Specification of NRPS Behavior Stream- 123docz.net

The specification of the NRPS behavior stream, discussed in chapter six, is shown in figure C-2. It has seven behaviors and two goals with a problem-solving and/or curiosity drive as a primary motivator.

Function Partail-Order-Planner (Plan, Initial, Goal, Actions) Returns plan, contentious-subgoal, error-explanation

Loop do

Check if plan is a solution; if so, then

Contentious-subgoal <— null.

Errot-explanation €— Success”

Return plan, contentious-subgoal, error-explanation

Pick a plan action ACT,,,,. from ACTIONS(plan) with open precondition (not achieved by an action in the plan) C; first iteration picks the contentious-goal passed as an argument.

Choose an action AC Tad from Action or ACTIONS (plan) that has C as an effect and that u =

UNIFY(C, ACT,,, , BINDINGS(Plan))

If there is no such step, then

Etror-explanation <- “Failure to find plan — no action in the available set of actions that can satisfy subgoal C”.

Contentious-subgoal <— open precondition C.

Retrun plan, contentious-subgoal, error-explanation

Add causal link ACT,,.; ——> ACT,,,.4 to CAUSAL-LINKS (plan)

Add the ordering constraints ACT, < ACT,,,.q to ORDERINGS (plan)

If AC Tid is a newly added action (FROM Actions) to the plan, then

Add ACT, ,, to ACTIONS (plan)

Add START < ACT), and ACT,,; ~ FINISH to ORDERINGS (plan)

For each ACT, (plan) do

For each K in Effects of ACT „xu do

that conflicts a causal link ACT, —“—> ACT, in CAUSAL-LINKS

‘onflict

If SUBBINDINGS (Plan), C) = SUB(BINDINGS(Plan), “K ) then Either promote: Add ACT, conflict ^^ ACT, to ORDERINGS (plan) Or demote: ACT, < ACT me, to ORDERINGS (plan) If not CONSISTENT (plan), then

Errot-explanation <—”Failure to find plan — consistency check failed with the current plan.

Contentious-subgoal <— open precondition C.

Return plan, contentious-subgoal, etror-explanation

Figure C-1: Partial order planning (POP) algorithm adapted to be used as the planner behavior for the NRPS behavior stream.

Behavior: Initialize Problem Solving Precondition: Problem description ready

Precondition: Solving not started Addition: Initial state ready Addition: Goal state ready Addition: Initial action set ready

Behavior: Initialize Planner Precondition: Initial state ready Precondition: Goal state ready Precondition: Solving not started Precondition: Initial action set ready Addition: Deliberated subgoal list initialized Addition: Contentious subgoal ready Addition: Plan ready

Addition: Action set ready Addition: Ready to start solving Deletion: Solving not started

Behavior: Planner

Precondition: Plan ready Precondition: Actions set ready

Precondition: Contentious subgoal ready Precondition: Ready to start solving Addition: Plan ready

Addition: Contentious subgoal ready Addition: Result explanation ready Addition: Ready for evaluation Deletion: Ready to start solving

Behavior: Evaluate Solution Precondition: Deliberated initialized : subgoals

Precondition: Contentious subgoal ready Precondition: Ready for evaluation

Addition: Deliberated subgoal list initialized : new list

Addition: Solving process in progress ; to goals/drives

Deletion: Ready for evaluation

subgoal list

Behavior: Continue Search

Precondition: Flagged to continue solving BC Precondition: Actions set ready

Addition: Actions set ready ; old + new Addition: Ready to start solving

Addition: Solving process in progress ; to goals/drives

Deletion: Flagged to continue solving

¡ priming Behavior: Terminate with Failure Precondition: Result explanation ready Precondition: Flagged for failure ; priming BC Precondition: Plan ready

Addition: Failure to find solution Addition: Solving process done Deletion: Flagged for failure

Behavior: Terminate with Success

Precondition: Flagged for success ; priming BC Precondition: Plan ready ; solution

Addition: Solution ready Addition: Solving process done

Deletion: Flagged for success Goal: Continue Solving

Precondition: Solving process in progress Addition: Like solving

Goal: Result Reported

Precondition: Solving process done Addition: Like solving

Drive: Curious for solution Precondition: Like solving

Figure C-2: Specification of the NRPS behavior stream. Drives are not part of the stream; they pass motivational activation to competencies that satisfy their precondition literals.

