Bidirectional Heuristic Search Reconsidered

The assessment of bidirectional heuristic search has been incorrect since it was first published more than a quarter of a century ago. For quite a long time, this search strategy did not achieve the expected results, and there was a major misunderstanding about the reasons behind it. Although there is still wide-spread belief that bidirectional heuristic search is afflicted by the problem of search frontiers passing each other, we demonstrate that this conjecture is wrong. Based on this finding, we present both a new generic approach to bidirectional heuristic search and a new approach to dynamically improving heuristic values that is feasible in bidirectional search only. These approaches are put into perspective with both the traditional and more recently proposed approaches in order to facilitate a better overall understanding. Empirical results of experiments with our new approaches show that bidirectional heuristic search can be performed very efficiently and also with limited memory. These results suggest that bidirectional heuristic search appears to be better for solving certain difficult problems than corresponding unidirectional search. This provides some evidence for the usefulness of a search strategy that was long neglected. In summary, we show that bidirectional heuristic search is viable and consequently propose that it be reconsidered.Comment: See http://www.jair.org/ for any accompanying file

Movement around real and virtual cluttered environments

Two experiments investigated participants’ ability to search for targets in a cluttered small-scale space. The first experiment was conducted in the real world with two field of view conditions (full vs. restricted), and participants found the task trivial to perform in both. The second experiment used the same search task but was conducted in a desktop virtual environment (VE), and investigated two movement interfaces and two visual scene conditions. Participants restricted to forward only movement performed the search task quicker and more efficiently (visiting fewer targets) than those who used an interface that allowed more flexible movement (forward, backward, left, right, and diagonal). Also, participants using a high fidelity visual scene performed the task significantly quicker and more efficiently than those who used a low fidelity scene. The performance differences between all the conditions decreased with practice, but the performance of the best VE group approached that of the real-world participants. These results indicate the importance of using high fidelity scenes in VEs, and suggest that the use of a simple control system is sufficient for maintaining ones spatial orientation during searching

Movement around real and virtual cluttered environments

Two experiments investigated participants’ ability to search for targets in a cluttered small-scale space. The first experiment was conducted in the real world with two field of view conditions (full vs. restricted), and participants found the task trivial to perform in both. The second experiment used the same search task but was conducted in a desktop virtual environment (VE), and investigated two movement interfaces and two visual scene conditions. Participants restricted to forward only movement performed the search task quicker and more efficiently (visiting fewer targets) than those who used an interface that allowed more flexible movement (forward, backward, left, right, and diagonal). Also, participants using a high fidelity visual scene performed the task significantly quicker and more efficiently than those who used a low fidelity scene. The performance differences between all the conditions decreased with practice, but the performance of the best VE group approached that of the real-world participants. These results indicate the importance of using high fidelity scenes in VEs, and suggest that the use of a simple control system is sufficient for maintaining ones spatial orientation during searching

Refinement and preliminary evaluation of two tablet-based tests of real-world visual function

PURPOSE: To describe, refine, evaluate, and provide normative control data for two freely available tablet-based tests of real-world visual function, using a cohort of young, normally-sighted adults. METHODS: Fifty young (18-40 years), normally-sighted adults completed tablet-based assessments of (1) face discrimination and (2) visual search. Each test was performed twice, to assess test-retest repeatability. Post-hoc analyses were performed to determine the number of trials required to obtain stable estimates of performance. Distributions were fitted to the normative data to determine the 99% population-boundary for normally sighted observers. Participants were also asked to rate their comprehension of each test. RESULTS: Both tests provided stable estimates in around 20 trials (~1-4 min), with only a further reduction of 14%-17% in the 95% Coefficient of Repeatability (CoR95 ) when an additional 40 trials were included. When using only ~20 trials: median durations for the first run of each test were 191 s (Faces) and 51 s (Search); test-retest CoR95 were 0.27 d (Faces) and 0.84 s (Search); and normative 99% population-limits were 3.50 d (Faces) and 3.1 s (Search). No participants exhibited any difficulties completing either test (100% completion rate), and ratings of task-understanding were high (Faces: 9.6 out of 10; Search: 9.7 out of 10). CONCLUSIONS: This preliminary assessment indicated that both tablet-based tests are able to provide simple, quick, and easy-to-administer measures of real-world visual function in normally-sighted young adults. Further work is required to assess their accuracy and utility in older people and individuals with visual impairment. Potential applications are discussed, including their use in clinic waiting rooms, and as an objective complement to Patient Reported Outcome Measures (PROMs)

