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    Employing domain knowledge to improve AI planning efficiency

    , Article Iranian Journal of Science and Technology, Transaction B: Engineering ; Volume 29, Issue 1 B , 2005 , Pages 107-115 ; 03601307 (ISSN) Ghassem Sani, G ; Halavati, R ; Sharif University of Technology
    One of the most important problems of traditional A.I. planning methods such as non-linear planning is the control of the planning process itself. A non-linear planner confronts many choice points in different steps of the planning process (i.e., selection of the next goal to work on, selection of an action to achieve the goal, and selection of the right order to resolve a conflict), and ideally, it should choose the best option in each case. The partial ordered planner (POP) introduced by Weld in 1994, assumes a magical function called "Choose" to select the best option in each planning step. There have been some previous efforts for the realization of this function; however, most of these... 

    Temporal Planning using Satifiability

    , M.Sc. Thesis Sharif University of Technology Mahjoob, Ali (Author) ; Ghassem Sani, Gholamreza (Supervisor)
    Automated Planning is an active research area in Artificial Intelligence. In Classical planning, for simplicity, time is considered as the order of actions in plan. In temporal planning, due to the importance of time in real world problems, this simplifying assumption is not considered, and time is explicitly used in the planning process. Most of current methods for temporal planning are extensions of classical planning methods to include the explicit definition of time. Planning using Satisfiability is used as an efficient method to find optimal solutions for classical planning problems. In this dissertation, a temporal planner based on Satisfiability has been developed. This planner, as we... 

    Improving the Efficiency of Sat-Based Planning by Enhancing the Representations

    , M.Sc. Thesis Sharif University of Technology Jamali, Sima (Author) ; Ghasem Sani, Gholamreza (Supervisor)
    Automated planning is a branch of artiticial intelligence that studies intelligent agents’ decision making process. The objective is to design agents that are able to decide on their own, about how to perform tasks that are assigned to them. In the past 20 years, a popular and appealing method for solving planning problems has been to use satisfiability (SAT) techniques. In this method, the planning ptoblem with a preset length would be encoded into a satisfiability problem, which is then solved by a general satisfiability solver. The solution to the planning problem is then extracted from the solution of the SAT problem. The length of the problem is proportional to the number of steps in... 

    Design and Implementation of a Planning-specific Sat Solver

    , M.Sc. Thesis Sharif University of Technology Hamidian Shoormasti, Sina (Author) ; Ghassem-Sani, Gholamreza (Supervisor)
    Automated planning is a branch of Artificial intelligence aimed at obtaining plans (i.e. sequences of actions) for solving complex problems or for governing the behavior of intelligent agents. Reduction of planning problems to satisfiability problems is one of the most successful approaches to automated planning. In this method first the planning problem with a preset length is coded to a satisfiability problem. Then, a general SAT solver is used for solving the obtained SAT formula. To find the plan with optimum length, plans with increasing coding lengths are evaluated by a SAT solver in a sequential manner. Since much of descriptive information of planning problems is lost in converting... 

    An open loop walking on different slopes for NAO humanoid robot

    , Article Procedia Engineering ; Volume 41 , 2012 , Pages 296-304 ; 18777058 (ISSN) Massah, B. A ; Sharifi, K. A ; Salehinia, Y ; Najafi, F ; Sharif University of Technology
    Dynamic gait planning for humanoid robots encounters difficulties such as stability, speed, and smoothness. In most of previous studies, joints' trajectories are calculated in 3D Cartesian space, then, introducing boundary conditions and using polynomials, the first and second derivatives of the motion are ensured to be continuous. Then, the stability of the motion is guaranteed using Zero Moment Point (ZMP) stability criterion. In this study, a trajectory planner is presented using the semi-ellipse equations of the motion; the continuity of the derivatives is preserved. Stabilization of motion is attained through using ZMP criterion and 3d inverted pendulum equations in three slope... 

