11,115 research outputs found
Offline and Online Models for Learning Pairwise Relations in Data
Pairwise relations between data points are essential for numerous machine learning algorithms. Many representation learning methods consider pairwise relations to identify the latent features and patterns in the data. This thesis, investigates learning of pairwise relations from two different perspectives: offline learning and online learning.The first part of the thesis focuses on offline learning by starting with an investigation of the performance modeling of a synchronization method in concurrent programming using a Markov chain whose state transition matrix models pairwise relations between involved cores in a computer process.Then the thesis focuses on a particular pairwise distance measure, the minimax distance, and explores memory-efficient approaches to computing this distance by proposing a hierarchical representation of the data with a linear memory requirement with respect to the number of data points, from which the exact pairwise minimax distances can be derived in a memory-efficient manner. Then, a memory-efficient sampling method is proposed that follows the aforementioned hierarchical representation of the data and samples the data points in a way that the minimax distances between all data points are maximally preserved. Finally, the thesis proposes a practical non-parametric clustering of vehicle motion trajectories to annotate traffic scenarios based on transitive relations between trajectories in an embedded space.The second part of the thesis takes an online learning perspective, and starts by presenting an online learning method for identifying bottlenecks in a road network by extracting the minimax path, where bottlenecks are considered as road segments with the highest cost, e.g., in the sense of travel time. Inspired by real-world road networks, the thesis assumes a stochastic traffic environment in which the road-specific probability distribution of travel time is unknown. Therefore, it needs to learn the parameters of the probability distribution through observations by modeling the bottleneck identification task as a combinatorial semi-bandit problem. The proposed approach takes into account the prior knowledge and follows a Bayesian approach to update the parameters. Moreover, it develops a combinatorial variant of Thompson Sampling and derives an upper bound for the corresponding Bayesian regret. Furthermore, the thesis proposes an approximate algorithm to address the respective computational intractability issue.Finally, the thesis considers contextual information of road network segments by extending the proposed model to a contextual combinatorial semi-bandit framework and investigates and develops various algorithms for this contextual combinatorial setting
A Decision Support System for Economic Viability and Environmental Impact Assessment of Vertical Farms
Vertical farming (VF) is the practice of growing crops or animals using the vertical dimension via multi-tier racks or vertically inclined surfaces. In this thesis, I focus on the emerging industry of plant-specific VF. Vertical plant farming (VPF) is a promising and relatively novel practice that can be conducted in buildings with environmental control and artificial lighting. However, the nascent sector has experienced challenges in economic viability, standardisation, and environmental sustainability. Practitioners and academics call for a comprehensive financial analysis of VPF, but efforts are stifled by a lack of valid and available data.
A review of economic estimation and horticultural software identifies a need for a decision support system (DSS) that facilitates risk-empowered business planning for vertical farmers. This thesis proposes an open-source DSS framework to evaluate business sustainability through financial risk and environmental impact assessments. Data from the literature, alongside lessons learned from industry practitioners, would be centralised in the proposed DSS using imprecise data techniques. These techniques have been applied in engineering but are seldom used in financial forecasting. This could benefit complex sectors which only have scarce data to predict business viability.
To begin the execution of the DSS framework, VPF practitioners were interviewed using a mixed-methods approach. Learnings from over 19 shuttered and operational VPF projects provide insights into the barriers inhibiting scalability and identifying risks to form a risk taxonomy. Labour was the most commonly reported top challenge. Therefore, research was conducted to explore lean principles to improve productivity.
A probabilistic model representing a spectrum of variables and their associated uncertainty was built according to the DSS framework to evaluate the financial risk for VF projects. This enabled flexible computation without precise production or financial data to improve economic estimation accuracy. The model assessed two VPF cases (one in the UK and another in Japan), demonstrating the first risk and uncertainty quantification of VPF business models in the literature. The results highlighted measures to improve economic viability and the viability of the UK and Japan case.
The environmental impact assessment model was developed, allowing VPF operators to evaluate their carbon footprint compared to traditional agriculture using life-cycle assessment. I explore strategies for net-zero carbon production through sensitivity analysis. Renewable energies, especially solar, geothermal, and tidal power, show promise for reducing the carbon emissions of indoor VPF. Results show that renewably-powered VPF can reduce carbon emissions compared to field-based agriculture when considering the land-use change.
