4,224 research outputs found

    Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams

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    As a step towards achieving autonomy in space exploration missions, we consider a cooperative robotics system consisting of a copter and a rover. The goal of the copter is to explore an unknown environment so as to maximize knowledge about a science mission expressed in linear temporal logic that is to be executed by the rover. We model environmental uncertainty as a belief space Markov decision process and formulate the problem as a two-step stochastic dynamic program that we solve in a way that leverages the decomposed nature of the overall system. We demonstrate in simulations that the robot team makes intelligent decisions in the face of uncertainty

    A Survey of Health Management User Objectives Related to Diagnostic and Prognostic Metrics

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    One of the most prominent technical challenges to effective deployment of health management systems is the vast difference in user objectives with respect to engineering development. In this paper, a detailed survey on the objectives of different users of health management systems is presented. These user objectives are then mapped to the metrics typically encountered in the development and testing of two main systems health management functions: diagnosis and prognosis. Using this mapping, the gaps between user goals and the metrics associated with diagnostics and prognostics are identified and presented with a collection of lessons learned from previous studies that include both industrial and military aerospace applications

    GENERATING PLANS IN CONCURRENT, PROBABILISTIC, OVER-SUBSCRIBED DOMAINS

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    Planning in realistic domains typically involves reasoning under uncertainty, operating under time and resource constraints, and finding the optimal subset of goals to work on. Creating optimal plans that consider all of these features is a computationally complex, challenging problem. This dissertation develops an AO* search based planner named CPOAO* (Concurrent, Probabilistic, Over-subscription AO*) which incorporates durative actions, time and resource constraints, concurrent execution, over-subscribed goals, and probabilistic actions. To handle concurrent actions, action combinations rather than individual actions are taken as plan steps. Plan optimization is explored by adding two novel aspects to plans. First, parallel steps that serve the same goal are used to increase the plan’s probability of success. Traditionally, only parallel steps that serve different goals are used to reduce plan execution time. Second, actions that are executing but are no longer useful can be terminated to save resources and time. Conventional planners assume that all actions that were started will be carried out to completion. To reduce the size of the search space, several domain independent heuristic functions and pruning techniques were developed. The key ideas are to exploit dominance relations for candidate action sets and to develop relaxed planning graphs to estimate the expected rewards of states. This thesis contributes (1) an AO* based planner to generate parallel plans, (2) domain independent heuristics to increase planner efficiency, and (3) the ability to execute redundant actions and to terminate useless actions to increase plan efficiency

    Computer support for protocol-based treatment of cancer

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    Cancer treatment is often carried out within protocol-based clinical trials. An oncology clinic may take part in many trials each of which requires data to be collected for monitoring efficacy and toxicity of treatment. Subsequently, this data is analysed statistically to evaluate clinical objectives of the trial. To be scientifically valid, such analysis must be based on data that is both complete and correct. This is one motivating factor for introducing computer support for trial management. Further motivation is provided by concern that treatment is consistent with the protocol and the well-being of the patient. The complexity of many protocols, the life-threatening nature of cancer and the toxicity of treatment side-effects emphasise the safety-critical nature of oncology. The OaSiS system provides decision support for the protocol-based treatment of cancer patients with emphasis on the safety aspects of the advice it gives. It offers a highly graphical interface, employs integrity constraint checking techniques from logic databases to monitor compliance with a protocol and is implemented in PROLOG. The paper describes the main features of OaSiS and indicates work in progress and planned. 1

    Proposal of managerial standards for new product portfolio management in Brazilian pharmaceutical companies

