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- Creators: School of Life Sciences
Description
In this dissertation I develop a deep theory of temporal planning well-suited to analyzing, understanding, and improving the state of the art implementations (as of 2012). At face-value the work is strictly theoretical; nonetheless its impact is entirely real and practical. The easiest portion of that impact to highlight concerns the notable improvements to the format of the temporal fragment of the International Planning Competitions (IPCs). Particularly: the theory I expound upon here is the primary cause of--and justification for--the altered (i) selection of benchmark problems, and (ii) notion of "winning temporal planner". For higher level motivation: robotics, web service composition, industrial manufacturing, business process management, cybersecurity, space exploration, deep ocean exploration, and logistics all benefit from applying domain-independent automated planning technique. Naturally, actually carrying out such case studies has much to offer. For example, we may extract the lesson that reasoning carefully about deadlines is rather crucial to planning in practice. More generally, effectively automating specifically temporal planning is well-motivated from applications. Entirely abstractly, the aim is to improve the theory of automated temporal planning by distilling from its practice. My thesis is that the key feature of computational interest is concurrency. To support, I demonstrate by way of compilation methods, worst-case counting arguments, and analysis of algorithmic properties such as completeness that the more immediately pressing computational obstacles (facing would-be temporal generalizations of classical planning systems) can be dealt with in theoretically efficient manner. So more accurately the technical contribution here is to demonstrate: The computationally significant obstacle to automated temporal planning that remains is just concurrency.
ContributorsCushing, William Albemarle (Author) / Kambhampati, Subbarao (Thesis advisor) / Weld, Daniel S. (Committee member) / Smith, David E. (Committee member) / Baral, Chitta (Committee member) / Davalcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2012
Description
Current work in planning assumes that user preferences and/or domain dynamics are completely specified in advance, and aims to search for a single solution plan to satisfy these. In many real world scenarios, however, providing a complete specification of user preferences and domain dynamics becomes a time-consuming and error-prone task. More often than not, a user may provide no knowledge or at best partial knowledge of her preferences with respect to a desired plan. Similarly, a domain writer may only be able to determine certain parts, not all, of the model of some actions in a domain. Such modeling issues requires new concepts on what a solution should be, and novel techniques in solving the problem. When user preferences are incomplete, rather than presenting a single plan, the planner must instead provide a set of plans containing one or more plans that are similar to the one that the user prefers. This research first proposes the usage of different measures to capture the quality of such plan sets. These are domain-independent distance measures based on plan elements if no knowledge of the user preferences is given, or the Integrated Preference Function measure in case incomplete knowledge of such preferences is provided. It then investigates various heuristic approaches to generate plan sets in accordance with these measures, and presents empirical results demonstrating the promise of the methods. The second part of this research addresses planning problems with incomplete domain models, specifically those annotated with possible preconditions and effects of actions. It formalizes the notion of plan robustness capturing the probability of success for plans during execution. A method of assessing plan robustness based on the weighted model counting approach is proposed. Two approaches for synthesizing robust plans are introduced. The first one compiles the robust plan synthesis problems to the conformant probabilistic planning problems. The second approximates the robustness measure with lower and upper bounds, incorporating them into a stochastic local search for estimating distance heuristic to a goal state. The resulting planner outperforms a state-of-the-art planner that can handle incomplete domain models in both plan quality and planning time.
ContributorsNguyễn, Tuấn Anh (Author) / Kambhampati, Subbarao (Thesis advisor) / Baral, Chitta (Committee member) / Do, Minh (Committee member) / Lee, Joohyung (Committee member) / Smith, David E. (Committee member) / Arizona State University (Publisher)
Created2014
Description
As robotic technology and its various uses grow steadily more complex and ubiquitous, humans are coming into increasing contact with robotic agents. A large portion of such contact is cooperative interaction, where both humans and robots are required to work on the same application towards achieving common goals. These application scenarios are characterized by a need to leverage the strengths of each agent as part of a unified team to reach those common goals. To ensure that the robotic agent is truly a contributing team-member, it must exhibit some degree of autonomy in achieving goals that have been delegated to it. Indeed, a significant portion of the utility of such human-robot teams derives from the delegation of goals to the robot, and autonomy on the part of the robot in achieving those goals. In order to be considered truly autonomous, the robot must be able to make its own plans to achieve the goals assigned to it, with only minimal direction and assistance from the human.