D QGOMS Analysis for Warehouse Domain Robot Tasks

C:\QGOMS30\BNROBOTF.GMS

GlobalVariableName Value GlobalVariableName Value GlobalVariableName Value chrgRbtL 9.6 chrgRbtM 10.8 chrgRbtU 12.

dropItemL 7,2 dropItemM 10, dropItemU 14.4 mentActL 0.1 mentActM 0.1 mentActU 0.1 pickupItml, 13.2 pickupTtrnM 24.6 pickupItmU 38.4 toChrEryL 14.4 toChrEryM 37.6 toChrExtL 36.

toChrExtM 51.6 toChrExtU 67.2 toChrgPtL 14.4 toChrgPtM 31.2 toChrgPtU 48. toCntBIkL 0, toCntBIkM 68.4 toCntBIkU 115.2 toCntEryL 14.4 toCntEryM 57.6 toCntEryU 105.6 toCntExtL 122.4 toCntExtM 178.8 toCntExtU 211.2 toEndBIKL 0.

toEndBIkM 104.8 toEndBIkU 254.4 toEndEryL 36.

toEndEryM 61,2 toEndEryU 67.2 toEndExtL 120.

toEndExtM 162.4 toEndExtU 192. toShlvPtL 86.4 toShlvPtM 110. toShlvPtU 144. toUnldPtL 43.2 toUnldPtM 100.1 toUnldPtU 144. toChrEryU 50.4

title TL=taskLearned D=disabled SC=singleChild trneMin timeAve TimeMax repeatMin repeatAve repeatMax ProbAve LearningTime TaskInstance T:992. | 2021. | 3029. R:| |1.00| | Prob:0.00 LTime: 5460

| UnloadAndShelve T:451. | 886. | 1295. R:| | 1.00| | Prob:0,00 LTime: 2250

| | UnloadItem T:216, | 457. | 700. R:| |1.00] | Prob:0.00 LTime: 1110

| | | GetUnldArea T: | |0.60| | :| |1.00| | Prob:0.00 LTime: 150

| {| | ThinkOfftemType T:mentActL | mentActM | mentActU R:| | 1.00] | Prob:0.00 LTime: 30

| || | DetermUnldArea T:mentActL | mentActM |mentActU R:| | 1.00] | Prob:0.00 LTime: 30

|| || Verify-GoalSatStatus T:mentActL | mentActM |mentActU R:| | 1.00| | Prob:0.00 LTime: 30

| | | mvToUnldBlock T:0.60] 105. | 255. R:| | 1.00] | Prob:0.00 LTime: 180

|| | | RecallUnidArea T:mentActL | mentActM |mentActU R:| | 1.00| | Prob:0.00 LTime: 30

|| | | DetermUnldBlockArea T:mentActL |mentActM | mentActU R: | | 1.00 | | Prob:0.00 LTime: 30

||| | Verify-GoalSatStatus T:mentActL|mentActM |mentActU R:| | 1.00| | Prob:0.00 LTime: 30

|| | mvToUnidEntry T:36.8 | 62.0] 68.0 R: | [1.00| | Prob:0.00 LTime: 240

|| | | Vexify-RbtAtUnldBlock T:mentActL|mentActM |mentActU R:| | 1.00] | Prob:0.00 LTime: 30

||| | RecallUnldArea T:mentActL | mentActM|mentActU R:| |1.00| | Prob:0.00 LTime: 30

| || | RbtCmd-MvToEntryPt T:mentActL | mentActM |mentActU R:| | 1.00| | Prob:0.00 LTime: 30

| | | | RetainEntryPt T:mentActL| mentActM | mentActU R: | | 1.00] | Prob:0.00 LTime: 30 { | | SelectltemToUnld T:| |0.50j | R: | 11.00| | Prob:0.00 LTime: 120

} | | | LocateltemToUnld T:mentActL | mentActM | mentActU R:| | 1.00| | Prob:0.00 LTime: 30

| | | | RetainLocatedItem T:mentActL | mentActM | mentActU R:| | 1.00| | Prob:0.00 LTime: 30 {| | | Verify-GoalSatStatus T:mentActU | mentActM |mentActL R:| | 1.00| | Prob:0.00 LTime: 30

| | | mvToltemToUnld T:43.7 | 101.|145, R: | [1.00] | Prob:0.00 LTime: 150

| | | | RecallLocatedItem T:mentActL |mentActM |mentActU R: | |1.00{ | Prob:0.00 LTime: 30

|| | | RbtCmd-MvToltem T:mentActL | mentActM | mentActU R:]| | 1.00| | Prob:0.00 LTime: 30

|| | | Wait-RbtResponse T:toUnldPtL | toUnldPtM | toUnldPrU R:| | 1.00] | Prob:0.00 LTime: 30

|| |{ Venfy-GoalSatStatus T:mentActL | mentActM |mentActU R:| | 1.00| | Prob:0.00 LTime: 30

|| Verify-GoalSatStatus T:mentActL | mentActM |mentActU R:| | 1.00] | Prob:0.00 LTime: 30

| mvToExitUnidArea T:120. | 163.|192. R:| |1.00| | Prob:0.00 LTime: 120

| | Wait-RbtResponse T:toEndExtL | toEndExtM |toEndExtU R:| | 1.00} | Prob:0.00 LTime: 30 Shelveltem T:234. | 429. |594. R:| |1.00[ | Prob:0.00 LTime: 1110

