ADVENTURES IN FRIEDMANN COSMOLOGIES---INTERACTION OF POSITIVE ENERGY DENSITIES WITH NEGATIVE ENERGY DENSITIES AND CURVATURE OF THE UNIVERSE

In this report we will investigate the effect of negative energy density in a classic Friedmann cosmology. Although never measured and possibly unphysical, the evolution of a Universe containing a significant cosmological abundance of any of a number of hypothetical stable negative energy components is explored. These negative energy (Ω < 0) forms include negative phantom energy (w<-1), negative cosmological constant (w=-1), negative domain walls (w=-2/3), negative cosmic strings (w= -1/3), negative mass (w=0), negative radiation (w=1/3), and negative ultra-light (w > 1/3). Assuming that such universe components generate pressures as perfect fluids, the attractive or repulsive nature of each negative energy component is reviewed. The Friedmann equations can only be balanced when negative energies are coupled to a greater magnitude of positive energy or positive curvature, and minimal cases of both of these are reviewed. The future and fate of such universes in terms of curvature, temperature, acceleration, and energy density are reviewed including endings categorized as a Big Crunch, Big Void, or Big Rip and further qualified as "Warped", "Curved", or "Flat", "Hot" versus "Cold", "Accelerating" versus" Decelerating" versus "Coasting". A universe that ends by contracting to zero energy density is termed a Big Poof. Which contracting universes ``bounce" in expansion and which expanding universes ``turnover" into contraction are also reviewed. The name by which the ending of the Universe is mentioned is our own nomenclature.

GENERATING PLANS IN CONCURRENT, PROBABILISTIC, OVER-SUBSCRIBED DOMAINS

Planning in realistic domains typically involves reasoning under uncertainty, operating under time and resource constraints, and finding the optimal subset of goals to work on. Creating optimal plans that consider all of these features is a computationally complex, challenging problem. This dissertation develops an AO* search based planner named CPOAO* (Concurrent, Probabilistic, Over-subscription AO*) which incorporates durative actions, time and resource constraints, concurrent execution, over-subscribed goals, and probabilistic actions. To handle concurrent actions, action combinations rather than individual actions are taken as plan steps. Plan optimization is explored by adding two novel aspects to plans. First, parallel steps that serve the same goal are used to increase the plan’s probability of success. Traditionally, only parallel steps that serve different goals are used to reduce plan execution time. Second, actions that are executing but are no longer useful can be terminated to save resources and time. Conventional planners assume that all actions that were started will be carried out to completion. To reduce the size of the search space, several domain independent heuristic functions and pruning techniques were developed. The key ideas are to exploit dominance relations for candidate action sets and to develop relaxed planning graphs to estimate the expected rewards of states. This thesis contributes (1) an AO* based planner to generate parallel plans, (2) domain independent heuristics to increase planner efficiency, and (3) the ability to execute redundant actions and to terminate useless actions to increase plan efficiency.