On the complexity of trial and error for constraint satisfaction problems

In 2013 Bei, Chen and Zhang introduced a trial and error model of computing, and applied to some constraint satisfaction problems. In this model the input is hidden by an oracle which, for a candidate assignment, reveals some information about a violated constraint if the assignment is not satisfying. In this paper we initiate a systematic study of constraint satisfaction problems in the trial and error model, by adopting a formal framework for CSPs, and defining several types of revealing oracles. Our main contribution is to develop a transfer theorem for each type of the revealing oracle. To any hidden CSP with a specific type of revealing Oracle, the transfer theorem associates another CSP in the normal setting, such that their complexities are polynomial-time equivalent. This in principle transfers the study of a large class of hidden CSPs to the study of normal CSPs. We apply the transfer theorems to get polynomial-time algorithms or hardness results for several families of concrete problems. (C) 2017 Elsevier Inc. All rights reserved

On the complexity of trial and error for constraint satisfaction problems

In a recent work of Bei, Chen and Zhang (STOC 2013), a trial and error model of computing was introduced, and applied to some constraint satisfaction problems. In this model the input is hidden by an oracle which, for a candidate assignment, reveals some information about a violated constraint if the assignment is not satisfying. In this paper we initiate a systematic study of constraint satisfaction problems in the trial and error model. To achieve this, we first adopt a formal framework for CSPs, and based on this framework we define several types of revealing oracles. Our main contribution is to develop a transfer theorem for each type of the revealing oracle, under a broad class of parameters. To any hidden CSP with a specific type of revealing oracle, the transfer theorem associates another, potentially harder CSP in the normal setting, such that their complexities are polynomial time equivalent. This in principle transfers the study of a large class of hidden CSPs, possibly with a promise on the instances, to the study of CSPs in the normal setting. We then apply the transfer theorems to get polynomial-time algorithms or hardness results for hidden CSPs, including satisfaction problems, monotone graph properties, isomorphism problems, and the exact version of the Unique Games problem. © 2014 Springer-Verlag

Hamiltonian Relaxation

Due to the complexity of the required numerical codes, many of the new formulations for the evolution of the gravitational fields in numerical relativity are not tested on binary evolutions. We introduce in this paper a new testing ground for numerical methods based on the simulation of binary neutron stars. This numerical setup is used to develop a new technique, the Hamiltonian relaxation (HR), that is benchmarked against the currently most stable simulations based on the BSSN method. We show that, while the length of the HR run is somewhat shorter than the equivalent BSSN simulation, the HR technique improves the overall quality of the simulation, not only regarding the satisfaction of the Hamiltonian constraint, but also the behavior of the total angular momentum of the binary. The latest quantity agrees well with post-Newtonian estimations for point-mass binaries in circular orbits.Comment: More detailed description of the numerical implementation added and some typos corrected. Version accepted for publication in Class. and Quantum Gravit

Stochastic Nonlinear Model Predictive Control with Efficient Sample Approximation of Chance Constraints

This paper presents a stochastic model predictive control approach for nonlinear systems subject to time-invariant probabilistic uncertainties in model parameters and initial conditions. The stochastic optimal control problem entails a cost function in terms of expected values and higher moments of the states, and chance constraints that ensure probabilistic constraint satisfaction. The generalized polynomial chaos framework is used to propagate the time-invariant stochastic uncertainties through the nonlinear system dynamics, and to efficiently sample from the probability densities of the states to approximate the satisfaction probability of the chance constraints. To increase computational efficiency by avoiding excessive sampling, a statistical analysis is proposed to systematically determine a-priori the least conservative constraint tightening required at a given sample size to guarantee a desired feasibility probability of the sample-approximated chance constraint optimization problem. In addition, a method is presented for sample-based approximation of the analytic gradients of the chance constraints, which increases the optimization efficiency significantly. The proposed stochastic nonlinear model predictive control approach is applicable to a broad class of nonlinear systems with the sufficient condition that each term is analytic with respect to the states, and separable with respect to the inputs, states and parameters. The closed-loop performance of the proposed approach is evaluated using the Williams-Otto reactor with seven states, and ten uncertain parameters and initial conditions. The results demonstrate the efficiency of the approach for real-time stochastic model predictive control and its capability to systematically account for probabilistic uncertainties in contrast to a nonlinear model predictive control approaches.Comment: Submitted to Journal of Process Contro

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure