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Österreichisches Forschungsinstitut für
Artificial Intelligence
OFAI
AIS - Framework and Scenario
Lisbon September 2005
Overview
Österreichisches Forschungsinstitut für
Artificial Intelligence
• What have we presented so far?
• Immune Engineering –
a brief introduction
• AISA –
Artificial Immune System for
Anticipation
• The game room-scenario
2
Overview
Österreichisches Forschungsinstitut für
Artificial Intelligence
• What have we presented so far?
• Immune Engineering –
a brief introduction
• AISA –
Artificial Immune System for
Anticipation
• The game room-scenario
3
Level 1
Österreichisches Forschungsinstitut für
Artificial Intelligence
What have we presented so far?
Gibson 1966:
„Our perception of the world is expressed in terms of our interactions with it“
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Level 2
Österreichisches Forschungsinstitut für
Artificial Intelligence
What have we presented so far?
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Level 3
Österreichisches Forschungsinstitut für
Artificial Intelligence
What have we presented so far?
Level 2
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Overview
Österreichisches Forschungsinstitut für
Artificial Intelligence
• What have we presented so far?
• Immune Engineering –
a brief introduction
• AISA –
Artificial Immune System for
Anticipation
• The game room-scenario
7
Österreichisches Forschungsinstitut für
Artificial Intelligence
Immune Engineering –
a brief introduction
• What is the Immune System?
• Anatomy of the Immune
System
• Immune Engineering
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Österreichisches Forschungsinstitut für
Artificial Intelligence
What is the Immune System
• “a complex system of cellular and
molecular components having the
primary function of distinguishing self
from not self and defense against
foreign organisms or substances”
(Dorland's Illustrated Medical Dictionary)
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Österreichisches Forschungsinstitut für
Artificial Intelligence
What is the Immune System
• “The immune system is a cognitive
system whose primary role is to
provide body maintenance”
(Cohen)
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What is the Immune System –
From a computational view
Systems that are:
Österreichisches Forschungsinstitut für
Artificial Intelligence
Computational Properties
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Unique to individuals
Distributed
Imperfect Detection
Anomaly Detection
Learning/Adaption
Memory
Feature Extraction
Diverse
..and more
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Robust
Scalable
Flexible
Exhibit graceful
degradation
• Homeostatic
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Anatomy of the Immune System
Österreichisches Forschungsinstitut für
Artificial Intelligence
• The innate Immune System
• The adaptive Immune System
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The innate Immune System
• The part of the
immune system with
which we are born
• Doesn’t change or
adapt
• Complement system
• Macrophages
• Cytokines, natural
killer cells
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The adaptive Immune System
• Adapts to recognise
specific pathogens
• Retains a memory which
speeds up future
responses
• Consists primarily of
lymphocytes which
circulate around the body
• Distributed detection
system without any
central control
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The adaptive Immune System
• B lymphocytes
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The adaptive Immune System
Österreichisches Forschungsinstitut für
Artificial Intelligence
• T lymphocytes
• helper cells
• killer cells
• suppressor cells
T-cell
antigen
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The adaptive Immune System
Österreichisches Forschungsinstitut für
Artificial Intelligence
epitope
• A detection event occurs
when the receptor of a
lymphocyte lymphocyte binds to an
epitope on a pathogen
receptor
• Strength of the bond is
termed the affinity
• Each lymphocyte can
have multiple, identical
receptors
Low affinity
structurally similar – high affinity
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The adaptive Immune System Generating Receptor Diversity
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Österreichisches Forschungsinstitut für
Artificial Intelligence
Affinity Maturation – A Darwinian
process of variation and selection
Initial B-cell
population
Clonal selection
and
hypermutation
Adapted B-Cell
population
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The adaptive Immune System Affinity Maturation
Österreichisches Forschungsinstitut für
Artificial Intelligence
B-Lymphocyte
Antigen
Clonal Selection
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The adaptive Immune System Affinity Maturation
Österreichisches Forschungsinstitut für
Artificial Intelligence
B-Lymphocyte
high affinity
Antigen
Clonal Selection
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The adaptive Immune System Affinity Maturation
high affinity
M
Plasma cell
Memory cell
Clonal Selection
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The adaptive Immune System –
Jerne‘s Idiotypic Network
• The cells in the immune system can recognise
each other as well as pathogens!
• An antibody has a paratope and an idiotope
• Paratope-idiotope interactions leads to networks
of interconnected antibodies
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Österreichisches Forschungsinstitut für
Artificial Intelligence
Jerne‘s Idiotypic Network
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The adaptive Immune System –
Jerne’s Idiotypic Network
• There is no essential difference between the
“recognized” and the “recognizer,”
• Any given antibody might serve either, or both,
functions.