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    New Product Portfolio Management is aimed at helping decision-makers better select projects for new products based on key criteria for the manufacturer. The Brazilian pharmaceutical industry has been undergoing change due to stricter sanitary requirements following the enactment of the Generic Law in 1999. This paper presents the results of a research study aimed at clarifying the rationale employed by national pharmaceutical companies in selecting and prioritizing their new product development projects. Consequently, proposals for an analytical structure that could help these companies better select their products were produced. The research was carried out using case study methodology in which four different companies were investigated. The results of the field study confirmed that these companies had a non-structured Product Development System and that the selection of new product development projects was made on a non-systematic basis. The research also identified key criteria for the selection of projects of new pharmaceutical products, which provided the basis for the preparation of a proposal for a managerial standard for application of New Product Portfolio Management.A gestão de portfólio de projetos de novos produtos visa a auxiliar os tomadores de decisão a selecionar projetos de novos produtos considerando critérios importantes para a organização. A indústria farmacêutica brasileira tem passado por transformações devido ao aumento das exigências sanitárias após a Lei de Genéricos, de 1999. O objetivo deste trabalho foi entender como as indústrias farmacêuticas brasileiras selecionam seus projetos de desenvolvimento de novos produtos e propor uma estrutura que possa auxiliar estas empresas a selecionar seus projetos de produtos. Foi utilizada a metodologia de estudo de caso e uma mostra de quatro organizações foi investigada. Os resultados indicam que essas empresas apresentam um desenvolvimento de produtos não estruturado e que a seleção de projetos de novos produtos é realizada de forma não-sistemática. Critérios importantes para a seleção de projetos de novos produtos foram identificados e utilizados para elaboração de um padrão gerencial para aplicação da gestão de portfólio de projetos de novos produtos

    Provably-Correct Task Planning for Autonomous Outdoor Robots

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    Autonomous outdoor robots should be able to accomplish complex tasks safely and reliably while considering constraints that arise from both the environment and the physical platform. Such tasks extend basic navigation capabilities to specify a sequence of events over time. For example, an autonomous aerial vehicle can be given a surveillance task with contingency plans while complying with rules in regulated airspace, or an autonomous ground robot may need to guarantee a given probability of success while searching for the quickest way to complete the mission. A promising approach for the automatic synthesis of trusted controllers for complex tasks is to employ techniques from formal methods. In formal methods, tasks are formally specified symbolically with temporal logic. The robot then synthesises a controller automatically to execute trusted behaviour that guarantees the satisfaction of specified tasks and regulations. However, a difficulty arises from the lack of expressivity, which means the constraints affecting outdoor robots cannot be specified naturally with temporal logic. The goal of this thesis is to extend the capabilities of formal methods to express the constraints that arise from outdoor applications and synthesise provably-correct controllers with trusted behaviours over time. This thesis focuses on two important types of constraints, resource and safety constraints, and presents three novel algorithms that express tasks with these constraints and synthesise controllers that satisfy the specification. Firstly, this thesis proposes an extension to probabilistic computation tree logic (PCTL) called resource threshold PCTL (RT-PCTL) that naturally defines the mission specification with continuous resource threshold constraints; furthermore, it synthesises an optimal control policy with respect to the probability of success. With RT-PCTL, a state with accumulated resource out of the specified bound is considered to be failed or saturated depending on the specification. The requirements on resource bounds are naturally encoded in the symbolic specification, followed by the automatic synthesis of an optimal controller with respect to the probability of success. Secondly, the thesis proposes an online algorithm called greedy Buchi algorithm (GBA) that reduces the synthesis problem size to avoid the scalability problem. A framework is then presented with realistic control dynamics and physical assumptions in the environment such as wind estimation and fuel constraints. The time and space complexity for the framework is polynomial in the size of the system state, which is efficient for online synthesis. Lastly, the thesis proposes a synthesis algorithm for an optimal controller with respect to completion time given the minimum safety constraints. The algorithm naturally balances between completion time and safety. This work proves an analytical relationship between the probability of success and the conditional completion time given the mission specification. The theoretical contributions in this thesis are validated through realistic simulation examples. This thesis identifies and solves two core problems that contribute to the overall vision of developing a theoretical basis for trusted behaviour in outdoor robots. These contributions serve as a foundation for further research in multi-constrained task planning where a number of different constraints are considered simultaneously within a single framework

    Loose Coupling Based Reference Scheme for Shop Floor-Control-System/Production-Equipment Integration.

