Automated Design of Elevator Systems: Experimenting with Constraint-Based Approaches

System configuration and design is a well-established topic in AI. While many successful applications exists, there are still areas of manufacturing where AI techniques find little or no application. We focus on one such area, namely building and installation of elevator systems, for which we are developing an automated design and configuration tool. The questions that we address in this paper are: (i) What are the best ways to encode some subtasks of elevator design into constraint-based representations? (ii) What are the best tools available to solve the encodings? We contribute an empirical analysis to address these questions in our domain of interest, as well as the complete set of benchmarks to foster further researc

Clause/Term Resolution and Learning in the Evaluation of Quantified Boolean Formulas

Resolution is the rule of inference at the basis of most procedures for automated reasoning. In these procedures, the input formula is first translated into an equisatisfiable formula in conjunctive normal form (CNF) and then represented as a set of clauses. Deduction starts by inferring new clauses by resolution, and goes on until the empty clause is generated or satisfiability of the set of clauses is proven, e.g., because no new clauses can be generated. In this paper, we restrict our attention to the problem of evaluating Quantified Boolean Formulas (QBFs). In this setting, the above outlined deduction process is known to be sound and complete if given a formula in CNF and if a form of resolution, called Q-resolution, is used. We introduce Q-resolution on terms, to be used for formulas in disjunctive normal form. We show that the computation performed by most of the available procedures for QBFs --based on the Davis-Logemann-Loveland procedure (DLL) for propositional satisfiability-- corresponds to a tree in which Q-resolution on terms and clauses alternate. This poses the theoretical bases for the introduction of learning, corresponding to recording Q-resolution formulas associated with the nodes of the tree. We discuss the problems related to the introduction of learning in DLL based procedures, and present solutions extending state-of-the-art proposals coming from the literature on propositional satisfiability. Finally, we show that our DLL based solver extended with learning, performs significantly better on benchmarks used in the 2003 QBF solvers comparative evaluation

Conditional behavior trees: Definition, executability, and applications

Behavior Trees (BTs) are gaining acceptance in robotics to specify action policies at the deliberative level. Their advantages include modularity, ease of use and increasing tool support. In this paper, we define Conditional Behavior Trees (CBTs) as an extension of BTs wherein actions are decorated considering pre-and post-conditions. CBTs improve on basic BTs in that they enable monitoring the execution of single actions by checking pre-and post-conditions, respectively. Since there might exist action sequences wherein some preconditions are violated, CBT executability may depend on the success/failure of specific actions. We developed an encoding of CBT executability into satisfiability of propositional formulas to be checked off-line in a publicly-available tool that computes the encoding for generic CBTs. For the kind of application scenarios and related behavior specifications that we consider, we show that our approach is effective and yields formal guarantees about the executability of deliberative policies designed as CBTs

Experiments with SAT-based Answer Set Programming

Answer Set Programming (ASP) emerged in the late 1990s as a new logic programming paradigm which has been successfully applied in various application domains. Propositional satisfiability (SAT) is one of the most studied problems in Computer Science. ASP and SAT are closely related: Recent works have studied their relation, and efficient SAT-based ASP solvers (like assat and Cmodels) exist. In this paper we report about (i) the extension of the basic procedures in Cmodels in order to incorporate the most popular SAT reasoning strategies, and (ii) an extensive comparative analysis involving also other state-of-the-art answer set solvers. The experimental analysis points out, besides the fact that Cmodels is highly competitive, that the reasoning strategies that work best on “small but hard” problems are ineffective on “big but easy” problems and vice-versa

Telling faults from cyber-attacks in a multi-modal logistic system with complex network analysis

We investigate the properties of systems of systems in a cybersecurity context by using complex network methodologies. We are interested in resilience and attribution. The first relates to the system's behavior in case of faults/attacks, namely to its capacity to recover full or partial functionality after a fault/attack. The second corresponds to the capability to tell faults from attacks, namely to trace the cause of an observed malfunction back to its originating cause(s). We present experiments to witness the effectiveness of our methodology considering a discrete event simulation of a multimodal logistic network featuring 40 nodes distributed across Italy and daily traffic roughly corresponding to the number of containers shipped through in Italian ports yearly averaged daily

A new metrics for countries' fitness and products' complexity

Classical economic theories prescribe specialization of countries industrial production. Inspection of the country databases of exported products shows that this is not the case: successful countries are extremely diversified, in analogy with biosystems evolving in a competitive dynamical environment. The challenge is assessing quantitatively the non-monetary competitive advantage of diversification which represents the hidden potential for development and growth. Here we develop a new statistical approach based on coupled non-linear maps, whose fixed point defines a new metrics for the country Fitness and product Complexity. Weshow that a non-linear iteration is necessary to bound the complexity of products by the fitness of the less competitive countries exporting them. We show that, given the paradigm of economic complexity, the correct and simplest approach to measure the competitiveness of countries is the one presented in this work. Furthermore our metrics appears to be economically well-grounded

Property specification patterns at work: verification and inconsistency explanation

Property specification patterns (PSPs) have been proposed to ease the formalization of requirements, yet enable automated verification thereof. In particular, the internal consistency of specifications written with PSPs can be checked automatically with the use of, for example, linear temporal logic (LTL) satisfiability solvers. However, for most practical applications, the expressiveness of PSPs is too restricted to enable writing useful requirement specifications, and proving that a set of requirements is inconsistent can be worthless unless a minimal set of conflicting requirements is extracted to help designers to correct a wrong specification. In this paper, we extend PSPs by considering Boolean as well as atomic numerical assertions, we contribute an encoding from extended PSPs to LTL formulas, and we present an algorithm computing inconsistency explanations, i.e., irreducible inconsistent subsets of the original set of requirements. Our extension enables us to reason about the internal consistency of functional requirements which would not be captured by basic PSPs. Experimental results demonstrate that our approach can check and explain (in)consistencies in specifications with nearly two thousand requirements generated using a probabilistic model, and that it enables effective handling of real-world case studies

Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded, methodology to enable runtime verification and prevent unexpected robot behaviors. To this end, we consider a message-passing model that accommodates both synchronous and asynchronous composition of parallel components, in which BTs and other components execute and interact according to the communication patterns commonly adopted in robotic software architectures. We introduce a formal property specification language to encode requirements and build runtime monitors. We performed a set of experiments, both on simulations and on the real robot, demonstrating the feasibility of our approach in a realistic application and its integration in a typical robot software architecture. We also provide an OS-level virtualization environment to reproduce the experiments in the simulated scenario

The black hole mass metallicity relation and insights into galaxy quenching

One of the most important questions in astrophysics is what causes galaxies to stop forming stars. Previous studies have shown a tight link between quiescence and black hole mass. Other studies have revealed that quiescence is also associated with 'starvation', the halting of gas inflows, which results in the remaining gas being used up rapidly by star formation and in rapid chemical enrichment. In this work we find the final missing link between these two findings. Using a large sample of galaxies, we uncover the intrinsic dependencies of the stellar metallicity on galaxy properties. In the case of the star-forming galaxies, the stellar metallicity is driven by stellar mass. However, for passive galaxies the stellar metallicity is primarily driven by the black hole mass, as traced by velocity dispersion. This result finally reveals the connection between previous studies, where the integrated effect of black hole feedback prevents gas inflows, starving the galaxy, which is seen by the rapid increase in the stellar metallicity, leading to the galaxy becoming passive.Comment: 20 pages, 6 figures, submitted to Nature Astronom