a review

Ever growing population and progressive municipal business demands for constructing new buildings are known as the foremost contributor to greenhouse gasses. Therefore, improvement of energy eciency of the building sector has become an essential target to reduce the amount of gas emission as well as fossil fuel consumption. One most eective approach to reducing CO2 emission and energy consumption with regards to new buildings is to consider energy eciency at a very early design stage. On the other hand, ecient energy management and smart refurbishments can enhance energy performance of the existing stock. All these solutions entail accurate energy prediction for optimal decision making. In recent years, articial intelligence (AI) in general and machine learning (ML) techniques in specic terms have been proposed for forecasting of building energy consumption and performance. This paperprovides a substantial review on the four main ML approaches including articial neural network, support vector machine, Gaussian-based regressions and clustering, which have commonly been applied in forecasting and improving building energy performance