Goal accomplishment tracking for automatic supervision of plan execution

It is common practice to break down plans into a series of goals or sub-goals in order to facilitate plan execution, thereby only burdening the individual agents responsible for their execution with small, easily achievable objectives at any one time, or providing a simple way of sharing these objectives amongst a group of these agents. Ensuring that plans are executed correctly is an essential part of any team management. To allow proper tracking of an agent's progress through a pre-planned set of goals, it is imperative to keep track of which of these goals have already been accomplished. This centralised approach is essential when the agent is part of a team of humans and/or robots, and goal accomplishment is not always being tracked at a low level. This paper presents a framework for an automated supervision system to keep track of changes in world states so as to chart progress through a pre-planned set of goals. An implementation of this framework on a mobile service robot is presented, and applied in an experiment which demonstrates its feasibility

Scalable grid resource allocation for scientific workflows using hybrid metaheuristics

Grid infrastructure is a valuable tool for scientific users, but it is characterized by a high level of complexity which makes it difficult for them to quantify their requirements and allocate resources. In this paper, we show that resource trading is a viable and scalable approach for scientific users to consume resources. We propose the use of Grid resource bundles to specify supply and demand combined with a hybrid metaheuristic method to determine the allocation of resources in a market-based approach. We evaluate this through the application domain of scientific workflow execution on the Grid

Assigned responsibility for remote robot operation

The remote control of robots, known as teleoperation, is a non-trivial task, requiring the operator to make decisions based on the information relayed by the robot about its own status as well as its surroundings. This places the operator under significant cognitive load. A solution to this involves sharing this load between the human operator and automated operators. This paper builds on the idea of adjustable autonomy, proposing Assigned Responsibility, a way of clearly delimiting control responsibility over one or more robots between human and automated operators. An architecture for implementing Assigned Responsibility is presented

Adaptive planning for distributed systems using goal accomplishment tracking

Goal accomplishment tracking is the process of monitoring the progress of a task or series of tasks towards completing a goal. Goal accomplishment tracking is used to monitor goal progress in a variety of domains, including workflow processing, teleoperation and industrial manufacturing. Practically, it involves the constant monitoring of task execution, analysis of this data to determine the task progress and notification of interested parties. This information is usually used in a passive way to observe goal progress. However, responding to this information may prevent goal failures. In addition, responding proactively in an opportunistic way can also lead to goals being completed faster. This paper proposes an architecture to support the adaptive planning of tasks for fault tolerance or opportunistic task execution based on goal accomplishment tracking. It argues that dramatically increased performance can be gained by monitoring task execution and altering plans dynamically

An infrared proper motion study of the Orion bullets

We report the first IR proper motion measurements of the Herbig-Haro objects in the Orion Molecular Cloud--One using a four-year time baseline. The [Fe II] emitting bullets are moving of order 0.08 arcsec per year, or at about 170 \kms. The direction of motion is similar to that inferred from their morphology. The proper motions of \h2 emitting wakes behind the [Fe II] bullets, and of newly found \h2 bullets, are also measured. \h2 bullets have smaller proper motion than [Fe II] bullets, while \h2 wakes with leading [Fe II] bullets appear to move at similar speeds to their associated bullets. A few instances of variability in the emission can be attributed to dense, stationary clumps in the ambient cloud being overrun, setting up a reverse--oriented bullet. Differential motion between [Fe II] bullets and their trailing \h2 wakes is not observed, suggesting that these are not separating, and also that they have reached a steady--state configuration over at least 100 years. The most distant bullets have, on average, larger proper motions, but are not consistent with free expansion. Nevertheless an impulsive, or short--lived ($\ll$ 1,000 years) duration for their origin seems likely.Comment: 9 pages, 8 figure

An evaluation of multiband photography for rock discrimination

The author has identified the following significant results. With the advent of ERTS and Skylab satellites, multiband imagery and photography have become readily available to geologists. The ability of multiband photography to discriminate sedimentary rocks was examined. More than 8600 in situ measurements of band reflectance of the sedimentary rocks of the Front Range, Colorado, were acquired. Statistical analysis of these measurements showed that: (1) measurements from one site can be used at another site 100 miles away; (2) there is basically only one spectral reflectance curve for these rocks, with constant amplitude differences between the curves; and (3) the natural variation is so large that at least 150 measurements per formation are required to select best filters. These conclusions are supported by subjective tests with aerial multiband photography. The designed multiband photography concept for rock discrimination is not a practical method of improving sedimentary rock discrimination capabilities

Optimal design and use of retry in fault tolerant real-time computer systems

A new method to determin an optimal retry policy and for use in retry of fault characterization is presented. An optimal retry policy for a given fault characteristic, which determines the maximum allowable retry durations to minimize the total task completion time was derived. The combined fault characterization and retry decision, in which the characteristics of fault are estimated simultaneously with the determination of the optimal retry policy were carried out. Two solution approaches were developed, one based on the point estimation and the other on the Bayes sequential decision. The maximum likelihood estimators are used for the first approach, and the backward induction for testing hypotheses in the second approach. Numerical examples in which all the durations associated with faults have monotone hazard functions, e.g., exponential, Weibull and gamma distributions are presented. These are standard distributions commonly used for modeling analysis and faults

Analysis of backward error recovery for concurrent processes with recovery blocks

Three different methods of implementing recovery blocks (RB's). These are the asynchronous, synchronous, and the pseudo recovery point implementations. Pseudo recovery points so that unbounded rollback may be avoided while maintaining process autonomy are proposed. Probabilistic models for analyzing these three methods under standard assumptions in computer performance analysis, i.e., exponential distributions for related random variables were developed. The interval between two successive recovery lines for asynchronous RB's mean loss in computation power for the synchronized method, and additional overhead and rollback distance in case PRP's are used were estimated

Integrated analysis of error detection and recovery

An integrated modeling and analysis of error detection and recovery is presented. When fault latency and/or error latency exist, the system may suffer from multiple faults or error propagations which seriously deteriorate the fault-tolerant capability. Several detection models that enable analysis of the effect of detection mechanisms on the subsequent error handling operations and the overall system reliability were developed. Following detection of the faulty unit and reconfiguration of the system, the contaminated processes or tasks have to be recovered. The strategies of error recovery employed depend on the detection mechanisms and the available redundancy. Several recovery methods including the rollback recovery are considered. The recovery overhead is evaluated as an index of the capabilities of the detection and reconfiguration mechanisms