Reasoning Modeled as a Society of Communicating Experts

This report describes a domain independent reasoning system. The system uses a frame-based knowledge representation language and various reasoning techniques including constraint propagation, progressive refinement, natural deduction and explicit control of reasoning. A computational architecture based on active objects which operate by exchanging messages is developed and it is shown how this architecture supports reasoning activity. The user interacts with the system by specifying frames and by giving descriptions defining the problem situation. The system uses its reasoning capacity to build up a model of the problem situation from which a solution can interactively be extracted. Examples are discussed from a variety of domains, including electronic circuits, mechanical devices and music. The main thesis is that a reasoning system is best viewed as a parallel system whose control and data are distributed over a large network of processors that interact by exchanging messages. Such a system will be metaphorically described as a society of communicating experts.

Reasoning from Incomplete Knowledge in a Procedural Deduction System

One very useful idea in AI research has been the notion of an explicit model of a problem situation. Procedural deduction languages, such as PLANNER, have been valuable tools for building these models. But PLANNER and its relatives are very limited in their ability to describe situations which are only partially specified. This thesis explores methods of increasing the ability of procedural deduction systems to deal with incomplete knowledge. The thesis examines in detail, problems involving negation, implication, disjunction, quantification, and equality. Control structure issues and the problem of modelling change under incomplete knowledge are also considered. Extensive comparisons are also made with systems for mechanica theorem proving.

Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes

This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand.

Motivated Action Theory: A Formal Theory of Causal Reasoning

When we reason about change over time, causation provides an implicit preference: we prefer sequences of situations in which one situation leads causally to the next, rather than sequences in which one situation follows another at random and without causal connections. In this paper, we explore the problem of temporal reasoning --- reasoning about change over time --- and the crucial role that causation plays in our intuitions. We examine previous approaches to temporal reasoning, and their shortcomings, in light of this analysis. We propose a new system for causal reasoning, motivated action theory, which builds upon causation as a crucial preference creterion. Motivated action theory solves the traditional problems of both forward and backward reasoning, and additionally provides a basis for a new theory of explanation.

The Grasping Problem: Toward Task-Level Programming for an Articulated Hand

This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots.

Natural Language Input for a Computer Problem Solving System

The STUDENT problem solving system, programmed in LISP, accepts as input a comfortable but restricted subset of English which can express a wide variety of algebra story problems. STUDENT finds the solution to a large class of these problems. STUDENT can utilize a store of global information not specific to any one problem, and may make assumptions about the interpretation of ambiguities in the wording of the problem being solved. If it uses such information or makes any assumptions, STUDENT communicates this fact to the user. The thesis includes a summary of other English language questions-answering systems. All these systems, and STUDENT, are evaluated according to four standard criteria. The linguistic analysis in STUDENT is a first approximation to the analytic portion of a semantic theory of discourse outlined in the thesis. STUDENT finds the set of kernel sentences which are the base of the input discourse, and transforms this sequence of kernel sentences into a set of simultaneous equations which form the semantic base of the STUDENT system. STUDENT then tries to solve this set of equations for the values of requested unknowns. If it is successful it gives the answers in English. If not, STUDENT asks the user for more information, and indicates the nature of the desired information. The STUDENT system is a first step toward natural language communication with computers. Further work on the semantic theory proposed should result in much more sophisticated systems.

Truth Maintenance Systems for Problem Solving

The thesis developed here is that reasoning programs which take care to record the logical justifications for program beliefs can apply several powerful, but simple, domain-independent algorithms to (1) maintain the consistency of program beliefs, (2) realize substantial search efficiencies, and (3) automatically summarize explanations of program beliefs. These algorithms are the recorded justifications to maintain the consistency and well founded basis of the set of beliefs. The set of beliefs can be efficiently updated in an incremental manner when hypotheses are retracted and when new information is discovered. The recorded justifications also enable the pinpointing of exactly whose assumptions which support any particular belief. The ability to pinpoint the underlying assumptions is the basis for an extremely powerful domain-independent backtracking method. This method, called Dependency-Directed Backtracking, offers vastly improved performance over traditional backtracking algorithms.