Building Grounded Abstractions for Artificial Intelligence Programming

Most Artificial Intelligence (AI) work can be characterized as either ``high-level'' (e.g., logical, symbolic) or ``low-level'' (e.g., connectionist networks, behavior-based robotics). Each approach suffers from particular drawbacks. High-level AI uses abstractions that often have no relation to the way real, biological brains work. Low-level AI, on the other hand, tends to lack the powerful abstractions that are needed to express complex structures and relationships. I have tried to combine the best features of both approaches, by building a set of programming abstractions defined in terms of simple, biologically plausible components. At the ``ground level'', I define a primitive, perceptron-like computational unit. I then show how more abstract computational units may be implemented in terms of the primitive units, and show the utility of the abstract units in sample networks. The new units make it possible to build networks using concepts such as long-term memories, short-term memories, and frames. As a demonstration of these abstractions, I have implemented a simulator for ``creatures'' controlled by a network of abstract units. The creatures exist in a simple 2D world, and exhibit behaviors such as catching mobile prey and sorting colored blocks into matching boxes. This program demonstrates that it is possible to build systems that can interact effectively with a dynamic physical environment, yet use symbolic representations to control aspects of their behavior.

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

A mixed H2/H∞-based semiactive control for vibration mitigation in flexible structures

In this paper, we address this problem through the design of a semiactive controller based on the mixed H2/H∞ control theory. The vibrations caused by the seismic motions are mitigated by a semiactive damper installed in the bottom of the structure. It is meant by semiactive damper, a device that absorbs but cannot inject energy into the system. Sufficient conditions for the design of a desired control are given in terms of linear matrix inequalities (LMIs). A controller that guarantees asymptotic stability and a mixed H2/H∞ performance is then developed. An algorithm is proposed to handle the semiactive nature of the actuator. The performance of the controller is experimentally evaluated in a real-time hybrid testing facility that consists of a physical specimen (a small-scale magnetorheological damper) and a numerical model (a large-scale three-story building)

QFT control for vibration reduction in structures equipped with MR dampers

This short paper addresses the problem of designing a QFT (quantitative feedback theory) based controllers for the vibration reduction in a 6-story building structure equipped with shear-mode magnetorheological dampers. A new methodology is proposed for characterizing the nonlinear hysteretic behavior of the MR damper through the uncertainty template in the Nichols chart. The design procedure for QFT control design is briefly presented

Factores para la implementación eficiente de un sistema de control de gestión en las organizaciones

La implementación del MCS es una necesidad que demandan las organizaciones en la medida en que incrementan de tamaño, pero la experiencia muestra que esta metodología tiene casos de éxito como de fracaso, por lo que es importante identificar y contemplar los factores que influyen en la implementación para que el sistema sea efectivo. Este proyecto pretende analizar las variables y herramientas para la implementación de un MCS en una organización. Para este análisis se hizo una amplia revisión literaria teórica y práctica. Finalmente el resultado que se obtuvo fue definir cuáles son los factores determinantes para la implementación de un MCS efectivo en una empresa.

Impacto del sistema de control de gestión en el aprendizaje de las empresas multidomésticas del sector automotriz de Colombia

Las empresas multidomesticas en su direccionamiento estratégico necesitan de un sistema de control de gestión que les permita entender cómo se está desarrollando su estrategia en los diferentes mercados, frente a los objetivos planteados, de esta forma la implementación de estos sistemas de gestión generan la posibilidad de poder medir, valorar e informar sobre el cumplimiento y la evolución de los resultados previstos y ser un apoyo para la estrategia de mercados multidomesticos. Frente al contexto actual colombiano, se encontro que el mercado del sector automotriz, conformado por empresas multinacionales con una administración estratégica multidomestica, está cada vez más competitivos.Mediante la utilización de los sistemas de control de gestión es posible establecer e identificar variables que fomenten el aprendizaje organizacional, un campo de investigación académica y de práctica profesional el cual permite desarrollar variables claves dentro de la organización como lo son la innovación, la estrategia, la productividad y la toma de decisiones. Variables que favorecen el dinamismo y sostenibilidad del sector automotriz y las organizaciones que la conforman. Así garantizan un mayor aprendizaje creciente en el tiempo, por medio del cual se garantiza la perfecta armonía entre todos los empleados sin jerarquizacion y filtros para la información, dando paso al aprendizaje. Por medio de encuestas a directivos de las empresas mencionadas fue posible obtener conclusiones y encontrar similitudes entre el panorama actual contado por ellos mismos y lo que previamente se formulaba basados en fuentes teóricas, demostrando el real impacto de los sistemas de control de gestión en el aprendizaje de las empresas multidomesticas del sector automotriz en Colombia.

