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Blockchains in public administration : a RADIUS on blockchain framework for public administration
(2023)
The emergence of blockchain technology has generated a great deal of attention, as reflected in numerous scientific and journalistic articles. However, the implementation of blockchain for public administrations in Germany has encountered a setback owing to unsuccessful initiatives. Initial enthusiasm was followed by disillusionment. Nevertheless, technology continues to evolve. This paper examines whether the use of a blockchain can still optimize the processes of public administrations. Not only the failed projects are analysed, but also more current applications of the technology and their potential relevance for the administration, especially in the state of Hesse.
To answer if blockchains are promising to administrations, a Design Science Research (DSR) research approach is chosen. The DSR method is a research-based approach that aims to create new and innovative solutions to real-world problems through the development and evaluation of artefacts such as models, methods, or prototypes. For this work, the implementation of a framework to realize an Authentication, Authorization, and Accounting (AAA) system on the blockchain was identified as profitable. The framework aims to implement the aforementioned AAA tasks using a blockchain. The Remote Authentication Dial-In User Service (RADIUS) protocol has been identified as a potential protocol of the AAA system. The goal is to create a way to implement the system either entirely on a blockchain or as a hybrid system. Various blockchain technologies will be considered. Suitable for development, the framework AAA-me is named.
The development of AAA-me has shown that the desired framework for implementing RADIUS on the blockchain is possible in various degrees of implementation. Previous work mostly relied on full development. Additionally, it has been shown that AAA-me can be used to perform hybrid integration at different implementation levels. This makes AAA-me stand out from the few hybrid previous approaches. Furthermore, AAA-me was investigated in different laboratory environments. This was to determine the expected resilience against Single Point of Failure (SPOF). The results of the lab investigation indicated that a RADIUS system on top of a blockchain can provide benefits in terms of security and performance. In the lab environment, times were measured within which a series of authorization requests were processed. In addition, it was illustrated how a RADIUS system implemented using blockchain can protect itself against Man-in-the-Middle (MITM) attacks.
Finally, in collaboration with the Hessian Central Office for Data Processing (German: Hessische Zentrale für Datenverarbeitung) (HZD), another test lab demonstrated how a RADIUS system on the blockchain can integrate with the existing IT systems of the German state of Hesse. Based on these findings, this work reevaluated the applicability of blockchain technology for public administration processes.
The work has thus shown that the use of a blockchain can still be purposeful. However, it has also been shown that an implementation can bring many problems with it. The small number of blockchain developers and engineers also poses the risk of finding people to develop and maintain a system. In addition, one faces the problem of determining an architecture now that will be applied to many projects in the future. However, each project can, in turn, have an impact on the choice of architecture. Once one has solved this problem and a blockchain infrastructure is available, it can be established quickly and be more SPOF resistant, for example, for Public Key Infrastructure (PKI) systems.
AAA-me was only applied in lab and test environments. As a result, no real data ran over its own infrastructure. This allowed the necessary flexibility for development. However, system-related properties could appear in real situations that are not detectable here in this way. Furthermore, the initial stage of AAA-me’s development is still in its infancy. Many manual adjustments need to be made in order for this to integrate with an existing RADIUS system. Also, no system security effort in and of itself has been carried out in the lab environments. Thus, vulnerabilities can quickly open up on web servers due to misconfigurations and missing updates. For the above reasons, productive use should be discouraged unless major developments are carried out.
This dissertation is concerned with the task of map-based self-localization, using images of the ground recorded with a downward-facing camera. In this context, map-based (self-)localization is the task of determining the position and orientation of a query image that is to be localized. The map used for this purpose consists of a set of reference images with known positions and orientations in a common coordinate system. For localization, the considered methods determine correspondences between features of the query image and those of the reference images.
In comparison with localization approaches that use images of the surrounding environment, we expect that using images of the ground has the advantage that, unlike the surrounding, the visual appearance of the ground is often long-term stable. Also, by using active lighting of the ground, localization becomes independent of external lighting conditions.
This dissertation includes content of several published contributions, which present research on the development and testing of methods for feature-based localization of ground images. Our first contribution examines methods for the extraction of image features that have not been designed to be used on ground images. This survey shows that, with appropriate parametrization, several of these methods are well suited for the task.
Based on this insight, we develop and examine methods for various subtasks of map-based localization in the following contributions. We examine global localization, where all reference images have to be considered, as well as local localization, where an approximation of the query image position is already known, which allows for disregarding reference images with a large distance to this position.