Automated planning provides the solution to this problem -- indeed, one of the main motivations that underpinned the beginnings of the field of automated planning was to provide planning support for Shakey the robot with the STRIPS system. For long, however, automated planners suffered from scalability issues that precluded their application to real world, real time robotic systems. Recent decades have seen a gradual abeyance of those issues, and fast planning systems are now the norm rather than the exception. However, some of these advances in speedup and scalability have been achieved by ignoring or abstracting out challenges that real world integrated robotic systems must confront.
In this work, the problem of planning for human-hobot teaming is introduced. The central idea -- the use of automated planning systems as mediators in such human-robot teaming scenarios -- and the main challenges inspired from real world scenarios that must be addressed in order to make such planning seamless are presented: (i) Goals which can be specified or changed at execution time, after the planning process has completed; (ii) Worlds and scenarios where the state changes dynamically while a previous plan is executing; (iii) Models that are incomplete and can be changed during execution; and (iv) Information about the human agent's plan and intentions that can be used for coordination. These challenges are compounded by the fact that the human-robot team must execute in an open world, rife with dynamic events and other agents; and in a manner that encourages the exchange of information between the human and the robot. As an answer to these challenges, implemented solutions and a fielded prototype that combines all of those solutions into one planning system are discussed. Results from running this prototype in real world scenarios are presented, and extensions to some of the solutions are offered as appropriate.
Automated planning provides the solution to this problem -- indeed, one of the main motivations that underpinned the beginnings of the field of automated planning was to provide planning support for Shakey the robot with the STRIPS system. For long, however, automated planners suffered from scalability issues that precluded their application to real world, real time robotic systems. Recent decades have seen a gradual abeyance of those issues, and fast planning systems are now the norm rather than the exception. However, some of these advances in speedup and scalability have been achieved by ignoring or abstracting out challenges that real world integrated robotic systems must confront.
In this work, the problem of planning for human-hobot teaming is introduced. The central idea -- the use of automated planning systems as mediators in such human-robot teaming scenarios -- and the main challenges inspired from real world scenarios that must be addressed in order to make such planning seamless are presented: (i) Goals which can be specified or changed at execution time, after the planning process has completed; (ii) Worlds and scenarios where the state changes dynamically while a previous plan is executing; (iii) Models that are incomplete and can be changed during execution; and (iv) Information about the human agent's plan and intentions that can be used for coordination. These challenges are compounded by the fact that the human-robot team must execute in an open world, rife with dynamic events and other agents; and in a manner that encourages the exchange of information between the human and the robot. As an answer to these challenges, implemented solutions and a fielded prototype that combines all of those solutions into one planning system are discussed. Results from running this prototype in real world scenarios are presented, and extensions to some of the solutions are offered as appropriate.
ContributorsTalamadupula, Kartik (Author) / Kambhampati, Subbarao (Thesis advisor) / Baral, Chitta (Committee member) / Liu, Huan (Committee member) / Scheutz, Matthias (Committee member) / Smith, David E. (Committee member) / Arizona State University (Publisher)
Created2014
Description
Automated planning problems classically involve finding a sequence of actions that transform an initial state to some state satisfying a conjunctive set of goals with no temporal constraints. But in many real-world problems, the best plan may involve satisfying only a subset of goals or missing defined goal deadlines. For example, this may be required when goals are logically conflicting, or when there are time or cost constraints such that achieving all goals on time may be too expensive. In this case, goals and deadlines must be declared as soft. I call these partial satisfaction planning (PSP) problems. In this work, I focus on particular types of PSP problems, where goals are given a quantitative value based on whether (or when) they are achieved. The objective is to find a plan with the best quality. A first challenge is in finding adequate goal representations that capture common types of goal achievement rewards and costs. One popular representation is to give a single reward on each goal of a planning problem. I further expand on this approach by allowing users to directly introduce utility dependencies, providing for changes of goal achievement reward directly based on the goals a plan achieves. After, I introduce time-dependent goal costs, where a plan incurs penalty if it will achieve a goal past a specified deadline. To solve PSP problems with goal utility dependencies, I look at using state-of-the-art methodologies currently employed for classical planning problems involving heuristic search. In doing so, one faces the challenge of simultaneously determining the best set of goals and plan to achieve them. This is complicated by utility dependencies defined by a user and cost dependencies within the plan. To address this, I introduce a set of heuristics based on combinations using relaxed plans and integer programming formulations. Further, I explore an approach to improve search through learning techniques by using automatically generated state features to find new states from which to search. Finally, the investigation into handling time-dependent goal costs leads us to an improved search technique derived from observations based on solving discretized approximations of cost functions.
