Engineering Commons^™

Towards Efficient Computation Of Quality Bounded Solutions In Pomdps: Expected Value Approximation And Dynamic Disjunctive Beliefs, Pradeep Reddy Varakantham, Rajiv Maheswaran, Tapana Gupta, Milind Tambe

Research Collection School Of Computing and Information Systems

While POMDPs (partially observable markov decision problems) are a popular computational model with wide-ranging applications, the computational cost for optimal policy generation is prohibitive. Researchers are investigating ever-more efficient algorithms, yet many applications demand such algorithms bound any loss in policy quality when chasing efficiency. To address this challenge, we present two new techniques. The first approximates in the value space to obtain solutions efficiently for a pre-specified error bound. Unlike existing techniques, our technique guarantees the resulting policy will meet this bound. Furthermore, it does not require costly computations to determine the quality loss of the policy. Our second …

A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge

Mechanical Engineering Faculty Research

Autonomous vehicles have potential applications in many fields, such as replacing humans in hazardous environments, conducting military missions, and performing routine tasks for industry. Driving ground vehicles is an area where human performance has proven to be reliable. Drivers typically respond quickly to sudden changes in their environment. While other control techniques may be used to control a vehicle, fuzzy logic has certain advantages in this area; one of them is its ability to incorporate human knowledge and experience, via language, into relationships among the given quantities. Fuzzy logic controllers for autonomous vehicles have been successfully applied to address various …

Cosign: A Parallel Algorithm For Coordinated Traffic Signal Control, Shih-Fen Cheng, Marina A. Epelman, Robert L. Smith

Research Collection School Of Computing and Information Systems

The problem of finding optimal coordinated signal timing plans for a large number of traffic signals is a challenging problem because of the exponential growth in the number of joint timing plans that need to be explored as the network size grows. In this paper, the game-theoretic paradigm of fictitious play to iteratively search for a coordinated signal timing plan is employed, which improves a system-wide performance criterion for a traffic network. The algorithm is robustly scalable to realistic-size networks modeled with high-fidelity simulations. Results of a case study for the city of Troy, MI, where there are 75 signalized …

Dynamic Multi-Linked Negotiations In Multi-Echelon Production Scheduling Networks, Hoong Chuin Lau, Guan Li Soh, Wee Chong Wan

Research Collection School Of Computing and Information Systems

In this paper, we are concerned with scheduling resources in a multi-tier production/logistics system for multi-indenture goods. Unlike classical production scheduling problems, the problem we study is concerned with local utilities which are private. We present an agent model and investigate an efficient scheme for handling multi-linked agent negotiations. With this scheme we attempt to overcome the drawbacks of sequential negotiations and negotiation parameter settings. Our approach is based on embedding a credit-based negotiation protocol within a local search scheduling algorithm. We demonstrate the computational efficiency and effectiveness of the approach in solving a real-life dynamic production scheduling problem which …

Robust Controllability In Temporal Constraint Networks Under Uncertainty, Hoong Chuin Lau, Jia Li, Roland H. C. Yap

Research Collection School Of Computing and Information Systems

Temporal constraint networks are embedded in many planning and scheduling problems. In dynamic problems, a fundamental challenge is to decide whether such a network can be executed as uncertainty is revealed over time. Very little work in this domain has been done in the probabilistic context. In this paper, we propose a Temporal Constraint Network (TCN) model where durations of uncertain activities are represented by random variables. We wish to know whether such a network is robust controllable, i.e. can be executed dynamically within a given failure probability, and if so, how one might find a feasible schedule as the …

Viz: A Visual Analysis Suite For Explaining Local Search Behavior, Steven Halim, Roland H. C. Yap, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

NP-hard combinatorial optimization problems are common in real life. Due to their intractability, local search algorithms are often used to solve such problems. Since these algorithms are heuristic-based, it is hard to understand how to improve or tune them. We propose an interactive visualization tool, VIZ, meant for understanding the behavior of local search. VIZ uses animation of abstract search trajectories with other visualizations which are also animated in a VCR-like fashion to graphically playback the algorithm behavior. It combines generic visualizations applicable on arbitrary algorithms with algorithm and problem specific visualizations. We use a variety of techniques such as …

Two-Instant Reallocation In Two-Echelon Spare Parts Inventory Systems, Huawei Song, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

In this paper, we study the problem of deciding when and how to perform reallocation of existing spare parts in a multi-echelon reparable item inventory system. We present a mathematical model that solves the problem when there are two reallocation instants, in response to the open challenge post by Cao and Silver(2005) to consider two or more possible reallocations within a replenishment cycle.