In our second contribution, we present the first systematic comparison of state-of-the-art methods for ground texture based localization. Furthermore, we present a method, which is characterized by its usage of our novel feature matching technique. This technique is called identity matching, as it matches only those features with identical descriptors, in contrast to the state-of-the-art that also matches features with similar descriptors. We show that our method is well suited for global and local localization, as it has favorable scaling with the number of reference images considered during the localization process. In another contribution, we develop a variant of our localization method that is significantly faster to compute, as it applies a sampling approach to determine the image positions at which local features are extracted, instead of using classical feature detectors.
Two further contributions are concerned with global localization. The first one introduces a prediction model for the global localization performance, based on an evaluation of the local localization performance. This allows us to quickly evaluate any considered parameter settings of global localization methods. The second contribution introduces a learning-based method that computes compact descriptors of ground images. This descriptor can be used to retrieve the overlapping reference images of a query image from a large set of reference images with little computational effort.
The most recent contribution included in this dissertation presents a new ground image database, which was recorded with a dedicated platform using a downward-facing camera. In addition to the data, we also explain our guidelines for the construction of the platform. In comparison with existing databases, our database contains more images and presents a larger variety of ground textures. Furthermore, this database enables us to perform the first systematic evaluation of how localization performance is affected by the time interval between the point in time at which the reference images are recorded and the point in time at which the query image is recorded. We find out that for outdoor areas all ground texture based localization methods have reliability issues, if the time interval between the recording of the query and reference images is large, and also if there are different weather conditions. These findings point to remaining challenges in ground texture base localization that should be addressed in future work.
A central concern in genetics is to identify mechanisms of transcriptional regulation. The aim is to unravel the mapping between the DNA sequence and gene expression. However, it turned out that this is extremely complex. Gene regulation is highly cell type-specific and even moderate changes in gene ex- pression can have functional consequences.
Important contributors to gene regulation are transcription factors (TFs), that are able to directly interact with the DNA. Often, a first step in understanding the effect of a TF on the gene’s regulation is to identify the genomic regions a TF binds to. Therefore, one needs to be aware of the TF’s binding preferences, which are commonly summarized in TF binding motifs. Although for many TFs the binding motif is experimentally validated, there is still a large number of TFs where no binding motif is known. There exist many tools that link TF binding motifs to TFs. We developed the method Massif that improves the performance of such tools by incorporating a domain score that uses the DNA binding domain of the studied TF as additional information.
TF binding sites are often enriched in regulatory elements (REMs) such as promoters or enhancers, where the latter can be located megabases away from its target gene. However, to understand the regulation of a gene it is crucial to know where the REMs of a gene are located. We introduced the EpiRegio webserver that holds REMs associated to target genes predicted across many cell types and tissues using STITCHIT, a previously established method. Our publicly available webserver enables to query for REMs associated to genes (gene query) and REMs overlapping genomic regions (region query). We illus- trated the usefulness of EpiRegio by pointing to a TF that occurs enriched in the REMs of differential expressed genes in circPLOD2 depleted pericytes. Further, we highlighted genes, which are affected by CRISPR-Cas induced mutations in non-coding genomic regions using EpiRegio’s region query. Non-coding genetic variants within REMs may alter gene expression by modifying TF binding sites, which can lead to various kinds of traits or diseases. To understand the underlying molecular mechanisms, one aims to evaluate the effect of such genetic variations on TF binding sites. We developed an accurate and fast statistical approach, that can assess whether a single nucleotide polymorphism (SNP) is regulatory. Further, we combined this approach with epigenetic data and additional analyses in our Sneep workflow. For instance, it enables to identify TFs whose binding preferences are affected by the analyzed SNPs, which is illustrated on eQTL datasets for different cell types. Additionally, we used our Sneep workflow to highlight cardiovascular disease genes using regulatory SNPs and REM-gene interactions.
Overall, the described results allow a better understanding of REM-gene interactions and their interplay with TFs on gene regulation.
Das adaptive Immunsystem schützt den Menschen vor extra- wie auch intrakorporal auftretenden Pathogenen und Krebszellen. Die Funktionalität dieses Prozesses geht hierbei auf die Interaktion und Kooperation einer Vielzahl verschiedener Zelltypen des Körpers zurück und ist vorwiegend innerhalb der Lymphknoten lokalisiert. Ist auch nur ein Bestandteil dieses sensiblen Prozesses gestört, kann dies zu einem teilweisen oder vollständigen Verlust der immunologischen Fitness des Menschen führen. Daher war es das Ziel dieser Arbeit, solche Aberrationen des humanen Lymphknotengewebes umfassend digital-pathologisch zu detektieren und zu definieren.
