## Fachbereich Informatik

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Retrieving multiple cases is supposed to be an adequate retrieval strategy for guiding partial-order planners because of the recognized flexibility of these planners to interleave steps in the plans. Cases are combined by merging them. In this paper, we will examine two different kinds of merging cases in the context of partial-order planning. We will see that merging cases can be very difficult if the cases are merged eagerly. On the other hand, if cases are merged by avoiding redundant steps, the guidance of the additional cases tends to decrease with the number of covered goals and retrieved cases in domains having a certain kind of interactions. Thus, to retrieve a single case covering many of the goals of the problem or to retrieve fewer cases covering many of the goals is at least equally effective as to retrieve several cases covering all goals in these domains.

Estelle is an internationally standardized formal description technique (FDT) designed for the specification of distributed systems, in particular communication protocols. An Estelle specification describes a system of communicating components (module instances). The specified system is closed in a topological sense, i.e. it has no ability to interact with some environment. Because of this restriction, open systems can only be specified together with and incorporated with an environment. To overcome this restriction, we introduce a compatible extension of Estelle, called "Open Estelle". It allows the specification of (topologically) open systems, i.e. systems that have the ability to communicate with any environment through a well-defined external interface. We define aformal syntax and a formal semantics for Open Estelle, both based on and extending the syntax and semantics of Estelle. The extension is compatible syntactically and semantically, i.e. Estelle is a subset of Open Estelle. In particular, the formal semantics of Open Estelle reduces to the Estelle semantics in the special case of a closed system. Furthermore, we present a tool for the textual integration of open systems into environments specified in Open Estelle, and a compiler for the automatic generation of implementations directly from Open Estelle specifications.

Due to continuously increasing demands in the area of advanced robot control, it became necessary to speed up the computation. One way to reduce the computation time is to distribute the computation onto several processing units. In this survey we present different approaches to parallel computation of robot kinematics and Jacobian. Thereby, we discuss both the forward and the reverse problem. We introduce a classification scheme and classify the references by this scheme.

This paper shows an approach to profit from type information about planning objects in a partial-order planner. The approach turns out to combine representational and computational advantages. On the one hand, type hierarchies allow better structuring of domain specifications. On the other hand, operators contain type constraints which reduce the search space of the planner as they partially achieve the functionality of filter conditions.

This paper describes an Internet-scalable knowledge base infrastructure for managing the knowledge used by an in-telligent software productivity infrastructure system. The infrastructure provides workable solutions for several significant issues: (1) Internetunique names for pieces of knowledge; (2) multi-platform, multi-language support; (3) distributed knowledge base synchronization mechanisms; (4) support for extensive customized variations in knowledge content, and (5) knowledge caching mechanisms for improved system performance. The infrastructure described here is a workable example of the kind of infrastructure that will be required to manage the evolution and reuse of millions of pieces of knowledge in the future.

One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is uniquely assigned a class. Finally, for each referenced research work, a list of keywords is given.

We present a general framework for developing search heuristics for au-tomated theorem provers. This framework allows for the construction ofheuristics that are on the one hand able to replay (parts of) a given prooffound in the past but are on the other hand flexible enough to deviate fromthe given proof path in order to solve similar proof problems. We substanti-ate the abstract framework by the presentation of three distinct techniquesfor learning appropriate search heuristics based on soADcalled features. Wedemonstrate the usefulness of these techniques in the area of equational de-duction. Comparisons with the renowned theorem prover Otter validatethe applicability and strength of our approach.

We present a method for making use of past proof experience called flexiblere-enactment (FR). FR is actually a search-guiding heuristic that uses past proofexperience to create a search bias. Given a proof P of a problem solved previouslythat is assumed to be similar to the current problem A, FR searches for P andin the "neighborhood" of P in order to find a proof of A.This heuristic use of past experience has certain advantages that make FRquite profitable and give it a wide range of applicability. Experimental studiessubstantiate and illustrate this claim.This work was supported by the Deutsche Forschungsgemeinschaft (DFG).