La Organización de Cooperación de Shanghái (OCS): ¿una alianza estratégica Sino-Rusa para el control de Asia Central? (2001-2014)

La presente monografía pretende analizar en qué medida el co-liderazgo sino-ruso de la Organización de Cooperación de Shanghái puede condicionar la hegemonía estadounidense en Asia Central. Esta investigación defiende que los objetivos del co-liderazgo sino-ruso de la OCS - garantizar un orden multipolar del Sistema Internacional; obtener el acceso, control y explotación de los recursos (naturales, minerales e hídricos); disminuir la influencia política y militar de Estados Unidos en dicho pivote geopolítico - evidencian una contraposición al código geopolítico estadounidense en Asia Central, lo cual genera un limitante a su proyecto de hegemonía en la región. Para sustentar lo anterior se utilizan categorías analíticas propias de la Geopolítica de autores como Zbigniew Brzezinski, Saul Cohen y Peter Taylor, las cuales se contrastan con las estrategias de Rusia, China y Estados Unidos en Asia Central.

A mission control system for an autonomous underwater vehicle

The presented work focuses on the theoretical and practical aspects concerning the design and development of a formal method to build a mission control system for autonomous underwater vehicles bringing systematic design principles for the formal description of missions using Petri nets. The proposed methodology compounds Petri net building blocks within it to de_ne a mission plan for which it is proved that formal properties, such as reachability and reusability, hold as long as these same properties are also guaranteed by each Petri net building block. To simplify the de_nition of these Petri net blocks as well as their composition, a high level language called Mission Control Language has been developed. Moreover, a methodology to ensure coordination constraints for teams of multiple robots as well as the de_nition of an interface between the proposed system and an on-board planner able to plan/replan sequences of prede_ned mission plans is included as well. Results of experiments with several real underwater vehicles and simulations involving an autonomous surface craft and an autonomous underwater vehicles are presented to show the system's capabilities.

Els valors límit d'exposició professional i límits biològics per a agents químics en l'àmbit de treball, mesura i control. Evolució de la normativa sobre el plom i la seva incidència sobre els accidents laborals i malalties professionals en la indústria ceràmica

L'objectiu d'aquesta tesi és l'estudi dels valors límit d'exposició professional previstos en la normativa actual com a valors de referència per a l'avaluació i control dels riscos que comporta l'exposició a agents químics presents en el lloc de treball, fonamentalment per inhalació, per protegir la salut dels treballadors. No es pretén realitzar ni un estudi epidemiològic ni un estudi d'higiene, només s'utilitzen els valors d'exposició professional per analitzar el compliment de la normativa sobre la presència de plom en l'ambient de treball, i comprovar si el compliment de la normativa comporta la millora de la salut dels treballadors en funció de la millora de les concentracions de valors ambientals o biològics de l'exposició dels treballadors. La Directiva 98/24/CE deroga les Directives 80/1107/CEE sobre la protecció dels treballadors contra els riscos relacionats amb l'exposició a agents químics, físics i biològics durant el treball, i la Directiva 82/605/CEE, sobre la protecció dels treballadors contra riscos relacionats amb una exposició al plom metàl·lic i als seus compostos iònics durant el treball. S'analitza l'evolució de la normativa sobre la presència d'agents químics en l'ambient de treball, i en concret el plom, i la seva incidència en els accidents laborals i malalties professionals, i el compliment de la normativa al final d'un cicle marcat per l'entrada en vigor de la Directiva 98/24/CE. Per realitzar l'anàlisi anteriorment esmentada s'estudia la indústria ceràmica de les comarques gironines, de la construcció, de l'alimentació i decorativa, a través de les mesures de plom en l'ambient laboral i les mesures de plom en sang dels treballadors d'aquesta indústria des de 1991 a 1996.

Collaboration between infection control and occupational health in three continents: a success story with international impact

Globalization has been accompanied by the rapid spread of infectious diseases, and further strain on working conditions for health workers globally. Post-SARS, Canadian occupational health and infection control researchers got together to study how to better protect health workers, and found that training was indeed perceived as key to a positive safety culture. This led to developing information and communication technology (ICT) tools. The research conducted also showed the need for better workplace inspections, so a workplace audit tool was also developed to supplement worker questionnaires and the ICT. When invited to join Ecuadorean colleagues to promote occupational health and infection control, these tools were collectively adapted and improved, including face-to-face as well as on-line problem-based learning scenarios. The South African government then invited the team to work with local colleagues to improve occupational health and infection control, resulting in an improved web-based health information system to track incidents, exposures, and occupational injury and diseases. As the H1N1 pandemic struck, the online infection control course was adapted and translated into Spanish, as was a novel skill-building learning tool that permits health workers to practice selecting personal protective equipment. This tool was originally developed in collaboration with the countries from the Caribbean region and the Pan American Health Organization (PAHO). Research from these experiences led to strengthened focus on building capacity of health and safety committees, and new modules are thus being created, informed by that work. The products developed have been widely heralded as innovative and interactive, leading to their inclusion into “toolkits” used internationally. The tools used in Canada were substantially improved from the collaborative adaptation process for South and Central America and South Africa. This international collaboration between occupational health and infection control researchers led to the improvement of the research framework and development of tools, guidelines and information systems. Furthermore, the research and knowledge-transfer experience highlighted the value of partnership amongst Northern and Southern researchers in terms of sharing resources, experiences and knowledge.