Hierfür wurde zunächst eine digitale Gewebedatenbank etabliert. Diese basiert auf dem im Rahmen dieser Arbeit implementierten Content-Management-System Digital Tissue Management Suite. Weiterhin wurde die Software Feature analysis in tissue histomorphometry entwickelt, welche die Analyse von zweidimensionalen whole slide images ermöglicht. Hierbei werden Methoden aus dem Bereich Computer Vision und Graphentheorie eingesetzt, um morphologische und distributionale Eigenschaften der Zelltypen des Lymphknotens zu charakterisieren. Darüber hinaus enthält diese Software Plug-ins zur Visualisierung und statistischen Analyse der Daten.
Aufbauend auf der eigens implementierten, digitalen Infrastruktur, in Kombination mit der Software Imaris wurden zweidimensional und dreidimensional gescannte, reaktive und neoplastische Gewebeproben digital phänotypisiert. Hierbei konnten neue mechanische Barrieren zur Kompartimentalisierung der Keimzentren aufgeklärt werden. Weiterhin konnte der Erhalt des quantitativen Verhältnisses einzelner Zellpopulationen innerhalb der Keimzentren beschrieben werden. Ausgehend von den reaktiven Phänotypen des Lymphknotens, wurden pathophysiologische Aberrationen in verschiedenen lymphatischen Neoplasien untersucht. Hierbei konnte gezeigt werden, dass speziell die strukturelle Destruktion häufig mit einer morphologischen Veränderung der fibroblastischen Retikulumzellen einhergeht.
Neben strukturellen Veränderungen sind auch zytologische Veränderungen der Tumormikroumgebung zu verzeichnen. Eine besondere Rolle spielen hierbei sogenannte Tumor-assoziierte Makrophagen. Im Rahmen dieser Arbeit konnte gezeigt werden, dass speziell Makrophagen in der Tumormikroumgebung des diffus großzelligen B-Zell-Lymphoms und der chronisch lymphatischen Leukämie spezifische pathophysiologische Veränderungen aufzeigen. Auch konnte gezeigt werden, dass genetische Änderungen neoplastischer B-Zellen mit einer generellen Reduktion der CD20-Antigendichte einhergehen.
Zusammenfassend ermöglichten die Ergebnisse die Generierung eines umfassenden digital-pathologischen Profils des klassischen Hodgkin-Lymphoms. Hierbei konnten morphologische Veränderungen neoplastischer, CD30-positiver Hodgkin-Reed-Sternberg-Zellen validiert und beschrieben werden. Auch konnten pathologische Veränderungen des Konnektoms und der Tumormikroumgebung dieser Zellen parametrisiert und quantifiziert werden. Abschließend wurde unter Anwendung eines Random forest-Klassifikators die diagnostische Potenz digital-pathologischer Profile evaluiert und validiert.
With the rise of digitalization and ubiquity of media use, both opportunities and challenges emerge for academic learning. One prevalent challenge is media multitasking, which can become distracting and hinder learning success. This thesis investigates two facets of this issue: the enhancement of data tracking, and the exploration of digital interventions that support self-control.
The first paper focuses on digital tracking of media use, as a comprehensive understanding of digital distractions requires careful data collection to avoid misinterpretations. The paper presents a tracking system where media use is linked to learning activities. An annotation dashboard enabled the enrichment of the log data with self-reports. The efficacy of this system was evaluated in a 14-day online course taken by 177 students, with results confirming the initial assumptions about media tracking.
The second paper tackles the recognition of whether a text was thoroughly read, an issue brought on by the tendency of students to skip lengthy and demanding texts. A method utilizing scroll data and time series classification algorithms is presented and tested, showing promising results for early recognition and intervention.
The third paper presents the results of a systematic literature review on the effectiveness of digital self-control tools in academic learning. The paper identifies gaps in existing research and outlines a roadmap for further research on self-control tools.
The fourth paper shares findings from a survey of 273 students, exploring the practical use and perceived helpfulness of DSCTs. The study highlights the challenge of balancing between too restrictive and too lenient DSCTs, particularly for platforms offering both learning content and entertainment. The results also show a special role of media use that is highly habitual.
The fifth paper of this work investigates facets of app-based habit building. In a study over 27 days, 106 school-aged children used the specially developed PROMPT-app. The children carried out one of three digital activities each day, each of which was supposed to promote a deeper or more superficial processing of plans. Significant differences regarding the processing of plans emerged between the three activities, and the results suggest that a child-friendly planning application needs to be personalized to be effective.