The drivers for DSS adoption have been researched, showing a pathway of compliance and design thinking to overcome the âproblem of implementationâ and enable commercialisation. Further work is suggested to standardise VF equipment, collect benchmarking data, and characterise risks. This work will reduce risk and uncertainty and accelerate the sectorâs emergence
The determinants of value addition: a crtitical analysis of global software engineering industry in Sri Lanka
It was evident through the literature that the perceived value delivery of the global software
engineering industry is low due to various facts. Therefore, this research concerns global
software product companies in Sri Lanka to explore the software engineering methods and
practices in increasing the value addition. The overall aim of the study is to identify the key
determinants for value addition in the global software engineering industry and critically
evaluate the impact of them for the software product companies to help maximise the value
addition to ultimately assure the sustainability of the industry.
An exploratory research approach was used initially since findings would emerge while the
study unfolds. Mixed method was employed as the literature itself was inadequate to
investigate the problem effectively to formulate the research framework. Twenty-three face-to-face online interviews were conducted with the subject matter experts covering all the
disciplines from the targeted organisations which was combined with the literature findings as
well as the outcomes of the market research outcomes conducted by both government and nongovernment institutes. Data from the interviews were analysed using NVivo 12. The findings
of the existing literature were verified through the exploratory study and the outcomes were
used to formulate the questionnaire for the public survey. 371 responses were considered after
cleansing the total responses received for the data analysis through SPSS 21 with alpha level
0.05. Internal consistency test was done before the descriptive analysis. After assuring the
reliability of the dataset, the correlation test, multiple regression test and analysis of variance
(ANOVA) test were carried out to fulfil the requirements of meeting the research objectives.
Five determinants for value addition were identified along with the key themes for each area.
They are staffing, delivery process, use of tools, governance, and technology infrastructure.
The cross-functional and self-organised teams built around the value streams, employing a
properly interconnected software delivery process with the right governance in the delivery
pipelines, selection of tools and providing the right infrastructure increases the value delivery.
Moreover, the constraints for value addition are poor interconnection in the internal processes,
rigid functional hierarchies, inaccurate selections and uses of tools, inflexible team
arrangements and inadequate focus for the technology infrastructure. The findings add to the
existing body of knowledge on increasing the value addition by employing effective processes,
practices and tools and the impacts of inaccurate applications the same in the global software
engineering industry
Predictive Maintenance of Critical Equipment for Floating Liquefied Natural Gas Liquefaction Process
Predictive Maintenance of Critical Equipment for Liquefied Natural Gas Liquefaction Process
Meeting global energy demand is a massive challenge, especially with the quest of more affinity towards sustainable and cleaner energy. Natural gas is viewed as a bridge fuel to a renewable energy. LNG as a processed form of natural gas is the fastest growing and cleanest form of fossil fuel. Recently, the unprecedented increased in LNG demand, pushes its exploration and processing into offshore as Floating LNG (FLNG). The offshore topsides gas processes and liquefaction has been identified as one of the great challenges of FLNG. Maintaining topside liquefaction process asset such as gas turbine is critical to profitability and reliability, availability of the process facilities. With the setbacks of widely used reactive and preventive time-based maintenances approaches, to meet the optimal reliability and availability requirements of oil and gas operators, this thesis presents a framework driven by AI-based learning approaches for predictive maintenance. The framework is aimed at leveraging the value of condition-based maintenance to minimises the failures and downtimes of critical FLNG equipment (Aeroderivative gas turbine).
In this study, gas turbine thermodynamics were introduced, as well as some factors affecting gas turbine modelling. Some important considerations whilst modelling gas turbine system such as modelling objectives, modelling methods, as well as approaches in modelling gas turbines were investigated. These give basis and mathematical background to develop a gas turbine simulated model. The behaviour of simple cycle HDGT was simulated using thermodynamic laws and operational data based on Rowen model. Simulink model is created using experimental data based on Rowenâs model, which is aimed at exploring transient behaviour of an industrial gas turbine. The results show the capability of Simulink model in capture nonlinear dynamics of the gas turbine system, although constraint to be applied for further condition monitoring studies, due to lack of some suitable relevant correlated features required by the model.
AI-based models were found to perform well in predicting gas turbines failures. These capabilities were investigated by this thesis and validated using an experimental data obtained from gas turbine engine facility. The dynamic behaviours gas turbines changes when exposed to different varieties of fuel. A diagnostics-based AI models were developed to diagnose different gas turbine engineâs failures associated with exposure to various types of fuels. The capabilities of Principal Component Analysis (PCA) technique have been harnessed to reduce the dimensionality of the dataset and extract good features for the diagnostics model development.
