Probabilistic Methodology and Techniques for Artefact Conception and Development

The purpose of this paper is to make a state of the art on probabilistic methodology and techniques for artefact conception and development. It is the 8th deliverable of the BIBA (Bayesian Inspired Brain and Artefacts) project. We first present the incompletness problem as the central difficulty that both living creatures and artefacts have to face: how can they perceive, infer, decide and act efficiently with incomplete and uncertain knowledge?. We then introduce a generic probabilistic formalism called Bayesian Programming. This formalism is then used to review the main probabilistic methodology and techniques. This review is organized in 3 parts: first the probabilistic models from Bayesian networks to Kalman filters and from sensor fusion to CAD systems, second the inference techniques and finally the learning and model acquisition and comparison methodologies. We conclude with the perspectives of the BIBA project as they rise from this state of the art

Approximate Discrete Probability Distribution Representation using a Multi-ResolutionBinary Tree

Computing and storing probabilities is a hard problem as soon as one has to deal with complex distributions over multiples random variables. The problem of efficient representation of probability distributions is central in term of computational efficiency in the field of probabilistic reasoning. The main problem arises when dealing with joint probability distributions over a set of random variables: they are always represented using huge probability arrays. In this paper, a new method based on a binary-tree representation is introduced in order to store efficiently very large joint distributions. Our approach approximates any multidimensional joint distributions using an adaptive discretization of the space. We make the assumption that the lower is the probability mass of a particular region of feature space, the larger is the discretization step. This assumption leads to a very optimized representation in term of time and memory. The other advantages of our approach are the ability to refine dynamically the distribution every time it is needed leading to a more accurate representation of the probability distribution and to an anytime representation of the distribution

The Design and Implementation of a Bayesian CAD Modeler for Robotic Applications

We present a Bayesian CAD modeler for robotic applications. We address the problem of taking into account the propagation of geometric uncertainties when solving inverse geometric problems. The proposed method may be seen as a generalization of constraint-based approaches in which we explicitly model geometric uncertainties. Using our methodology, a geometric constraint is expressed as a probability distribution on the system parameters and the sensor measurements, instead of a simple equality or inequality. To solve geometric problems in this framework, we propose an original resolution method able to adapt to problem complexity. Using two examples, we show how to apply our approach by providing simulation results using our modeler

A Robotic CAD System using a Bayesian Framework

We present in this paper a Bayesian CAD system for robotic applications. We address the problem of the propagation of geometric uncertainties and how esian CAD system for robotic applications. We address the problem of the propagation of geometric uncertainties and how to take this propagation into account when solving inverse problems. We describe the methodology we use to represent and handle uncertainties using probability distributions on the system's parameters and sensor measurements. It may be seen as a generalization of constraint-based approaches where we express a constraint as a probability distribution instead of a simple equality or inequality. Appropriate numerical algorithms used to apply this methodology are also described. Using an example, we show how to apply our approach by providing simulation results using our CAD system

The Ariadne's Clew Algorithm

We present a new approach to path planning, called the ``Ariadne's clew algorithm''. It is designed to find paths in high-dimensional continuous spaces and applies to robots with many degrees of freedom in static, as well as dynamic environments --- ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called SEARCH and EXPLORE, applied in an interleaved manner. EXPLORE builds a representation of the accessible space while SEARCH looks for the target. Both are posed as optimization problems. We describe a real implementation of the algorithm to plan paths for a six degrees of freedom arm in a dynamic environment where another six degrees of freedom arm is used as a moving obstacle. Experimental results show that a path is found in about one second without any pre-processing

Circulating Pneumolysin Is a Potent Inducer of Cardiac Injury during Pneumococcal Infection

Streptococcus pneumoniae accounts for more deaths worldwide than any other single pathogen through diverse disease manifestations including pneumonia, sepsis and meningitis. Life-threatening acute cardiac complications are more common in pneumococcal infection compared to other bacterial infections. Distinctively, these arise despite effective antibiotic therapy. Here, we describe a novel mechanism of myocardial injury, which is triggered and sustained by circulating pneumolysin (PLY). Using a mouse model of invasive pneumococcal disease (IPD), we demonstrate that wild type PLY-expressing pneumococci but not PLY-deficient mutants induced elevation of circulating cardiac troponins (cTns), well-recognized biomarkers of cardiac injury. Furthermore, elevated cTn levels linearly correlated with pneumococcal blood counts (r=0.688, p=0.001) and levels were significantly higher in non-surviving than in surviving mice. These cTn levels were significantly reduced by administration of PLY-sequestering liposomes. Intravenous injection of purified PLY, but not a non-pore forming mutant (PdB), induced substantial increase in cardiac troponins to suggest that the pore-forming activity of circulating PLY is essential for myocardial injury in vivo. Purified PLY and PLY-expressing pneumococci also caused myocardial inflammatory changes but apoptosis was not detected. Exposure of cultured cardiomyocytes to PLY-expressing pneumococci caused dose-dependent cardiomyocyte contractile dysfunction and death, which was exacerbated by further PLY release following antibiotic treatment. We found that high PLY doses induced extensive cardiomyocyte lysis, but more interestingly, sub-lytic PLY concentrations triggered profound calcium influx and overload with subsequent membrane depolarization and progressive reduction in intracellular calcium transient amplitude, a key determinant of contractile force. This was coupled to activation of signalling pathways commonly associated with cardiac dysfunction in clinical and experimental sepsis and ultimately resulted in depressed cardiomyocyte contractile performance along with rhythm disturbance. Our study proposes a detailed molecular mechanism of pneumococcal toxin-induced cardiac injury and highlights the major translational potential of targeting circulating PLY to protect against cardiac complications during pneumococcal infections

Teaching Bayesian Behaviours to Video Game Characters

This article explores an application of Bayesian programming to behaviours for synthetic video games characters. We address the problem of real-time reactive selection of elementary behaviours for an agent playing a first person shooter game. We show how Bayesian programming can lead to condensed and easier formalisation of finite state machine-like behaviour selection, and lend itself to learning by imitation, in a fully transparent way for the player

Eating in Asia: Understanding food tourism and its perspectives in Asia

This introductory chapter provides the important contextual backgrounds of food tourism in Asia as well as key concepts and perspectives of understanding food tourism in Asia. Food as an experience of otherness, which has been predominantly discussed from a Western perspective, is understood within the Asian context through ethnic diversity and social changes in the region. Two distinctive approaches to food tourism in Asia are developed: food for tourism and tourism for food. The former corresponds to the conventional concept of food as a distinctive tourism resource, while the latter reflects on the contemporary social aspects of Asian countries where there is a strong and influential media presence