Towards Focused Plan Monitoring: A Technique and an Application to Mobile Robots

Until recently, techniques for AI plan generation relied on highly restrictive assumptions that were almost always violated in real-world environments; consequently, robot designers adopted reactive architectures and avoided AI planning techniques. Some recent research efforts have focused on obviating such assumptions by developing techniques that enable the generation and execution of plans in dynamic, uncertain environments. In this paper, we discuss one such technique, rationale-based monitoring, originally introduced by Veloso, Pollack, and Cox (Proceedings for the Fourth International Conference on AI Planning Systems, Pittsburgh, PA, 1998, pp. 171–179) and we describe our use of it in a simple mobile robot environment. We review the original approach, describe how it can be adapted for a causal-link planner, and provide experimental results demonstrating that it can lead to improved plans without consuming excessive overhead. We also describe our use of rationale-based monitoring in a mobile robot office-assistant project currently in progress.     

Theory of ion mobility in liquid3He

An ion interacting with quasiparticles in liquid³He is treated theoretically by summing most divergent terms in perturbation series of the self-energy of the ion and the vertex part. The ion Green's function is renormalized by a factorZ(T), and the vertex part byZ(T) ^?1, where \({\text{Z(T)}} = {\text{(T/T}}_F {\text{)}}^{{\text{2V}}_{{\text{0}}^{\rho ^{\text{2}} } }^{\text{2}} } \) , forT ₀?T?T _F. Here,T ₀=(m/M)T _F, withm the³He mass andM the ion mass, and \({\text{V}}_{0^\rho } \) is the strength of the interaction. The factor explains the weak temperature dependence of the mobility around the minimum atT ₀; we also discuss its effect on the behavior of the mobility in³He-B nearT _c.     

Long-term availability prediction for groups of volunteer resources

Volunteer computing uses the free resources in Internet and Intranet environments for large-scale computation and storage. Currently, 70 applications use over 12 PetaFLOPS of computing power from such platforms. However, these platforms are currently limited to embarrassingly parallel applications. In an effort to broaden the set of applications that can leverage volunteer computing, we focus on the problem of predicting if a group of resources will be continuously available for a relatively long time period. Ensuring the collective availability of volunteer resources is challenging due to their inherent volatility and autonomy. Collective availability is important for enabling parallel applications and workflows on volunteer computing platforms. We evaluate our predictive methods using real availability traces gathered from hundreds of thousands of hosts from the SETI@home volunteer computing project. We show our prediction methods can guarantee reliably the availability of collections of volunteer resources. We show that this is particularly useful for service deployments over volunteer computing environments.     

Magnetic Correlation in BETS2(Cl2TCNQ)

We carried out⁷⁷Se NMR measurements on BETS₂(Cl₂TCNQ) under pressure in order to investigate the magnetic properties of the insulating state which appears above 0.6 GPa. The relaxation rate 1/T₁ at 0.7 GPa shows small peak-like anomaly at 20 K, indicating a spin density wave transition as observed in BETS₂(Br₂TCNQ).     

Trying to adopt systems development methodologies — a case-based exploration of business users' interests

Information systems methodologies are an important component of the IS infrastructure and a primary device for organizing systems development work. Evidence suggests that methodology adoption and use are problematic. This research seeks to generate insight into business users' interest in adoption through detailed examination of a case. A framework is developed for organizing relevant research findings. The field research methods are described and details of the case reported. The case highlights the role of business managers in methodology adoption and the influence of business pressures originating in the strategic environment. Analysis shows the organizing framework to require extension to include a more direct role for business decision makers. it is argued that previous research has obscured the legitimate concern of business with systems development methodologies. As business increasingly asserts its interest in and control over IS, it will be necessary to give greater consideration to the needs of business in the selection and adoption of methodologies.     

Frequency range extension of actively mode-locked lasers integratedwith electroabsorption modulators using chirped gratings

We have fabricated actively mode-locked lasers integrated with electroabsorption modulators and chirped gratings. A chirped grating with a large chirp rate of 1.45 Å/μm can be realized by using multiphase-shifted patterns. Short pulses of 4-6 ps were generated over a wide frequency range from 18.9-19.8 GHz. We observed jumps in the wavelength during detuning. These jumps arise from multiple lobes in the reflectivity spectrum. It is found that the wavelength jumps cause increases in the intensity noise. We showed that by reducing the grating length from 150 to 100 μm the sidelobes were suppressed and the detuning frequency range of over 1% could be realized. A smaller pulsewidth was obtained for the negatively-chirped gratings when compared to the positively chirped gratings     

Navigation of an AUV for investigation of underwater structures

There is a great demand for autonomous underwater vehicles (AUVs) to investigate artificial underwater structures such as piles and caissons in harbours, and risers and jackets of deep-sea oilfields. This paper proposes an autonomous investigation method of underwater structures using AUVs that is implemented by initially detecting the target objects, localizing them, then approaching them by taking video images while closely tracing their shape. A laser ranging system and a navigation method based on the relative position with respect to the target objects are introduced to realize this behaviour.     

Leak-tightness characteristics concerning the containment structures of the HTTR

The containment structures of the HTTR consist of the reactor containment vessel, the service area, and the emergency air purification system, which minimise the release of fission products in postulated accidents, which lead to fission product release from the reactor facilities. The reactor containment vessel is designed to withstand the temperature and pressure transients and to be leak-tight in the case of a rupture of the primary concentric hot-gas duct, etc. The pressure inside the service area is maintained at a negative pressure by the emergency air purification system. The emergency air purification system will also remove airborne radioactivity and will maintain a correct pressure in the service area.The leak-tightness characteristics of the containment structures are described in this paper. The measured leakage rates of the reactor containment vessel were enough less than the specified leakage limit of 0.1%/d confirmed during the commissioning tests and annual inspections. The service area was kept in a way that the design pressure becomes well below its allowable limitation by the emergency air purification system, which filters efficiency of particle removal and iodine removal well over the limited values.The obtained data demonstrate that the reactor containment structures were fabricated to minimise the release of fission products in the postulated accidents with fission product release from the reactor facilities.     

Disclosure in 3D of slit-membrane as well as -strands, and en-face basal lamina in situ of renal glomerulus of normal rats in embedment-free section transmission electron microscopy

With higher contrast and transparency due to the absence of epon and stereo-viewing effect due to thicker sections than conventional electron microscopy as methodological advantages, the renal glomerular slits were re-examined in embedment-free section electron microscopy. In addition to clear demonstration of strands bridging the slits in forms of ladders with highly irregular intervals and various extension-directions and length, this study disclosed clearly for the first time in the "section" TEM thin sheets which partially spanned the slit together with the strand-ladders. No strands were found to align in forms of typical zippers in normal kidney. Furthermore, en-face ultrastructure of the basal lamina in situ was clearly demonstrated in superimposed sites of the endothelial fenestrae with the slits.     

Exact solution of a plastic hollow sphere with a Mises–Schleicher matrix

In this paper we establish the exact solution for a hollow sphere with a rigid-plastic pressure-sensitive matrix and subjected to hydrostatic tension or compression. The matrix is assumed to obey to a parabolic Mises–Schleicher criterion. The closed-form expressions of the velocity field and of the stress field are provided. These exact solutions, expressed by means of the Lambert W function, allow to assess and discuss existing results.