Proceedings of CSCLP 2007: Annual ERCIM Workshop on Constraint Solving and Constraint Logic Programming

Ce fichier regroupe en un seul document l'ensemble des articles acceptés pour la conférence CSCLP 2007Constraints are a natural way to represent knowledge, and constraint programming is a declarative programming paradigm that has been successfully used to express and solve many practical combinatorial optimization problems. Examples of application domains are scheduling, production planning, resource allocation, communication networks, robotics, and bioinformatics. These proceedings contain the research papers presented at the 12th International Workshop on Constraint Solving and Constraint Logic Programming (CSCLP'07), held on June 7th and 8th 2007, at INRIA Rocquencourt, France. This workshop, open to all, is organized as the twelfth meeting of the working group on Constraints of the European Research Consortium for Informatics and Mathematics (ERCIM). It continues a series of workshops organized since the creation of the working group in 1997, that have led since 2002 to the publication of a series of books entitled ”Recent Advances in Constraints” in the Lecture Notes in Artificial Intelligence, edited by Springer-Verlag. In addition to the contributed papers collected in this volume, two invited talks were given at CSCLP'07, one by Gilles Pesant, Ecole Polytechnique de Montreal, Canada, and one by Jean-Charles R égin, ILOG, France. The editors would like to take the opportunity to thank all the authors who submitted a paper, as well as the reviewers for their helpful work. CSCLP'07 has been made possible thanks to the support of the European Research Consortium for Informatics and Mathematics (ERCIM), the Institut National de la Recherche en Informatique et Automatique (INRIA) and the Association for Constraint programming (ACP)

Exploring the Impact of Early Decisions in Variable Ordering for Constraint Satisfaction Problems

When solving constraint satisfaction problems (CSPs), it is a common practice to rely on heuristics to decide which variable should be instantiated at each stage of the search. But, this ordering influences the search cost. Even so, and to the best of our knowledge, no earlier work has dealt with how first variable orderings affect the overall cost. In this paper, we explore the cost of finding high-quality orderings of variables within constraint satisfaction problems. We also study differences among the orderings produced by some commonly used heuristics and the way bad first decisions affect the search cost. One of the most important findings of this work confirms the paramount importance of first decisions. Another one is the evidence that many of the existing variable ordering heuristics fail to appropriately select the first variable to instantiate. Another one is the evidence that many of the existing variable ordering heuristics fail to appropriately select the first variable to instantiate. We propose a simple method to improve early decisions of heuristics. By using it, performance of heuristics increases

Interpretable task planning and learning for autonomous robotic surgery with logic programming

This thesis addresses the long-term goal of full (supervised) autonomy in surgery, characterized by dynamic environmental (anatomical) conditions, unpredictable workflow of execution and workspace constraints. The scope is to reach autonomy at the level of sub-tasks of a surgical procedure, i.e. repetitive, yet tedious operations (e.g., dexterous manipulation of small objects in a constrained environment, as needle and wire for suturing). This will help reducing time of execution, hospital costs and fatigue of surgeons during the whole procedure, while further improving the recovery time for the patients. A novel framework for autonomous surgical task execution is presented in the first part of this thesis, based on answer set programming (ASP), a logic programming paradigm, for task planning (i.e., coordination of elementary actions and motions). Logic programming allows to directly encode surgical task knowledge, representing emph{plan reasoning methodology} rather than a set of pre-defined plans. This solution introduces several key advantages, as reliable human-like interpretable plan generation, real-time monitoring of the environment and the workflow for ready adaptation and failure recovery. Moreover, an extended review of logic programming for robotics is presented, motivating the choice of ASP for surgery and providing an useful guide for robotic designers. In the second part of the thesis, a novel framework based on inductive logic programming (ILP) is presented for surgical task knowledge learning and refinement. ILP guarantees fast learning from very few examples, a common drawback of surgery. Also, a novel action identification algorithm is proposed based on automatic environmental feature extraction from videos, dealing for the first time with small and noisy datasets collecting different workflows of executions under environmental variations. This allows to define a systematic methodology for unsupervised ILP. All the results in this thesis are validated on a non-standard version of the benchmark training ring transfer task for surgeons, which mimics some of the challenges of real surgery, e.g. constrained bimanual motion in small space

