Kaiserslautern - Fachbereich Informatik
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Although several systematic analyses of existing approaches to adaptation have been published recently, a general formal adaptation framework is still missing. This paper presents a step into the direction of developing such a formal model of transformational adaptation. The model is based on the notion of the quality of a solution to a problem, while quality is meant in a more general sense and can also denote some kind of appropriateness, utility, or degree of correctness. Adaptation knowledge is then defined in terms of functions transforming one case into a successor case. The notion of quality provides us with a semantics for adaptation knowledge and allows us to define terms like soundness, correctness and completeness. In this view, adaptation (and even the whole CBR process) appears to be a special instance of an optimization problem.
This paper presents a brief overview of the INRECA-II methodology for building and maintaining CBR applications. It is based on the experience factory and the software process modeling approach from software engineering. CBR development and maintenance experience is documented using software process models and stored in a three-layered experience packet.
The notion of formal description techniques for timed systems (T-FDTs) has been introduced in [EDK98a] to provide a unifying framework for description techniques that are formal and that allow to describe the ongoing behavior of systems. In this paper we show that three well known temporal logics, MTL, MTL-R , and CTL*, can be embedded in this framework. Moreover, we provide evidence that a large number of dioeerent kinds of temporal logics can be considered as T-FDTs.
Object-oriented case representations require approaches for similarity assessment that allow to compare two differently structured objects, in particular, objects belonging to different object classes. Currently, such similarity measures are developed more or less in an ad-hoc fashion. It is mostly unclear, how the structure of an object-oriented case model, e.g., the class hierarchy, influences similarity assessment. Intuitively, it is obvious that the class hierarchy contains knowledge about the similarity of the objects. However, how this knowledge relates to the knowledge that could be represented in similarity measures is not obvious at all. This paper analyzes several situations in which class hierarchies are used in different ways for case modeling and proposes a systematic way of specifying similarity measures for comparing arbitrary objects from the hierarchy. The proposed similarity measures have a clear semantics and are computationally inexpensive to compute at run-time.
Simultaneous quantifier elimination in sequent calculus is an improvement over the well-known skolemization. It allows a lazy handling of instantiations as well as of the order of certain reductions. We prove the soundness of a sequent calculus which incorporates a rule for simultaneous quantifier elimination. The proof is performed by semantical arguments and provides some insights into the dependencies between various formulas in a sequent.
The paper addresses two problems of comprehensible proof presentation, the hierarchically structured presentation at the level of proof methods and different presentation styles of construction proofs. It provides solutions for these problems that can make use of proof plans generated by an automated proof planner.
This paper presents a new approach to parallel motion planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based on the A*-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly descrete configuration space. Collisions are detected in the cartesian workspace by hierarchical distance computation based on the given CAD model. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel motion planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows linear, and sometimes even superlinear speedups. In on-line provided environments with static obstacles, the parallel planning times are only a few seconds.
This paper is based on a path planning approach we reported earlier for industrial robot arms with 6 degrees of freedom in an on-line given 3D environment. It has on-line capabilities by searching in an implicit and descrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for an user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3- dimensional benchmark problems for a fair comparison of path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.
In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit descrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.
Enhancing the quality of surgical interventions is one of the main goals of surgical robotics. Thus we have devised a surgical robotic system for maxillofacial surgery which can be used as an intelligent intraoperative surgical tool. Up to now a surgeon preoperatively plans an intervention by studying twodimensional X-rays, thus neglecting the third dimension. In course of the special research programme "Computer and Sensor Aided Surgery" a planning system has been developed at our institute, which allows the surgeon to plan an operation on a threedimensional computer model of the patient . Transposing the preoperatively planned bone cuts, bore holes, cavities, and milled surfaces during surgery still proves to be a problem, as no adequate means are at hand: the actual performance of the surgical intervention and the surgical outcome solely depend on the experience and the skill of the operating surgeon. In this paper we present our approach of a surgical robotic system to be used in maxillofacial surgery. Special stress is being laid upon the modelling of the environment in the operating theatre and the motion planning of our surgical robot .
For defining attribute types to be used in the case representation, taxonomies occur quite often. The symbolic values at any node of the taxonomy tree are used as attribute values in a case or a query. A taxonomy type represents a relationship between the symbols through their position within the taxonomy-tree which expresses knowledge about the similarity between the symbols. This paper analyzes several situations in which taxonomies are used in different ways and proposes a systematic way of specifying local similarity measures for taxonomy types. The proposed similarity measures have a clear semantics and are easy to compute at runtime.
This paper motivates the necessity for support for negotiation during Sales Support on the Internet within Case-Based Reasoning solutions. Different negotiation approaches are discussed and a general model of the sales process is presented. Further, the tradition al CBR-cycle is modified in such a way that iterative retrieval during a CBR consulting session is covered by the new model. Several gen eral characteristics of negotiation are described and a case study is shown where preliminary approaches are used to negotiate with a cu stomer about his demands and available products in a 'CBR-based' Electronic Commerce solution.
We present a parallel path planning method that is able to automatically handle multiple goal configurations as input. There are two basic approaches, goal switching and bi-directional search, which are combined in the end. Goal switching dynamically selects a fa-vourite goal depending on some distance function. The bi-directional search supports the backward search direction from the goal to the start configuration, which is probably faster. The multi-directional search with goal switching combines the advantages of goal switching and bi-directional search. Altogether, the planning system is enabled to select one of the pref-erable goal configuration by itself. All concepts are experimentally validated for a set of benchmark problems consisting of an industrial robot arm with six degrees of freedom in a 3D environment.
This paper presents a new approach to parallel motion planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based on the A-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly descrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel motion planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows linear speedups. In on-line provided environments with static obstacles, the parallel planning times are only a few seconds.
The Monte Carlo complexity of computing integrals depending on a parameter is analyzed for smooth integrands. An optimal algorithm is developed on the basis of a multigrid variance reduction technique. The complexity analysis implies that our algorithm attains a higher convergence rate than any deterministic algorithm. Moreover, because of savings due to computation on multiple grids, this rate is also higher than that of previously developed Monte Carlo algorithms for parametric integration.
The term enterprise modeling, synonymous with enterprise engineering, often refers to methodologies, developed for modeling activities, states, time, and cost within an enterprise architecture. They serve as a vehicle for evaluating and modeling activities resources and so on. CIM - OSA (Computer Integrated Manufacturing Open Systems Architecture) is a methodology for modeling computer integrated environments, and its major objective is the appropriate integration of enterprise operations by means of efficient information exchange within the enterprise. Although there are other methodo- logies in the industry that serve the same purpose, most of them concentrate on the internal aspect of an enterprise. The paper is concerned with the modeling of the links between enterprises. The aim is to examine these relationships or links in detail and suggest a method for modeling enterprise networks drawing on the methodologies currently used in the industry and extending with the method proposed here.
As the previous chapters of this book have shown, case-based reasoning is a technology that has been successfully applied to a large range of different tasks. Through all the different CBR projects, both basic research projects as well as industrial development projects, lots of knowledge and experience about how to build a CBR application has been collected. Today, there is already an increasing number of successful companies developing industrial CBR applications. In former days, these companies could develop their early pioneering CBR applications in an ad-hoc manner. The highly-skilled CBR expert of the company was able to manage these projects and to provide the developers with the required expertise.