    Automatic learning of action priorities

    , Article Proceedings of the Eighth IASTED International Conference on Atificial Intelligence and Soft Computing, Marbella, 1 September 2004 through 3 September 2004 ; 2004 , Pages 255-259 ; 0889864586 (ISBN) Akramifar, S. A ; Ghassem Sani, G. R ; IASTED, TCAIETCSC ; Sharif University of Technology
    Traditional AI planners often suffer from their poor efficiency. There are many choice points in the planning process, but lack of information precludes proper decision. In this paper, we introduce a new method for adding automatic learning capability to a forward planning system. Our idea is based on a dynamic voting algorithm to choose the best action to proceed to the next state. In every planning cycle, applicable actions (i.e. those actions whose preconditions are satisfied in the current world state) vote to, and compete with each other. As a result of this voting, gradually more useful actions are chosen. This idea has been applied to the blocks world domain, and the preliminary... 

    Improving the Performance of the Fast Downward Planning System

    , M.Sc. Thesis Sharif University of Technology Sadraei, Reza (Author) ; Ghasem Sani, Golamreza (Supervisor)
    The so-called “Fast Downward” is a successful heuristic planner. This planner extracts informative data structures during planning. A number of efforts have been made to detect some constraints for guiding search toward the goal, in the hope to speed up the planning process. These constraints usually result in a number of sub-goals and determining their proper ordering. These sub-goals are called landmarks, which must be true at some point in every valid solution plan. Landmarks can be used to decompose a given planning task into several smaller sub-tasks. In this dissertation a new method is proposed to extracts landmark and recognizes their ordering based on fast downward basic data... 

    Design and Implementation of a Distributed Planning System Prototype

    , M.Sc. Thesis Sharif University of Technology Khademi Khaledi, Hossein (Author) ; Ghassem-Sani, Gholamreza (Supervisor)
    Planning is one of the most important branches of artificial intelligence. The goal of planning is automated production of sequence of actions (plans) for some specified tasks. However the computation done by planners is very time consuming and complicated. Distributing computation is one solution to overcome such difficulties. Distribution divides the load of process between a number of agents and increases robustness. The purpose of this project is to reduce the computational overhead of planning by the means of distributing the planning process between a numbers of planners. In the proposed method, we first divide a classical planning problem to two separate subproblems by decomposition... 

    Optimization of kinematic redundancy and workspace analysis of a dual-arm cam-lock robot

    , Article Robotica ; 2014 ; ISSN: 02635747 Jouybari, B. R ; Osgouie, K. G ; Meghdari, A ; Sharif University of Technology
    In this paper, the problem of obtaining the optimal trajectory of a Dual-Arm Cam-Lock (DACL) robot is addressed. The DACL robot is a reconfigurable manipulator consisting of two cooperative arms, which may act separately. These may also be cam-locked in each other in some links and thus lose some degrees of freedom while gaining higher structural stiffness. This will also decrease their workspace volume. It is aimed to obtain the optimal configuration of the robot and the optimal joint trajectories to minimize the consumed energy for following a specific task space path. The Pontryagin's Minimum Principle is utilized with a shooting method to resolve kinematic redundancy. Numerical examples... 

    Planning by guided hill-climbing

    , Article 6th Mexican International Conference on Artificial Intelligence, MICAI 2007, Aguascalientes, 4 November 2007 through 10 November 2007 ; Volume 4827 LNAI , 2007 , Pages 1067-1077 ; 03029743 (ISSN); 9783540766308 (ISBN) Akramifar, S. A ; Ghassem Sani, G ; Sharif University of Technology
    Springer Verlag  2007
    This paper describes a novel approach will be called guided hill climbing to improve the efficiency of hill climbing in the planning domains. Unlike simple hill climbing, which evaluates the successor states without any particular order, guided hill climbing evaluates states according to an order recommended by an auxiliary guiding heuristic function. Guiding heuristic function is a self-adaptive and cost effective function based on the main heuristic function of hill climbing. To improve the performance of the method in various domains, we defined several heuristic functions and created a mechanism to choose appropriate functions for each particular domain. We applied the guiding method to... 

