A Contextual Approach To Learning Collaborative Behavior Via Observation

This dissertation describes a novel technique to creating a simulated team of agents through observation. Simulated human teamwork can be used for a number of purposes, such as expert examples, automated teammates for training purposes and realistic opponents in games and training simulation. Current teamwork simulations require the team member behaviors be programmed into the simulation, often requiring a great deal of time and effort. None are able to observe a team at work and replicate the teamwork behaviors. Machine learning techniques for learning by observation and learning by demonstration have proven successful at observing behavior of humans or other software agents and creating a behavior function for a single agent. The research described here combines current research in teamwork simulations and learning by observation to effectively train a multi-agent system in effective team behavior. The dissertation describes the background and work by others as well as a detailed description of the learning method. A prototype built to evaluate the developed approach as well as the extensive experimentation conducted is also described

Virtual Reality Games for Motor Rehabilitation

This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion

Agile Market Engineering: Bridging the gap between business concepts and running markets

The agile market engineering process model (AMEP) is built on the insight, that market design and development is a wicked problem. Electronic markets are too complex to be completely designed upfront. Instead, AMEP tries to bridge the gap between theoretic market design and practical electronic market platform development using an agile, iterative approach that relies on early customer feedback and continuous improvement. The AMEP model is complemented by several supporting software artifacts

Proceedings of The Multi-Agent Logics, Languages, and Organisations Federated Workshops (MALLOW 2010)

http://ceur-ws.org/Vol-627/allproceedings.pdfInternational audienceMALLOW-2010 is a third edition of a series initiated in 2007 in Durham, and pursued in 2009 in Turin. The objective, as initially stated, is to "provide a venue where: the cost of participation was minimum; participants were able to attend various workshops, so fostering collaboration and cross-fertilization; there was a friendly atmosphere and plenty of time for networking, by maximizing the time participants spent together"

Second Workshop on Modelling of Objects, Components and Agents

This report contains the proceedings of the workshop Modelling of Objects, Components, and Agents (MOCA'02), August 26-27, 2002.The workshop is organized by the 'Coloured Petri Net' Group at the University of Aarhus, Denmark and the 'Theoretical Foundations of Computer Science' Group at the University of Hamburg, Germany. The homepage of the workshop is: http://www.daimi.au.dk/CPnets/workshop02

Policy-Based Planning for Robust Robot Navigation

This thesis proposes techniques for constructing and implementing an extensible navigation framework suitable for operating alongside or in place of traditional navigation systems. Robot navigation is only possible when many subsystems work in tandem such as localization and mapping, motion planning, control, and object tracking. Errors in any one of these subsystems can result in the robot failing to accomplish its task, oftentimes requiring human interventions that diminish the benefits theoretically provided by autonomous robotic systems. Our first contribution is Direction Approximation through Random Trials (DART), a method for generating human-followable navigation instructions optimized for followability instead of traditional metrics such as path length. We show how this strategy can be extended to robot navigation planning, allowing the robot to compute the sequence of control policies and switching conditions maximizing the likelihood with which the robot will reach its goal. This technique allows robots to select plans based on reliability in addition to efficiency, avoiding error-prone actions or areas of the environment. We also show how DART can be used to build compact, topological maps of its environments, offering opportunities to scale to larger environments. DART depends on the existence of a set of behaviors and switching conditions describing ways the robot can move through an environment. In the remainder of this thesis, we present methods for learning these behaviors and conditions in indoor environments. To support landmark-based navigation, we show how to train a Convolutional Neural Network (CNN) to distinguish between semantically labeled 2D occupancy grids generated from LIDAR data. By providing the robot the ability to recognize specific classes of places based on human labels, not only do we support transitioning between control laws, but also provide hooks for human-aided instruction and direction. Additionally, we suggest a subset of behaviors that provide DART with a sufficient set of actions to navigate in most indoor environments and introduce a method to learn these behaviors from teleloperated demonstrations. Our method learns a cost function suitable for integration into gradient-based control schemes. This enables the robot to execute behaviors in the absence of global knowledge. We present results demonstrating these behaviors working in several environments with varied structure, indicating that they generalize well to new environments. This work was motivated by the weaknesses and brittleness of many state-of-the-art navigation systems. Reliable navigation is the foundation of any mobile robotic system. It provides access to larger work spaces and enables a wide variety of tasks. Even though navigation systems have continued to improve, catastrophic failures can still occur (e.g. due to an incorrect loop closure) that limit their reliability. Furthermore, as work areas approach the scale of kilometers, constructing and operating on precise localization maps becomes expensive. These limitations prevent large scale deployments of robots outside of controlled settings and laboratory environments. The work presented in this thesis is intended to augment or replace traditional navigation systems to mitigate concerns about scalability and reliability by considering the effects of navigation failures for particular actions. By considering these effects when evaluating the actions to take, our framework can adapt navigation strategies to best take advantage of the capabilities of the robot in a given environment. A natural output of our framework is a topological network of actions and switching conditions, providing compact representations of work areas suitable for fast, scalable planning.PHDComputer Science & EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/144073/1/rgoeddel_1.pd