Constraint Programming-Based Heuristics for the Multi-Depot Vehicle Routing Problem with a Rolling Planning Horizon

Der Transportmarkt ist sowohl durch einem intensiven Kostenwettbewerb als auch durch hohe Erwartungen der Kunden an den Service geprägt. Die vorliegende Dissertation stellt zwei auf Constraint Programming basierende heuristische Frameworks vor, die eine Reoptimierung bereits geplanter Touren zu festgelegten Zeitpunkten erlauben und so eine Reaktion auf die gesteigerte Wettbewerbsdynamik und den Kostendruck ermöglichen.Actors on the transportation market currently face two contrary trends: Cost pressure caused by intense competition and a need for prompt service. We introduce two heuristic solution frameworks to enable freight carriers to deal with this situation by reoptimizing tours at predefined points in time. Both heuristics are based on Constraint Programming techniques

Model-based symbolic design space exploration at the electronic system level: a systematic approach

In this thesis, a novel, fully systematic approach is proposed that addresses the automated design space exploration at the electronic system level. The problem is formulated as multi-objective optimization problem and is encoded symbolically using Answer Set Programming (ASP). Several specialized solvers are tightly coupled as background theories with the foreground ASP solver under the ASP modulo Theories (ASPmT) paradigm. By utilizing the ASPmT paradigm, the search is executed entirely systematically and the disparate synthesis steps can be coupled to explore the search space effectively.In dieser Arbeit wird ein vollständig systematischer Ansatz präsentiert, der sich mit der Entwurfsraumexploration auf der elektronischen Systemebene befasst. Das Problem wird als multikriterielles Optimierungsproblem formuliert und symbolisch mit Hilfe von Answer Set Programming (ASP) kodiert. Spezialisierte Solver sind im Rahmen des ASP modulo Theories (ASPmT) Paradigmas als Hintergrundtheorien eng mit dem ASP Solver gekoppelt. Durch die Verwendung von ASPmT wird die Suche systematisch ausgeführt und die individuellen Schritte können gekoppelt werden, um den Suchraum effektiv zu durchsuchen

Rigorous solution techniques for numerical constraint satisfaction problems

A constraint satisfaction problem (e.g., a system of equations and inequalities) consists of a finite set of constraints specifying which value combinations from given variable domains are admitted. It is called numerical if its variable domains are continuous. Such problems arise in many applications, but form a difficult problem class since they are NP-hard. Solving a constraint satisfaction problem is to find one or more value combinations satisfying all its constraints. Numerical computations on floating-point numbers in computers often suffer from rounding errors. The rigorous control of rounding errors during numerical computations is highly desired in many applications because it would benefit the quality and reliability of the decisions based on the solutions found by the computations. Various aspects of rigorous numerical computations in solving constraint satisfaction problems are addressed in this thesis: search, constraint propagation, combination of inclusion techniques, and post-processing. The solution of a constraint satisfaction problem is essentially performed by a search. In this thesis, we propose a new complete search technique (i.e., it can find all solutions within a predetermined tolerance) for numerical constraint satisfaction problems. This technique is general and can be used in place of branching steps in most branch-and-prune methods. Moreover, this new technique speeds up the most recent general search strategy (often by an order of magnitude) and provides a concise representation of solutions. To make a constraint satisfaction problem easier to solve, a major approach, called constraint propagation, in the constraint programming1 field is often used to reduce the variable domains (by discarding redundant value combinations from the domains). Basing on directed acyclic graphs, we propose a new constraint propagation technique and a method for coordinating constraint propagation and search. More importantly, we propose a novel generic scheme for combining multiple inclusion techniques2 in numerical constraint propagation. This scheme allows bringing into the constraint propagation framework the strengths of various techniques coming from different fields. To illustrate the flexibility and efficiency of the generic scheme, we base on this scheme and devise several specific combination strategies for rigorous numerical constraint propagation using interval constraint propagation, interval arithmetic, affine arithmetic, and linear programming. Our experiments show that the new propagation techniques outperform previously available methods by 1 to 4 orders of magnitude or more in speed. We also propose several post-processing techniques for the representation of continuums of solutions. Based on connectedness, they allow grouping each cluster of connected solution subsets into a larger subset, thus allowing getting additional grouping information. Potentially, these techniques enable interval-based solution techniques to be alternatives to bounding-volume techniques in applications such as collision detection and interactive graphics. __________________________________________________ 1 Constraint programming is an approach to programming that relies on both reasoning and computing. 2 An inclusion technique is to include a set of interest into enclosures. It is also called an enclosure technique

