Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure

Rational Deployment of CSP Heuristics

Heuristics are crucial tools in decreasing search effort in varied fields of AI. In order to be effective, a heuristic must be efficient to compute, as well as provide useful information to the search algorithm. However, some well-known heuristics which do well in reducing backtracking are so heavy that the gain of deploying them in a search algorithm might be outweighed by their overhead. We propose a rational metareasoning approach to decide when to deploy heuristics, using CSP backtracking search as a case study. In particular, a value of information approach is taken to adaptive deployment of solution-count estimation heuristics for value ordering. Empirical results show that indeed the proposed mechanism successfully balances the tradeoff between decreasing backtracking and heuristic computational overhead, resulting in a significant overall search time reduction.Comment: 7 pages, 2 figures, to appear in IJCAI-2011, http://www.ijcai.org

OptBPPlanner: Automatic Generation of Optimized Business Process Enactment Plans

Unlike imperative models, the specifi cation of business process (BP) properties in a declarative way allows the user to specify what has to be done instead of having to specify how it has to be done, thereby facilitating the human work involved, avoiding failures, and obtaining a better optimization. Frequently, there are several enactment plans related to a specifi c declarative model, each one presenting specifi c values for different objective functions, e.g., overall completion time. As a major contribution of this work, we propose a method for the automatic generation of optimized BP enactment plans from declarative specifi cations. The proposed method is based on a constraint-based approach for planning and scheduling the BP activities. These optimized plans can then be used for different purposes like simulation, time prediction, recommendations, and generation of optimized BP models. Moreover, a tool-supported method, called OptBPPlanner, has been implemented to demonstrate the feasibility of our approach. Furthermore, the proposed method is validated through a range of test models of varying complexity.Ministerio de Ciencia e Innovación TIN2009-1371

Logic Programming Approaches for Representing and Solving Constraint Satisfaction Problems: A Comparison

Many logic programming based approaches can be used to describe and solve combinatorial search problems. On the one hand there is constraint logic programming which computes a solution as an answer substitution to a query containing the variables of the constraint satisfaction problem. On the other hand there are systems based on stable model semantics, abductive systems, and first order logic model generators which compute solutions as models of some theory. This paper compares these different approaches from the point of view of knowledge representation (how declarative are the programs) and from the point of view of performance (how good are they at solving typical problems).Comment: 15 pages, 3 eps-figure

ASlib: A Benchmark Library for Algorithm Selection

The task of algorithm selection involves choosing an algorithm from a set of algorithms on a per-instance basis in order to exploit the varying performance of algorithms over a set of instances. The algorithm selection problem is attracting increasing attention from researchers and practitioners in AI. Years of fruitful applications in a number of domains have resulted in a large amount of data, but the community lacks a standard format or repository for this data. This situation makes it difficult to share and compare different approaches effectively, as is done in other, more established fields. It also unnecessarily hinders new researchers who want to work in this area. To address this problem, we introduce a standardized format for representing algorithm selection scenarios and a repository that contains a growing number of data sets from the literature. Our format has been designed to be able to express a wide variety of different scenarios. Demonstrating the breadth and power of our platform, we describe a set of example experiments that build and evaluate algorithm selection models through a common interface. The results display the potential of algorithm selection to achieve significant performance improvements across a broad range of problems and algorithms.Comment: Accepted to be published in Artificial Intelligence Journa

Panel on future challenges in modeling methodology

This panel paper presents the views of six researchers and practitioners of simulation modeling. Collectively we attempt to address a range of key future challenges to modeling methodology. It is hoped that the views of this paper, and the presentations made by the panelists at the 2004 Winter Simulation Conference will raise awareness and stimulate further discussion on the future of modeling methodology in areas such as modeling problems in business applications, human factors and geographically dispersed networks; rapid model development and maintenance; legacy modeling approaches; markup languages; virtual interactive process design and simulation; standards; and Grid computing

Is ESG commitment linked to investment performance in the real estate sector?

The linkage between corporate commitment to environmental, social and governance (ESG) issues and investment performance has generated a substantial body of research outside the real estate sector. Nevertheless, the relationship between the environmental performance and financial performance of companies is still not well understood as studies have found mixed and contradicting results. Drawing upon the KLD database which contains ratings on seven ESG dimensions from 2003-2009, this paper investigates the relationship between the ESG rating and the financial performance of a sample of US real estate firms. Since the primary transmission channel from ESG activities to financial performance may be better reflected by a firm's intangible assets, we model both Tobin's q and the total annual return in a panel framework with time and sector specific fixed effects. Our results are largely consistent with the existing literature finding a positive relationship between CFP and CSP. Further, the time scale of the lagged effects seems plausible

Corporate Social Performance of Indonesian State-Owned and Private Companies

The objectives of this study are to analyze the difference of corporate social performance between State-owned and private companies in Indonesia, and also to analyze the correlation between the corporate social performance (CSP) and the corporate financial performance by using company size, and institutional ownership as control variables. The population of this study is Indonesian state owned and private companies in the year of 2001-2004. Purposive sampling was used in this study, and final samples are 461 companies. The CSP or CSR (Corporate social responsibility) score is measured by content analysis of corporate annual report using seven item developed by Michael Research Jantzi Research Associate, Inc. The data is tested by independent t-test to determine the mean difference and by using partial correlation test to know the correlation between the corporate social performance and financial performance. The results of this study are that there is no significant difference mean of corporate social performance between state-owned and private owned companies in Indonesia. In addition, the correlation test indicates that there is no association between corporation social performance and financial performance both in SOCs and POCs