Overall, this work offers a comprehensive insight into the complexity and potentials of dealing with distracting media usage and shows ways for future research and interventions in this fascinating and ever more important field.
The single-source shortest-path problem is a fundamental problem in computer science. We consider a generalization of the shortest-path problem, the $k$-shortest path problem. Let $G$ be a directed edge-weighted graph with $n$ nodes and $m$ edges and $s,t$ be two fixed nodes. The goal is to compute $k$ paths $P_1,\dots,P_k$ between two fixed nodes $s$ and $t$ in non-decreasing order of their length such that all other paths between $s$ and $t$ are at least as long as the $k$\nth path $P_k$. We focus on the version of the $k$-shortest path problem where the paths are not allowed to visit nodes multiple times, sometime referred to as $k$-shortest simple path problem.
The probably best known $k$-shortest path algorithm is Yen's algorithm. It has a worst-case time complexity of O(kn\cdot scp(n,m)), where scp(n,m) is the complexity of the single-source shortest-path algorithm used as a subroutine. In case of Dijkstra's algorithm scp(n,m) is O(m + n\log n). One of the more recent improvements of Yen's algorithm is by Feng.
Even though Feng's algorithm is much faster in practice, it has the same worst-case complexity as Yen's algorithm.
The main results presented in this thesis are upper bounds on the average-case of Yen's and Feng's algorithm, as well as practical improvements and a parallel implementation of Yen's and Feng's algorithms including these improvements. The implementation is publicly available under GPLv3 open source license.
We show in our analysis that Yen's algorithm has an average-case complexity of O(k \log(n)\cdot scp(n,m)) on G(n,p) graphs with at least logarithmic average-degree and random edge weights following a distribution with certain properties.
On G(n,p) graphs with constant to logarithmic average-degree and uniform random edge-weights over $[0;1]$, we show an average-case complexity of O(k\cdot\frac{\log^2 n}{np}\cdot scp(n,m)). Feng's algorithm has an even better average-case complexity of O(k\cdot scp(n,m)) on unweighted G(n,p) graphs with logarithmic average-degree and for constant values of $k$. We further provide evidence that the same holds true for G(n,p) graphs with uniform random edge-weights over $[0;1]$.
On the practical side, we suggest new heuristics to prune even more single-source shortest-path computations than Feng's algorithm and evaluate all presented algorithms on G(n,p) and Grid graphs with up to 256 million nodes. We demonstrate speedups by a factor of up to 40 compared to Feng's algorithm.
Finally we discuss two ways to parallelize the suggested algorithms and evaluate them on grid graphs showing speedups by a factor of 2 using 4 threads and by a factor of up to 8 using 16 threads, respectively.
Artificial intelligence in heavy-ion collisions : bridging the gap between theory and experiments
(2023)
Artificial Intelligence (AI) methods are employed to study heavy-ion collisions at intermediate collision energies, where high baryon density and moderate temperature QCD matter is produced. The experimental measurements of various conventional observables such as collective flow, particle number fluctuations, etc. are usually compared with expensive model calculations to infer the physics governing the evolution of the matter produced in the collisions. Various experimental effects and processing algorithms can greatly affect the sensitivity of these observables. AI methods are used to bridge this gap between theory and experiments of heavy-ion collisions. The problems with conventional methods of analyzing experimental data are illustrated in a comparative study of the Glauber MC model and the UrQMD transport model. It is found that the centrality determination and the estimated fluctuations of the number of participant nucleons suffer from strong model dependencies for Au-Au collisions at 1.23 AGeV. This can bias the results of the experimental analysis if the number of participant nucleons used is not consistent throughout the analysis and in the final model-to-data comparison. The measurable consequences of this model dependence of the number of participant nucleons are also discussed. In this context, PointNet-based AI models are developed to accurately reconstruct the impact parameter or the number of participant nucleons in a collision event from the hits and/or reconstructed track of particles in 10 AGeV Au-Au collisions at the CBM experiment. In the last part of the thesis, different AI methods to study the equation of state (EoS) at high baryon densities are discussed. First, a Bayesian inference is performed to constrain the density dependence of the EoS from the available experimental measurements of elliptical flow and mean transverse kinetic energy of mid rapidity protons in intermediate energy collisions. The UrQMD model was augmented to include arbitrary potentials (or equivalently the EoSs) in the QMD part to provide a consistent treatment of the EoS throughout the evolution of the system. The experimental data constrain the posterior constructed for the EoS for densities up to four times saturation density. However, beyond three times saturation density, the shape of the posterior depends on the choice of observables used. There is a tension in the measurements at a collision energy of about 4 GeV. This could indicate large uncertainties in the measurements, or alternatively the inability of the underlying model to describe the observables with a given input EoS. Tighter constraints and fully conclusive statements on the EoS require accurate, high statistics data in the whole beam energy range of 2-10 GeV, which will hopefully be provided by the beam energy scan programme of STAR-FXT at RHIC, the upcoming CBM experiment at FAIR, and future experiments at HIAF and NICA. Finally, it is shown that the PointNet-based models can also be used to identify the equation of state in the CBM experiment. Despite the uncertainties due to limited detector acceptance and biases in the reconstruction algorithms, the PointNet-based models are able to learn the features that can accurately identify the underlying physics of the collision. The PointNet-based models are an ideal AI tool to study heavy-ion collisions, not only to identify the geometric event features, such as the impact parameter or the number of participant nucleons, but also to extract abstract physical features, such as the EoS, directly from the detector outputs.
