Idiotypic Immune Networks in Mobile Robot Control

Jerne's idiotypic network theory postulates that the immune response involves inter-antibody stimulation and suppression as well as matching to antigens. The theory has proved the most popular Artificial Immune System (AIS) model for incorporation into behavior-based robotics but guidelines for implementing idiotypic selection are scarce. Furthermore, the direct effects of employing the technique have not been demonstrated in the form of a comparison with non-idiotypic systems. This paper aims to address these issues. A method for integrating an idiotypic AIS network with a Reinforcement Learning based control system (RL) is described and the mechanisms underlying antibody stimulation and suppression are explained in detail. Some hypotheses that account for the network advantage are put forward and tested using three systems with increasing idiotypic complexity. The basic RL, a simplified hybrid AIS-RL that implements idiotypic selection independently of derived concentration levels and a full hybrid AIS-RL scheme are examined. The test bed takes the form of a simulated Pioneer robot that is required to navigate through maze worlds detecting and tracking door markers.

Management accounting and supply chains: actions, concerns, and networks

What does this thesis do? This thesis uses Actor-Network Theory (ANT) to examine how a UK retailer’s organization and strategy, and, in turn, its form of management accounting was shaped by its supply chain. The thesis does this by reporting on four related themes in the form of four inter-connected essays. The first essay undertakes a state-of-the-art review of the literature. It examines how accounting issues within supply chains permeate ‘matters of concern’. In accordance with this idea of ANT, the essay illustrates how issues emerged, controversies developed, and matters evolved through an actor-network of accounting researchers within the supply chain domain. This leads on to the second essay, which exemplifies the nature of the UK’s retailing industry within which the supply chain case organization emerged and developed. The purposes of the essay are twofold: to introduce the contextual ramifications of the case organization; and to illustrate the emergence of a new market logic, which led to the creation of a global supply chain and a new form of management accounting therein. The third essay reports on a qualitative case study. It analyses the dualistic relation between ostensive and performative aspects of supply chain strategy, reveals how accounting numbers act as an obligatory passage point within this dualism, and makes a contribution to the ANT debate around the issue of whether and how a dualism between ostensive and performative aspects exists. The final essay reports on another case analysis of institutionalizing a heterarchical form of management accounting: a distributed form of intelligence that penetrates through lateral accountable relations. The analysis reveals a new form of management accounting characterised by ambiguity; it emphasizes the possibilities of compromises and negotiations, and it thus contributes to knowledge by combining an aspect of ANT with heterarchical tendencies in the world of contemporary organizations. Finally, the thesis concludes that it is the supply chain that organises today’s neoliberal capitalism; and it is management accounting that unites both human and non-human actors within such supply chains, despite that form of management accounting being ambiguous. The thesis comprises the introduction, these four essays, and the conclusion.

Idiotypic Immune Networks in Mobile Robot Control

Jerne's idiotypic network theory postulates that the immune response involves inter-antibody stimulation and suppression as well as matching to antigens. The theory has proved the most popular Artificial Immune System (AIS) model for incorporation into behavior-based robotics but guidelines for implementing idiotypic selection are scarce. Furthermore, the direct effects of employing the technique have not been demonstrated in the form of a comparison with non-idiotypic systems. This paper aims to address these issues. A method for integrating an idiotypic AIS network with a Reinforcement Learning based control system (RL) is described and the mechanisms underlying antibody stimulation and suppression are explained in detail. Some hypotheses that account for the network advantage are put forward and tested using three systems with increasing idiotypic complexity. The basic RL, a simplified hybrid AIS-RL that implements idiotypic selection independently of derived concentration levels and a full hybrid AIS-RL scheme are examined. The test bed takes the form of a simulated Pioneer robot that is required to navigate through maze worlds detecting and tracking door markers.

