The planning coordinator: A design architecture for autonomous error recovery and on-line planning of intelligent tasks

Developing a robust, task level, error recovery and on-line planning architecture is an open research area. There is previously published work on both error recovery and on-line planning; however, none incorporates error recovery and on-line planning into one integrated platform. The integration of these two functionalities requires an architecture that possesses the following characteristics. The architecture must provide for the inclusion of new information without the destruction of existing information. The architecture must provide for the relating of pieces of information, old and new, to one another in a non-trivial rather than trivial manner (e.g., object one is related to object two under the following constraints, versus, yes, they are related; no, they are not related). Finally, the architecture must be not only a stand alone architecture, but also one that can be easily integrated as a supplement to some existing architecture. This thesis proposal addresses architectural development. Its intent is to integrate error recovery and on-line planning onto a single, integrated, multi-processor platform. This intelligent x-autonomous platform, called the Planning Coordinator, will be used initially to supplement existing x-autonomous systems and eventually replace them

Architecture value mapping: using fuzzy cognitive maps as a reasoning mechanism for multi-criteria conceptual design evaluation

The conceptual design phase is the most critical phase in the systems engineering life cycle. The design concept chosen during this phase determines the structure and behavior of the system, and consequently, its ability to fulfill its intended function. A good conceptual design is the first step in the development of a successful artifact. However, decision-making during conceptual design is inherently challenging and often unreliable. The conceptual design phase is marked by an ambiguous and imprecise set of requirements, and ill-defined system boundaries. A lack of usable data for design evaluation makes the problem worse. In order to assess a system accurately, it is necessary to capture the relationships between its physical attributes and the stakeholders\u27 value objectives. This research presents a novel conceptual architecture evaluation approach that utilizes attribute-value networks, designated as \u27Architecture Value Maps\u27, to replicate the decision makers\u27 cogitative processes. Ambiguity in the system\u27s overall objectives is reduced hierarchically to reveal a network of criteria that range from the abstract value measures to the design-specific performance measures. A symbolic representation scheme, the 2-Tuple Linguistic Representation is used to integrate different types of information into a common computational format, and Fuzzy Cognitive Maps are utilized as the reasoning engine to quantitatively evaluate potential design concepts. A Linguistic Ordered Weighted Average aggregation operator is used to rank the final alternatives based on the decision makers\u27 risk preferences. The proposed methodology provides systems architects with the capability to exploit the interrelationships between a system\u27s design attributes and the value that stakeholders associate with these attributes, in order to design robust, flexible, and affordable systems --Abstract, page iii

Software tools for the cognitive development of autonomous robots

Robotic systems are evolving towards higher degrees of autonomy. This paper reviews the cognitive tools available nowadays for the fulfilment of abstract or long-term goals as well as for learning and modifying their behaviour.Peer ReviewedPostprint (author's final draft

Cognitive Maps

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Conceptual Representations for Computational Concept Creation

Computational creativity seeks to understand computational mechanisms that can be characterized as creative. The creation of new concepts is a central challenge for any creative system. In this article, we outline different approaches to computational concept creation and then review conceptual representations relevant to concept creation, and therefore to computational creativity. The conceptual representations are organized in accordance with two important perspectives on the distinctions between them. One distinction is between symbolic, spatial and connectionist representations. The other is between descriptive and procedural representations. Additionally, conceptual representations used in particular creative domains, such as language, music, image and emotion, are reviewed separately. For every representation reviewed, we cover the inference it affords, the computational means of building it, and its application in concept creation.Peer reviewe

Skill-based reconfiguration of industrial mobile robots

Caused by a rising mass customisation and the high variety of equipment versions, the exibility of manufacturing systems in car productions has to be increased. In addition to a exible handling of production load changes or hardware breakdowns that are established research areas in literature, this thesis presents a skill-based recon guration mechanism for industrial mobile robots to enhance functional recon gurability. The proposed holonic multi-agent system is able to react to functional process changes while missing functionalities are created by self-organisation. Applied to a mobile commissioning system that is provided by AUDI AG, the suggested mechanism is validated in a real-world environment including the on-line veri cation of the recon gured robot functionality in a Validity Check. The present thesis includes an original contribution in three aspects: First, a recon - guration mechanism is presented that reacts in a self-organised way to functional process changes. The application layer of a hardware system converts a semantic description into functional requirements for a new robot skill. The result of this mechanism is the on-line integration of a new functionality into the running process. Second, the proposed system allows maintaining the productivity of the running process and exibly changing the robot hardware through provision of a hardware-abstraction layer. An encapsulated Recon guration Holon dynamically includes the actual con guration each time a recon guration is started. This allows reacting to changed environment settings. As the resulting agent that contains the new functionality, is identical in shape and behaviour to the existing skills, its integration into the running process is conducted without a considerable loss of productivity. Third, the suggested mechanism is composed of a novel agent design that allows implementing self-organisation during the encapsulated recon guration and dependability for standard process executions. The selective assignment of behaviour-based and cognitive agents is the basis for the exibility and e ectiveness of the proposed recon guration mechanism