94 research outputs found

    LIPIcs, Volume 251, ITCS 2023, Complete Volume

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    LIPIcs, Volume 251, ITCS 2023, Complete Volum

    Advances and Applications of DSmT for Information Fusion. Collected Works, Volume 5

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    This fifth volume on Advances and Applications of DSmT for Information Fusion collects theoretical and applied contributions of researchers working in different fields of applications and in mathematics, and is available in open-access. The collected contributions of this volume have either been published or presented after disseminating the fourth volume in 2015 in international conferences, seminars, workshops and journals, or they are new. The contributions of each part of this volume are chronologically ordered. First Part of this book presents some theoretical advances on DSmT, dealing mainly with modified Proportional Conflict Redistribution Rules (PCR) of combination with degree of intersection, coarsening techniques, interval calculus for PCR thanks to set inversion via interval analysis (SIVIA), rough set classifiers, canonical decomposition of dichotomous belief functions, fast PCR fusion, fast inter-criteria analysis with PCR, and improved PCR5 and PCR6 rules preserving the (quasi-)neutrality of (quasi-)vacuous belief assignment in the fusion of sources of evidence with their Matlab codes. Because more applications of DSmT have emerged in the past years since the apparition of the fourth book of DSmT in 2015, the second part of this volume is about selected applications of DSmT mainly in building change detection, object recognition, quality of data association in tracking, perception in robotics, risk assessment for torrent protection and multi-criteria decision-making, multi-modal image fusion, coarsening techniques, recommender system, levee characterization and assessment, human heading perception, trust assessment, robotics, biometrics, failure detection, GPS systems, inter-criteria analysis, group decision, human activity recognition, storm prediction, data association for autonomous vehicles, identification of maritime vessels, fusion of support vector machines (SVM), Silx-Furtif RUST code library for information fusion including PCR rules, and network for ship classification. Finally, the third part presents interesting contributions related to belief functions in general published or presented along the years since 2015. These contributions are related with decision-making under uncertainty, belief approximations, probability transformations, new distances between belief functions, non-classical multi-criteria decision-making problems with belief functions, generalization of Bayes theorem, image processing, data association, entropy and cross-entropy measures, fuzzy evidence numbers, negator of belief mass, human activity recognition, information fusion for breast cancer therapy, imbalanced data classification, and hybrid techniques mixing deep learning with belief functions as well

    A Survey of Multi-Robot Motion Planning

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    Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from delivery robots to collaborative assembly lines. This survey provides an overview of MRMP taxonomy, state-of-the-art algorithms, and approaches which have been developed for multi-robot systems. This study also discusses the strengths and limitations of each algorithm and their applications in various scenarios. Moreover, based on this, we can draw out open problems for future research.Comment: This is my Ph.D. comprehensive exam repor

    Towards full-scale autonomy for multi-vehicle systems planning and acting in extreme environments

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    Currently, robotic technology offers flexible platforms for addressing many challenging problems that arise in extreme environments. These problems’ nature enhances the use of heterogeneous multi-vehicle systems which can coordinate and collaborate to achieve a common set of goals. While such applications have previously been explored in limited contexts, long-term deployments in such settings often require an advanced level of autonomy to maintain operability. The success of planning and acting approaches for multi-robot systems are conditioned by including reasoning regarding temporal, resource and knowledge requirements, and world dynamics. Automated planning provides the tools to enable intelligent behaviours in robotic systems. However, whilst many planning approaches and plan execution techniques have been proposed, these solutions highlight an inability to consistently build and execute high-quality plans. Motivated by these challenges, this thesis presents developments advancing state-of-the-art temporal planning and acting to address multi-robot problems. We propose a set of advanced techniques, methods and tools to build a high-level temporal planning and execution system that can devise, execute and monitor plans suitable for long-term missions in extreme environments. We introduce a new task allocation strategy, called HRTA, that optimises the task distribution amongst the heterogeneous fleet, relaxes the planning problem and boosts the plan search. We implement the TraCE planner that enforces contingent planning considering propositional temporal and numeric constraints to deal with partial observability about the initial state. Our developments regarding robust plan execution and mission adaptability include the HLMA, which efficiently optimises the task allocation and refines the planning model considering the experience from robots’ previous mission executions. We introduce the SEA failure solver that, combined with online planning, overcomes unexpected situations during mission execution, deals with joint goals implementation, and enhances mission operability in long-term deployments. Finally, we demonstrate the efficiency of our approaches with a series of experiments using a new set of real-world planning domains.Engineering and Physical Sciences Research Council (EPSRC) grant EP/R026173/

