| ACKNOWLEDGMENTS | 第1-7页 |
| ABSTRACT | 第7-12页 |
| 摘要 | 第12-17页 |
| TABLE OF CONTENTS | 第17-20页 |
| LIST OF FIGURES | 第20-23页 |
| LIST OF TABLES | 第23-24页 |
| GLOSSARY,ACRONYMS,AND ABBREVIATIONS | 第24-34页 |
| CHAPTER 1 INTRODUCTION | 第34-54页 |
| ·Context and Basic Concepts | 第36-47页 |
| ·Immunogenetics and immunoinformatics | 第36-37页 |
| ·Robotics as computational intelligence | 第37-41页 |
| ·Multi-robot cooperation fundamentals | 第41-47页 |
| ·Aims of the Study:Immunology for Multi-Agents Systems | 第47-50页 |
| ·Motivation | 第48-49页 |
| ·Contributions | 第49-50页 |
| ·The Outlines of the Dissertation | 第50-52页 |
| ·Summary | 第52-54页 |
| CHAPTER 2 THEORETICAL BACKGROUND | 第54-68页 |
| ·Agents,Autonomous Agents,Intelligent Agents | 第54-58页 |
| ·Multi-Agent Systems | 第58-59页 |
| ·A Multi-Agent System to Model an Human Humoral Response | 第59-61页 |
| ·Immune agents | 第59-61页 |
| ·Multi-Agent Robotic Systems Cooperation through Communication | 第61-67页 |
| ·Some characteristics of communication | 第63-64页 |
| ·Communication as sensing | 第64页 |
| ·Communication as reinforcement | 第64-65页 |
| ·Agents classified as cooperative or competitive | 第65页 |
| ·Cooperative biological systems | 第65-67页 |
| ·Summary | 第67-68页 |
| CHAPTER 3 ARTIFICIAL IMMUNE FUNDAMENTALS | 第68-109页 |
| ·Immunology Basics | 第68-87页 |
| ·Innate immunity | 第69-70页 |
| ·Adaptive or acquired immunity | 第70-87页 |
| ·From Natural to Artificial Immune Systems | 第87-107页 |
| ·Immune system metaphor for engineering | 第88-89页 |
| ·Artificial immune systems and control theory | 第89-90页 |
| ·Framework for artificial immune systems | 第90-107页 |
| ·Summary | 第107-109页 |
| CHAPTER 4 IMMUNE SYSTEM GENETIC PROGRAMMING | 第109-121页 |
| ·Introduction | 第109-110页 |
| ·Evolution and Genetic Algorithm | 第110-119页 |
| ·Gene library evolution by human immune systems | 第112-113页 |
| ·Gene library evolution by artificial immune systems | 第113-115页 |
| ·Transformation-based genetic algorithm:computational transformation | 第115-116页 |
| ·Two proposed studies of evolution of gene libraries | 第116-119页 |
| ·Scientific Approaches | 第119页 |
| ·Summary | 第119-121页 |
| CHAPTER 5 AN ARTIFICIAL IMMUNE SYSTEM-BASED INTELLIGENT MULTI-AGENTS MODELLING AND ROBOTS COOPERATION | 第121-146页 |
| ·Introduction | 第121-122页 |
| ·Detecting the Antigen as an Environment | 第122页 |
| ·Artificial Immune System-Based Intelligent Multi-Agent Model | 第122-126页 |
| ·Characteristics of the agents and the environment | 第122-123页 |
| ·AIS and intelligent multi agent system charactristics | 第123-126页 |
| ·Structure of Motion and Centre-of-Gravity G_c | 第126-131页 |
| ·Application to Multi Robot Cooperation | 第131-144页 |
| ·Description and aim of the problem | 第131-135页 |
| ·Objects-antigen and B-cells and their characteristics | 第135-136页 |
| ·Pseudo code | 第136-139页 |
| ·Experiment setup and simulation | 第139-143页 |
| ·Observations and evaluation | 第143-144页 |
| ·Summary | 第144-146页 |
| CHAPTER 6 ADAPTED IDIOTYPIC IMMUNE NETWORK-BASED ROBOT GOAL-DISCOVERY PROBLEMS | 第146-164页 |
| ·Introduction | 第146-155页 |
| ·Interaction principle of immune agents | 第146-149页 |
| ·Idiotypic model and mobile robot navigation | 第149-153页 |
| ·Phase 1:an artificial immune learning-clustering algorithm | 第153-155页 |
| ·Application to Robot Goal-Discovery Problems | 第155-161页 |
| ·Phase 2:the immune network code and immune network analogy | 第157-160页 |
| ·Network dynamics | 第160-161页 |
| ·Reinforcement Learning Using GAs to Evolve Paratope Mappings | 第161-163页 |
| ·Summary | 第163-164页 |
| CHAPTER 7 IMMUNE SYSTEM GENETIC ALGORITHM-BASED OPTIMAL ROBUST LOCOMOTION CONTROL | 第164-195页 |
| ·Introduction | 第164页 |
| ·Robot Modelling and Problem Setup | 第164-175页 |
| ·Mechanical computations | 第166-175页 |
| ·Locomotion Control of Autonomous Mobile Robot | 第175-184页 |
| ·Mechanical computations:kinematics | 第175-177页 |
| ·Locomotion control | 第177-179页 |
| ·Immune system genetic algorithm methods | 第179-184页 |
| ·Simulation models | 第184-190页 |
| ·Simulation model 01 | 第184-189页 |
| ·Simulation model 02 | 第189-190页 |
| ·Revalues and Analysis | 第190-194页 |
| ·Equations linking the three characteristics | 第190-191页 |
| ·Performance analyses of ISGA and comparison of convergence speed | 第191-194页 |
| ·Summary | 第194-195页 |
| CHAPTER 8 GENERAL CONCLUSION | 第195-197页 |
| REFERENCES | 第197-214页 |
| APPENDIX A:ROBOTICS GLOSSARY | 第214-216页 |
| APPENDIX B | 第216-219页 |
| 1 Electronic Diagrams | 第216-217页 |
| 2 Measure of the System Parameters | 第217-219页 |
| PUBLICATIONS | 第219-221页 |
