A formal approach to negotiating agents development

This paper presents a formal and executable approach to capture the behaviour of parties involved in a negotiation. A party is modeled as a negotiating agent composed of a communication module, a control module, a reasoning module, and a knowledge base. The control module is expressed as a statechart, and the reasoning module as a defeasible logic program. A strategy specification therefore consists of a statechart, a set of defeasible rules, and a set of initial facts. Such a specification can be dynamically plugged into an agent shell incorporating a statechart interpreter and a defeasible logic inference engine, in order to yield an agent capable of participating in a given type of negotiations. The choice of statecharts and defeasible logic with respect to other formalisms is justified against a set of desirable criteria, and their suitability is illustrated through concrete examples of bidding and multi-lateral bargaining scenarios.     

Developing a vision-based auto-recharging system for mobile robots

This article describes a vision-based auto-recharging system that guides a mobile robot moving toward a docking station. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger, a safety detection device, and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a controller, and a camera. The controller of the power detection module is a Holtek chip. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. For image processing, the mobile robot uses a webcam to capture a real-time image. The image signal is transmitted to the controller of the mobile robot via a USB interface. We use an Otsu algorithm to calculate the distance and orientation of the docking station from the mobile robot. In the experiment, the proposed algorithm guided the mobile robot to the docking station.     

Exact combinatorial bounds on the probability of overfitting for empirical risk minimization

Three general methods for obtaining exact bounds on the probability of overfitting are proposed within statistical learning theory: a method of generating and destroying sets, a recurrent method, and a blockwise method. Six particular cases are considered to illustrate the application of these methods. These are the following model sets of predictors: a pair of predictors, a layer of a Boolean cube, an interval of a Boolean cube, a monotonic chain, a unimodal chain, and a unit neighborhood of the best predictor. For the interval and the unimodal chain, the results of numerical experiments are presented that demonstrate the effects of splitting and similarity on the probability of overfitting.     

Control of Motion of an Actively Bending Body in Channels with Dry Friction

Mechanics is described and equations are given of the motion of an actively bending homogeneous body of a finite thickness in a channel with dry friction under conditions of a weak bending. Control is suggested of the motion of a body in a sinusoidal channel, which retains a continuous first derivative of the controlling moment and a bounded second derivative. A process is described of the maximization of the speed of motion by control and then by the choice of the best parameters of a channel. Control is also considered of other modes of the motion of a body in the same channel.     

HelSweeper: Screw-sweeps of canal surfaces

A tube is a solid bounded by the union of a one-parameter family of circles that may be decomposed into canal-surfaces and planar disks or annuli. A screw-sweep is the region swept by a shape during a screw motion. HelSweeper computes the boundary of a screw-sweep of an arbitrary union of tubes and polyhedra. To do so, it generates a superset of faces, splits them at their intersections, and selects the face portions that form the desired boundary. The novelty of the proposed approach lies in the fact that the faces contributed to this superset by a tube are each a screw-sweeps of a rigid curve (generator), which is the locus of grazing points, and that each grazing point is formulated as the intersection of a circle of the tube with a corresponding screw-plane. Hence, each such face is a one-parameter family of helices, each being the screw-sweep of a grazing point.     

High-Order Accurate Adaptive Kernel Compression Time-Stepping Schemes for Fractional Differential Equations

We present a goal-oriented a posteriori error estimator for finite element approximations of a class of homogenization problems. As a rule, homogenization problems are defined through the coupling of a macroscopic solution and the solution of auxiliary problems. In this work we assume that the homogenized problem is known and that it depends on a finite number of auxiliary problems. The accuracy in the goal functional depends therefore on the discretization error of the macroscopic and the auxiliary solutions. We show that it is possible to compute the error contributions of all solution components separately and use this information to balance the different discretization errors. Additionally, we steer a local mesh refinement for both the macroscopic problem and the auxiliary problems. The high efficiency of this approach is shown by numerical examples. These include the upscaling of a periodic diffusion tensor, the case of a Stokes flow over a porous bed, and the homogenization of a fuel cell model which includes the flow in a gas channel over a porous substrate coupled with a multispecies nonlinear transport equation.     