Advances in Robotics, Automation and Control

The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man

Data-Driven Simulation Modeling of Construction and Infrastructure Operations Using Process Knowledge Discovery

Within the architecture, engineering, and construction (AEC) domain, simulation modeling is mainly used to facilitate decision-making by enabling the assessment of different operational plans and resource arrangements, that are otherwise difficult (if not impossible), expensive, or time consuming to be evaluated in real world settings. The accuracy of such models directly affects their reliability to serve as a basis for important decisions such as project completion time estimation and resource allocation. Compared to other industries, this is particularly important in construction and infrastructure projects due to the high resource costs and the societal impacts of these projects. Discrete event simulation (DES) is a decision making tool that can benefit the process of design, control, and management of construction operations. Despite recent advancements, most DES models used in construction are created during the early planning and design stage when the lack of factual information from the project prohibits the use of realistic data in simulation modeling. The resulting models, therefore, are often built using rigid (subjective) assumptions and design parameters (e.g. precedence logic, activity durations). In all such cases and in the absence of an inclusive methodology to incorporate real field data as the project evolves, modelers rely on information from previous projects (a.k.a. secondary data), expert judgments, and subjective assumptions to generate simulations to predict future performance. These and similar shortcomings have to a large extent limited the use of traditional DES tools to preliminary studies and long-term planning of construction projects. In the realm of the business process management, process mining as a relatively new research domain seeks to automatically discover a process model by observing activity records and extracting information about processes. The research presented in this Ph.D. Dissertation was in part inspired by the prospect of construction process mining using sensory data collected from field agents. This enabled the extraction of operational knowledge necessary to generate and maintain the fidelity of simulation models. A preliminary study was conducted to demonstrate the feasibility and applicability of data-driven knowledge-based simulation modeling with focus on data collection using wireless sensor network (WSN) and rule-based taxonomy of activities. The resulting knowledge-based simulation models performed very well in properly predicting key performance measures of real construction systems. Next, a pervasive mobile data collection and mining technique was adopted and an activity recognition framework for construction equipment and worker tasks was developed. Data was collected using smartphone accelerometers and gyroscopes from construction entities to generate significant statistical time- and frequency-domain features. The extracted features served as the input of different types of machine learning algorithms that were applied to various construction activities. The trained predictive algorithms were then used to extract activity durations and calculate probability distributions to be fused into corresponding DES models. Results indicated that the generated data-driven knowledge-based simulation models outperform static models created based upon engineering assumptions and estimations with regard to compatibility of performance measure outputs to reality

