Flexible Execution of Plans with Choice

Dynamic plan execution strategies allow an autonomous agent to respond to uncertainties while improving robustness and reducing the need for an overly conservative plan. Executives have improved this robustness by expanding the types of choices made dynamically, such as selecting alternate methods. However, in methods to date, these additional choices introduce substantial run-time latency. This paper presents a novel system called Drake that makes steps towards executing an expanded set of choices dynamically without significant latency. Drake frames a plan as a Disjunctive Temporal Problem and executes it with a fast dynamic scheduling algorithm. Prior work demonstrated an efficient technique for dynamic execution of one special type of DTPs by using an off-line compilation step to find the possible consistent choices and compactly record the differences between them. Drake extends this work to handle a more general set of choices by recording the minimal differences between the solutions which are required at run-time. On randomly generated structured plans with choice, we show a reduction in the size of the solution set of over two orders of magnitude, compared to prior art

Fast Distributed Multi-agent Plan Execution with Dynamic Task Assignment and Scheduling

An essential quality of a good partner is her responsiveness to other team members. Recent work in dynamic plan execution exhibits elements of this quality through the ability to adapt to the temporal uncertainties of others agents and the environment. However, a good teammate also has the ability to adapt on-the-fly through task assignment. We generalize the framework of dynamic execution to perform plan execution with dynamic task assignment as well as scheduling. This paper introduces Chaski, a multi-agent executive for scheduling temporal plans with online task assignment. Chaski enables an agent to dynamically update its plan in response to disturbances in task assignment and the schedule of other agents. The agent then uses the updated plan to choose, schedule and execute actions that are guaranteed to be temporally consistent and logically valid within the multi-agent plan. Chaski is made efficient through an incremental algorithm that compactly encodes all scheduling policies for all possible task assignments. We apply Chaski to perform multi-manipulator coordination using two Barrett Arms within the authors' hardware testbed. We empirically demonstrate up to one order of magnitude improvements in execution latency and solution compactness compared to prior art

Parallel Local Approximation MCMC for Expensive Models

Performing Bayesian inference via Markov chain Monte Carlo (MCMC) can be exceedingly expensive when posterior evaluations invoke the evaluation of a computationally expensive model, such as a system of PDEs. In recent work [J. Amer. Statist. Assoc., 111 (2016), pp. 1591-1607] we described a framework for constructing and refining local approximations of such models during an MCMC simulation. These posterior-adapted approximations harness regularity of the model to reduce the computational cost of inference while preserving asymptotic exactness of the Markov chain. Here we describe two extensions of that work. First, we prove that samplers running in parallel can collaboratively construct a shared posterior approximation while ensuring ergodicity of each associated chain, providing a novel opportunity for exploiting parallel computation in MCMC. Second, focusing on the Metropolis-adjusted Langevin algorithm, we describe how a proposal distribution can successfully employ gradients and other relevant information extracted from the approximation. We investigate the practical performance of our approach using two challenging inference problems, the first in subsurface hydrology and the second in glaciology. Using local approximations constructed via parallel chains, we successfully reduce the run time needed to characterize the posterior distributions in these problems from days to hours and from months to days, respectively, dramatically improving the tractability of Bayesian inference.United States. Department of Energy. Office of Science. Scientific Discovery through Advanced Computing (SciDAC) Program (award DE-SC0007099)Natural Sciences and Engineering Research Council of CanadaUnited States. Office of Naval Researc

A priori testing of sparse adaptive polynomial chaos expansions using an ocean general circulation model database

This work explores the implementation of an adaptive strategy to design sparse ensembles of oceanic simulations suitable for constructing polynomial chaos surrogates. We use a recently developed pseudo-spectral algorithm that is based on a direct application of the Smolyak sparse grid formula and that allows the use of arbitrary admissible sparse grids. The adaptive algorithm is tested using an existing simulation database of the oceanic response to Hurricane Ivan in the Gulf of Mexico. The a priori tests demonstrate that sparse and adaptive pseudo-spectral constructions lead to substantial savings over isotropic sparse sampling in the present setting.United States. Office of Naval Research (award N00014-101-0498)United States. Dept. of Energy. Office of Advanced Scientific Computing Research (award numbers DE-SC0007020, DE-SC0008789, and DE-SC0007099)Gulf of Mexico Research Initiative (contract numbers SA1207GOMRI005 (CARTHE) and SA12GOMRI008 (DEEP-C)

Le Forum, Vol. 44 #3

https://digitalcommons.library.umaine.edu/francoamericain_forum/1105/thumbnail.jp

Teechain: a secure payment network with asynchronous blockchain access

Blockchains such as Bitcoin and Ethereum execute payment transactions securely, but their performance is limited by the need for global consensus. Payment networks overcome this limitation through off-chain transactions. Instead of writing to the blockchain for each transaction, they only settle the final payment balances with the underlying blockchain. When executing off-chain transactions in current payment networks, parties must access the blockchain within bounded time to detect misbehaving parties that deviate from the protocol. This opens a window for attacks in which a malicious party can steal funds by deliberately delaying other parties' blockchain access and prevents parties from using payment networks when disconnected from the blockchain. We present Teechain, the first layer-two payment network that executes off-chain transactions asynchronously with respect to the underlying blockchain. To prevent parties from misbehaving, Teechain uses treasuries, protected by hardware trusted execution environments (TEEs), to establish off-chain payment channels between parties. Treasuries maintain collateral funds and can exchange transactions efficiently and securely, without interacting with the underlying blockchain. To mitigate against treasury failures and to avoid having to trust all TEEs, Teechain replicates the state of treasuries using committee chains, a new variant of chain replication with threshold secret sharing. Teechain achieves at least a 33X higher transaction throughput than the state-of-the-art Lightning payment network. A 30-machine Teechain deployment can handle over 1 million Bitcoin transactions per second

Crystal structure of rhodopsin bound to arrestin by femtosecond X-ray laser.

G-protein-coupled receptors (GPCRs) signal primarily through G proteins or arrestins. Arrestin binding to GPCRs blocks G protein interaction and redirects signalling to numerous G-protein-independent pathways. Here we report the crystal structure of a constitutively active form of human rhodopsin bound to a pre-activated form of the mouse visual arrestin, determined by serial femtosecond X-ray laser crystallography. Together with extensive biochemical and mutagenesis data, the structure reveals an overall architecture of the rhodopsin-arrestin assembly in which rhodopsin uses distinct structural elements, including transmembrane helix 7 and helix 8, to recruit arrestin. Correspondingly, arrestin adopts the pre-activated conformation, with a ∼20° rotation between the amino and carboxy domains, which opens up a cleft in arrestin to accommodate a short helix formed by the second intracellular loop of rhodopsin. This structure provides a basis for understanding GPCR-mediated arrestin-biased signalling and demonstrates the power of X-ray lasers for advancing the frontiers of structural biology

Genome-wide association studies in ancestrally diverse populations: opportunities, methods, pitfalls, and recommendations

Genome-wide association studies (GWASs) have focused primarily on populations of European descent, but it is essential that diverse populations become better represented. Increasing diversity among study participants will advance our understanding of genetic architecture in all populations and ensure that genetic research is broadly applicable. To facilitate and promote research in multi-ancestry and admixed cohorts, we outline key methodological considerations and highlight opportunities, challenges, solutions, and areas in need of development. Despite the perception that analyzing genetic data from diverse populations is difficult, it is scientifically and ethically imperative, and there is an expanding analytical toolbox to do it well