    Incremental learning of planning operators in stochastic domains

    , Article 33rd Conference on Current Trends in Theory and Practice of Computer Science, SOFSEM 2007, Harrachov, 20 January 2007 through 26 January 2007 ; Volume 4362 LNCS , 2007 , Pages 644-655 ; 03029743 (ISSN); 9783540695066 (ISBN) Safaei, J ; Ghassem Sani, G ; Sharif University of Technology
    Springer Verlag  2007
    In this work we assume that there is an agent in an unknown environment (domain). This agent has some predefined actions and it can perceive its current state in the environment completely. The mission of this agent is to fulfill the tasks (goals) that are often assigned to it as fast as it can. Acting has lots of cost, and usually planning and simulating the environment can reduce this cost. In this paper we address a new approach for incremental induction of probabilistic planning operators, from this environment while the agent tries to reach to its current goals. It should be noted that there have been some works related to incremental induction of deterministic planning operators and... 

    Dynamic based cost functions for TF/TA flights

    , Article 2005 IEEE Aerospace Conference, Big Sky, MT, 5 March 2005 through 12 March 2005 ; Volume 2005 , 2005 ; 1095323X (ISSN); 0780388704 (ISBN); 9780780388703 (ISBN) Malaek, S. M ; Kosari, A. R ; Jokar, S ; Sharif University of Technology
    A new methodology has been proposed which offers a systematic approach to use the so called "performance index" or cost function as the basic tool to incorporate the dynamics of the aircraft in the process of trajectory planning. Moreover, by using non-dimensional parameters a better understanding of the dynamic terms are provided. © 2005 IEEE  

    Using satisfiability for non-optimal temporal planning

    , Article Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ; Volume 7519 Lnai , 2012 , Pages 176-188 ; 03029743 (ISSN) ; 9783642333521 (ISBN) Rankooh, M. F ; Mahjoob, A ; Ghassem-Sani, G ; Sharif University of Technology
    Springer  2012
    AI planning is one of the research fields that has benefited from employing satisfiability checking methods. These methods have been proved to be very effective in finding optimal plans for both classical and temporal planning. It is also known that by using planning-based heuristic information in solving SAT formulae, one can develop SAT-based planners that are competitive with state-of-the-art non-optimal planners in classical planning domains. However, using satisfiability for non-optimal temporal planning has not been investigated so far. The main difficulty in using satisfiability in temporal planning is the representation of time, which is a continuous concept. Previously introduced... 

    Directing the search in the fast forward planning

    , Article 13th International Computer Society of Iran Computer Conference on Advances in Computer Science and Engineering, CSICC 2008, Kish Island, 9 March 2008 through 11 March 2008 ; Volume 6 CCIS , 2008 , Pages 857-861 ; 18650929 (ISSN); 3540899847 (ISBN); 9783540899846 (ISBN) Akramifar, A ; Ghassem Sani, G. R ; Sharif University of Technology
    In this paper, we introduce DiFF, a novel extension of the Fast Forward (FF) planning system. FF is a domain independent planner that employs a forward heuristic search. Its search strategy is an enforced form of hill climbing. In order to move to a more promising state, FF evaluates successor states without any particular order. In this paper, we introduce a new form of the enforced hill climbing, which we call directed enforced hill climbing, to enhance the efficiency of Fast Forward planning. This strategy evaluates successor states in the order recommended by an adaptive heuristic function. Our experimental results in several planning domains show a significant improvement in the... 

    Using Satisfiability in Solving Planning Problems having Numerical Values

    , M.Sc. Thesis Sharif University of Technology Ellahi, Mojtaba (Author) ; Ghasem Sani, Gholamreza (Supervisor)
    Considering numerical values is an important step toward real world problems in planning. Although planning community has been aware of this fact since many years ago, but the complication involved in reasoning with numerical values made this challenge too difficult, thus very little and occasional research has been done on this issue.This dissertation is an effort to find an efficient method for solving numerical planning problems; in this regard, we use the “planning as satisfiability” approach. Planning as satisfiability is one of the most important and successful approaches for solving planning problems. Furthermore, developing SAT solvers with the capability of considering numerical... 