Instant Radiosity
(1997)

We present a fundamental procedure for instant rendering from the radiance equation. Operating directly on the textured scene description, the very efficient and simple algorithm produces photorealistic images without any kernel or solution discretization of the underlying integral equation. Rendering rates of a few seconds are obtained by exploiting graphics hardware, the deterministic
technique of the quasi-random walk for the solution of the global illumination problem, and the new method of jittered low discrepancy sampling.

We investigate in how far interpolation mechanisms based on the nearest-neighbor rule (NNR) can support cancer research. The main objective is to usethe NNR to predict the likelihood of tumorigenesis based on given risk factors.By using a genetic algorithm to optimize the parameters of the nearest-neighbourprediction, the performance of this interpolation method can be improved sub-stantially. Furthermore, it is possible to detect risk factors which are hardly ornot relevant to tumorigenesis. Our preliminary studies demonstrate that NNR-based interpolation is a simple tool that nevertheless has enough potential to beseriously considered for cancer research or related research.

In this paper we provide a semantical meta-theory that will support the development of higher-order calculi for automated theorem proving like the corresponding methodology has in first-order logic. To reach this goal, we establish classes of models that adequately characterize the existing theorem-proving calculi, that is, so that they are sound and complete to these calculi, and a standard methodology of abstract consistency methods (by providing the necessary model existence theorems) needed to analyze completeness of machine-oriented calculi.

We study the problem of global solution of Fredholm integral equations. This means that we seek to approximate the full solution function (as opposed to the local problem, where only the value of the solution in a single point or a functional of the solution is sought). We analyze the Monte Carlo complexity, i.e. the complexity of stochastic solution of this problem. The framework for this analysis is provided by information based complexity theory. Our investigations complement previous ones on stochastic complexity of local solution and on deterministic complexity of
both local and global solution. The results show that even in the global case Monte Carlo algorithms can perform better than deterministic ones, although the difference is not as large as in the local case.

This paper presents the different possibilities for parallel processing in robot control architectures. At the beginning, we shortly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As our main topic, we identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work we refer to.

This paper provides a description of PLATIN. With PLATIN we present an imple-mented system for planning inductive theorem proofs in equational theories that arebased on rewrite methods. We provide a survey of the underlying architecture ofPLATIN and then concentrate on details and experiences of the current implementa-tion.

The problem of constructing a geometric model of an existing object from a set of boundary points arises in many areas of industry. In this paper we present a new solution to this problem which is an extension of Boissonnat's method [2]. Our approach uses the well known Delaunay triangulation of the data points as an intermediate step. Starting with this structure, we eliminate tetrahedra until we get an appropriate approximation of the desired shape. The method proposed in this paper is capable of reconstructing objects with arbitrary genus and can cope with different point densities in different regions of the object. The
problems which arise during the elimination process, i.e. which tetrahedra can be eliminated, which order has to be used to control the process and finally, how to stop the elimination procedure at the right time, are discussed in detail. Several examples are given to show the validity of the method.

This paper discusses the benefits and drawbacks of caching and replication strategies in the WWW with respect to the Internet infrastructure. Bandwidth consumption, latency, and overall error rates are considered to be most important from a network point of view. The dependencies of these values with input parameters like degree of replication, document popularity, actual cache hit rates, and error rates are highlighted. In order to determine the influence of different caching and replication strategies on the behavior of a single proxy server with respect to these values, trace-based simulations are used. Since the overall effects of such strate- gies can hardly be decided with this approach alone, a mathematical model has been developed to deal with their influence on the network as a whole. Together, this two-tiered approach permits us to propose quantita- tive assessments on the influence different caching and replication proposals (are going to) have on the Inter- net infrastructure.

Like other industries, the aircraft industry is under high pressure to meet drastically increased customer goals for market price and flexibility. This while at the same time share holders request for short term profit guarantees. Daimler-Benz Aerospace Airbus has met this challenge using business process reengineering methods which led to total company restructuring from functional orientation to customer and product orientation. This paper will show how business process modelling techniques have been applied. Especially concurrent engineering methods are used to integrate the various disciplines involved from market analysts over design, commercial to industrialization staff.

Techniques for modular software design are presented applying software agents. The conceptual designs are domain independent and make use of specificdomain aspects applying Multiagent AI. The stages of conceptualization, design and implementation are defined by new techniques coordinated by objects. Software systemsare designed by knowledge acquisition, specification, and multiagent implementations.