Learning As A Nonlinear Line Of Attraction For Pattern Association, Classification And Recognition, Ming-Jung Seow

Electrical & Computer Engineering Theses & Dissertations

Development of a mathematical model for learning a nonlinear line of attraction is presented in this dissertation, in contrast to the conventional recurrent neural network model in which the memory is stored in an attractive fixed point at discrete location in state space. A nonlinear line of attraction is the encapsulation of attractive fixed points scattered in state space as an attractive nonlinear line, describing patterns with similar characteristics as a family of patterns.

It is usually of prime imperative to guarantee the convergence of the dynamics of the recurrent network for associative learning and recall. We propose to alter …

Socio-Economic Impacts Of Computer Viruses In Tanzania, M Victor

Tanzania Journal of Engineering and Technology (TJET)

This paper reports on a research project conducted with an objective of identifying and assessing various approaches used by different computer users (Management, System Administrators and end users) in Tanzania to combat computer viruses (CVs), and to assess users' awareness level on CVs. Specifically, the study aimed at assessing the awareness level on CVs to the Tanzanian business community; analyze the socio -economic impact caused by CVs in Tanzania and; assess existing methods, capacity and limitations on controlling CVs in Tanzania. Data was collected using both questionnaires and interview from financial institutions such as NBC and BOT, and telecommunications sector …

Winning Back The Cup For Distributed Pomdps: Planning Over Continuous Belief Spaces, Pradeep Varakantham, Ranjit Nair, Milind Tambe, Makoto Yokoo

Research Collection School Of Computing and Information Systems

Distributed Partially Observable Markov Decision Problems (Distributed POMDPs) are evolving as a popular approach for modeling multiagent systems, and many different algorithms have been proposed to obtain locally or globally optimal policies. Unfortunately, most of these algorithms have either been explicitly designed or experimentally evaluated assuming knowledge of a starting belief point, an assumption that often does not hold in complex, uncertain domains. Instead, in such domains, it is important for agents to explicitly plan over continuous belief spaces. This paper provides a novel algorithm to explicitly compute finite horizon policies over continuous belief spaces, without restricting the space of …

Mobius: An Omnidirectional Robotic Platform And Software Architecture For Network Teleoperation, Samuel Aaron Miller

Electrical & Computer Engineering Theses & Dissertations

The following thesis presents the results of a project to develop and test an omnidirectional robotic system (hardware and software) at NASA Langley Research Center's Robotics and Intelligent Machines Lab. The impetus for the project was the unique capabilities of omnidirectional systems. Some of the many potential benefits these systems have include improved material-handling capabilities in constrained environments (such as might be found in extraterrestrial manned habitats), efficient camera-based vehicle teleoperation, and simplified route planning for autonomous robot operations.

The project's focus was to design, build, and test a system that used Mecanum wheels to achieve omnidirectional motion. In addition …

Evaluation Of Time-Varying Availability In Multi-Echelon Spare Parts Systems With Passivation, Hoong Chuin Lau, Huawei Song, Chuen Teck See, Siew Yen Cheng

Research Collection School Of Computing and Information Systems

The popular models for repairable item inventory, both in the literature as well as practical applications, assume that the demands for items are independent of the number of working systems. However this assumption can introduce a serious underestimation of availability when the number of working systems is small, the failure rate is high or the repair time is long. In this paper, we study a multi-echelon repairable item inventory system under the phenomenon of passivation, i.e. serviceable items are passivated (“switched off”) upon system failure. This work is motivated by corrective maintenance of high-cost technical equipment in the miltary. We …

Visualization For Analyzing Trajectory-Based Metaheuristic Search Algorithms, Steven Halim, Roland H. C. Yap, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

No abstract provided.

Hybrid Committee Classifier For A Computerized Colonic Polyp Detection System, Jiang Li, Jianhua Yao, Nicholas Petrick, Ronald M. Summers, Amy K. Hara, Joseph M. Reinhardt (Ed.), Josien P.W. Pluim (Ed.)

Electrical & Computer Engineering Faculty Publications

We present a hybrid committee classifier for computer-aided detection (CAD) of colonic polyps in CT colonography (CTC). The classifier involved an ensemble of support vector machines (SVM) and neural networks (NN) for classification, a progressive search algorithm for selecting a set of features used by the SVMs and a floating search algorithm for selecting features used by the NNs. A total of 102 quantitative features were calculated for each polyp candidate found by a prototype CAD system. 3 features were selected for each of 7 SVM classifiers which were then combined to form a committee of SVMs classifier. Similarly, features …

Multiagent Teamwork: Hybrid Approaches, Praveen Paruchuri, Emma Bowring, Ranjit Nair, Jonathan Pearce, Nathan Schurr, Milind Tambe, Pradeep Varakantham