Cyber Physical Systems (CPS) are growing more and more complex due to the availability of cheap hardware, sensors, actuators and communication links. A network of cooperating CPSs (CPN) additionally increases the complexity. This poses challenges as well as it offers chances: the increasing complexity makes it harder to design, operate, optimize and maintain such CPNs. However, on the other side an appropriate use of the increasing resources in computational nodes, sensors, actuators can significantly improve the system performance, reliability and flexibility. Therefore, self-X features like self-organization, self-adaptation and self-healing are key principles for such systems.
Additionally, CPNs are often deployed in dynamic, unpredictable environments and safety-critical domains, such as transportation, energy, and healthcare. In such domains, usually applications of different criticality level exist. In an automotive environment for example, the brake has a higher criticality level regarding safety as the infotainment. As a result of mixed-criticality, applications requiring hard real-time guarantees compete with those requiring soft real-time guarantees and best-effort application for the given resources within the overall system. This leads to the need to accommodate multiple levels of criticality while ensuring safety and reliability, which increases the already high complexity even more.
This thesis deals with the question on how to conveniently, effectively and efficiently handle the management and complexity of mixed-critical CPNs (MC-CPNs). Since this cannot be done by the system developer without the assistance of the system itself any longer, it is essential to develop new approaches and techniques to ensure that such systems can operate under a range of conditions while meeting stringent requirements.
Based on five research hypothesis, this thesis introduces a comprehensive adaptive mixed-criticality supporting middleware for Cyber-Physical Networks (Chameleon), which efficiently and autonomously takes care of the management and complexity of CPNs with regard to the mixed-criticality aspect.
Chameleon contributes to the state-of-art by introducing and combining the following concepts:
- A comprehensive self-adaption mechanism on all levels of the system model is provided.
- This mechanism allows a flexible combination of parametric and structural adaptation actions (relocation, scheduling, tuning, ...) to modify the behavior of the system.
- Real-time constraints of mixed-critical applications (hard real-time, soft real-time, best-effort) are considered in all possible adaptation conditions and actions by the use of the importance parameter.
- CPNs are supported by the introduction of different scopes (local, system, global) for the adaptation conditions and actions. This also enables the combination of different scopes for conditions and actions.
- The realization of the adaptation with a MAPE-K loop instantiated by a distributed LCS allows for real-time capable reasoning of adaptation actions which also works on resource-spare systems.
- The developed rule language Rango offers an intuitive way to specify an initial rule set for LCS in the context of CPS/CPNs and supports the system administrators in the process of rule set generation.
Proteins are biological macromolecules playing essential roles in all living organisms.
Proteins often bind with each other forming complexes to fulfill their function. Such protein complexes assemble along an ordered pathway. An assembled protein complex can often be divided into structural and functional modules. Knowing the order of assembly and the modules of a protein complex is important to understand biological processes and treat diseases related to misassembly.
Typical structures of the Protein Data Bank (PDB) contain two to three subunits and a few thousand atoms. Recent developments have led to large protein complexes being resolved. The increasing number and size of the protein complexes demand for computational assistance for the visualization and analysis. One such large protein complex is respiratory complex I accounting for 45 subunits in Homo sapiens.
Complex I is a well understood protein complex that served as case study to validate our methods.