getShlvArea T: | |0.50| | R:| | 1.00] | Prob:0.00 LTime: 120

| Verify-GoalSatStatus T:mentActL | mentActM |mentActU R:| | 1.00] | Prob:0.00 LTime: 30 mvToShlvBlock T:0.60 |69.0| 116. R:| | 1.00] | Prob:0.00 LTime: 180

| Verify-GoalSatStatus T:mentActL | mentActM |mentActU R:j | 1.00] | Prob:0.00 LTime: 30 mvToShlvEntry T:15.2| 58.4 | 106. R: | |1.00| | Prob:0.00 LTime: 240

| RbtCmd-MvToShlvEntryPt T:mentActL | mentActM |mentActU R:| | 1.00} | Prob:0.00 LTime: 30

| Venfy-GoalSatStatus T:mentActL |mentActM |mentActD R: | |1.001 | Prob:0.00 LTime: 30 mwvToShlvPoint T:86.9| 111.| 145. R:| | 1.00| | Prob:0.00 LTime: 150

| Wait-RbtResponse T:dropItemL | dropItemM | dropItemU R: | | 1.00} | Prob:0.00 LTime: 30

| Verify-GoalSatStatus T:mentActL | mentActM |mentActU R:| | 1.00] | Prob:0.00 LTime: 30 myToExitShlvArea T:123.|179.|212. R:| 1.00] | Prob:0.00 LTime: 150

| DetermArea T:mentActU | mentActM |mentActL R:| | 1.00| | Prob:0.00 LTime: 30 UnshelveAndShipOrder T:463. | 895. | 1299. R:| | 1.00| | Prob:0.00 LTime: 2250

UnshelveltemForOrders T:240. | 443. |618. R: | |1.00| | Prob:0.00 LTime: 1110 getUnshelveArea T: | |0.50| | R:| |1.00| | Prob:0.00 LTime: 120

| |

mvToUnshelveEntry T:15.2 |58.4|106. R: | {1.00| | Prob:0.00 LTime: 240

| RetainEntryPt T:mentActL | mentActM |mentActU R: | | 1.00] | Prob:0.00 LTime: 30 selectIternToUnshelve T: | |0.40| | R:| |1.00| | Prob:0.00 LTime: 120

| mvToltemToUnshelve T:86.9 | 111. | 145. R:| | 1.00] | Prob:0.00 LTime: 150

|| RbtCmd-MvToltem T:mentActL |mentActM |mentActD R: | | 1.00| | Prob:0.00 LTime: 30

| pickupItemToUnshelve T:13.6 | 25.0 | 38.8 R:| | 1.00| | Prob:0.00 LTime: 120

| | RbtCmd-Pickupltem T:mentActL | mentActM | mentActU R:| |1.00{ | Prob:0.00 LTime: 30

| mvToExitUnshelveArea T:123. | 179, |212. R: | |1.00 | | Prob:0.00 L Time: 150

| | Wait-GoalSatStatus T:mentActL | mentActM | mentActU R:] | 1.00| | Prob:0.00 LTime: 30 ShipItemOfOrder T:222. | 452. | 681. R: | | 1.00| | Prob:0.00 LTime: 1110

| getShrp AreaForOrderedItem T: | |0.50| | R:| | 1.00| | Prob:0.00 LTime: 120

| mvToShipBlock T:0.60 | 105. |255. R: | |1.00| | Prob:0.00 LTime: 180

| mvToShipEntry T:36.8 | 62.0] 68.0 R: | |1.00| | Prob:0.00 LTime: 240

|| Venfy-RbtAtShipBlock 1:mentActL | mentActM |mentActU R:] |1.00] | Prob:0.00 LTime: 30

| selectShipPoint T: | |0.50| | R:{ 11.001 | Prob:0.00 LTime: 120

| | Verify-GoalSatStatus T:mentActL|mentActM |mentActU R:| | 1.00{ | Prob:0.00 LTime: 30

| mvToShipPoint T:43.7 | 101. | 145. R:| | 1.00| | Prob:0.00 LTime: 150

| dropdownltemToShip T: | (19.6]19.6 R:| | 1.00] | Prob:0.00 LTime: 120

|| Wait-RbtResponse T:dropTtemL | dropItemM | dropTtemU R: | | 1.00| | Prob:0,00 LTime: 30

| mvToExitShipArea T:120. | 163. |192. R:| | 1.00| | Prob:0.00 LTime: 150

| | DetermArea T:mentActU |mentActM |mentActL R:| | 1.00| | Prob:0.00 LTime: 30 ChargeRobot T:77.7 | 239. | 435. R:| | 1.00] | Prob:0.00 LTime: 930

| getNearestChargStation T: | |0.50] | R:| | 1.00] | Prob:0.00 LTime: 120

| mvToChargeBlock T:0.60 | 105. | 255. R:| | 1.00] | Prob:0.00 LTime: 180

| mvToChargeEntry T:15.1 [38.3 [51.1 R:| |1.00] | Prob:0.00 LTime: 210

| |

Specification of NRPS Behavior Stream

IDA: A “Conscious” Software Agent

The Problem and Preliminary Ideas for a Mechanism