Process mining : conformance and extension

Today’s business processes are realized by a complex sequence of tasks that are performed throughout an organization, often involving people from different departments and multiple IT systems. For example, an insurance company has a process to handle insurance claims for their clients, and a hospital has processes to diagnose and treat patients. Because there are many activities performed by different people throughout the organization, there is a lack of transparency about how exactly these processes are executed. However, understanding the process reality (the "as is" process) is the first necessary step to save cost, increase quality, or ensure compliance. The field of process mining aims to assist in creating process transparency by automatically analyzing processes based on existing IT data. Most processes are supported by IT systems nowadays. For example, Enterprise Resource Planning (ERP) systems such as SAP log all transaction information, and Customer Relationship Management (CRM) systems are used to keep track of all interactions with customers. Process mining techniques use these low-level log data (so-called event logs) to automatically generate process maps that visualize the process reality from different perspectives. For example, it is possible to automatically create process models that describe the causal dependencies between activities in the process. So far, process mining research has mostly focused on the discovery aspect (i.e., the extraction of models from event logs). This dissertation broadens the field of process mining to include the aspect of conformance and extension. Conformance aims at the detection of deviations from documented procedures by comparing the real process (as recorded in the event log) with an existing model that describes the assumed or intended process. Conformance is relevant for two reasons: 1. Most organizations document their processes in some form. For example, process models are created manually to understand and improve the process, comply with regulations, or for certification purposes. In the presence of existing models, it is often more important to point out the deviations from these existing models than to discover completely new models. Discrepancies emerge because business processes change, or because the models did not accurately reflect the real process in the first place (due to the manual and subjective creation of these models). If the existing models do not correspond to the actual processes, then they have little value. 2. Automatically discovered process models typically do not completely "fit" the event logs from which they were created. These discrepancies are due to noise and/or limitations of the used discovery techniques. Furthermore, in the context of complex and diverse process environments the discovered models often need to be simplified to obtain useful insights. Therefore, it is crucial to be able to check how much a discovered process model actually represents the real process. Conformance techniques can be used to quantify the representativeness of a mined model before drawing further conclusions. They thus constitute an important quality measurement to effectively use process discovery techniques in a practical setting. Once one is confident in the quality of an existing or discovered model, extension aims at the enrichment of these models by the integration of additional characteristics such as time, cost, or resource utilization. By extracting aditional information from an event log and projecting it onto an existing model, bottlenecks can be highlighted and correlations with other process perspectives can be identified. Such an integrated view on the process is needed to understand root causes for potential problems and actually make process improvements. Furthermore, extension techniques can be used to create integrated simulation models from event logs that resemble the real process more closely than manually created simulation models. In Part II of this thesis, we provide a comprehensive framework for the conformance checking of process models. First, we identify the evaluation dimensions fitness, decision/generalization, and structure as the relevant conformance dimensions.We develop several Petri-net based approaches to measure conformance in these dimensions and describe five case studies in which we successfully applied these conformance checking techniques to real and artificial examples. Furthermore, we provide a detailed literature review of related conformance measurement approaches (Chapter 4). Then, we study existing model evaluation approaches from the field of data mining. We develop three data mining-inspired evaluation approaches for discovered process models, one based on Cross Validation (CV), one based on the Minimal Description Length (MDL) principle, and one using methods based on Hidden Markov Models (HMMs). We conclude that process model evaluation faces similar yet different challenges compared to traditional data mining. Additional challenges emerge from the sequential nature of the data and the higher-level process models, which include concurrent dynamic behavior (Chapter 5). Finally, we point out current shortcomings and identify general challenges for conformance checking techniques. These challenges relate to the applicability of the conformance metric, the metric quality, and the bridging of different process modeling languages. We develop a flexible, language-independent conformance checking approach that provides a starting point to effectively address these challenges (Chapter 6). In Part III, we develop a concrete extension approach, provide a general model for process extensions, and apply our approach for the creation of simulation models. First, we develop a Petri-net based decision mining approach that aims at the discovery of decision rules at process choice points based on data attributes in the event log. While we leverage classification techniques from the data mining domain to actually infer the rules, we identify the challenges that relate to the initial formulation of the learning problem from a process perspective. We develop a simple approach to partially overcome these challenges, and we apply it in a case study (Chapter 7). Then, we develop a general model for process extensions to create integrated models including process, data, time, and resource perspective.We develop a concrete representation based on Coloured Petri-nets (CPNs) to implement and deploy this model for simulation purposes (Chapter 8). Finally, we evaluate the quality of automatically discovered simulation models in two case studies and extend our approach to allow for operational decision making by incorporating the current process state as a non-empty starting point in the simulation (Chapter 9). Chapter 10 concludes this thesis with a detailed summary of the contributions and a list of limitations and future challenges. The work presented in this dissertation is supported and accompanied by concrete implementations, which have been integrated in the ProM and ProMimport frameworks. Appendix A provides a comprehensive overview about the functionality of the developed software. The results presented in this dissertation have been presented in more than twenty peer-reviewed scientific publications, including several high-quality journals