Improving Model Finding for Integrated Quantitative-qualitative Spatial Reasoning With First-order Logic Ontologies

Many spatial standards are developed to harmonize the semantics and specifications of GIS data and for sophisticated reasoning. All these standards include some types of simple and complex geometric features, and some of them incorporate simple mereotopological relations. But the relations as used in these standards, only allow the extraction of qualitative information from geometric data and lack formal semantics that link geometric representations with mereotopological or other qualitative relations. This impedes integrated reasoning over qualitative data obtained from geometric sources and “native” topological information – for example as provided from textual sources where precise locations or spatial extents are unknown or unknowable. To address this issue, the first contribution in this dissertation is a first-order logical ontology that treats geometric features (e.g. polylines, polygons) and relations between them as specializations of more general types of features (e.g. any kind of 2D or 1D features) and mereotopological relations between them. Key to this endeavor is the use of a multidimensional theory of space wherein, unlike traditional logical theories of mereotopology (like RCC), spatial entities of different dimensions can co-exist and be related. However terminating or tractable reasoning with such an expressive ontology and potentially large amounts of data is a challenging AI problem. Model finding tools used to verify FOL ontologies with data usually employ a SAT solver to determine the satisfiability of the propositional instantiations (SAT problems) of the ontology. These solvers often experience scalability issues with increasing number of objects and size and complexity of the ontology, limiting its use to ontologies with small signatures and building small models with less than 20 objects. To investigate how an ontology influences the size of its SAT translation and consequently the model finder’s performance, we develop a formalization of FOL ontologies with data. We theoretically identify parameters of an ontology that significantly contribute to the dramatic growth in size of the SAT problem. The search space of the SAT problem is exponential in the signature of the ontology (the number of predicates in the axiomatization and any additional predicates from skolemization) and the number of distinct objects in the model. Axiomatizations that contain many definitions lead to large number of SAT propositional clauses. This is from the conversion of biconditionals to clausal form. We therefore postulate that optional definitions are ideal sentences that can be eliminated from an ontology to boost model finder’s performance. We then formalize optional definition elimination (ODE) as an FOL ontology preprocessing step and test the simplification on a set of spatial benchmark problems to generate smaller SAT problems (with fewer clauses and variables) without changing the satisfiability and semantic meaning of the problem. We experimentally demonstrate that the reduction in SAT problem size also leads to improved model finding with state-of-the-art model finders, with speedups of 10-99%. Altogether, this dissertation improves spatial reasoning capabilities using FOL ontologies – in terms of a formal framework for integrated qualitative-geometric reasoning, and specific ontology preprocessing steps that can be built into automated reasoners to achieve better speedups in model finding times, and scalability with moderately-sized datasets

Multi-Robot Task Allocation: A Spatial Queuing Approach

Multi-Robot Task Allocation (MRTA) is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to match a set of robots to a set of tasks so that the tasks can be completed by the robots while optimizing a certain metric such as the time required to complete all tasks, distance traveled by the robots and energy expended by the robots. We consider a scenario where the tasks can appear dynamically and the location of tasks are not known a priori by the robots. Additionally, for a task to be completed, it needs to be performed by multiple robots. This setting is called the MR-ST-TA (multi-robot, single-task, time- extended assginment) category of MRTA; solving the MRTA problem for this category is a known NP-hard problem. In this thesis, we address this problem by proposing a new algorithm that uses a spatial queue-based model to allocate tasks between robots while comparing its performance to several other known methods. We have implemented these algorithms on an accurately simulated model of Corobot robots within the Webots simulator for different numbers of robots and tasks. The results show that our method is adept in all proffered environments, especially scenarios that benefit from path planning, whereas other methods display inherent weakness at one end of the spectrum: a decentralized greedy approach exhibits inefficient behavior as the robot to task ratio dips below one, whereas the Hungarian method (an offline algorithm) fails to keep pace as the robot count increases

Autonomy in the real real-world: A behaviour based view of autonomous systems control in an industrial product inspection system

