Intelligent search strategies based on adaptive Constraint Handling Rules

The most advanced implementation of adaptive constraint processing with Constraint Handling Rules (CHR) allows the application of intelligent search strategies to solve Constraint Satisfaction Problems (CSP). This presentation compares an improved version of conflict-directed backjumping and two variants of dynamic backtracking with respect to chronological backtracking on some of the AIM instances which are a benchmark set of random 3-SAT problems. A CHR implementation of a Boolean constraint solver combined with these different search strategies in Java is thus being compared with a CHR implementation of the same Boolean constraint solver combined with chronological backtracking in SICStus Prolog. This comparison shows that the addition of ``intelligence'' to the search process may reduce the number of search steps dramatically. Furthermore, the runtime of their Java implementations is in most cases faster than the implementations of chronological backtracking. More specifically, conflict-directed backjumping is even faster than the SICStus Prolog implementation of chronological backtracking, although our Java implementation of CHR lacks the optimisations made in the SICStus Prolog system. To appear in Theory and Practice of Logic Programming (TPLP).Comment: Number of pages: 27 Number of figures: 14 Number of Tables:

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

Integrative Dynamic Reconfiguration in a Parallel Stream Processing Engine

Load balancing, operator instance collocations and horizontal scaling are critical issues in Parallel Stream Processing Engines to achieve low data processing latency, optimized cluster utilization and minimized communication cost respectively. In previous work, these issues are typically tackled separately and independently. We argue that these problems are tightly coupled in the sense that they all need to determine the allocations of workloads and migrate computational states at runtime. Optimizing them independently would result in suboptimal solutions. Therefore, in this paper, we investigate how these three issues can be modeled as one integrated optimization problem. In particular, we first consider jobs where workload allocations have little effect on the communication cost, and model the problem of load balance as a Mixed-Integer Linear Program. Afterwards, we present an extended solution called ALBIC, which support general jobs. We implement the proposed techniques on top of Apache Storm, an open-source Parallel Stream Processing Engine. The extensive experimental results over both synthetic and real datasets show that our techniques clearly outperform existing approaches