Research Collection School Of Computing and Information Systems

Today within the multiagent community, we see at least four competing methods to building multiagent systems: beliefdesireintention (BDI), distributed constraint optimization (DCOP), distributed POMDPs, and auctions or game-theoretic methods. While there is exciting progress within each approach, there is a lack of cross-cutting research. This article highlights the various hybrid techniques for multiagent teamwork developed by the teamcore group. In particular, for the past decade, the TEAMCORE research group has focused on building agent teams in complex, dynamic domains. While our early work was inspired by BDI, we will present an overview of recent research that uses DCOPs and distributed …

A Generic Object-Oriented Tabu Search Framework, Hoong Chuin Lau, Xiaomin Jia, Wee Chong Wan

Research Collection School Of Computing and Information Systems

Presently, most tabu search designers devise their applications without considering the potential of design and code reuse, which consequently prolong the development of subsequent applications. In this paper, we propose a software solution known as Tabu Search Framework (TSF), which is a generic C++ software framework for tabu search implementation. The framework excels in code recycling through the use of a well- designed set of generic abstract classes that clearly define their collaborative roles in the algorithm. Additionally, the framework incorporates a centralized process and control mechanism that enhances the search with intelligence. This results in a generic framework that …

Solving Generalized Open Constraint Optimization Problem Using Two-Level Multi-Agent Framework, Hoong Chuin Lau, Lei Zhang, Chang Liu

Research Collection School Of Computing and Information Systems

The Open Constraint Optimization Problem (OCOP) refers to the COP where constraints and variable domains can change over time and agents' opinions have to be sought over a distributed network to form a solution. The openness of the problem has caused conventional approaches to COP such as branch-and-bound to fail to find optimal solutions. OCOP is a new problem and the approach to find an optimal solution (minimum total cost) introduced in [1] is based on an unrealistic assumption that agents are willing to report their options in nondecreasing order of cost. In this paper, we study a generalized OCOP …

Evaluation Of Time-Varying Availability In Multi-Echelon Inventory System With Combat Damage, Hoong Chuin Lau, Huawei Song

Research Collection School Of Computing and Information Systems

The models for multi-echelon inventory systems in existing literatures predominantly address failures due to reliability in peacetime. In wartime or even peacetime operational scenarios, unexpected combat damage can cause a large number of systems to be heavily damaged, to the extent that they become irreparable. In this paper, we study a multi-echelon spare parts support system under combat damage, discuss the replenishment policy and propose an approximate method to evaluate the time-varying system performance operational availability considering the effect of passivation. Experiments show our model works well and efficiently against simulation.

Tuning Tabu Search Strategies Via Visual Diagnosis, Steven Halim, Wee Chong Wan, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

While designing working metaheuristics can be straightforward, tuning them to solve the underlying combinatorial optimization problem well can be tricky. Several tuning methods have been proposed but they do not address the new aspect of our proposed classification of the metaheuristic tuning problem: tuning search strategies. We propose a tuning methodology based on Visual Diagnosis and a generic tool called Visualizer for Metaheuristics Development Framework(V-MDF) to address specifically the problem of tuning search (particularly Tabu Search) strategies. Under V-MDF, we propose the use of a Distance Radar visualizer where the human and computer can collaborate to diagnose the occurrence of …

Exploiting Belief Bounds: Practical Pomdps For Personal Assistant Agents, Pradeep Varakantham, Rajiv Maheswaran, Milind Tambe

Research Collection School Of Computing and Information Systems

Agents or agent teams deployed to assist humans often face the challenges of monitoring the state of key processes in their environment (including the state of their human users themselves) and making periodic decisions based on such monitoring. POMDPs appear well suited to enable agents to address these challenges, given the uncertain environment and cost of actions, but optimal policy generation for POMDPs is computationally expensive. This paper introduces three key techniques to speedup POMDP policy generation that exploit the notion of progress or dynamics in personal assistant domains. Policy computation is restricted to the belief space polytope that remains …

Approximate Strategic Reasoning Through Hierarchical Reduction Of Large Symmetric Games, Michael P. Wellman, Daniel M. Reeves, Kevin M. Lochner, Shih-Fen Cheng, Rahul Suri

Research Collection School Of Computing and Information Systems

To deal with exponential growth in the size of a game with the number of agents, we propose an approximation based on a hierarchy of reduced games. The reduced game achieves savings by restricting the number of agents playing any strategy to fixed multiples. We validate the idea through experiments on randomly generated local-effect games. An extended application to strategic reasoning about a complex trading scenario motivates the approach, and demonstrates methods for game-theoretic reasoning over incompletely-specified games at multiple levels of granularity.