Our aim was to analyze time-resolved Molecular Dynamics (MD) simulation data, identify modules of a protein complex and generate hypotheses for the assembly pathway of a protein complex. For that purpose, we abstracted the topology of protein complexes to Complex Graphs of the Protein Topology Graph Library (PTGL). The subunits are represented as vertices, and spatial contacts as edges. The edges are weighted with the number of contacts based on a distance threshold. This allowed us to apply graph-theoretic methods to visualize and analyze protein complexes.
We extended the implementations of two methods to achieve a computation of Complex Graphs in feasible runtimes. The first method skipped checks for contacts using the information which residues are sequential neighbors. We extended the method to protein complexes and structures containing ligands. The second method introduced spheres encompassing all atoms of a subunit and skipped the check for contacts if the corresponding spheres do not overlap. Both methods combined allowed skipping up to 93 % of the checks for contacts for sample complexes of 40 subunits compared to up to 10 % of the previous implementation. We showed that the runtime of the combined method scaled linearly with the number of atoms compared to a non-linear scaling of the previous implementation We implemented a third method fixing the assignment of an orientation to secondary structure elements. We placed a three-dimensional vector in each secondary structure element and computed the angle between secondary structure elements to assign an orientation. This method sped up the runtime especially for large structures, such as the capsid of human immunodeficiency virus, for which the runtime decreased from 43 to less than 9 hours.
The feasible runtimes allowed us to investigate two data sets of MD trajectories of respiratory complex I of Thermus thermophilus that we received. The data sets differ only by whether ubiquinone is bound to the complex. We implemented a pipeline, PTGLdynamics, to compute the contacts and Complex Graphs for all time steps of the trajectories. We investigated different methods to track changes of contacts during the simulation and created a heat map put onto the three-dimensional structure visualizing the changes. We also created line plots to visualize the changes of contacts over the course of the simulation. Both visualizations helped spotting outstandingly flexible or rigid regions of the structure or time points of the simulation in which major dynamics occur.
We introduced normalizations of the edge weights of Complex Graphs for identi-fying modules and predicting the assembly pathway. The idea is to normalize the number of contacts for the number of residues of a subunit. We defined five different normalizations.
To identify structural and functional modules, we applied the Leiden graph clustering algorithm to the Complex Graphs of respiratory complex I and the respiratory supercomplex. We examined the results for the different normalizations of the weights of the Complex Graphs. The absolute edge weight produced the best result identifying three of four modules that have been defined in the literature for respiratory complex I.
We applied agglomerative hierarchical clustering to the edges of a Complex Graph to create hypotheses of the assembly pathway. The rationale was that subunits with an extensive interface in the final structure assemble early. We tested our method against two existing methods on a data set of 21 proteins with reported assembly pathways. Our prediction outperformed the other methods and ran in feasible runtimes of a few minutes at most.
We also tested our method on respiratory complex I, the respiratory supercomplex and the respiratory megacomplex. We compared the results for the different normalizations with an assembly pathway of respiratory complex I described in the literature. We transformed the assembly pathways to dendrograms and compared the predictions to the reference using the Robinson-Foulds distance and clustering information distance. We analyzed the landscape of the clustering information distance by generating random dendrograms and showed that our result is far better than expected at random. We showed in a detailed analysis that the assembly prediction using one normalization was able to capture key features of the assembly pathway that has been proposed in the literature.
In conclusion, we presented different applications of graph theory to automatically analyze the topology of protein complexes. Our programs run in feasible runtimes even for large complexes. We showed that graph-theoretic modeling of the protein structure can be used to analyze MD simulation data, identify modules of protein complexes and predict assembly pathways.
Recent advances in artificial neural networks enabled the quick development of new learning algorithms, which, among other things, pave the way to novel robotic applications. Traditionally, robots are programmed by human experts so as to accomplish pre-defined tasks. Such robots must operate in a controlled environment to guarantee repeatability, are designed to solve one unique task and require costly hours of development. In developmental robotics, researchers try to artificially imitate the way living beings acquire their behavior by learning. Learning algorithms are key to conceive versatile and robust robots that can adapt to their environment and solve multiple tasks efficiently. In particular, Reinforcement Learning (RL) studies the acquisition of skills through teaching via rewards. In this thesis, we will introduce RL and present recent advances in RL applied to robotics. We will review Intrinsically Motivated (IM) learning, a special form of RL, and we will apply in particular the Active Efficient Coding (AEC) principle to the learning of active vision. We also propose an overview of Hierarchical Reinforcement Learning (HRL), an other special form of RL, and apply its principle to a robotic manipulation task.