Requirements for building information modeling based lean production management systems for construction

Smooth flow of production in construction is hampered by disparity between individual trade teams' goals and the goals of stable production flow for the project as a whole. This is exacerbated by the difficulty of visualizing the flow of work in a construction project. While the addresses some of the issues in Building information modeling provides a powerful platform for visualizing work flow in control systems that also enable pull flow and deeper collaboration between teams on and off site. The requirements for implementation of a BIM-enabled pull flow construction management software system based on the Last Planner System™, called ‘KanBIM’, have been specified, and a set of functional mock-ups of the proposed system has been implemented and evaluated in a series of three focus group workshops. The requirements cover the areas of maintenance of work flow stability, enabling negotiation and commitment between teams, lean production planning with sophisticated pull flow control, and effective communication and visualization of flow. The evaluation results show that the system holds the potential to improve work flow and reduce waste by providing both process and product visualization at the work face.

Failure of a control strategy for a hybrid air-conditioning and wind catchers/towers system at Bluewater shopping malls in Kent

Purpose – To evaluate the control strategy for a hybrid natural ventilation wind catchers and air-conditioning system and to assess the contribution of wind catchers to indoor air environments and energy savings if any. Design/methodology/approach – Most of the modeling techniques for assessing wind catchers performance are theoretical. Post-occupancy evaluation studies of buildings will provide an insight into the operation of these building components and help to inform facilities managers. A case study for POE was presented in this paper. Findings – The monitoring of the summer and winter month operations showed that the indoor air quality parameters were kept within the design target range. The design control strategy failed to record data regarding the operation, opening time and position of wind catchers system. Though the implemented control strategy was working effectively in monitoring the operation of mechanical ventilation systems, i.e. AHU, did not integrate the wind catchers with the mechanical ventilation system. Research limitations/implications – Owing to short-falls in the control strategy implemented in this project, it was found difficult to quantify and verify the contribution of the wind catchers to the internal conditions and, hence, energy savings. Practical implications – Controlling the operation of the wind catchers via the AHU will lead to isolation of the wind catchers in the event of malfunctioning of the AHU. Wind catchers will contribute to the ventilation of space, particularly in the summer months. Originality/value – This paper demonstrates the value of POE as indispensable tool for FM professionals. It further provides insight into the application of natural ventilation systems in building for healthier indoor environments at lower energy cost. The design of the control strategy for natural ventilation and air-conditioning should be considered at the design stage involving the FM personnel.

Innovative approach to building systems integration problems: Using systems theory, technological forecasting and scenario planning

Building services are worth about 2% GDP and are essential for the effective and efficient operations of the building. It is increasingly recognised that the value of a building is related to the way it supports the client organisation’s ongoing business operations. Building services are central to the functional performance of buildings and provide the necessary conditions for health, well-being, safety and security of the occupants. They frequently comprise several technologically distinct sub-systems and their design and construction requires the involvement of numerous disciplines and trades. Designers and contractors working on the same project are frequently employed by different companies. Materials and equipment is supplied by a diverse range of manufacturers. Facilities managers are responsible for operation of the building service in use. The coordination between these participants is crucially important to achieve optimum performance, but too often is neglected. This leaves room for serious faults. The need for effective integration is important. Modern technology offers increasing opportunities for integrated personal-control systems for lighting, ventilation and security as well as interoperability between systems. Opportunities for a new mode of systems integration are provided by the emergence of PFI/PPP procurements frameworks. This paper attempts to establish how systems integration can be achieved in the process of designing, constructing and operating building services. The essence of the paper therefore is to envisage the emergent organisational responses to the realisation of building services as an interactive systems network.

A conceptual design of a wireless sensor actuator system for optimising energy and well-being in a building

This article presents a prototype model based on a wireless sensor actuator network (WSAN) aimed at optimizing both energy consumption of environmental systems and well-being of occupants in buildings. The model is a system consisting of the following components: a wireless sensor network, `sense diaries', environmental systems such as heating, ventilation and air-conditioning systems, and a central computer. A multi-agent system (MAS) is used to derive and act on the preferences of the occupants. Each occupant is represented by a personal agent in the MAS. The sense diary is a new device designed to elicit feedback from occupants about their satisfaction with the environment. The roles of the components are: the WSAN collects data about physical parameters such as temperature and humidity from an indoor environment; the central computer processes the collected data; the sense diaries leverage trade-offs between energy consumption and well-being, in conjunction with the agent system; and the environmental systems control the indoor environment.