Interventions to Promote More Effective Balance-Recovery Reactions in Industrial Settings: New Perspectives on Footwear and Handrails

“Change-in-support” balance-recovery reactions that involve rapid stepping or reaching movements play a critical role in preventing falls. Recent geriatrics studies have led to new interventions to improve ability to execute these reactions effectively. Some of these interventions have the potential to reduce fall risk for younger persons working in industrial settings. In this paper, we review research pertaining to two such interventions: 1) balance-enhancing footwear insoles designed to improve stepping reactions, and 2) proximity-triggered handrail cueing systems designed to improve reach-to-grasp reactions. The insole has a raised ridge around the perimeter that is intended to improve balance control by providing increased stimulation of sensory receptors on the footsole in situations where loss of balance may be imminent. The cueing system uses flashing lights and/or verbal prompts to attract attention to the handrail and ensure that the brain registers its location, thereby facilitating more rapid and accurate grasping of the rail if and when sudden loss of balance occurs. Results to date support the efficacy of both interventions in geriatric populations. There is also some evidence that these interventions may improve balance control in younger persons; however, further research is needed to confirm their efficacy in preventing falls in industrial settings

Model checking learning agent systems using Promela with embedded C code and abstraction

As autonomous systems become more prevalent, methods for their verification will become more widely used. Model checking is a formal verification technique that can help ensure the safety of autonomous systems, but in most cases it cannot be applied by novices, or in its straight \off-the-shelf" form. In order to be more widely applicable it is crucial that more sophisticated techniques are used, and are presented in a way that is reproducible by engineers and verifiers alike. In this paper we demonstrate in detail two techniques that are used to increase the power of model checking using the model checker SPIN. The first of these is the use of embedded C code within Promela specifications, in order to accurately re ect robot movement. The second is to use abstraction together with a simulation relation to allow us to verify multiple environments simultaneously. We apply these techniques to a fairly simple system in which a robot moves about a fixed circular environment and learns to avoid obstacles. The learning algorithm is inspired by the way that insects learn to avoid obstacles in response to pain signals received from their antennae. Crucially, we prove that our abstraction is sound for our example system { a step that is often omitted but is vital if formal verification is to be widely accepted as a useful and meaningful approach

A Search Strategy of Level-Based Flooding for the Internet of Things

This paper deals with the query problem in the Internet of Things (IoT). Flooding is an important query strategy. However, original flooding is prone to cause heavy network loads. To address this problem, we propose a variant of flooding, called Level-Based Flooding (LBF). With LBF, the whole network is divided into several levels according to the distances (i.e., hops) between the sensor nodes and the sink node. The sink node knows the level information of each node. Query packets are broadcast in the network according to the levels of nodes. Upon receiving a query packet, sensor nodes decide how to process it according to the percentage of neighbors that have processed it. When the target node receives the query packet, it sends its data back to the sink node via random walk. We show by extensive simulations that the performance of LBF in terms of cost and latency is much better than that of original flooding, and LBF can be used in IoT of different scales

Combined Coverage Area Reporting and Geographical Routing in Wireless Sensor-Actuator Networks for Cooperating with Unmanned Aerial Vehicles

In wireless sensor network (WSN) applications with multiple gateways, it is key to route location dependent subscriptions efficiently at two levels in the system. At the gateway level, data sinks must not waste the energy of the WSN by injecting subscriptions that are not relevant for the nodes in their coverage area and at WSN level, energy-efficient delivery of subscriptions to target areas is required. In this paper, we propose a mechanism in which (1) the WSN provides an accurate and up-to-date coverage area description to gateways and (2) the wireless sensor network re-uses the collected coverage area information to enable efficient geographical routing of location dependent subscriptions and other messages. The latter has a focus on routing of messages injected from sink nodes to nodes in the region of interest. Our proposed mechanisms are evaluated in simulation

A*+BFHS: A Hybrid Heuristic Search Algorithm

We present a new algorithm A*+BFHS for solving problems with unit-cost operators where A* and IDA* fail due to memory limitations and/or the existence of many distinct paths between the same pair of nodes. A*+BFHS is based on A* and breadth-first heuristic search (BFHS). A*+BFHS combines advantages from both algorithms, namely A*'s node ordering, BFHS's memory savings, and both algorithms' duplicate detection. On easy problems, A*+BFHS behaves the same as A*. On hard problems, it is slower than A* but saves a large amount of memory. Compared to BFIDA*, A*+BFHS reduces the search time and/or memory requirement by several times on a variety of planning domains.Comment: 8 pages, 5 figures, 1 tabl