The identification and exploitation of almost symmetry in planning problems

Previous work in symmetry detection for planning has identified symmetries between domain objects and shown how the exploitation of this information can help reduce search at plan time. However these methods are unable to detect symmetries between objects that are almost symmetrical: where the objects must start (or end) in slightly different configurations but for much of the plan their behaviour is equivalent. In the paper we outline a method for identifying such symmetries and discuss how this symmetry information can be positively exploited to help direct search during planning we have implemented this method and integrated it with the FF-v2.3 planner and in the paper we present results of experiments with this approach that demonstrate its potential

Abstraction-based action ordering in planning

Many planning problems contain collections of symmetric objects, actions and structures which render them difficult to solve efficiently. It has been shown that the detection and exploitation of symmetric structure in planning problems can dramatically reduce the size of the search space and the time taken to find a solution. We present the idea of using an abstraction of the problem domain to reveal symmetric structure and guide the navigation of the search space. We show that this is effective even in domains in which there is little accessible symmetric structure available for pruning. Proactive exploitation represents a flexible and powerfulalternative to the symmetry-breaking strategies exploited in earlier work in planning and CSPs. The notion of almost symmetry is defined and results are presented showing that proactive exploitation of almost symmetry can improve the performance of a heuristic forward search planner

The development of specialist support services for young people who have offended and who have also been victims of crime, abuse and/or violence: final report

This report presents the findings from research intended to inform the development of support services for young people who have offended and who have also been the victims of crime, abuse and/or violence. It was commissioned by the London Mayor's Office for Policing and Crime (MOPAC) which is funding the new services across twelve Youth Offending Teams in North and South London. It describes the findings from a survey of Youth Offending Team professionals and from an analysis of existing information on the needs of young people in these circumstances and outlines potential services for development

Morphology and the gradient of a symmetric potential predicts gait transitions of dogs

Gaits and gait transitions play a central role in the movement of animals. Symmetry is thought to govern the structure of the nervous system, and constrain the limb motions of quadrupeds. We quantify the symmetry of dog gaits with respect to combinations of bilateral, fore-aft, and spatio-temporal symmetry groups. We tested the ability of symmetries to model motion capture data of dogs walking, trotting and transitioning between those gaits. Fully symmetric models performed comparably to asymmetric with only a 22% increase in the residual sum of squares and only one-quarter of the parameters. This required adding a spatio-temporal shift representing a lag between fore and hind limbs. Without this shift, the symmetric model residual sum of squares was 1700% larger. This shift is related to (linear regression, n = 5, p = 0.0328) dog morphology. That this symmetry is respected throughout the gaits and transitions indicates that it generalizes outside a single gait. We propose that relative phasing of limb motions can be described by an interaction potential with a symmetric structure. This approach can be extended to the study of interaction of neurodynamic and kinematic variables, providing a system-level model that couples neuronal central pattern generator networks and mechanical models

On the extraction of disjunctive landmarks from planning problems via symmetry reduction

The exploitation of symmetry in combinatorial search has typically focused on using information about symmetries to control search. This work describes an approach that exploits symmetry to get more detailed domain-analysis rather than as a method of search control

Cystic fibrosis mice carrying the missense mutation G551D replicate human genotype phenotype correlations

We have generated a mouse carrying the human G551D mutation in the cystic fibrosis transmembrane conductance regulator gene (CFTR) by a one-step gene targeting procedure. These mutant mice show cystic fibrosis pathology but have a reduced risk of fatal intestinal blockage compared with 'null' mutants, in keeping with the reduced incidence of meconium ileus in G551D patients. The G551D mutant mice show greatly reduced CFTR-related chloride transport, displaying activity intermediate between that of cftr(mlUNC) replacement ('null') and cftr(mlHGU) insertional (residual activity) mutants and equivalent to approximately 4% of wild-type CFTR activity. The long-term survival of these animals should provide an excellent model with which to study cystic fibrosis, and they illustrate the value of mouse models carrying relevant mutations for examining genotype-phenotype correlations