Software Products As Objects
(1997)

This paper describes our experiences in modeling entire software products (trees of software files) as objects. Container pnodes (product nodes) have user-defined Internetunique names, data types, and methods (operations). Pnodes can contain arbitrary collections of software files that represent programs, libraries, documents, or other software products. Pnodes can contain multiple software products, so that header files, libraries, and program products may all be stored within one pnode. Pnodes can contain views that list other pnodes in order to form large conceptual structures of pnodes. Typical pnode -object methods include: fetching and storing into version controlled repositories; dynamic analysis of pnode contents to generate makefiles of arbitrary complexity; local automated build operations; Internet-scalable distributed repository synchroni- zations; Internet-scalable, multi-platform, distributed build operations; extraction and generation of online API documen- tation, spell checking of document pnodes, and so on. Since methods are user-defined, they can be arbitrarily complex. Modelling software products as objects provides a large amount of effort leverage, since one person can define the methods and many people can use them in extensively automated ways.

We describe a platform for the portable and secure execution of mobile agents writtenin various interpreted languages on top of a common run-time core. Agents may migrate at anypoint in their execution, fully preserving their state, and may exchange messages with otheragents. One system may contain many virtual places, each establishing a domain of logicallyrelated services under a common security policy governing all agents at this place. Agents areequipped with allowances limiting their resource accesses, both globally per agent lifetime andlocally per place. We discuss aspects of this architecture and report about ongoing work.

The intuitionistic calculus mj for sequents, in which no other logical symbols than those for implication and universal quantification occur, is introduced and analysed. It allows a simple backward application, called mj-reduction here, for searching for derivation trees. Terms needed in mj-reduction can be found with the unification algorithm. mj-Reduction with unification can be seen as a natural extension of SLD-resolution. mj-Derivability of the sequents considered here coincides with derivability in Johansson's minimal intuitionistic calculus LHM in [6]. Intuitionistic derivability of formulae with negation and classical derivability of formulae with all usual logical symbols can be expressed with mj-derivability and hence be verified by mj-reduction. mj-Derivations can be easily translated into LJ-derivations without
"Schnitt", or into NJ-derivations in a slightly sharpened form of Prawitz' normal form. In the first three sections, the systematic use of mj-reduction for proving in predicate logic is emphasized. Although the fourth section, the last and largest, is exclusively devoted to the mathematical analysis of the calculus mj, the first three sections may be of interest to a wider readership, including readers looking for applications of symbolic logic. Unfortunately, the mathematical analysis of the calculus mj, as the study of Gentzen's calculi, demands a large amount of technical work that obscures the natural unfolding of the argumentation. To alleviate this, definitions and theorems are completely embedded in the text to provide a fluent and balanced mathematical discourse: new concepts are indicated with bold-face, proofs of assertions are outlined, or omitted when it is assumed that the reader can provide them.

We present a distributed system, Dott, for approximately solving the Trav-eling Salesman Problem (TSP) based on the Teamwork method. So-calledexperts and specialists work independently and in parallel for given time pe-riods. For TSP, specialists are tour construction algorithms and experts usemodified genetic algorithms in which after each application of a genetic operatorthe resulting tour is locally optimized before it is added to the population. Aftera given time period the work of each expert and specialist is judged by a referee.A new start population, including selected individuals from each expert and spe-cialist, is generated by the supervisor, based on the judgments of the referees.Our system is able to find better tours than each of the experts or specialistsworking alone. Also results comparable to those of single runs can be found muchfaster by a team.

The Internet has fallen prey to its most successful service, the World-Wide Web. The networksdo not keep up with the demands incurred by the huge amount of Web surfers. Thus, it takeslonger and longer to obtain the information one wants to access via the World-Wide Web.Many solutions to the problem of network congestion have been developed in distributed sys-tems research in general and distributed file and database systems in particular. The introduc-tion of caching and replication strategies has proven to help in many situations and thereforethese techniques are also applied to the WWW. Although most problems and associated solu-tions are known, some circumstances are different with the Web, forcing the adaptation ofknown strategies. This paper gives an overview about these differences and about currentlydeployed, developed, and evaluated solutions.