Planning When Goals Change: A Moving Target Search Approach

International audienceDevising intelligent robots or agents that interact with humans is a major challenge for artificial intelligence. In such contexts, agents must constantly adapt their decisions according to human activities and modify their goals. In this paper, we tackle this problem by introducing a novel planning approach, called Moving Goal Planning (MGP), to adapt plans to goal evolutions. This planning algorithm draws inspiration from Moving Target Search (MTS) algorithms. In order to limit the number of search iterations and to improve its efficiency, MGP delays as much as possible triggering new searches when the goal changes over time. To this purpose, MGP uses two strategies: Open Check (OC) that checks if the new goal is still in the current search tree and Plan Follow (PF) that estimates whether executing actions of the current plan brings MGP closer to the new goal. Moreover, MGP uses a parsimonious strategy to update incrementally the search tree at each new search that reduces the number of calls to the heuristic function and speeds up the search. Finally, we show evaluation results that demonstrate the effectiveness of our approach

On the Complexity of Case-Based Planning

We analyze the computational complexity of problems related to case-based planning: planning when a plan for a similar instance is known, and planning from a library of plans. We prove that planning from a single case has the same complexity than generative planning (i.e., planning "from scratch"); using an extended definition of cases, complexity is reduced if the domain stored in the case is similar to the one to search plans for. Planning from a library of cases is shown to have the same complexity. In both cases, the complexity of planning remains, in the worst case, PSPACE-complete

Evidence of sub-arc mantle oxidation by sulphur and carbon

The oxygen fugacity (ƒO2) of the Earth’s mantle at subduction zones exerts a primary control on the genesis of mineral deposits in the overlying magmatic arcs and on speciation of volcanic gases emitted into the atmosphere. However, the processes governing mantle ƒO2 such as the introduction of oxidised material by subduction are still unresolved. Here, we present evidence for the reduction of oxidised fluid-borne sulphur and carbon during alteration of depleted mantle by slab fluids at ultra-high pressure in the Bardane peridotite (Western Gneiss Region, Norway). Elevated ferric iron in metasomatic garnet, determined using synchrotron X-ray absorption near edge structure (XANES) spectroscopy, indicates that this process drove oxidation of the silicate assemblage. Our finding indicates that subduction oxidises the Earth’s mantle by cycling of sulphur and carbon.This research was funded by a Monash Research Accelerator Grant to A. Tomkins and by a Society of Economic Geologists (SEG) student research grant to A. Rielli. O. Nebel was supported through an ARC DECRA fellowship (DE120100513)

Measurement of the CMS Magnetic Field

The measurement of the magnetic field in the tracking volume inside the superconducting coil of the Compact Muon Solenoid (CMS) detector under construction at CERN is done with a fieldmapper designed and produced at Fermilab. The fieldmapper uses 10 3-D B-sensors (Hall probes) developed at NIKHEF and calibrated at CERN to precision 0.05% for a nominal 4 T field. The precise fieldmapper measurements are done in 33840 points inside a cylinder of 1.724 m radius and 7 m long at central fields of 2, 3, 3.5, 3.8, and 4 T. Three components of the magnetic flux density at the CMS coil maximum excitation and the remanent fields on the steel-air interface after discharge of the coil are measured in check-points with 95 3-D B-sensors located near the magnetic flux return yoke elements. Voltages induced in 22 flux-loops made of 405-turn installed on selected segments of the yoke are sampled online during the entire fast discharge (190 s time-constant) of the CMS coil and integrated offline to provide a measurement of the initial magnetic flux density in steel at the maximum field to an accuracy of a few percent. The results of the measurements made at 4 T are reported and compared with a three-dimensional model of the CMS magnet system calculated with TOSCA.Comment: 4 pages, 5 figures, 15 reference