Signal processing-based (time-domain, frequency domain, time-frequency domain) techniques have also been used as feature extraction tools, and significantly added more correlations to the dataset and influences the prediction results obtained. Signal processing played a vital role in extracting good features for the diagnostic models when compared PCA. The overall results obtained from both PCA, and signal processing-based models demonstrated the capabilities of neural network-based models in predicting gas turbineâs failures. Further, deep learning-based LSTM model have been developed, which extract features from the time series dataset directly, and hence does not require any feature extraction tool. The LSTM model achieved the highest performance and prediction accuracy, compared to both PCA-based and signal processing-based the models.
In summary, it is concluded from this thesis that despite some challenges related to gas turbines Simulink Model for not being integrated fully for gas turbine condition monitoring studies, yet data-driven models have proven strong potentials and excellent performances on gas turbineâs CBM diagnostics. The models developed in this thesis can be used for design and manufacturing purposes on gas turbines applied to FLNG, especially on condition monitoring and fault detection of gas turbines. The result obtained would provide valuable understanding and helpful guidance for researchers and practitioners to implement robust predictive maintenance models that will enhance the reliability and availability of FLNG critical equipment.Petroleum Technology Development Funds (PTDF) Nigeri
Annals [...].
Pedometrics: innovation in tropics; Legacy data: how turn it useful?; Advances in soil sensing; Pedometric guidelines to systematic soil surveys.Evento online. Coordenado por: Waldir de Carvalho Junior, Helena Saraiva Koenow Pinheiro, Ricardo SimĂŁo Diniz Dalmolin
Modelling and Solving the Single-Airport Slot Allocation Problem
Currently, there are about 200 overly congested airports where airport capacity does not suffice to accommodate airline demand. These airports play a critical role in the global air transport system since they concern 40% of global passenger demand and act as a bottleneck for the entire air transport system. This imbalance between airport capacity and airline demand leads to excessive delays, as well as multi-billion economic, and huge environmental and societal costs. Concurrently, the implementation of airport capacity expansion projects requires time, space and is subject to significant resistance from local communities. As a short to medium-term response, Airport Slot Allocation (ASA) has been used as the main demand management mechanism. The main goal of this thesis is to improve ASA decision-making through the proposition of models and algorithms that provide enhanced ASA decision support. In doing so, this thesis is organised into three distinct chapters that shed light on the following questions (IâV), which remain untapped by the existing literature. In parentheses, we identify the chapters of this thesis that relate to each research question. I. How to improve the modelling of airline demand flexibility and the utility that each airline assigns to each available airport slot? (Chapters 2 and 4) II. How can one model the dynamic and endogenous adaptation of the airportâs landside and airside infrastructure to the characteristics of airline demand? (Chapter 2) III. How to consider operational delays in strategic ASA decision-making? (Chapter 3) IV. How to involve the pertinent stakeholders into the ASA decision-making process to select a commonly agreed schedule; and how can one reduce the inherent decision-complexity without compromising the quality and diversity of the schedules presented to the decision-makers? (Chapter 3) V. Given that the ASA process involves airlines (submitting requests for slots) and coordinators (assigning slots to requests based on a set of rules and priorities), how can one jointly consider the interactions between these two sides to improve ASA decision-making? (Chapter 4) With regards to research questions (I) and (II), the thesis proposes a Mixed Integer Programming (MIP) model that considers airlinesâ timing flexibility (research question I) and constraints that enable the dynamic and endogenous allocation of the airportâs resources (research question II). The proposed modelling variant addresses several additional problem characteristics and policy rules, and considers multiple efficiency objectives, while integrating all constraints that may affect airport slot scheduling decisions, including the asynchronous use of the different airport resources (runway, aprons, passenger terminal) and the endogenous consideration of the capabilities of the airportâs infrastructure to adapt to the airline demandâs characteristics and the aircraft/flight type associated with each request. The proposed model is integrated into a two-stage solution approach that considers all primary and several secondary policy rules of ASA. New combinatorial results and valid tightening inequalities that facilitate the solution of the problem are proposed and implemented. An extension of the above MIP model that considers the trade-offs among schedule displacement, maximum displacement, and the number of displaced requests, is integrated into a multi-objective solution framework. The proposed framework holistically considers the preferences of all ASA stakeholder groups (research question IV) concerning multiple performance metrics and models the operational delays associated with each airport schedule (research question III). The delays of each