A formal approach to human robot collaborative assembly planning under uncertainty

For assembly planning, robots necessitate certain cognitive skills: high-level planning of actuation actions is needed to decide for their order, while geometric reasoning is needed to check their feasibility. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans behaviors, but also to ensure safer collaborations. We introduce a novel formal framework for collaborative assembly planning under uncertainty that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. We show the applicability of our approach over a furniture assembly domain, where a bi-manual Baxter robot collaborates with a human to assemble a table, with dynamic simulations and physical implementations. We also evaluate our approach experimentally in this domain with respect to quantitative and qualitative performance measures

Probabilistic reasoning and inference for systems biology

One of the important challenges in Systems Biology is reasoning and performing hypotheses testing in uncertain conditions, when available knowledge may be incomplete and the experimental data may contain substantial noise. In this thesis we develop methods of probabilistic reasoning and inference that operate consistently within an environment of uncertain knowledge and data. Mechanistic mathematical models are used to describe hypotheses about biological systems. We consider both deductive model based reasoning and model inference from data. The main contributions are a novel modelling approach using continuous time Markov chains that enables deductive derivation of model behaviours and their properties, and the application of Bayesian inferential methods to solve the inverse problem of model inference and comparison, given uncertain knowledge and noisy data. In the first part of the thesis, we consider both individual and population based techniques for modelling biochemical pathways using continuous time Markov chains, and demonstrate why the latter is the most appropriate. We illustrate a new approach, based on symbolic intervals of concentrations, with an example portion of the ERK signalling pathway. We demonstrate that the resulting model approximates the same dynamic system as traditionally defined using ordinary differential equations. The advantage of the new approach is quantitative logical analysis; we formulate a number of biologically significant queries in the temporal logic CSL and use probabilistic symbolic model checking to investigate their veracity. In the second part of the thesis, we consider the inverse problem of model inference and testing of alternative hypotheses, when models are defined by non-linear ordinary differential equations and the experimental data is noisy and sparse. We compare and evaluate a number of statistical techniques, and implement an effective Bayesian inferential framework for systems biology based on Markov chain Monte Carlo methods and estimation of marginal likelihoods by annealing-melting integration. We illustrate the framework with two case studies, one of which involves an open problem concerning the mediation of ERK phosphorylation in the ERK pathway

Geoscience after IT: Part J. Human requirements that shape the evolving geoscience information system

The geoscience record is constrained by the limitations of human thought and of the technology for handling information. IT can lead us away from the tyranny of older technology, but to find the right path, we need to understand our own limitations. Language, images, data and mathematical models, are tools for expressing and recording our ideas. Backed by intuition, they enable us to think in various modes, to build knowledge from information and create models as artificial views of a real world. Markup languages may accommodate more flexible and better connected records, and the object-oriented approach may help to match IT more closely to our thought processes

The impact of resources on decision making

Decision making is a significant activity within industry and although much attention has been paid to the manner in which goals impact on how decision making is executed, there has been less focus on the impact decision making resources can have. This article describes an experiment that sought to provide greater insight into the impact that resources can have on how decision making is executed. Investigated variables included the experience levels of decision makers and the quality and availability of information resources. The experiment provided insights into the variety of impacts that resources can have upon decision making, manifested through the evolution of the approaches, methods, and processes used within it. The findings illustrated that there could be an impact on the decision-making process but not on the method or approach, the method and process but not the approach, or the approach, method, and process. In addition, resources were observed to have multiple impacts, which can emerge in different timescales. Given these findings, research is suggested into the development of resource-impact models that would describe the relationships existing between the decision-making activity and resources, together with the development of techniques for reasoning using these models. This would enhance the development of systems that could offer improved levels of decision support through managing the impact of resources on decision making

QML-Morven : A Novel Framework for Learning Qualitative Models

Publisher PD

Semi-Quantitative Comparative Analysis And Its Application

SQCA is an implemented technique for the semi-quantitative comparative analysis of dynamical systems. It is both able to deal with incompletely specified models and make precise predictions by exploiting semi-quantitative information in the form of numerical bounds on the variables and functions occuring in the models. The technique has a solid mathematical foundation which facilitates proofs of correctness and convergence properties. SQCA represents the core of a method for the automated prediction of experimental results