Étude d’évaluabilité et évaluation des processus et des effets d’un programme de prévention de l’usage de substances psychoactives lors de la transition primaire-secondaire

La mise en œuvre d’activités de prévention de la consommation de substances psychoactives (SPA) (tabac, alcool et cannabis) en milieu scolaire est une stratégie couramment utilisée pour rejoindre un grand nombre de jeunes. Ces activités s’inspirent, soit de programmes existant, soit d’innovations dictées par le contexte d’implantation ou l’existence de données de recherche. Dans un cas comme dans l’autre, l’évaluation de ces programmes représente la meilleure voie pour mesurer leur efficacité et/ou connaître comment ceux-ci sont implantés. C’est cet impératif qui a motivé une commission scolaire du Québec a recommandé l’évaluation de l’Intervention en Réseau (IR), un programme développé en vue de retarder l’âge d’initiation et de réduire la consommation problématique de SPA chez les élèves. Ce programme adopte une approche novatrice avec pour principal animateur un intervenant pivot (IP) qui assure le suivi des élèves de la 5e année du primaire jusqu’en 3e secondaire. Inspiré des modèles en prévention de la santé et de l’Approche École en santé (AES), le rôle de l’IP ici se démarque de ceux-ci. Certes, il est l’interface entre les différents acteurs impliqués et les élèves mais dans le cadre du programme IR, l’IP est intégré dans les écoles primaires et secondaires qu’il dessert. C’est cet intervenant qui assure la mobilisation des autres acteurs pour la mise en œuvre des activités. Cette thèse vise à rendre compte de ce processus d’évaluation ainsi que des résultats obtenus. L’approche d’évaluation en est une de type participatif et collaboratif avec des données quantitatives et qualitatives recueillies par le biais de questionnaires, d’entrevues, de groupes de discussion, d’un journal de bord et de notes de réunions. Les données ont été analysées dans le cadre de trois articles dont le premier concerne l’étude d’évaluabilité (ÉÉ) du programme. Les participants de cette ÉÉ sont des acteurs-clés du programme (N=13) rencontrés en entrevues. Une analyse documentaire (rapports et journal de bord) a également été effectuée. Cette ÉÉ a permis de clarifier les intentions des initiateurs du programme et les objectifs poursuivis par ces derniers. Elle a également permis de rendre la théorie du programme plus explicite et de développer le modèle logique, deux éléments qui ont facilité les opérations d’évaluation qui ont suivi. Le deuxième article porte sur l’évaluation des processus en utilisant la théorie de l’acteur-réseau (TAR) à travers ses quatre moments du processus de traduction des innovations (la problématisation, l’intéressement, l’enrôlement et la mobilisation des alliés), l’analyse des controverses et du rôle des acteurs humains et non-humains. Après l’analyse des données obtenues par entrevues auprès de 19 informateurs-clés, les résultats montrent que les phases d’implantation du programme passent effectivement par les quatre moments de la TAR, que la gestion des controverses par la négociation et le soutien était nécessaire pour la mobilisation de certains acteurs humains. Cette évaluation des processus a également permis de mettre en évidence le rôle des acteurs non-humains dans le processus d’implantation du programme. Le dernier article concerne une évaluation combinée des effets (volet quantitatif) et des processus (volet qualitatif) du programme. Pour le volet quantitatif, un devis quasi-expérimental a été adopté et les données ont été colligées de façon longitudinale par questionnaires auprès de 901 élèves de 5e et 6e année du primaire et leurs enseignants de 2010 à 2014. L’analyse des données ont montré que le programme n’a pas eu d’effets sur l’accessibilité et les risques perçus, l’usage problématique d’alcool et la polyconsommation (alcool et cannabis) chez les participants. Par contre, les résultats suggèrent que le programme pourrait favoriser la réduction du niveau de consommation et retarder l’âge d’initiation à l’alcool et au cannabis. Ils suggèrent également un effet potentiellement positif du programme sur l’intoxication à l’alcool chez les élèves. Quant au volet qualitatif, il a été réalisé à l’aide d’entrevues avec les intervenants (N=17), de groupes de discussion avec des élèves du secondaire (N=10) et d’une analyse documentaire. Les résultats montrent que le programme bénéficie d’un préjugé favorable de la part des différents acteurs ayant participé à l’évaluation et est bien acceptée par ces derniers. Cependant, le roulement fréquent de personnel et le grand nombre d’écoles à suivre peuvent constituer des obstacles à la bonne marche du programme. En revanche, le leadership et le soutien des directions d’écoles, la collaboration des enseignants, les qualités de l’IP et la flexibilité de la mise en œuvre sont identifiés comme des éléments ayant contribué au succès du programme. Les résultats et leur implication pour les programmes et l’évaluation sont discutés. Enfin, un plan de transfert des connaissances issues de la recherche évaluative est proposé.