    Heuristic Flexibble Planning

    , M.Sc. Thesis Sharif University of Technology Ghiyas Nejad Omran, Pouya (Author) ; Ghassem-Sani, Gholamreza (Supervisor)
    Planning, as one of the major area of the artificial intelligence, has substantial applications in different science and technology fields. In the classical planning, usually some restricted assumptions are made to simplify the planning procedure. For example, for the world representation, states and actions are defined precisely; however, in the real world such information is mostly inacurate. Therefore, in order to address this inacuracy, flexible planning has been developed. In this technique, robust restrictions such as complete satisfaction of preconditions are interpreted as preferences or priority. In other words, the flexible planning aims at fulfilling planning goals with maximum... 

    Simultaneous Expansion Planning of Distribution Network and Microgtrids

    , M.Sc. Thesis Sharif University of Technology Zayer, Mansour (Author) ; Hosseini, Hamid (Supervisor)
    Renewable resources, because of their compatibility with the environment, accessibility, and low cost of operation, have become the center of unprecedented attention. Since the output of these resources cannot be predicted accurately, they are usually implemented in microgrids with conventional generating units and energy storage systems.Furthermore, distribution networks are integral parts of power systems, and many studies have been conducted in order to improve them. Because of high investment and operation costs of distribution networks and environmental concerns, it is necessary to conduct meticulous economic studies so that with proper investments, profitable opportunities are provided... 

    Public participation role in sustainable urban management by quantitative strategic planning matrix (QSPM)

    , Article International Journal of Environmental Research ; Vol. 8, issue. 4 , 2014 , p. 1309-1314 Shiehbeiki, S ; Abbaspour, M ; Monavari S.M ; Arjmandi R ; Lahijanian, A ; Sharif University of Technology
    Public participation is counted as one of the main indexes in sustainable urban management. Based on their nature, metropolitan cities has several and complex problems. For this purpose Tehran metropolitan area is selected. Quantitative Strategic Planning Matrix (QSPM) weighted through a made-byresearcher questionnaire. The reliability of the model was verified by Cronbach’s alpha coefficient. Evaluation matrix for internal and external factors was equal to 1.944 and 3.413, respectively. The strategies were classified and prioritize by quantitative matrix. Suitable strategies for Tehran city are as follows: developing a strategic plan in field of social control participatory management for... 

    Reliability evaluation in power distribution system planning studies

    , Article 2016 International Conference on Probabilistic Methods Applied to Power Systems, PMAPS 2016 - Proceedings, 16 October 2016 through 20 October 2016 ; 2016 ; 9781509019700 (ISBN) Heidari, S ; Fotuhi Firuzabad, M ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2016
    In distribution system planning studies, reliability evaluation is performed during optimization procedure to calculate the interruption cost, DISCO's income and to check the viability of constraints related to reliability indices. In each iteration of the optimization algorithm a special plan is evaluated that is different from other plans. So the configuration and specification of the network which is one of the input information for reliability evaluation is changing continuously that makes difficulties for this evaluation. To solve these difficulties, this paper presents a systematic method for reliability evaluation in distribution planning studies. The proposed approach can be... 

    Its deployment strategy based on pilot project in developing countries: Karajtehran corridor, an iranian example

    , Article Intelligent Transportation Society of America - 12th World Congress on Intelligent Transport Systems 2005, 6 November 2005 through 10 November 2005, San Francisco, CA ; Volume 9 , 2009 , Pages 5845-5850 ; 9781604236354 (ISBN) Chevreuil, M ; Isaai Dr., M.T ; Sharif University of Technology
    This paper presents an ITS pilot project in a developing country, Iran, as a way to foster to the development of ITS national strategic plan. The pilot project concerns a high trafficked road corridor, linking the capital Tehran to the largest city in the suburb: Karaj, This corridor was selected among others, by the end of 2002 as a good candidate, due in particular to the variety of problems encountered [1] In order to launch the pilot project a co-operation was set up in 2004 between ISIS, Groupe EGIS, France and Metra Consulting Engineers Co, Iran and several ITS experts were sent to Iran for two missions in June and July 2004. The mission consisted of detailed on-site visits, interviews...