Modal Logics of Topological Relations

Logical formalisms for reasoning about relations between spatial regions play a fundamental role in geographical information systems, spatial and constraint databases, and spatial reasoning in AI. In analogy with Halpern and Shoham's modal logic of time intervals based on the Allen relations, we introduce a family of modal logics equipped with eight modal operators that are interpreted by the Egenhofer-Franzosa (or RCC8) relations between regions in topological spaces such as the real plane. We investigate the expressive power and computational complexity of logics obtained in this way. It turns out that our modal logics have the same expressive power as the two-variable fragment of first-order logic, but are exponentially less succinct. The complexity ranges from (undecidable and) recursively enumerable to highly undecidable, where the recursively enumerable logics are obtained by considering substructures of structures induced by topological spaces. As our undecidability results also capture logics based on the real line, they improve upon undecidability results for interval temporal logics by Halpern and Shoham. We also analyze modal logics based on the five RCC5 relations, with similar results regarding the expressive power, but weaker results regarding the complexity

Algebraic Properties of Qualitative Spatio-Temporal Calculi

Qualitative spatial and temporal reasoning is based on so-called qualitative calculi. Algebraic properties of these calculi have several implications on reasoning algorithms. But what exactly is a qualitative calculus? And to which extent do the qualitative calculi proposed meet these demands? The literature provides various answers to the first question but only few facts about the second. In this paper we identify the minimal requirements to binary spatio-temporal calculi and we discuss the relevance of the according axioms for representation and reasoning. We also analyze existing qualitative calculi and provide a classification involving different notions of a relation algebra.Comment: COSIT 2013 paper including supplementary materia

Guided assembly of nanoparticles on electrostatically charged nanocrystalline diamond thin films

We apply atomic force microscope for local electrostatic charging of oxygen-terminated nanocrystalline diamond (NCD) thin films deposited on silicon, to induce electrostatically driven self-assembly of colloidal alumina nanoparticles into micro-patterns. Considering possible capacitive, sp2 phase and spatial uniformity factors to charging, we employ films with sub-100 nm thickness and about 60% relative sp2 phase content, probe the spatial material uniformity by Raman and electron microscopy, and repeat experiments at various positions. We demonstrate that electrostatic potential contrast on the NCD films varies between 0.1 and 1.2 V and that the contrast of more than ±1 V (as detected by Kelvin force microscopy) is able to induce self-assembly of the nanoparticles via coulombic and polarization forces. This opens prospects for applications of diamond and its unique set of properties in self-assembly of nano-devices and nano-systems

Insulin Glargine in the Intensive Care Unit: A Model-Based Clinical Trial Design

Online 4 Oct 2012Introduction: Current succesful AGC (Accurate Glycemic Control) protocols require extra clinical effort and are impractical in less acute wards where patients are still susceptible to stress-induced hyperglycemia. Long-acting insulin Glargine has the potential to be used in a low effort controller. However, potential variability in efficacy and length of action, prevent direct in-hospital use in an AGC framework for less acute wards. Method: Clinically validated virtual trials based on data from stable ICU patients from the SPRINT cohort who would be transferred to such an approach are used to develop a 24-hour AGC protocol robust to different Glargine potencies (1.0x, 1.5x and 2.0x regular insulin) and initial dose sizes (dose = total insulin over prior 12, 18 and 24 hours). Glycemic control in this period is provided only by varying nutritional inputs. Performance is assessed as %BG in the 4.0-8.0mmol/L band and safety by %BG<4.0mmol/L. Results: The final protocol consisted of Glargine bolus size equal to insulin over the previous 18 hours. Compared to SPRINT there was a 6.9% - 9.5% absolute decrease in mild hypoglycemia (%BG<4.0mmol/L) and up to a 6.2% increase in %BG between 4.0 and 8.0mmol/L. When the efficacy is known (1.5x assumed) there were reductions of: 27% BG measurements, 59% insulin boluses, 67% nutrition changes, and 6.3% absolute in mild hypoglycemia. Conclusion: A robust 24-48 clinical trial has been designed to safely investigate the efficacy and kinetics of Glargine as a first step towards developing a Glargine-based protocol for less acute wards. Ensuring robustness to variability in Glargine efficacy significantly affects the performance and safety that can be obtained