Genetic algorithm seeding of idiotypic networks for mobile-robot navigation

Robot-control designers have begun to exploit the properties of the human immune system in order to produce dynamic systems that can adapt to complex, varying, real-world tasks. Jerne’s idiotypic-network theory has proved the most popular artificial-immune-system (AIS) method for incorporation into behaviour-based robotics, since idiotypic selection produces highly adaptive responses. However, previous efforts have mostly focused on evolving the network connections and have often worked with a single, preengineered set of behaviours, limiting variability. This paper describes a method for encoding behaviours as a variable set of attributes, and shows that when the encoding is used with a genetic algorithm (GA), multiple sets of diverse behaviours can develop naturally and rapidly, providing much greater scope for flexible behaviour-selection. The algorithm is tested extensively with a simulated e-puck robot that navigates around a maze by tracking colour. Results show that highly successful behaviour sets can be generated within about 25 minutes, and that much greater diversity can be obtained when multiple autonomous populations are used, rather than a single one.

Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems

Previous work has shown that robot navigation systems that employ an architecture based upon the idiotypic network theory of the immune system have an advantage over control techniques that rely on reinforcement learning only. This is thought to be a result of intelligent behaviour selection on the part of the idiotypic robot. In this paper an attempt is made to imitate idiotypic dynamics by creating controllers that use reinforcement with a number of different probabilistic schemes to select robot behaviour. The aims are to show that the idiotypic system is not merely performing some kind of periodic random behaviour selection, and to try to gain further insight into the processes that govern the idiotypic mechanism. Trials are carried out using simulated Pioneer robots that undertake navigation exercises. Results show that a scheme that boosts the probability of selecting highly-ranked alternative behaviours to 50% during stall conditions comes closest to achieving the properties of the idiotypic system, but remains unable to match it in terms of all round performance.

Desenvolvimento e políticas culturais de base comunitária na América do Sul : estudo comparado Brasil-Argentina

Dissertação (mestrado)—Universidade de Brasília, Centro de Estudos Avançados Multidisciplinares, Programa de Pós-Graduação em Desenvolvimento Sociedade e Cooperação Internacional, 2016.

The McSweeney's Group: Modernist Roots and Contemporary Permutations in Little Magazines

The purpose of this project centered on the influential literary magazine Timothy McSweeney’s Quarterly Concern. Using Bruno Latour’s network theory as well as the methods put forth by Robert Scholes and Clifford Wulfman to study modernist little magazines, I analyzed the influence McSweeney’s has on contemporary little magazines. I traced the connections between McSweeney’s and other paradigmatic examples of little magazines—The Believer and n+1—to show how the McSweeney’s aesthetic and business practice creates a model for more recent publications. My thesis argued that The Believer continues McSweeney’s aesthetic mission. In contrast, n+1 positioned itself against the McSweeney’s aesthetic, which indirectly created a space within the little magazines for writers, philosophers, and artists to debate the prevailing aesthetic theories of the contemporary period. The creation of this space connects these contemporary magazines back to modernist little magazines, thereby validating my decision to use the methods of Scholes and Wulfman.