Design of phononic materials/structures for surface wave devices using topology optimization

We develop a topology optimization approach to design two- and three-dimensional phononic (elastic) materials, focusing primarily on surface wave filters and waveguides. These utilize propagation modes that transmit elastic waves where the energy is contained near a free surface of a material. The design of surface wave devices is particularly attractive given recent advances in nano- and micromanufacturing processes, such as thin-film deposition, etching, and lithography, which make it possible to precisely place thin film materials on a substrate with submicron feature resolution. We apply our topology optimization approach to a series of three problems where the layout of two materials (silicon and aluminum) is sought to achieve a prescribed objective: (1) a grating to filter bulk waves of a prescribed frequency in two and three dimensions, (2) a surface wave device that uses a patterned thin film to filter waves of a single or range of frequencies, and (3) a fully three-dimensional structure to guide a wave generated by a harmonic input on a free surface to a specified output port on the surface. From the first to the third example, the resulting topologies increase in sophistication. The results demonstrate the power and promise of our computational framework to design sophisticated surface wave devices.     

Bayesian recognition of local 3-d shape by approximating image intensity functions with quadric polynomials

The recognition in image data of viewed patches of spheres, cylinders, and planes in the 3-D world is discussed as a first step to complex object recognition or complex object location and orientation estimation. Accordingly, an image is partitioned into small square windows, each of which is a view of a piece of a sphere, or of a cylinder, or of a plane. Windows are processed in parallel for recognition of content. New concepts and techniques include approximations of the image within a window by 2-D quadric polynomials where each approximation is constrained by one of the hypotheses that the 3-D surface shape seen is either planar, cylindrical, or spherical; a recognizer based upon these approximations to determine whether the object patch viewed is a piece of a sphere, or a piece of a cylinder, or a piece of a plane; lowpass filtering of the image by the approximation. The shape recognition is computationally simple, and for large windows is approximately Bayesian minimum-probability-of-error recognition. These classifications are useful for many purposes. One such purpose is to enable a following processor to use an appropriate estimator to estimate shape, and orientation and location parameters for the 3-D surface seen within a window.     

Stochastic colored Petri net models of flexible manufacturing systems: Material handling systems and machining

This paper presents an overview of SCPN theory, a set of three generic SCPN submodels, a behavior-preserving methodology for combining those submodels into a larger model, and a combined model. The three submodels include a machine with failures, repairs, and limited I/O buffers, and two types of conveyor submodels—a simple conveyor segment and a conveyor segment at a machine.     

A new deterministic approach in a decision support system for ship’s trajectory planning

The paper introduces a Decision Support System for ships, developed to solve a problem of collision avoidance with static and dynamic obstacles. The system maps the decision making capability of a human (navigation) expert to solve the path planning problem for a ship in a complex navigation environment. It can be further developed to provide automatic control of a ship. It utilizes a new, fast and effective, deterministic method, called the Trajectory Base Algorithm, to calculate a safe, optimal path for a ship. The system structure, a detailed explanation of a new method, followed by results of simulation tests are all presented in the paper. The results proof a successful application of the method to solve a path planning problem for ships with the consideration of both static and dynamic obstacles in the environment, marine traffic regulations and dynamic properties of a ship, what makes this approach applicable in commercial systems. The approach can also be adapted for application in mobile robots path planning. The experimental results and ability of the system to achieve a new functionality of full autonomy show significance of this contribution to the development of Expert and Intelligent Systems domain. The author believes that autonomous systems constitute the future of Expert and Intelligent Systems.     

Approximating minimum cocolorings

A cocoloring of a graph G is a partition of the vertex set of G such that each set of the partition is either a clique or an independent set in G. Some special cases of the minimum cocoloring problem are of particular interest.We provide polynomial-time algorithms to approximate a minimum cocoloring on graphs, partially ordered sets and sequences. In particular, we obtain an efficient algorithm to approximate within a factor of 1.71 a minimum partition of a partially ordered set into chains and antichains, and a minimum partition of a sequence into increasing and decreasing subsequences.     

