Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior

This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by most action models used in AI planning: the temporal structure of continuous control processes, their non-deterministic effects, several modes of their interferences, and the achievement of triggering conditions in closed-loop robot plans. The main contributions of this article are: (1) PHAMs, a model of concurrent percept-driven behavior, its formalization, and proofs that the model generates probably, qualitatively accurate predictions; and (2) a resource-efficient inference method for PHAMs based on sampling projections from probabilistic action models and state descriptions. We show how PHAMs can be applied to planning the course of action of an autonomous robot office courier based on analytical and experimental results

Norm Monitoring under Partial Action Observability

In the context of using norms for controlling multi-agent systems, a vitally important question that has not yet been addressed in the literature is the development of mechanisms for monitoring norm compliance under partial action observability. This paper proposes the reconstruction of unobserved actions to tackle this problem. In particular, we formalise the problem of reconstructing unobserved actions, and propose an information model and algorithms for monitoring norms under partial action observability using two different processes for reconstructing unobserved actions. Our evaluation shows that reconstructing unobserved actions increases significantly the number of norm violations and fulfilments detected.Comment: Accepted at the IEEE Transaction on Cybernetic

Genetic algorithm design of neural network and fuzzy logic controllers

Genetic algorithm design of neural network and fuzzy logic controller

Transforming specifications of observable behaviour into programs

A methodology for deriving programs from specifications of observable behaviour is described. The class of processes to which this methodology is applicable includes those whose state changes are fully definable by labelled transition systems, for example communicating processes without internal state changes. A logic program representation of such labelled transition systems is proposed, interpreters based on path searching techniques are defined, and the use of partial evaluation techniques to derive the executable programs is described

The DAB model of drawing processes

The problem of automatic drawing was investigated in two ways. First, a DAB model of drawing processes was introduced. DAB stands for three types of knowledge hypothesized to support drawing abilities, namely, Drawing Knowledge, Assimilated Knowledge, and Base Knowledge. Speculation concerning the content and character of each of these subsystems of the drawing process is introduced and the overall adequacy of the model is evaluated. Second, eight experts were each asked to understand six engineering drawings and to think aloud while doing so. It is anticipated that a concurrent protocol analysis of these interviews can be carried out in the future. Meanwhile, a general description of the videotape database is provided. In conclusion, the DAB model was praised as a worthwhile first step toward solution of a difficult problem, but was considered by and large inadequate to the challenge of automatic drawing. Suggestions for improvements on the model were made

A parallel expert system for the control of a robotic air vehicle

Expert systems can be used to govern the intelligent control of vehicles, for example the Robotic Air Vehicle (RAV). Due to the nature of the RAV system the associated expert system needs to perform in a demanding real-time environment. The use of a parallel processing capability to support the associated expert system's computational requirement is critical in this application. Thus, algorithms for parallel real-time expert systems must be designed, analyzed, and synthesized. The design process incorporates a consideration of the rule-set/face-set size along with representation issues. These issues are looked at in reference to information movement and various inference mechanisms. Also examined is the process involved with transporting the RAV expert system functions from the TI Explorer, where they are implemented in the Automated Reasoning Tool (ART), to the iPSC Hypercube, where the system is synthesized using Concurrent Common LISP (CCLISP). The transformation process for the ART to CCLISP conversion is described. The performance characteristics of the parallel implementation of these expert systems on the iPSC Hypercube are compared to the TI Explorer implementation

Faster Mutation Analysis via Equivalence Modulo States

Mutation analysis has many applications, such as asserting the quality of test suites and localizing faults. One important bottleneck of mutation analysis is scalability. The latest work explores the possibility of reducing the redundant execution via split-stream execution. However, split-stream execution is only able to remove redundant execution before the first mutated statement. In this paper we try to also reduce some of the redundant execution after the execution of the first mutated statement. We observe that, although many mutated statements are not equivalent, the execution result of those mutated statements may still be equivalent to the result of the original statement. In other words, the statements are equivalent modulo the current state. In this paper we propose a fast mutation analysis approach, AccMut. AccMut automatically detects the equivalence modulo states among a statement and its mutations, then groups the statements into equivalence classes modulo states, and uses only one process to represent each class. In this way, we can significantly reduce the number of split processes. Our experiments show that our approach can further accelerate mutation analysis on top of split-stream execution with a speedup of 2.56x on average.Comment: Submitted to conferenc

A Distributed Calculus for Role-Based Access Control

Role-based access control (RBAC) is increasingly attracting attention because it reduces the complexity and cost of security administration by interposing the notion of role in the assignment of permissions to users. In this paper, we present a formal framework relying on an extension of the π calculus to study the behavior of concurrent systems in a RBAC scenario. We define a type system ensuring that the specified policy is respected during computations, and a bisimulation to equate systems. The theory is then applied to three meaningful examples, namely finding the ‘minimal’ policy to run a given system, refining a system to be run under a given policy (whenever possible), and minimizing the number of users in a given system without changing the overall behavior