La migración infantil indocumentada de Centroamérica, un desafío a la reformulación de la política migratoria de Estados Unidos. Estudio de caso de Honduras (2010-2014)

El siguiente estudio de caso analiza la influencia de la llegada de la migración infantil indocumentada centroamericana en la reformulación de la política migratoria de Estados Unidos en el período 2010-2014. Enfocándose en el caso de Honduras para dar a conocer y analizar las causas que crean las dinámicas migratorias por parte de los menores, este trabajo analiza como la llegada de estas poblaciones genera ciertos efectos en el proceso de toma de decisión de las políticas internas de los Estados Unidos. Por un lado, para resaltar las características del fenómeno migratorio, se utilizan las teorías de redes sociales y la teoría push and pull. Por otro, mediante los conceptos de Sensibilidad y Vulnerabilidad expuestos en la teoría de la Interdependencia Compleja de las Relaciones Internacionales, como también el concepto de Seguridad Societal propuesto por Barry Buzan se estudia el nivel de influencia del fenómeno infantil en el gobierno norteamericano.

Entre el terrorismo y el terrorismo en red, un debate a propósito de los lobos solitarios en Estados Unidos (2001-2014)

El interés de esta disertación es otorgar una respuesta a la fenomenología del Lobo Solitario, que se alza como amenaza frente a los Estados, y es necesaria su correcta comprensión para poder contrarrestar sus efectos sobre la sociedad. De esta manera, se propone un debate entre los conceptos de terrorismo expuesto por un lado por Bruce Hoffman, y por el otro por Luis de la Corte Ibáñez, quienes aportarán herramientas de análisis para lograr entender la fenomenología. Para terminar proponiendo la teoría de redes, expuesta por Arquilla y Ronfeldt y Charles Perrow, como mecanismo de solución a la brecha conceptual existente, definiendo a los lobos solitarios a nivel operacional como nodos sin red, y a nivel de adoctrinamiento como redes de débil acople.

Investing for impact. An exploration of impact investments in rural Ghana

This thesis offers an exploration of impact and social investments for agricultural development projects in Sub-Saharan Africa. It does so through the case of SustAgric-Africa (SAA), a social enterprise that aims to lift smallholder farmers out of poverty through the promotion of sustainable farming and operates with capital provided by a variety of investors who are committed to pairing financial returns with social and environmental outcomes. The thesis sets off to answer the following research questions: What is the moral dimension that emerges in finance with the establishment of environmental and social criteria? What kind of arrangements do social and impact investments give origin to? Is it possible to talk about a ‘spirit of the gift’ in such arrangements? What happens when abstract and globalizing ideas around ‘impact’ hit the ground? Drawing from the STS and Actor-Network Theory, I look at the formation engendered by social and impact investments in terms of a socio-technical arrangement, and look at the movements of “objects” between the main actors in terms of circuits. In these processes ideas about ‘value’ and ‘values’ articulate in complex ways in the interplay of gift, debt and credit in the relationships among the three main categories of involved actors: investors, SAA, and the farmers. In the case of SAA, I contend that the ways abstract and globalising ideas about ‘impact’ hit the ground produce uncertain results and contribute to the reproduction of inequalities and unequal wealth distribution and accumulation, deepening ongoing processes of financialization. However, my ethnography also reveals how actors depicted as beneficiaries of impact and social policies and resources, far from being passive recipients of policies and resources, actually question and appropriate them, potentially unsettling the whole arrangement and the moral and ethical claims underpinning it.

Failure detection for transport processes on networks

Diffusion on networks is a convenient framework to describe transport systems of different nature (from biological transport systems to urban mobility). The mathematical models are based on master equations that describe the diffusion processes by means of the weighted Laplacian matrix that connects the nodes. The link weight represent the coupling strength between the nodes. In this thesis we cope with the problem of localizing a single-edge failure that occurs in the network. An edge failure is meant to be as a sudden decrease of its transport capacities. An incomplete observation of the dynamical state of the network is available. An optimal clustering procedure based on the correlation properties among the node states is proposed. The network dimensionality is then reduced introducing representative nodes for each cluster, whose dynamical state is observed. We check the efficiency of the failure localization for our clustering method in comparison with more traditional techniques, using different graph configurations.

