Professional Documents
Culture Documents
Artificial Systems 2
Artificial Systems 2
Lecture 8: Review
Taxonomy / Classification Static Optimisation Problems
Ant-Colony Optimisation Particle Swarm Optimisation
Lecture 9: Overview
Swarms
Robots Spiders-based systems
Swarms of Robots
Cooperative prey transport by social insects
Ants recruit other ants for collaborative transport of preys too heavy to be carried by a single ant
E.g. 100 ants transporting a worm (5000 times bigger than each single ant)
Resistance to traction decides ants to recruit nestmates Size of group is adapted to size of prey Pheromone used to recruit nestmates Coordination for transporting prey occurs through indirect communication (stigmergy) Actual transport involves:
re-alignment and re-positioning
Adaptive Systems - Giovanna Di Marzo Serugendo 4
Swarms of Robots
Application
Swarms of robots [Bonabeau 99]
Collaborative box-pushing
Indirect communication Decentralised control
Goal:
Localise a box in a given space and push it towards an edge
Subsumption architecture:
Every behaviour is subdivided into atomic sub-behaviours activated when necessary (reactive approach) Each sub-behaviour has its own sensors inputs and actuators outputs Hierarchy of behaviours with priority Arbitration module controls actual activation of sub-behaviour
Adaptive Systems - Giovanna Di Marzo Serugendo 5
Swarms of Robots
Sensors
Left/Right infrared (obstacles) and photocells sensors (box)
Steering actuator
Left/Right wheel motors
Behaviours definition
Find (box) lowest priority Follow (other robot) Slow (neighbour collision) Goal (move towards box) Avoid (obstacle collision change direction) highest priority
6
Swarms of Robots
Scenario
Goal activated Follow and Goal: set motion Avoid: stop current process (Goal deactivated) -> re-alignment and re-positioning Goal of one robot is re-activated
Swarms of Robots
Adaptation
Different configurations
Box positioning, robots placements
Region Detection
Metaphor: Social Spiders
Few species of spiders are social
Sharing of web Collaboration (preys, web weaving) Stigmergy based on silk
Spiders follow silk or move to points where silk is fixed
Region Detection
Region detection
Region detection (grey levels) [Bourjot 03]
Partition of image into subsets of separate objects Determination of sets of connected pixels (regions)
Idea:
Webs weaving determines the region
Algorithm
Spider has to detect a given region (grey level)
Several spiders explore image and fix silk on relevant pixels Silk attraction Resulting web is fixed on interesting pixels
Adaptive Systems - Giovanna Di Marzo Serugendo 11
Region Detection
12
Region Detection
13
Manufacturing Control
Manufacturing control
Management of internal logistic and of production system Routing of product instances Assignment of workers Assignment of raw material Operations begin and end
Dynamic environment
Failures, new products, equipment upgrades, etc.
Idea:
Decentralised control with self-organising behaviour
Adaptive Systems - Giovanna Di Marzo Serugendo 14
Manufacturing Control
Metaphor: Ant foraging PROSA Architecture [Hadeli 03] Agents:
Orders agents (logistics for managing products), products agents (processes tasks), resources agents (raw material, machines, etc)
Manufacturing Control
Ant-agents behaviour
Feasibility information ants
Information related to the resource locations (availability, speed, etc.)
Exploring ants
Order agents create several ants each exploring a way of realising the order (gives back a report with followed route)
Manufacturing control
Obtained from the choices made by order agents
On the basis of the above information
Manufacturing Control
Exploring Ants (EA)
Tries to find solutions Searching for solutions is guided by local pheromones Reports result of solution to the corresponding Order Agent
Rd Rc Rb Ra
Rd Rc
Orders - Agent
Rd Rc Rb Ra
Rb Ra
EA3 EA2
EA1
t1
t2
t3
time
17
Manufacturing Control
Adaptation
Actual factory status Current orders
18
Used for:
Modelling immune systems
i 1 ( Abi Ag i )2
L
D i 1 ( Abi Agi )
L
Ab = [1 0 0 0 1 1 0 0 1] Ag = [1 1 0 0 0 1 0 1 0] Match(Ab, Ag) = 0 1 0 0 1 0 0 1 1 Complementarity: affinity = 4 (how different) Similarity: affinity = 5 (how similar)
http://en.wikipedia.org/wiki/Immune_system
Negative selection
Learning phase (avoid matching self) Define set of detectors (for anomaly detection)
Clonal selection
Generate additional immune cells driven by detected antigens
Immune networks
Simulate immune networks
Model 2
Generation of antibodies from gene library Concatenation of genes from gene library
Applications
Computational security
Intrusion Detection
Metaphor: Mammalian Immune System (Lecture 2) Self/Non-Self recognition
Each cell has a marker (self) Cells without marker (non-self) are considered antigen
Immune system attacks antigen
T cells - Response
Destroy marked cells
B and T cells
Transported by blood and lymphatic vessels across the whole body
26
Intrusion Detection
Characteristics of Immune System
Robust
Decentralised and distributed (no central control) Dynamic (new components created, destroyed, circulated) Tolerant to errors (failure of single components has a minimal impact)
Adaptable
Learn to recognise new infections Memory of past infections
Autonomous
No outside control
Adaptive Systems - Giovanna Di Marzo Serugendo 27
Intrusion Detection
Intrusion Detection - ARTIS [Forrest 99]
ARTificial Immune System (Mobile) detectors circulating in the system
Stand for the T, B cells and antibodies
Detection
Bit strings stand for proteins to detect Random generation of detectors (random string)
Look for matching portions of strings (anomaly)
Training:
If detector matches a self string then detector is destroyed and new one regenerated
(Associative) Memory
Mapping of identified non-self strings to responses
28
Intrusion Detection
Applied to:
Computer virus detection Host-based intrusion detection Network intrusion detection
Proteins = network traffic
Strings = (Source IP address, Destination IP address, TCP Port Service) Anomaly detection = high frequency of connections
Environment
Network of computers Each computer runs a detector node
Experiments
Off-line with actual data, no mobile detectors Detection of attacks
Adaptive Systems - Giovanna Di Marzo Serugendo 29
Intrusion Detection
Adaptation
Learning Memory:
Quick reaction for further identical intrusion
30
Intrusion Response
Metaphor: Ants foraging
Implementation: mobile agents Mobile agents trace the source of the attack (machine) as ants follow a trail for food
Mobile Agents
Software able to change its location (keeping its execution state)
Adaptive Systems - Giovanna Di Marzo Serugendo 31
P2P / Networks
T-Man Algorithm [Jelasity 05].