Reusable components for knowledge modelling

In this work I illustrate an approach to the development of a library of problem solving components for knowledge modelling. This approach is based on an epistemological modelling framework, the Task/Method/Domain/Application (TMDA) model, and on a principled methodology, which provide an integrated view of both library construction and application development by reuse. The starting point of the proposed approach is given by a task ontology. This formalizes a conceptual viewpoint over a class of problems, thus providing a task-specific framework, which can be used to drive the construction of a task model through a process of model-based knowledge acquisition. The definitions in the task ontology provide the initial elements of a task-specific library of problem solving components. In order to move from problem specification to problem solving, a generic, i.e. taskindependent, model of problem solving as search is introduced, and instantiated in terms of the concepts in the relevant task ontology, say T. The result is a task-specific, but method-independent, problem solving model. This generic problem solving model provides the foundation from which alternative problem solving methods for a class of tasks can be defined. Specifically, the generic problem solving model provides i) a highly generic method ontology, say M; ii) a set of generic building blocks (generic tasks), which can be used to construct task-specific problem solving methods; and iii) an initial problem solving method, which can be characterized as the most generic problem solving method, which subscribes to M and is applicable to T. More specific problem solving methods can then be (re-)constructed from the generic problem solving model through a process of method/ontology specialization and method-to-task application. The resulting library of reusable components enjoys a clear theoretical basis and provides robust support for reuse. In the thesis I illustrate the approach in the area of parametric design

Ship scheduling with time-varying draft restrictions: a case study in optimisation with time-varying costs

In the last few decades, optimisation problems in maritime transportation have received increased interest from researchers, since the huge size of the maritime transportation industry means that even small improvements in efficiency carry a high potential benefit. One area of maritime transportation that has remained under-researched is the impact of draft restrictions at ports. Many ports have restrictions on ship draft (distance between the waterline and the keel) which vary over time due to variation in environmental conditions. However, existing optimisation problems in maritime transportation ignore time variation in draft restrictions, thus potentially missing out on opportunities to load more cargo at high tide when there is more water available for the ship to sail in, and more cargo can be loaded safely. This thesis introduces time-varying restrictions on ship draft into several optimisation problems in the maritime industry. First, the Bulk Port Cargo Throughput Optimisation Problem is introduced. This is a novel problem that maximises the amount of cargo carried on a set of ships sailing from a draft-restricted bulk export port. A number of approaches to solving this problem are investigated, and a commercial system - DUKC Optimiser - based on this research is discussed. The DUKC Optimiser system won the Australia-wide NASSCOM Innovation Student Award for IT-Enabled Business Innovation in 2013. The system is now in use at Port Hedland, the world's largest bulk export port, after an investigation showed that it had the potential to increase export revenue at the port by $275 million per year. The second major contribution of this thesis is to introduce time-varying restrictions on ship draft into several larger problems involving ship routing and scheduling with speed optimisation, starting from a problem involving optimising speeds for a single ship travelling along a fixed route, and extending this approach to a cargo routing and scheduling problem with time-varying draft restrictions and speed optimisation. Both the Bulk Port Cargo Throughput Optimisation Problem and the speed optimisation research shows that incorporating time-varying draft restrictions into maritime transportation problems can significantly improve schedule quality, allowing more cargo to be carried on the same set of ships and reducing shipping costs. Finally, this thesis also considers issues beyond time-varying draft restrictions in the maritime industry, and investigates approaches in the literature for solving optimisation problems with time-varying action costs. Several approaches are investigated for their potential to be generalisable between different applications, and faster, more efficient approaches are found for both the Bulk Port Cargo Throughput Optimisation problem, and another problem in maritime transportation - the Liner Shipping Fleet Repositioning Problem