The thesis presented in this dissertation appears in two sequential parts that arose from an exploration of the use of Behaviour Based Artificial Intelligence (BBAI) techniques in a domain outside that of robotics, where BBAI is most frequently used. The work details a real-world physical implementation of the control and interactions of an industrial product inspection system from a BBAI perspective. It concentrates particularly on the control of a number of active laser scanning sensor systems (each a subsystem of a larger main inspection system), using a subsumption architecture. This industrial implementation is in itself a new direction for BBAI control and an important aspect of this thesis. However, the work has also led on to the development of a number of key ideas which contribute to the field of BBAI in general. The second part of the thesis concerns the nature of physical and temporal constraints on a distributed control system and the desirability of utilising mechanisms to provide continuous, low-level learning and adaptation of domain knowledge on a sub-behavioural basis. Techniques used include artificial neural networks and hill-climbing state-space search algorithms. Discussion is supported with examples from experiments with the laser scanning inspection system. Encouraging results suggest that concerted design effort at this low level of activity will benefit the whole system in terms of behavioural robustness and reliability. Relevant aspects of the design process that should be of value in similar real-world projects are identified and emphasised. These issues are particularly important in providing a firm foundation for artificial intelligence based control systems

Proceedings of the 22nd Conference on Formal Methods in Computer-Aided Design – FMCAD 2022

The Conference on Formal Methods in Computer-Aided Design (FMCAD) is an annual conference on the theory and applications of formal methods in hardware and system verification. FMCAD provides a leading forum to researchers in academia and industry for presenting and discussing groundbreaking methods, technologies, theoretical results, and tools for reasoning formally about computing systems. FMCAD covers formal aspects of computer-aided system design including verification, specification, synthesis, and testing

OWL-Miner: Concept Induction in OWL Knowledge Bases

The Resource Description Framework (RDF) and Web Ontology Language (OWL) have been widely used in recent years, and automated methods for the analysis of data and knowledge directly within these formalisms are of current interest. Concept induction is a technique for discovering descriptions of data, such as inducing OWL class expressions to describe RDF data. These class expressions capture patterns in the data which can be used to characterise interesting clusters or to act as classifica- tion rules over unseen data. The semantics of OWL is underpinned by Description Logics (DLs), a family of expressive and decidable fragments of first-order logic. Recently, methods of concept induction which are well studied in the field of Inductive Logic Programming have been applied to the related formalism of DLs. These methods have been developed for a number of purposes including unsuper- vised clustering and supervised classification. Refinement-based search is a concept induction technique which structures the search space of DL concept/OWL class expressions and progressively generalises or specialises candidate concepts to cover example data as guided by quality criteria such as accuracy. However, the current state-of-the-art in this area is limited in that such methods: were not primarily de- signed to scale over large RDF/OWL knowledge bases; do not support class lan- guages as expressive as OWL2-DL; or, are limited to one purpose, such as learning OWL classes for integration into ontologies. Our work addresses these limitations by increasing the efficiency of these learning methods whilst permitting a concept language up to the expressivity of OWL2-DL classes. We describe methods which support both classification (predictive induction) and subgroup discovery (descrip- tive induction), which, in this context, are fundamentally related. We have implemented our methods as the system called OWL-Miner and show by evaluation that our methods outperform state-of-the-art systems for DL learning in both the quality of solutions found and the speed in which they are computed. Furthermore, we achieve the best ever ten-fold cross validation accuracy results on the long-standing benchmark problem of carcinogenesis. Finally, we present a case study on ongoing work in the application of OWL-Miner to a real-world problem directed at improving the efficiency of biological macromolecular crystallisation

Proceedings of the 22nd Conference on Formal Methods in Computer-Aided Design – FMCAD 2022

The Conference on Formal Methods in Computer-Aided Design (FMCAD) is an annual conference on the theory and applications of formal methods in hardware and system verification. FMCAD provides a leading forum to researchers in academia and industry for presenting and discussing groundbreaking methods, technologies, theoretical results, and tools for reasoning formally about computing systems. FMCAD covers formal aspects of computer-aided system design including verification, specification, synthesis, and testing

The Global Land Grab, Primitive Accumulation and Accumulation by Dispossession Revisited: from conceptual tensions and debates to contradictions and crisis tendencies

In an attempt to understand and explain the global land grab in terms of the dynamics and contemporary transformations of capitalism, critical scholars have made extensive use of the concepts of primitive accumulation and accumulation by dispossession. Although they provide powerful insights into the phenomenon, their use is also fraught with challenges. In the absence of conceptual clarity, tensions and ambiguities over their meanings arise. There are also problematic assumptions embedded within them. The present study provides a critical review of this burgeoning conceptual debate. In so doing, it asks what can the analytical concepts of primitive accumulation and ABD give us that other concepts cannot. In search for answers, the notion of capitalism as a totality is revived. The study also questions the need for defining a generic concept of capitalism-facilitating accumulation, and offers instead a pluralistic view on capitalism to better appreciate its immense creative forces and varied ways of coming into being and expanding further across space and time