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The adaptive Immune System
• Idiotypic Networks
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The adaptive Immune System
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Idiotypic Networkdynamic
Idoptope-type 1
Paratope-type 1
Antigen
(epitop)
Recognising Set
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The adaptive Immune System
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Idiotypic Networkdynamic
Idoptope-type 1
Idoptope-type 2
Paratope-type 2
Paratope-type 1
Internal Image
Antigen
(epitop)
Recognising Set
Paratopes p1 are recognised
by the idiotopes p2
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The adaptive Immune System
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Idiotypic Networkdynamic
Idoptope-type 1
Paratope-type 1
Idoptope-type 3
Antigen
(epitop)
Paratope-type 3
Recognising Set
Idiotopes i1 are recognised by
the paratopes p3
Anti-idiotypic set
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The adaptive Immune System
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Idiotypic Networkdynamic
Idoptope-type 3
Paratope-type 3
Idoptope-type 1
Paratope-type x
Anti-idiotypic set
paratopes p3 recognise
another set of idiotopes i1
Unspecific Set
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Österreichisches Forschungsinstitut für
Artificial Intelligence
Immune Engineering
• AIS framework proposed by
De Castro and Timmis
•
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Österreichisches Forschungsinstitut für
Artificial Intelligence
Immune Engineering
• Schematic
representation of an
AIS architecture
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Österreichisches Forschungsinstitut für
Artificial Intelligence
Immune Engineering
• T-Cells - General Suppression
Framework
• Introduced by Luh and Liu in 2004
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Overview
Österreichisches Forschungsinstitut für
Artificial Intelligence
• What have we presented so far?
• Immune Engineering –
a brief introduction
• AISA –
Artificial Immune System for
Anticipation
• The game room-scenario
34
Im m u n e L a ye r
c lo n a l s e le c tio n ,
m u ta tio n ,
n e tw o rk s d y n a m ic s ,
n e g a tiv e a n d p o s itiv e s e le c tio n ,
M
T-C e lls :
G e n e ra l S u p p re s s io n
AISA
A ffin ity L a ye r
Österreichisches Forschungsinstitut für
Artificial Intelligence
E u clid e a n ,
H a m m in g ,
M a n h a tta n ,
S im ila r,
C o m p le m e n ta r y
R e p r e se n ta tio n L a ye r
A n tig e n r e p r e se n ts th e
co m p le te d a ta u n ive r se
M u ltip le A n tig e n s fo r
e a ch situ a tio n
B - C e lls
S e n so r a n d D a ta - M e m o r y P o o l / D a ta U n ive r se
In fr a r e d
U ltr a so n ic
V id e o
V ir tu a l S e n so r s
F ilte r n
F ilte r 2
F ilte r 1
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Österreichisches Forschungsinstitut für
Artificial Intelligence
AISA
• Data Universe
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AISA
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Representation Layer
A n tig e n r e p r e se n ts th e
co m p le te d a ta u n ive r se
M u ltip le A n tig e n s fo r
e a ch situ a tio n
B - C e lls
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AISA
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Representation Layer - Antibody
Robot Action
Command
C
A
E
partial description of
the sensory effects E
of doing Action A
Description C of
sensory information
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AISA
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Representation Layer
•
Krautmacher and Digler 2004 –
AIS based navigation in a Rescue Scenario
•
Each situation is represented by
• many different antigens and
• antigen concentration (object distance)
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AISA
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Representation Layer
•
Krautmacher and Digler 2004 –
AIS based navigation in a Rescue Scenario
40
AISA
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Affinity Layer
• Computationally, the degree of interaction
of an antibody-antigen or antibodyantibody can be evaluated by a distance or
affinity measure
• The choice of affinity measure is crucial:
• It alters the shape-space topology
• It will introduce an inductive bias into the
algorithm
• It needs to take into account the dataset used and the problem you are trying
to solve
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AISA
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Affinity Layer
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Euclidean
Hamming
Manhattan
Similar
Complementary
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AISA
Österreichisches Forschungsinstitut für
Artificial Intelligence
• Immune Layer
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Clonal Selection
Mutation
Bone Marrow Models
Immune Network Models
Negative Selection
Positive Selection
B-Cells - General Suppression
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Overview
Österreichisches Forschungsinstitut für
Artificial Intelligence
• What have we presented so far?
• Immune Engineering –
a brief introduction
• AISA –
Artificial Immune System for
Anticipation
• The game room-scenario
44
Österreichisches Forschungsinstitut für
Artificial Intelligence
The game room-scenario
• Test bed - objects
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The game room-scenario
• Test bed - objects
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The game room-scenario
• Test bed - objects
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The game room-scenario
• Test bed - confinement
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The game room-scenario
• The Robots: AIBO
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Österreichisches Forschungsinstitut für
Artificial Intelligence
The room-scenario
• The robots: KURT3D
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Österreichisches Forschungsinstitut für
Artificial Intelligence
Prediction Fractal Machines
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2nd approach
Proposed by Georg Dorffner
coordinated with IDSIA
2nd MindRaces year
More to follow …
Details see D4.1
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Österreichisches Forschungsinstitut für
Artificial Intelligence
Discussion, Ideas, Questions,…