schedule/solution are macroscopically estimated, and a subtractive clustering algorithm and a parameter tuning routine reduce the inherent decision complexity by pruning non-dominated solutions without compromising the representativeness of the alternatives offered to the decision-makers (research question IV). Following the determination of the representative set, the expected delay estimates of each schedule are further refined by considering the whole airfieldâs operations, the landside, and the airside infrastructure. The representative schedules are ranked based on the preferences of all ASA stakeholder groups concerning each scheduleâs displacement-related and operational-delay performance. Finally, in considering the interactions between airlinesâ timing flexibility and utility, and the policy-based priorities assigned by the coordinator to each request (research question V), the thesis models the ASA problem as a two-sided matching game and provides guarantees on the stability of the proposed schedules. A Stable Airport Slot Allocation Model (SASAM) capitalises on the flexibility considerations introduced for addressing research question (I) through the exploitation of data submitted by the airlines during the ASA process and provides functions that proxy each requestâs value considering both the airlinesâ timing flexibility for each submitted request and the requestsâ prioritisation by the coordinators when considering the policy rules defining the ASA process. The thesis argues on the compliance of the proposed functions with the primary regulatory requirements of the ASA process and demonstrates their applicability for different types of slot requests. SASAM guarantees stability through sets of inequalities that prune allocations blocking the formation of stable schedules. A multi-objective Deferred-Acceptance (DA) algorithm guaranteeing the stability of each generated schedule is developed. The algorithm can generate all stable non-dominated points by considering the trade-off between the spilled airline and passenger demand and maximum displacement. The work conducted in this thesis addresses several problem characteristics and sheds light on their implications for ASA decision-making, hence having the potential to improve ASA decision-making. Our findings suggest that the consideration of airlinesâ timing flexibility (research question I) results in improved capacity utilisation and scheduling efficiency. The endogenous consideration of the ability of the airportâs infrastructure to adapt to the characteristics of airline demand (research question II) enables a more efficient representation of airport declared capacity that results in the scheduling of additional requests. The concurrent consideration of airlinesâ timing flexibility and the endogenous adaptation of airport resources to airline demand achieves an improved alignment between the airport infrastructure and the characteristics of airline demand, ergo proposing schedules of improved efficiency. The modelling and evaluation of the peak operational delays associated with the different airport schedules (research question III) provides allows the study of the implications of strategic ASA decision-making for operations and quantifies the impact of the airportâs declared capacity on each scheduleâs operational performance. In considering the preferences of the relevant ASA stakeholders (airlines, coordinators, airport, and air traffic authorities) concerning multiple operational and strategic ASA efficiency metrics (research question IV) the thesis assesses the impact of alternative preference considerations and indicates a commonly preferred schedule that balances the stakeholdersâ preferences. The proposition of representative subsets of alternative schedules reduces decision-complexity without significantly compromising the quality of the alternatives offered to the decision-making process (research question IV). The modelling of the ASA as a two-sided matching game (research question V), results in stable schedules consisting of request-to-slot assignments that provide no incentive to airlines and coordinators to reject or alter the proposed timings. Furthermore, the proposition of stable schedules results in more intensive use of airport capacity, while simultaneously improving scheduling efficiency. The models and algorithms developed as part of this thesis are tested using airline requests and airport capacity data from coordinated airports. Computational results that are relevant to the context of the considered airport instances provide evidence on the potential improvements for the current ASA process and facilitate data-driven policy and decision-making. In particular, with regards to the alignment of airline demand with the capabilities of the airportâs infrastructure (questions I and II), computational results report improved slot allocation efficiency and airport capacity utilisation, which for the considered airport instance translate to improvements ranging between 5-24% for various schedule performance metrics. In reducing the difficulty associated with the assessment of multiple ASA solutions by the stakeholders (question IV), instance-specific results suggest reductions to the number of alternative schedules by 87%, while maintaining the quality of the solutions presented to the stakeholders above 70% (expressed in relation to the initially considered set of schedules). Meanwhile, computational results suggest that the concurrent consideration of ASA stakeholdersâ preferences (research question IV) with regards to both operational (research question III) and strategic performance metrics leads to alternative airport slot