ContributorsBenton, J (Author) / Kambhampati, Subbarao (Thesis advisor) / Baral, Chitta (Committee member) / Do, Minh B. (Committee member) / Smith, David E. (Committee member) / Langley, Pat (Committee member) / Arizona State University (Publisher)
Created2012
Description
The inherent risk in testing drugs has been hotly debated since the government first started regulating the drug industry in the early 1900s. Who can assume the risks associated with trying new pharmaceuticals is unclear when looked at through society's lens. In the mid twentieth century, the US Food and Drug Administration (FDA) published several guidance documents encouraging researchers to exclude women from early clinical drug research. The motivation to publish those documents and the subsequent guidance documents in which the FDA and other regulatory offices established their standpoints on women in drug research may have been connected to current events at the time. The problem of whether women should be involved in drug research is a question of who can assume risk and who is responsible for disseminating what specific kinds of information. The problem tends to be framed as one that juxtaposes the health of women and fetuses and sets their health as in opposition. That opposition, coupled with the inherent uncertainty in testing drugs, provides for a complex set of issues surrounding consent and access to information.
ContributorsMeek, Caroline Jane (Author) / Maienschein, Jane (Thesis director) / Brian, Jennifer (Committee member) / School of Life Sciences (Contributor) / Sanford School of Social and Family Dynamics (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Social-emotional learning (SEL) methods are beginning to receive global attention in primary school education, yet the dominant emphasis on implementing these curricula is in high-income, urbanized areas. Consequently, the unique features of developing and integrating such methods in middle- or low-income rural areas are unclear. Past studies suggest that students exposed to SEL programs show an increase in academic performance, improved ability to cope with stress, and better attitudes about themselves, others, and school, but these curricula are designed with an urban focus. The purpose of this study was to conduct a needs-based analysis to investigate components specific to a SEL curriculum contextualized to rural primary schools. A promising organization committed to rural educational development is Barefoot College, located in Tilonia, Rajasthan, India. In partnership with Barefoot, we designed an ethnographic study to identify and describe what teachers and school leaders consider the highest needs related to their students' social and emotional education. To do so, we interviewed 14 teachers and school leaders individually or in a focus group to explore their present understanding of “social-emotional learning” and the perception of their students’ social and emotional intelligence. Analysis of this data uncovered common themes among classroom behaviors and prevalent opportunities to address social and emotional well-being among students. These themes translated into the three overarching topics and eight sub-topics explored throughout the curriculum, and these opportunities guided the creation of the 21 modules within it. Through a design-based research methodology, we developed a 40-hour curriculum by implementing its various modules within seven Barefoot classrooms alongside continuous reiteration based on teacher feedback and participant observation. Through this process, we found that student engagement increased during contextualized SEL lessons as opposed to traditional methods. In addition, we found that teachers and students preferred and performed better with an activities-based approach. These findings suggest that rural educators must employ particular teaching strategies when addressing SEL, including localized content and an experiential-learning approach. Teachers reported that as their approach to SEL shifted, they began to unlock the potential to build self-aware, globally-minded students. This study concludes that social and emotional education cannot be treated in a generalized manner, as curriculum development is central to the teaching-learning process.
ContributorsBucker, Delaney Sue (Author) / Carrese, Susan (Thesis director) / Barab, Sasha (Committee member) / School of Life Sciences (Contributor, Contributor) / School of Civic & Economic Thought and Leadership (Contributor) / School of International Letters and Cultures (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
As of 2019, 30 US states have adopted abortion-specific informed consent laws that require state health departments to develop and disseminate written informational materials to patients seeking an abortion. Abortion is the only medical procedure for which states dictate the content of informed consent counseling. State abortion counseling materials have been criticized for containing inaccurate and misleading information, but overall, informed consent laws for abortion do not often receive national attention. The objective of this project was to determine the importance of informed consent laws to achieving the larger goal of dismantling the right to abortion. I found that informed consent counseling materials in most states contain a full timeline of fetal development, along with information about the risks of abortion, the risks of childbirth, and alternatives to abortion. In addition, informed consent laws for abortion are based on model legislation called the “Women’s Right to Know Act” developed by Americans United for Life (AUL). AUL calls itself the legal architect of the pro-life movement and works to pass laws at the state level that incrementally restrict abortion access so that it gradually becomes more difficult to exercise the right to abortion established by Roe v. Wade. The “Women’s Right to Know Act” is part of a larger package of model legislation called the “Women’s Protection Project,” a cluster of laws that place restrictions on abortion providers, purportedly to protect women, but actually to decrease abortion access. “Women’s Right to Know” counseling laws do not directly deny access to abortion, but they do reinforce key ideas important to the anti-abortion movement, like the concept of fetal personhood, distrust in medical professionals, the belief that pregnant people cannot be fully autonomous individuals, and the belief that abortion is not an ordinary medical procedure and requires special government oversight. “Women’s Right to Know” laws use the language of informed consent and the purported goal of protecting women to legitimize those ideas, and in doing so, they significantly undermine the right to abortion. The threat to abortion rights posed by laws like the “Women’s Right to Know” laws indicates the need to reevaluate and strengthen our ethical defense of the right to abortion.