Motion of a rigid cylinder between parallel plates in stokes flow : Part 1: Motion in a quiescent fluid and sedimentation

A general numerical scheme for solution of two-dimensional Stokes equations in a multiconnected domain of arbitrary shape [1, 2] is applied to the motion of a rigid circular cylinder between plane parallel boundaries. Numerically generated boundary-conforming coordinates are used to transform the flow domain into a domain with rectilinear boundaries. The transformed Stokes equations in vorticity-stream function form are then solved on a uniform grid using an iterative algorithm. In Part I coefficients of the resistance matrix representing the forces and torque on the cylinder due to its translational motion parallel or perpendicular to the boundaries or due to rotation about its axis are calculated. The solutions are obtained for a wide range of particle radii and positions across the channel. It is found that the force on a particle translating parallel to the boundaries without rotation exhibits a minimum at a position between the channel centerline and the wall and a local maximum on the centerline.

The resistance matrix is utilized to calculate translational and angular velocities of a free particle settling under gravity in a vertical channel. It is found that the translational velocity has a maximum at some lateral position and a minimum on the centerline; the particle angular velocity is opposite in sign to that of a particle rolling along the nearer channel wall except when the gap between the particle and the wall is very small. These results are compared with existing analytical solutions for a small cylindrical particle situated on the channel centerline, and with solutions of related 3-D problems for a spherical particle in a circular tube and in a place channel. It is shown that the behavior of cylindrical and spherical particles in a channel in many cases is qualitatively different. This is attributed to different flow patterns in these two cases. The motion of a spherical particle in a circular tube has qualitative and quantitative features similar to those for a cylindrical particle in a plane channel.     

Formalized analysis of structural characteristics of large complexsystems

Macrostructural modelization is paramount to the development of large complex systems (LCS). The paper explores the macrostructural modelization of LCS in terms of a block diagram based model and a grammar based model. Firstly, the macrostructural modelization problem of LCS is formulated. Secondly, a block diagram based model is proposed and established for LCS. Specifically, two general-purpose information-processing modules are proposed and constructed, called perception cube and decision spheroid. Thirdly, a grammar based model is proposed and established for LCS through applying formal language theory to the block diagram based model. Specifically, perception cube and decision spheroid are visually represented as context-free grammars, named fusion grammar and synthesis grammar, respectively. Through a stratified constructive linkup between a stream of bottom-up growing fusion grammars and a stream of top-down growing synthesis grammars, a level of LCS is constructively defined and accordingly represented as a context-free grammar, named level grammar. Then, a whole LCS is represented as a context-free grammar through a compounding of all level grammars. Finally, a case study is presented to demonstrate the potential usability of the proposed and established models of LCS     

A Case Study on Integrated Production Planning and Scheduling in a Three-Stage Manufacturing System

This paper presents an integrated optimization model of production planning and scheduling for a three-stage manufacturing system, which is composed of a forward chain of three kinds of workshops: a job shop, a parallel flow shop consisting of parallel production lines, and a single machine shop. As the products at the second stage are assembled from the parts produced in its upstream workshop, a complicated production process is involved. On the basis of the analysis of the batch production, a dynamic batch splitting and amalgamating algorithm is proposed. Then, a heuristic algorithm based on a genetic algorithm (known as the integrated optimization algorithm) is proposed for solving the problem. Note to Practitioners-This paper presents a method for integrated production planning and scheduling in a three-stage manufacturing system consisting of a forward chain of three kinds of workshops, which is common in such enterprises as producers of automobiles and household electric appliances, as in the case of an autobody plant usually with the stamping workshop, the welding and assembling workshop, and the painting workshop. Herein, the production planning and scheduling problems are simultaneously addressed in the way that a feasible production plan can be obtained and the inventory reduced. A batch splitting and amalgamating algorithm is proposed for balancing the production time of the production lines. And a case study of the integrated planning and scheduling problem in a real autobody plant verifies the effectiveness of our method     