    An interdisciplinary concept for human-centered explainable artificial intelligence - Investigating the impact of explainable AI on end-users

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    Since the 1950s, Artificial Intelligence (AI) applications have captivated people. However, this fascination has always been accompanied by disillusionment about the limitations of this technology. Today, machine learning methods such as Deep Neural Networks (DNN) are successfully used in various tasks. However, these methods also have limitations: Their complexity makes their decisions no longer comprehensible to humans - they are black-boxes. The research branch of Explainable AI (XAI) has addressed this problem by investigating how to make AI decisions comprehensible. This desire is not new. In the 1970s, developers of intrinsic explainable AI approaches, so-called white-boxes (e.g., rule-based systems), were dealing with AI explanations. Nowadays, with the increased use of AI systems in all areas of life, the design of comprehensible systems has become increasingly important. Developing such systems is part of Human-Centred AI (HCAI) research, which integrates human needs and abilities in the design of AI interfaces. For this, an understanding is needed of how humans perceive XAI and how AI explanations influence the interaction between humans and AI. One of the open questions concerns the investigation of XAI for end-users, i.e., people who have no expertise in AI but interact with such systems or are impacted by the system's decisions. This dissertation investigates the impact of different levels of interactive XAI of white- and black-box AI systems on end-users perceptions. Based on an interdisciplinary concept presented in this work, it is examined how the content, type, and interface of explanations of DNN (black box) and rule-based systems (white box) are perceived by end-users. How XAI influences end-users mental models, trust, self-efficacy, cognitive workload, and emotional state regarding the AI system is the centre of the investigation. At the beginning of the dissertation, general concepts regarding AI, explanations, and psychological constructs of mental models, trust, self-efficacy, cognitive load, and emotions are introduced. Subsequently, related work regarding the design and investigation of XAI for users is presented. This serves as a basis for the concept of a Human-Centered Explainable AI (HC-XAI) presented in this dissertation, which combines an XAI design approach with user evaluations. The author pursues an interdisciplinary approach that integrates knowledge from the research areas of (X)AI, Human-Computer Interaction, and Psychology. Based on this interdisciplinary concept, a five-step approach is derived and applied to illustrative surveys and experiments in the empirical part of this dissertation. To illustrate the first two steps, a persona approach for HC-XAI is presented, and based on that, a template for designing personas is provided. To illustrate the usage of the template, three surveys are presented that ask end-users about their attitudes and expectations towards AI and XAI. The personas generated from the survey data indicate that end-users often lack knowledge of XAI and that their perception of it depends on demographic and personality-related characteristics. Steps three to five deal with the design of XAI for concrete applications. For this, different levels of interactive XAI are presented and investigated in experiments with end-users. For this purpose, two rule-based systems (i.e., white-box) and four systems based on DNN (i.e., black-box) are used. These are applied for three purposes: Cooperation & collaboration, education, and medical decision support. Six user studies were conducted for this purpose, which differed in the interactivity of the XAI system used. The results show that end-users trust and mental models of AI depend strongly on the context of use and the design of the explanation itself. For example, explanations that a virtual agent mediates are shown to promote trust. The content and type of explanations are also perceived differently by users. The studies also show that end-users in different application contexts of XAI feel the desire for interactive explanations. The dissertation concludes with a summary of the scientific contribution, points out limitations of the presented work, and gives an outlook on possible future research topics to integrate explanations into everyday AI systems and thus enable the comprehensible handling of AI for all people.Seit den 1950er Jahren haben Anwendungen der Künstlichen Intelligenz (KI) die Menschen in ihren Bann gezogen. Diese Faszination wurde jedoch stets von Ernüchterung über die Grenzen dieser Technologie begleitet. Heute