scheduling solutions that inform on the trade-offs between the schedulesâ operational and strategic performance and the stakeholdersâ preferences. Concerning research question (V), the application of SASAM and the DA algorithm suggest improvements to the number of unaccommodated flights and passengers (13 and 40% improvements) at the expense of requests concerning fewer passengers and days of operations (increasing the number of rejected requests by 1.2% in relation to the total number of submitted requests). The research conducted in this thesis aids in the identification of limitations that should be addressed by future studies to further improve ASA decision-making. First, the thesis focuses on exact solution approaches that consider the landside and airside infrastructure of the airport and generate multiple schedules. The proposition of pre-processing techniques that identify the bottleneck of the airportâs capacity, i.e., landside and/or airside, can be used to reduce the size of the proposed formulations and improve the required computational times. Meanwhile, the development of multi-objective heuristic algorithms that consider several problem characteristics and generate multiple efficient schedules in reasonable computational times, could extend the capabilities of the models propositioned in this thesis and provide decision support for some of the worldâs most congested airports. Furthermore, the thesis models and evaluates the operational implications of strategic airport slot scheduling decisions. The explicit consideration of operational delays as an objective in ASA optimisation models and algorithms is an issue that merits investigation since it may further improve the operational performance of the generated schedules. In accordance with current practice, the models proposed in this work have considered deterministic capacity parameters. Perhaps, future research could propose formulations that consider stochastic representations of airport declared capacity and improve strategic ASA decision-making through the anticipation of operational uncertainty and weather-induced capacity reductions. Finally, in modelling airlinesâ utility for each submitted request and available time slot the thesis proposes time-dependent functions that utilise available data to approximate airlinesâ scheduling preferences. Future studies wishing to improve the accuracy of the proposed functions could utilise commercial data sources that provide route-specific information; or in cases that such data is unavailable, employ data mining and machine learning methodologies to extract airlinesâ time-dependent utility and preferences
Networks: A study in Analysis and Design
In this dissertation, we will look at two fundamental aspects of Networks: Network Analysis and Network Design. In part A, we look at Network Analysis area of the dissertation which involves finding the densest subgraph in each graph. The densest subgraph extraction problem is fundamentally a non-linear optimization problem. Nevertheless, it can be solved in polynomial time by an exact algorithm based on the iterative solution of a series of max-flow sub-problems. To approach graphs with millions of vertices and edges, one must resort to heuristic algorithms. We provide an efficient implementation of a greedy heuristic from the literature that is extremely fast and has some nice theoretical properties. An extensive computational analysis shows that the proposed heuristic algorithm proved very effective on many test instances, often providing either the optimal solution or near-optimal solution within short computing times. In part-B, we discuss Network design, which is a cornerstone of mathematical optimization, is about defining the main characteristics of a network satisfying requirements on connectivity, capacity, and level-of-service. In multi-commodity network design, one is required to design a network minimizing the installation cost of its arcs and the operational cost to serve a set of point-to-point connections. This prototypical problem was recently enriched by additional constraints imposing that each origin-destination of a connection is served by a single path satisfying one or more level-of-service requirements, thus defining the Network Design with Service Requirements. These constraints are crucial, e.g., in telecommunications and computer networks, in order to ensure reliable and low-latency communication. We provide a new formulation for the problem, where variables are associated with paths satisfying the end-to-end service requirements. A fast algorithm for enumerating all the exponentially-many feasible paths and, when this is not viable, a column generation scheme that is embedded into a branch-and-cut-and-price algorithm is provided
Innovative Hybrid Approaches for Vehicle Routing Problems
This thesis deals with the efficient resolution of Vehicle Routing Problems (VRPs).
The first chapter faces the archetype of all VRPs: the Capacitated Vehicle Routing Problem (CVRP). Despite having being introduced more than 60 years ago, it still remains an extremely challenging problem. In this chapter I design a Fast Iterated-Local-Search Localized Optimization algorithm for the CVRP, shortened to FILO. The simplicity of the CVRP definition allowed me to experiment with advanced local search acceleration and pruning techniques that have eventually became the core optimization engine of FILO. FILO experimentally shown to be extremely scalable and able to solve very large scale instances of the CVRP in a fraction of the computing time compared to existing state-of-the-art methods, still obtaining competitive solutions in terms of their quality.