Quantitative validation techniques a database. (I). Simple examples

This paper proposes the formulation of a database of validation examples. This initial contribution describes the problem of validation of the simulation of two real systems. These include a mechanical network and a thermal system with a transport delay. Data of the component values and measurements are reported here. The data from testing these systems will be made available at a later stage to enable other workers to compare other validation techniques with those presented here.The responses of a mechanical and a thermal system were measured with a laptop PC and Labview via a DAQCard^TM-700 data acquisition card. Simulations were made with ACSL and ACSL Math.The validation procedures implemented included a parameter variation with integral quadratic weighting and ITAE weighting together with a statistical matching technique using a correlation coefficient.These techniques illustrate the problem of achieving “good” validation to within a few percentage points. Correlation coefficients of over 98% were obtained for the fitting of linear models, with Theil indices of less than 0.075.     

Animatronic shader lamps avatars

Applications such as telepresence and training involve the display of real or synthetic humans to multiple viewers. When attempting to render the humans with conventional displays, non-verbal cues such as head pose, gaze direction, body posture, and facial expression are difficult to convey correctly to all viewers. In addition, a framed image of a human conveys only a limited physical sense of presence—primarily through the display’s location. While progress continues on articulated robots that mimic humans, the focus has been on the motion and behavior of the robots rather than on their appearance. We introduce a new approach for robotic avatars of real people: the use of cameras and projectors to capture and map both the dynamic motion and the appearance of a real person onto a humanoid animatronic model. We call these devices animatronic Shader Lamps Avatars (SLA). We present a proof-of-concept prototype comprised of a camera, a tracking system, a digital projector, and a life-sized styrofoam head mounted on a pan-tilt unit. The system captures imagery of a moving, talking user and maps the appearance and motion onto the animatronic SLA, delivering a dynamic, real-time representation of the user to multiple viewers.     

Distributed planning and control systems for the virtual enterprise: organizational requirements and development life-cycle

This paper describes the requirements analysis and system specification of an Order Promise module to be used as part of a broader Decision Support System for production and operations planning of a Virtual Enterprise. This work is part of a broader project with a particular focus on the microelectronics industry which is a good example of Virtual Enterprise, and where a quick response to the customers needs and to unpredictable changes in production conditions is considered a major factor for success. First, the analysis and specification are presented within a development framework that involves the study of organizational issues of semiconductor enterprises. The use of ontological engineering for supporting the communication and shared understanding of the system concepts is explained and a virtual enterprise ontology is outlined. Following the clarification of the concept of virtual enterprise, the generic techno-organizational requirements for the information system are derived. Finally, a specification of the global planning module and a more detailed one regarding the order promise module is presented.     

Biomechanical analyses of paramedics simulating frequently performed strenuous work tasks

Firefighters performing emergency rescue functions are at an elevated risk of musculoskeletal injuries. The objective of the current study was to analyze the biomechanical stresses placed on the body based on simulations of the following strenuous and frequently performed emergency rescue tasks: (1) transferring a patient from a bed to a stretcher using bedsheets, (2) transferring a patient from the ambulance stretcher to a hospital gurney, (3) carrying a victim down a set of stairs and through a landing using a stairchair, (4) carrying a victim down a set of stairs and through a landing using a backboard, and (5) carrying a victim down a straight set of stairs using a stretcher. Postural data were analyzed using the University of Michigan's Three-Dimensional Static Strength Prediction Program and the relative risk of low back disorder (LBD) was quantified using the trunk motion model published by Marras et al. (1993, spine 18, 617-628). Peak compression values and the probabilities from the Marras et al. (1993) model indicated that the most hazardous tasks performed as part of this simulation included pulling a victim from a bed to a stretcher, the initial descent of a set of stairs when using the stretcher, and lifting a victim on a backboard from the floor. Overall, the two models were well correlated in their assessment of the task components modelled (r = 0.78). These data indicate where engineering changes to equipment regularly used by emergency rescue personnel would have the greatest impact in reducing the risk of musculoskeletal injury.