The Barcelonnettes: an example of network-entrepreneurs in XIX century Mexico. An explanation based on a theory of bounded rational choice with social embeddedness

A theory of network-entrepreneurs or "spin-off system" is presented in this paper for the creation of firms based on the community’s social governance. It is argued that firm’s capacity for accumulation depends on the presence of employees belonging to the same social/ethnic group with expectations of "inheriting" the firm and becoming entrepreneurs once they have been selected for their merits and loyalty towards their patrons. Such accumulation is possible because of the credibility of the patrons’ promises of supporting newcomers due to high social cohesion and specific social norms prevailing in the community. This theory is exemplified through the case of the Barcelonnettes, a group of immigrants from the Alps in the South of France (Provence) who came to Mexico in the XIX Century.

Clustering algorithms for anti-money laundering using graph theory and social network analysis

HEMOLIA (a project under European community’s 7th framework programme) is a new generation Anti-Money Laundering (AML) intelligent multi-agent alert and investigation system which in addition to the traditional financial data makes extensive use of modern society’s huge telecom data source, thereby opening up a new dimension of capabilities to all Money Laundering fighters (FIUs, LEAs) and Financial Institutes (Banks, Insurance Companies, etc.). This Master-Thesis project is done at AIA, one of the partners for the HEMOLIA project in Barcelona. The objective of this thesis is to find the clusters in a network drawn by using the financial data. An extensive literature survey has been carried out and several standard algorithms related to networks have been studied and implemented. The clustering problem is a NP-hard problem and several algorithms like K-Means and Hierarchical clustering are being implemented for studying several problems relating to sociology, evolution, anthropology etc. However, these algorithms have certain drawbacks which make them very difficult to implement. The thesis suggests (a) a possible improvement to the K-Means algorithm, (b) a novel approach to the clustering problem using the Genetic Algorithms and (c) a new algorithm for finding the cluster of a node using the Genetic Algorithm.

What can ecosystems learn? Expanding evolutionary ecology with learning theory.

BACKGROUND: The structure and organisation of ecological interactions within an ecosystem is modified by the evolution and coevolution of the individual species it contains. Understanding how historical conditions have shaped this architecture is vital for understanding system responses to change at scales from the microbial upwards. However, in the absence of a group selection process, the collective behaviours and ecosystem functions exhibited by the whole community cannot be organised or adapted in a Darwinian sense. A long-standing open question thus persists: Are there alternative organising principles that enable us to understand and predict how the coevolution of the component species creates and maintains complex collective behaviours exhibited by the ecosystem as a whole? RESULTS: Here we answer this question by incorporating principles from connectionist learning, a previously unrelated discipline already using well-developed theories on how emergent behaviours arise in simple networks. Specifically, we show conditions where natural selection on ecological interactions is functionally equivalent to a simple type of connectionist learning, 'unsupervised learning', well-known in neural-network models of cognitive systems to produce many non-trivial collective behaviours. Accordingly, we find that a community can self-organise in a well-defined and non-trivial sense without selection at the community level; its organisation can be conditioned by past experience in the same sense as connectionist learning models habituate to stimuli. This conditioning drives the community to form a distributed ecological memory of multiple past states, causing the community to: a) converge to these states from any random initial composition; b) accurately restore historical compositions from small fragments; c) recover a state composition following disturbance; and d) to correctly classify ambiguous initial compositions according to their similarity to learned compositions. We examine how the formation of alternative stable states alters the community's response to changing environmental forcing, and we identify conditions under which the ecosystem exhibits hysteresis with potential for catastrophic regime shifts. CONCLUSIONS: This work highlights the potential of connectionist theory to expand our understanding of evo-eco dynamics and collective ecological behaviours. Within this framework we find that, despite not being a Darwinian unit, ecological communities can behave like connectionist learning systems, creating internal conditions that habituate to past environmental conditions and actively recalling those conditions. REVIEWERS: This article was reviewed by Prof. Ricard V Solé, Universitat Pompeu Fabra, Barcelona and Prof. Rob Knight, University of Colorado, Boulder.