Rapid Prototyping For The Design Of Virtual Worlds, Prabhu V. Krishnan

Electrical & Computer Engineering Theses & Dissertations

Development of Virtual Reality (VR) applications is challenging where application developers are required to have expertise in the target VR technologies along with the problem domain expertise. New VR technologies impose a significant learning curve to even the most experienced VR developer. The proposed solution relies on synthesis to automate the migration of a VR application to a new unfamiliar VR platform/technology. To solve the problem, the Common Scene Definition Framework (CSDF) was developed, that serves as a superset/model representation of the target virtual world. Input modules were developed to populate the framework with the capabilities of the virtual world …

Robust Temporal Constraint Networks, Hoong Chuin Lau, Thomas Ou, Melvyn Sim

Research Collection School Of Computing and Information Systems

In this paper, we propose the Robust Temporal Constraint Network (RTCN) model for simple temporal constraint networks where activity durations are bounded by random variables. The problem is to determine whether such temporal network can be executed with failure probability less than a given 0 ≤ E ≤ 1 for each possible instantiation of the random variables, and if so. how one might find a feasible schedule with each given instantiation. The advantage of our model is that one can vary the value of ∊ to control the level of conservativeness of the solution. We present a computationally tractable and …

A Multi-Agent Approach For Solving Optimization Problems Involving Expensive Resources, Hoong Chuin Lau, H. Wang

Research Collection School Of Computing and Information Systems

In this paper, we propose a multi-agent approach for solving a class of optimization problems involving expensive resources, where monolithic local search schemes perform miserably. More specifically, we study the class of bin-packing problems. Under our proposed Fine-Grained Agent System scheme, rational agents work both collaboratively and selfishly based on local search and mimic physics-motivated systems. We apply our approach to a generalization of bin-packing - the Inventory Routing Problem with Time Windows - which is an important logistics problem, and demonstrate the efficiency and effectiveness of our approach.

Two-Echelon Repairable Item Inventory System With Limited Repair Capacity Under Nonstationary Demands, Hoong Chuin Lau, Huawei Song

Research Collection School Of Computing and Information Systems

We study a repairable item inventory system under limited repair capacity and nonstationary Poisson demands, motivated by corrective maintenance of military equipment. Our goal is to minimize the cost of both spare and repair resource allocation. We propose an efficient analytical model that combines optimization modeling and queuing theory.

A Periodic-Review Inventory Model With Application To The Continuous-Review Obsolescence Problem, Yuyue Song, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

In this paper we consider a stochastic-demand periodic-review inventory model with sudden obsolescence. We characterize the structure of the optimal policy and propose a dynamic programming algorithm for computing its parameters. We then utilize this algorithm to approximate the solution to the continuous-review sudden obsolescence problem with general obsolescence distribution. We prove convergence of our approximation scheme, and demonstrate it numerically against known closed-form solutions of special cases.

Corrective Maintenance Optimization In An Air Force, Hoong Chuin Lau, K. Y. Neo, W. C. Wan

Research Collection School Of Computing and Information Systems

Successful military mission planning and execution depend critically on equipment serviceability and resupply. Due to the stochastic nature of demands, the forecast of optimal spares and resources needed to guarantee the level of serviceability is a complex problem, especially in a multi-echelon setting. In this paper, we propose a decision-support concept and software tool known as Corrective Maintenance Optimizer (CMO) that helps to optimize system availability, through proper allocation of spare parts, both strategically and operationally.

Job Scheduling With Unfixed Availability Constraints, Hoong Chuin Lau, C. Zhang

Research Collection School Of Computing and Information Systems

Standard scheduling theory assumes that all machines are continuously available throughout the planning horizon. In many manufacturing and service management situations however, machines need to be maintained periodically to prevent malfunctions. During the maintenance period, a machine is not available for processing jobs. Hence, a more realistic scheduling model should take into account machine maintenance activities. In this paper, we study the problem of job scheduling with unfixed availability constraints on a single machine. We first propose a preliminary classification for the scheduling problem with unfixed availability constraints based on maintenance constraints, job characteristics and objective function. We divide our …

Logistics Network Design With Differentiated Delivery Lead Time: A Chemical Industry Case Study, Michelle Lee Fong Cheong, Rohit Bhatnagar, Stephen C. Graves

Research Collection School Of Computing and Information Systems

Most logistics network design models assume exogenous customer demand that is independent of the service time or level. This paper examines the benefits of segmenting demand according to lead-time sensitivity of customers. To capture lead-time sensitivity in the network design model, we use a facility grouping method to ensure that the different demand classes are satisfied on time. In addition, we perform a series of computational experiments to develop a set of managerial insights for the network design decision making process.

A Two-Level Framework For Coalition Formation Via Optimization And Agent Negotiation, Hoong Chuin Lau, Lei Zhang

Research Collection School Of Computing and Information Systems

We present a two-level coalition formation approach based on a centralized optimization model on the upper level, and a distributed agent-negotiation model on the lower level. This approach allows us to balance agent self-interests against a high joint utility. Experimental results show that the two-level coalition formation mechanism will increase not only the overall utility of the coalition, but also the individual utility of most participating agents. The results also suggest it is better for the agents to be partially cooperative rather than either fully cooperative or self-interested in our setting.