ContributorsVenkatraman, Richa (Author) / Maienschein, Jane (Thesis director) / Brian, Jennifer (Thesis director) / Abboud, Carolina (Committee member) / Historical, Philosophical & Religious Studies (Contributor) / School of Life Sciences (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
Turbidity is a known problem for UV water treatment systems as suspended particles can shield contaminants from the UV radiation. UV systems that utilize a reflective radiation chamber may be able to decrease the impact of turbidity on the efficacy of the system. The purpose of this study was to determine how kaolin clay and gram flour turbidity affects inactivation of Escherichia coli (E. coli) when using a UV system with a reflective chamber. Both sources of turbidity were shown to reduce the inactivation of E. coli with increasing concentrations. Overall, it was shown that increasing kaolin clay turbidity had a consistent effect on reducing UV inactivation across UV doses. Log inactivation was reduced by 1.48 log for the low UV dose and it was reduced by at least 1.31 log for the low UV dose. Gram flour had a similar effect to the clay at the lower UV dose, reducing log inactivation by 1.58 log. At the high UV dose, there was no change in UV inactivation with an increase in turbidity. In conclusion, turbidity has a significant impact on the efficacy of UV disinfection. Therefore, removing turbidity from water is an essential process to enhance UV efficiency for the disinfection of microbial pathogens.
ContributorsMalladi, Rohith (Author) / Abbaszadegan, Morteza (Thesis director) / Alum, Absar (Committee member) / Fox, Peter (Committee member) / School of Human Evolution & Social Change (Contributor) / School of Life Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
Aquatic macroinvertebrates are important for many ecological processes within river ecosystems and, as a result, their abundance and diversity are considered indicators of water quality and ecosystem health. Macroinvertebrates can be classified into functional feeding groups (FFG) based on morphological-behavioral adaptations. FFG ratios can shift due to changes in normal disturbance patterns, such as changes in precipitation, and from human impact. Due to their increased sensitivity to environmental changes, it has become more important to protect and monitor aquatic and riparian communities in arid regions as climate change continues to intensify. Therefore, the diversity and richness of macroinvertebrate FFGs before and after monsoon and winter storm seasons were analyzed to determine the effect of flow-related disturbances. Ecosystem size was also considered, as watershed area has been shown to affect macroinvertebrate diversity. There was no strong support for flow-related disturbance or ecosystem size on macroinvertebrate diversity and richness. This may indicate a need to explore other parameters of macroinvertebrate community assembly. Establishing how disturbance affects aquatic macroinvertebrate communities will provide a key understanding as to what the stream communities will look like in the future, as anthropogenic impacts continue to affect more vulnerable ecosystems.
ContributorsSainz, Ruby (Author) / Sabo, John (Thesis director) / Grimm, Nancy (Committee member) / Lupoli, Christina (Committee member) / School of Life Sciences (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
This study evaluates medical pluralism among 1.5 generation Indian American immigrants. 1.5 generation Indian Americans (N=16) were surveyed regarding their engagement in complementary and alternative medical systems (CAM), how immigration affected that, and reasons for and for not continuing the use of CAM. Results indicated most 1.5 Indian immigrants currently engage in CAM, given that their parents also engage in CAM. The top reasons respondents indicated continued engagement in CAM was that it has no side effects and is preventative. Reasons for not practicing CAM included feeling out of place, not living with parents or not believing in CAM. After immigration, most participants decreased or stopped their engagement in CAM. More women than men continued to practice CAM after immigration. From the results, it was concluded that CAM is still important to 1.5 generation Indian immigrants.
ContributorsMurugesh, Subhiksha (Author) / Stotts, Rhian (Thesis director) / Mubayi, Anuj (Committee member) / School of Human Evolution & Social Change (Contributor) / School of Life Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05