Generic protocol based on gossip communication model Goal: network topology management problem
Nodes randomly connected Re-organisation of connections to produce desirable topology
Nodes become neighbours based on information such as: geographic position, content, storage capacity
Metaphor: Gossip
Periodic exchange and update of information among members of a group Allows: aggregation of global information inside a population, social learning Parameters: neighbourhood, level of precision of information
P2P / Networks
Principle
Nodes maintain local list of of (logical) neighbours a fixed number of neighbours, say c For each neighbour a profile is stored
Profile is relevant for the topology to achieve (type of data stored, ID, location, etc)
Serves for reorganising the set of neighbours Based on profile of the nodes (distance between profiles)
Choice of closest neighbour based on ranking function Local exchange / combination of neighbours profile
P2P / Networks
Applications
Overlay networks supporting P2P systems
Maintenance or establishment of P2P topology
Autonomic Computing
Autonomic computing computing systems that can manage themselves given high-level objectives from administrators [Kephart03]
35
Autonomic Computing
Metaphor: human nervous system
Regulation of vital functions:
Breath, blood pressure, heart beating, Seamlessly for human being
Autonomic Computing
Goal:
Machines that manages themselves (self-management)
With highest performances 24/7
Autonomic Computing
Self-Configuration (installation, configuration, integration) Automated configuration of components and systems follow high-level policies. Rest of System adjusts automatically and seamlessly [Kephart03]
Self-Optimisation (parameters) Components and systems continually seek opportunities to improve their own performance and efficiency [Kephart03]
37
Autonomic Computing
Self-Healing (error detection, diagnostic, repair) System automatically detects, diagnoses, and repairs localized software and hardware problems [Kephart 03]
Self-protection (detection and response to attacks) System automatically defends against malicious attacks or cascading failures. It uses early warning to anticipate and prevent system wide failures [Kephart 03]
38
Autonomic Element
Autonomic Manager
Managed Resource
39
Autonomic Elements
40
Example
Two Applications Managers (AM1, AM2) handling resources (servers S1, S2)
Resources are dynamically allocated on the basis of policies If application manager cannot apply its policy, it asks a Resource Arbiter (RA) for additional resources
RA
AM1
S1
Adaptive Systems - Giovanna Di Marzo Serugendo
AM2
S2
41
Example
Components
Two application managers (AM1, AM2) Resource Arbiter (RA) Two Servers (S1, S2)
Meta-data
Servers Transaction Time Servers CPU availability
Adaptive Systems - Giovanna Di Marzo Serugendo 42
Example
Policies
AM Policy1
Increase CPU by 5% if response time is above 100ms
AM Policy 2
If transaction time > 100 ms and CPU availability > 98%, ask RA for more CPU
RA Policy
If request for CPU, grant and give priority to AM1
43
Unity
Autonomic Elements Application Environment Manager (AM)
Management of environment resources and Communications Prediction about impact in increasing/decreasing resources Utility function U i ( Si , Di )
U (S , D )
i i i i
Registry: Location of autonomic elements Registry policy: High-level policies (utility function) Sentinel: Monitors elements for another element [Chess 04]
Adaptive Systems - Giovanna Di Marzo Serugendo 44
Unity
45
Readings
[Bonabeau 99] E. Bonabeau, M. Dorigo, and G. Thraulaz. Swarm Intelligence: From Natural to Artificial Systems Santa Fe Institute Studies on the Sciences of Complexity. Oxford University Press, UK, 1999. [Hadeli 03] Hadeli et al. Self-organising in Multi-Agent Coordination and Control using Stigmergy. LNAI 2977, Springer, pp. 105-123, 2004. [Foukia 05] N. Foukia: IDReAM: Intrusion Detection and Response executed with Agent Mobility Architecture and Implementation. AAMAS05, 2005.
[Hofmeyr 99] S. A. Hofmeyr, S. Forrest: Architecture for an Artificial Immune System. Evolutionary Computation 7(1):45-68, 1999.
46
Readings
[Bourjot 03] Bourjot, C. Chevrier, V. and Thomas, V.:A new swarm mechanism based on social spiders colonies: from web weaving to region detection. In Web Intelligence and Agent Systems: An International Journal - Vol 1, N.1, pp 47-64 WIAS. 2003. [Chess 04] Chess et al. Unity: Experiences with a prototype Autonomic Computing System. ICAC'04. 2004. [Jelasity 05] Mrk Jelasity and Ozalp Babaoglu: T-Man: Gossipbased overlay topology management. In Proceedings of Engineering Self-Organising Applications (ESOA'05), July 2005.
[Kephart 03] J. Kephart, D. Chess: The Vision of Autonomic Computing, IEEE Computer, January 2003, 36(1):41-50, 2003.
47