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    Acoplamiento del sistema informático de control de piso de producción (SFS) con el conjunto de equipos de fabricación (SPE) es una tarea compleja. Tal acoplamiento involucra estándares abiertos y propietarios, tecnologías de información y comunicación, entre otras herramientas y técnicas. Debido a la turbulencia de mercados, ya sea soluciones personalizadas o soluciones basadas en estándares eventualmente requieren un esfuerzo considerable de adaptación. El concepto de acoplamiento débil ha sido identificado en la comunidad de diseño organizacional como soporte para la sobrevivencia de la organización. Su presencia reduce la resistencia de la organización a cambios en el ambiente. En este artículo los resultados obtenidos por la comunidad de diseño organizacional son identificados, traducidos y organizados para apoyar en la solución del problema de integración SFS-SPE. Un modelo clásico de acoplamiento débil, desarrollado por la comunidad de estudios de diseño organizacional, es resumido y trasladado al área de interés. Los aspectos claves son identificados para utilizarse como promotores del acoplamiento débil entre SFS-SPE, y presentados en forma de esquema de referencia. Así mismo, este esquema de referencia es presentado como base para el diseño e implementación de una solución genérica de acoplamiento o marco de trabajo (framework) de acoplamiento, a incluir como etapa de acoplamiento débil entre SFS y SPE. Un ejemplo de validación con varios conjuntos de equipos de fabricación, usando diferentes medios físicos de comunicación, comandos de controlador, lenguajes de programación de equipos y protocolos de comunicación es presentado, mostrando un nivel aceptable de autonomía del SFS. = Coupling shop floor software system (SFS) with the set of production equipment (SPE) becomes a complex task. It involves open and proprietary standards, information and communication technologies among other tools and techniques. Due to market turbulence, either custom solutions or standards based solutions eventually require a considerable effort of adaptation. Loose coupling concept has been identified in the organizational design community as a compensator for organization survival. Its presence reduces organization reaction to environment changes. In this paper the results obtained by the organizational de sign community are identified, translated and organized to support the SFS-SPE integration problem solution. A classical loose coupling model developed by organizational studies community is abstracted and translated to the area of interest. Key aspects are identified to be used as promoters of SFS-SPE loose coupling and presented in a form of a reference scheme. Furthermore, this reference scheme is proposed here as a basis for the design and implementation of a generic coupling solution or coupling framework, that is included as a loose coupling stage between SFS and SPE. A validation example with various sets of manufacturing equipment, using different physical communication media, controller commands, programming languages and wire protocols is presented, showing an acceptable level of autonomy gained by the SFS

    Effective Resource and Workload Management in Data Centers

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    The increasing demand for storage, computation, and business continuity has driven the growth of data centers. Managing data centers efficiently is a difficult task because of the wide variety of datacenter applications, their ever-changing intensities, and the fact that application performance targets may differ widely. Server virtualization has been a game-changing technology for IT, providing the possibility to support multiple virtual machines (VMs) simultaneously. This dissertation focuses on how virtualization technologies can be utilized to develop new tools for maintaining high resource utilization, for achieving high application performance, and for reducing the cost of data center management.;For multi-tiered applications, bursty workload traffic can significantly deteriorate performance. This dissertation proposes an admission control algorithm AWAIT, for handling overloading conditions in multi-tier web services. AWAIT places on hold requests of accepted sessions and refuses to admit new sessions when the system is in a sudden workload surge. to meet the service-level objective, AWAIT serves the requests in the blocking queue with high priority. The size of the queue is dynamically determined according to the workload burstiness.;Many admission control policies are triggered by instantaneous measurements of system resource usage, e.g., CPU utilization. This dissertation first demonstrates that directly measuring virtual machine resource utilizations with standard tools cannot always lead to accurate estimates. A directed factor graph (DFG) model is defined to model the dependencies among multiple types of resources across physical and virtual layers.;Virtualized data centers always enable sharing of resources among hosted applications for achieving high resource utilization. However, it is difficult to satisfy application SLOs on a shared infrastructure, as application workloads patterns change over time. AppRM, an automated management system not only allocates right amount of resources to applications for their performance target but also adjusts to dynamic workloads using an adaptive model.;Server consolidation is one of the key applications of server virtualization. This dissertation proposes a VM consolidation mechanism, first by extending the fair load balancing scheme for multi-dimensional vector scheduling, and then by using a queueing network model to capture the service contentions for a particular virtual machine placement

    An evaluation of mergers in the further education sector: 1996-2000

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