werden Methoden des maschinellen Lernens wie Deep Neural Networks (DNN) erfolgreich für verschiedene Aufgaben eingesetzt. Doch auch diese Methoden haben ihre Grenzen: Durch ihre Komplexität sind ihre Entscheidungen für den Menschen nicht mehr nachvollziehbar - sie sind Black-Boxes. Der Forschungszweig der Erklärbaren KI (engl. XAI) hat sich diesem Problem angenommen und untersucht, wie man KI-Entscheidungen nachvollziehbar machen kann. Dieser Wunsch ist nicht neu. In den 1970er Jahren beschäftigten sich die Entwickler von intrinsisch erklärbaren KI-Ansätzen, so genannten White-Boxes (z. B. regelbasierte Systeme), mit KI-Erklärungen. Heutzutage, mit dem zunehmenden Einsatz von KI-Systemen in allen Lebensbereichen, wird die Gestaltung nachvollziehbarer Systeme immer wichtiger. Die Entwicklung solcher Systeme ist Teil der Menschzentrierten KI (engl. HCAI) Forschung, die menschliche Bedürfnisse und Fähigkeiten in die Gestaltung von KI-Schnittstellen integriert. Dafür ist ein Verständnis darüber erforderlich, wie Menschen XAI wahrnehmen und wie KI-Erklärungen die Interaktion zwischen Mensch und KI beeinflussen. Eine der offenen Fragen betrifft die Untersuchung von XAI für Endnutzer, d.h. Menschen, die keine Expertise in KI haben, aber mit solchen Systemen interagieren oder von deren Entscheidungen betroffen sind. In dieser Dissertation wird untersucht, wie sich verschiedene Stufen interaktiver XAI von White- und Black-Box-KI-Systemen auf die Wahrnehmung der Endnutzer auswirken. Basierend auf einem interdisziplinären Konzept, das in dieser Arbeit vorgestellt wird, wird untersucht, wie der Inhalt, die Art und die Schnittstelle von Erklärungen von DNN (Black-Box) und regelbasierten Systemen (White-Box) von Endnutzern wahrgenommen werden. Wie XAI die mentalen Modelle, das Vertrauen, die Selbstwirksamkeit, die kognitive Belastung und den emotionalen Zustand der Endnutzer in Bezug auf das KI-System beeinflusst, steht im Mittelpunkt der Untersuchung. Zu Beginn der Arbeit werden allgemeine Konzepte zu KI, Erklärungen und psychologische Konstrukte von mentalen Modellen, Vertrauen, Selbstwirksamkeit, kognitiver Belastung und Emotionen vorgestellt. Anschließend werden verwandte Arbeiten bezüglich dem Design und der Untersuchung von XAI für Nutzer präsentiert. Diese dienen als Grundlage für das in dieser Dissertation vorgestellte Konzept einer Menschzentrierten Erklärbaren KI (engl. HC-XAI), das einen XAI-Designansatz mit Nutzerevaluationen kombiniert. Die Autorin verfolgt einen interdisziplinären Ansatz, der Wissen aus den Forschungsbereichen (X)AI, Mensch-Computer-Interaktion und Psychologie integriert. Auf der Grundlage dieses interdisziplinären Konzepts wird ein fünfstufiger Ansatz abgeleitet und im empirischen Teil dieser Arbeit auf exemplarische Umfragen und Experimente und angewendet. Zur Veranschaulichung der ersten beiden Schritte wird ein Persona-Ansatz für HC-XAI vorgestellt und darauf aufbauend eine Vorlage für den Entwurf von Personas bereitgestellt. Um die Verwendung der Vorlage zu veranschaulichen, werden drei Umfragen präsentiert, in denen Endnutzer zu ihren Einstellungen und Erwartungen gegenüber KI und XAI befragt werden. Die aus den Umfragedaten generierten Personas zeigen, dass es den Endnutzern oft an Wissen über XAI mangelt und dass ihre Wahrnehmung dessen von demografischen und persönlichkeitsbezogenen Merkmalen abhängt. Die Schritte drei bis fünf befassen sich mit der Gestaltung von XAI für konkrete Anwendungen. Hierzu werden verschiedene Stufen interaktiver XAI vorgestellt und in Experimenten mit Endanwendern untersucht. Zu diesem Zweck werden zwei regelbasierte Systeme (White-Box) und vier auf DNN basierende Systeme (Black-Box) verwendet. Diese werden für drei Zwecke eingesetzt: Kooperation & Kollaboration, Bildung und medizinische Entscheidungsunterstützung. Hierzu wurden sechs Nutzerstudien durchgeführt, die sich in der Interaktivität des verwendeten XAI-Systems unterschieden. Die Ergebnisse zeigen, dass das Vertrauen und die mentalen Modelle der Endnutzer in KI stark vom Nutzungskontext und der Gestaltung der Erklärung selbst abhängen. Es hat sich beispielsweise gezeigt, dass Erklärungen, die von einem virtuellen Agenten vermittelt werden, das Vertrauen fördern. Auch der Inhalt und die Art der Erklärungen werden von den Nutzern unterschiedlich wahrgenommen. Die Studien zeigen zudem, dass Endnutzer in unterschiedlichen Anwendungskontexten von XAI den Wunsch nach interaktiven Erklärungen verspüren. Die Dissertation schließt mit einer Zusammenfassung des wissenschaftlichen Beitrags, weist auf Grenzen der vorgestellten Arbeit hin und gibt einen Ausblick auf mögliche zukünftige Forschungsthemen, um Erklärungen in alltägliche KI-Systeme zu integrieren und damit den verständlichen Umgang mit KI für alle Menschen zu ermöglichen

    LIPIcs, Volume 274, ESA 2023, Complete Volume

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    LIPIcs, Volume 274, ESA 2023, Complete Volum

    Mission Planning Techniques for Cooperative LEO Spacecraft Constellations

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    This research develops a mission planning approach that allows different systems to cooperate in accomplishing a single mission goal. Using the techniques described allows satellites to cooperate in efficiently maneuvering, or collecting images of Earth and transmitting the collected data to users on the ground. The individual resources onboard each satellite, like fuel, memory capacity and pointing agility, are used in a manner that ensures the goals and objectives of the mission are realized in a feasible way. A mission plan can be generated for each satellite within the cooperating group that collectively optimize the mission objectives from a global viewpoint. The unique methods and framework presented for planning the spacecraft operations are flexible and can be applied to a variety of decision making processes where prior decisions impact later decision options. This contribution to the satellite constellation mission planning field, thus has greater applicability to the wider decision problem discipline

    Applications of Mathematical Models in Engineering

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    The most influential research topic in the twenty-first century seems to be mathematics, as it generates innovation in a wide range of research fields. It supports all engineering fields, but also areas such as medicine, healthcare, business, etc. Therefore, the intention of this Special Issue is to deal with mathematical works related to engineering and multidisciplinary problems. Modern developments in theoretical and applied science have widely depended our knowledge of the derivatives and integrals of the fractional order appearing in engineering practices. Therefore, one goal of this Special Issue is to focus on recent achievements and future challenges in the theory and applications of fractional calculus in engineering sciences. The special issue included some original research articles that address significant issues and contribute towards the development of new concepts, methodologies, applications, trends and knowledge in mathematics. Potential topics include, but are not limited to, the following: Fractional mathematical models; Computational methods for the fractional PDEs in engineering; New mathematical approaches, innovations and challenges in biotechnologies and biomedicine; Applied mathematics; Engineering research based on advanced mathematical tools

    Expanding the Horizons of Manufacturing: Towards Wide Integration, Smart Systems and Tools

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    This research topic aims at enterprise-wide modeling and optimization (EWMO) through the development and application of integrated modeling, simulation and optimization methodologies, and computer-aided tools for reliable and sustainable improvement opportunities within the entire manufacturing network (raw materials, production plants, distribution, retailers, and customers) and its components. This integrated approach incorporates information from the local primary control and supervisory modules into the scheduling/planning formulation. That makes it possible to dynamically react to incidents that occur in the network components at the appropriate decision-making level, requiring fewer resources, emitting less waste, and allowing for better responsiveness in changing market requirements and operational variations, reducing cost, waste, energy consumption and environmental impact, and increasing the benefits. More recently, the exploitation of new technology integration, such as through semantic models in formal knowledge models, allows for the capture and utilization of domain knowledge, human knowledge, and expert knowledge toward comprehensive intelligent management. Otherwise, the development of advanced technologies and tools, such as cyber-physical systems, the Internet of Things, the Industrial Internet of Things, Artificial Intelligence, Big Data, Cloud Computing, Blockchain, etc., have captured the attention of manufacturing enterprises toward intelligent manufacturing systems

    Sizing Battery Energy Storage and PV System in an Extreme Fast Charging Station Considering Uncertainties and Battery Degradation

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    This paper presents mixed integer linear programming (MILP) formulations to obtain optimal sizing for a battery energy storage system (BESS) and solar generation system in an extreme fast charging station (XFCS) to reduce the annualized total cost. The proposed model characterizes a typical year with eight representative scenarios and obtains the optimal energy management for the station and BESS operation to exploit the energy arbitrage for each scenario. Contrasting extant literature, this paper proposes a constant power constant voltage (CPCV) based improved probabilistic approach to model the XFCS charging demand for weekdays and weekends. This paper also accounts for the monthly and annual demand charges based on realistic utility tariffs. Furthermore, BESS life degradation is considered in the model to ensure no replacement is needed during the considered planning horizon. Different from the literature, this paper offers pragmatic MILP formulations to tally BESS charge/discharge cycles using the cumulative charge/discharge energy concept. McCormick relaxations and the Big-M method are utilized to relax the bi-linear terms in the BESS operational constraints. Finally, a robust optimization-based MILP model is proposed and leveraged to account for uncertainties in electricity price, solar generation, and XFCS demand. Case studies were performed to signify the efficacy of the proposed formulations
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