The second chapter deals with an extension of the CVRP called the Extended Single Truck and Trailer Vehicle Routing Problem, or simply XSTTRP. The XSTTRP models a broad class of VRPs in which a single vehicle, composed of a truck and a detachable trailer, has to serve a set of customers with accessibility constraints making some of them not reachable by using the entire vehicle. This problem moves towards VRPs including more realistic constraints and it models scenarios such as parcel deliveries in crowded city centers or rural areas, where maneuvering a large vehicle is forbidden or dangerous. The XSTTRP generalizes several well known VRPs such as the Multiple Depot VRP and the Location Routing Problem. For its solution I developed an hybrid metaheuristic which combines a fast heuristic optimization with a polishing phase based on the resolution of a limited set partitioning problem. Finally, the thesis includes a final chapter aimed at guiding the computational evaluation of new approaches to VRPs proposed by the machine learning community
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After Creation: Intergovernmental Organizations and Member State Governments as Co-Participants in an Authority Relationship
This is a re-amalgamation of what started as one manuscript and became two when the length proved to be more than any publisher wanted to consider. The splitting consisted of removing what are now Parts 3, 4, and 5 so that the manuscript focused on the outcome-related shared beliefs holding an authority relationship together. Those parts were last worked on in 2018. The rest were last worked on in late 2021 but also remain incomplete.
The relational approach adopted in this study treats intergovernmental organizations and the governments of member states as co-participants in an authority relationship with the governments of their member states. Authority relationships link two types of actor, defined by their authority-holder or addressee role in the relationship, through a set of shared beliefs about why the relationship exists and how the participants should fulfill their respective roles. The IGO as authority holder has a role that includes a right to instruct other actors about what they should or should not do; the governments of member states as addressees are expected to comply with the instructions. Three sets of shared beliefs provide the conceptual âglueâ holding the relationship together. The first defines the goal of the collective effort, providing both the rationale for having the authority relationship and providing a lode star for assessments of the collective effortâs success or lack of success. The second set defines the shared understanding about allocation of roles and the process of interaction by establishing shared expectations about a) the selection process by which particular actors acquire authority holder roles, b) the definitions identifying one or more categories of addressees expected to follow instructions, and c) the procedures through which the authority holder issues instructions. The third set focus on the outcomes of cooperation through the relationship by defining a) the substantive areas in which the authority holder may issue instructions, b) the bases for assessing the relevance actions mandated in instructions for reaching the goal, and c) the relative efficacy of action paths chosen for reaching the goal as compared to other possible action paths.
Using an authority relationship framework for analyzing cooperation through IGOs highlights the inherently bi-directional nature of IGO-member government activity by viewing their interaction as involving a three-step process in which the IGO as authority holder decides when to issue what instruction, the member state governments as followers react to the instruction with anything from prompt and full compliance through various forms of pushback to outright rejection, and the IGO as authority holder responds to how the followers react with efforts to increase individual compliance with instructions and reinforce continuing acceptance of the authority relationship. Foregrounding the dynamics produced by the interaction of these two streams of perception and action reveals more clearly how far intergovernmental organizations acquire capacity to operate as independent actors, the dynamic ways they maintain that capacity, and how much they influence member governmentsâ beliefs and actions at different times. The approach fosters better understanding of why, when, and for how long governments choose cooperation through an IGO even in periods of rising unilateralism
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Reliable Decision-Making with Imprecise Models
The rapid growth in the deployment of autonomous systems across various sectors has generated considerable interest in how these systems can operate reliably in large, stochastic, and unstructured environments. Despite recent advances in artificial intelligence and machine learning, it is challenging to assure that autonomous systems will operate reliably in the open world. One of the causes of unreliable behavior is the impreciseness of the model used for decision-making. Due to the practical challenges in data collection and precise model specification, autonomous systems often operate based on models that do not represent all the details in the environment. Even if the system has access to a comprehensive decision-making model that accounts for all the details in the environment and all possible scenarios the agent may encounter, it may be intractable to solve this complex model optimally. Consequently, this complex, high fidelity model may be simplified to accelerate planning, introducing imprecision. Reasoning with such imprecise models affects the reliability of autonomous systems. A system\u27s actions may sometimes produce unexpected, undesirable consequences, which are often identified after deployment. How can we design autonomous systems that can operate reliably in the presence of uncertainty and model imprecision?
This dissertation presents solutions to address three classes of model imprecision in a Markov decision process, along with an analysis of the conditions under which bounded-performance can be guaranteed. First, an adaptive outcome selection approach is introduced to devise risk-aware reduced models of the environment that efficiently balance the trade-off between model simplicity and fidelity, to accelerate planning in resource-constrained settings. Second, a framework that extends stochastic shortest path framework to problems with imperfect information about the goal state during planning is introduced, along with two solution approaches to solve this problem. Finally, two complementary solution approaches are presented to minimize the negative side effects of agent actions. The techniques presented in this dissertation enable an autonomous system to detect and mitigate undesirable behavior, without redesigning the model entirely
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