A component-based parallel constraint solver

As a case study that illustrates our view on coordination and component-based software engineering, we present the design and implementation of a parallel constraint solver. The parallel solver coordinates autonomous instances of a sequential constraint solver, which is used as a software component. The component solvers achieve load balancing of tree search through a time-out mechanism. Experiments show that the purely exogenous mode of coordination employed here yields a viable parallel solver that effectively reduces turn-around time for constraint solving on a broad range of hardware platforms

Either, Or. Exploration of an Emerging Decision Theory.

A novel decision theory is emerging out of sparse findings in economics, mathematics and, most importantly, psychology and computational cognitive science. It rejects a fundamental assumption of the theory of rational decision-making, namely, that uncertain belief rests on independent assessment of utility and probability, and includes envisioning possibilities within its scope. Several researchers working with these premises, independently of one another, arrived at the conclusion that decision is made by highlighting the positive features of the alternative that will be chosen while opposing it to a loosing alternative, whose unpleasant aspects have been stressed. This article frames together contributions from different disciplines, often unknown to one another, with the hope of improving the coordination of research efforts. Furthermore, it discusses the status of the novel theory with respect to our current idea of rationality.Rationality; Shackle; Shafer; Search for Dominant Structure; Differentiation -- Consolidation; Constraint Satisfaction Networks; Construction of Narratives

Tangible user interfaces : past, present and future directions

In the last two decades, Tangible User Interfaces (TUIs) have emerged as a new interface type that interlinks the digital and physical worlds. Drawing upon users' knowledge and skills of interaction with the real non-digital world, TUIs show a potential to enhance the way in which people interact with and leverage digital information. However, TUI research is still in its infancy and extensive research is required in or- der to fully understand the implications of tangible user interfaces, to develop technologies that further bridge the digital and the physical, and to guide TUI design with empirical knowledge. This paper examines the existing body of work on Tangible User In- terfaces. We start by sketching the history of tangible user interfaces, examining the intellectual origins of this field. We then present TUIs in a broader context, survey application domains, and review frame- works and taxonomies. We also discuss conceptual foundations of TUIs including perspectives from cognitive sciences, phycology, and philoso- phy. Methods and technologies for designing, building, and evaluating TUIs are also addressed. Finally, we discuss the strengths and limita- tions of TUIs and chart directions for future research

Multiple but asymmetric bank financing : the case of relationship lending

Empirical evidence suggests that even those firms presumably most in need of monitoringintensive financing (young, small, and innovative firms) have a multitude of bank lenders, where one may be special in the sense of relationship lending. However, theory does not tell us a lot about the economic rationale for relationship lending in the context of multiple bank financing. To fill this gap, we analyze the optimal debt structure in a model that allows for multiple but asymmetric bank financing. The optimal debt structure balances the risk of lender coordination failure from multiple lending and the bargaining power of a pivotal relationship bank. We show that firms with low expected cash-flows or low interim liquidation values of assets prefer asymmetric financing, while firms with high expected cash-flow or high interim liquidation values of assets tend to finance without a relationship bank. JEL - Klassifikation: G21 , G78 , G3

An Environmental-Economic Dispatch Method for Smart Microgrids Using VSS_QGA

The increasing penetration of distributed generation resources demands better economic performance of microgrids under the smart-grid era. In this paper, a comprehensive environmental-economic dispatch method for smart microgrids is proposed, with the objective for minimizing the summation of generation and emission costs in the system. As the proposed model belongs to a large-scale nonlinear and nonconvex programming problem, a hybrid heuristic algorithm, named variable step-size chaotic fuzzy quantum genetic algorithm (VSS_QGA), is developed. The algorithm utilizes complementarity among multiple techniques including the variable step size optimization, the rotation mutational angle fuzzy control, and the quantum genetic algorithm and combines them so as to solve problems with superior accuracy and efficiency. The effectiveness of the proposed model is demonstrated through a case study on an actual microgrid system and the advantages in the performance of VSS_QGA is also verified through the comparison with genetic algorithm (GA), the evolutionary programming approach (EP), the quantum genetic algorithm (QGA), and the chaotic quantum genetic algorithm (CQGA)

Multiple but Asymmetric Bank Financing: The Case of Relationship Lending

Empirical evidence suggests that even those firms presumably most in need of monitoring-intensive financing (young, small, and innovative firms) have a multitude of bank lenders, where one may be special in the sense of relationship lending. However, theory does not tell us a lot about the economic rationale for relationship lending in the context of multiple bank financing.To fill this gap, we analyze the optimal debt structure in a model that allows for multiple but asymmetric bank financing. The optimal debt structure balances the risk of lender coordination failure from multiple lending and the bargaining power of a pivotal relationship bank. We show that firms with low expected cash-flows or low interim liquidation values of assets prefer asymmetric financing, while firms with high expected cash-flow or high interim liquidation values of assets tend to finance without a relationship bank.relationship lending, multiple bank financing, lender coordination

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated

Binary max-sum for multi-team task allocation in RoboCup Rescue

Coordination of agents involved in rescue missions is an important open research problem. We focus on the RoboCup Rescue Simulation (RCS) challenge, where different teams of agents perform urban rescue operations. Previous approaches typically cast such coordination problem as separate single-team allocation problems, and solve them separately. Our first key contribution is to focus on the max-sum approach, which has been successfully applied in this setting. We show that it is possible to reduce the computational complexity associated to max- sum from exponential to polynomial time. Our empirical evaluation shows that, by using our approach, the fire brigades team obtains significantly better results when compared to state-of- the-art approaches. Our second key contribution is a methodology that allows teams in RCS to make joint allocations. Specifically, our approach supports a modular design, where teams are independently modeled and subsequently connected via well-defined coordination points. To the best of our knowledge, this is the first task-assignment approach in the literature that enables teams in RCS to make simultaneous joint allocations. Experiments with fire brigades and police agents show that teams employing inter-team coordination are significantly more effective than uncoordinated teams.Work funded by projects RECEDIT (TIN2009-13591-C02- 02), AT (CSD2007-0022), COR (TIN2012-38876-C02-01), MECER (201250E053), the Generalitat of Catalunya grant 2009-SGR-1434, and the Ministry of Economy and Competitivity grant BES-2010-030466Peer Reviewe