This paper describes recent work on an ongoing project in medical diagnosis at the University of Guelph. A domain on which experts are not very good at pinpointing a single disease outcome is explored. On-line medical data is available over a relatively short period of time. Belief Functions (Dempster-Shafer theory) are first extracted from data and then modified with expert opinions. Several methods for doing this are compared and results show that one formulation statistically outperforms the others, including a method suggested by Shafer. Expert opinions and statistically derived information about dependencies among symptoms are also compared. The benefits of using uncertainty management techniques as methods for knowledge acquisition from data are discussed.

This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base and remain highly interactive during the execution of the control task. The approach has been implemented in a rule-based computer program which is used in conjunction with a prototype hardware system to solve the cart-pole balancing problem in real-time. It provides a complementary approach to the conventional analytical control methodology, and is of substantial use where a precise mathematical model of the process being controlled is not available.

Rule based reasoning (RBR) and case based reasoning (CBR) have emerged as two important and complementary reasoning methodologies in artificial intelligence (Al). For problem solving in complex, real world situations, it is useful to integrate RBR and CBR. This paper presents an approach to achieve a compact and seamless integration of RBR and CBR within the base architecture of rules. The paper focuses on the possibilistic nature of the approximate reasoning methodology common to both CBR and RBR. In CBR, the concept of similarity is casted as the complement of the distance between cases. In RBR the transitivity of similarity is the basis for the approximate deductions based on the generalized modus ponens. It is shown that the integration of CBR and RBR is possible without altering the inference engine of RBR. This integration is illustrated in the financial domain of mergers and acquisitions. These ideas have been implemented in a prototype system called MARS.

This paper addresses fundamental issues on the nature of the concepts and structures of fuzzy logic, focusing, in particular, on the conceptual and functional differences that exist between probabilistic and possibilistic approaches. A semantic model provides the basic framework to define possibilistic structures and concepts by means of a function that quantifies proximity, closeness, or resemblance between pairs of possible worlds. The resulting model is a natural extension, based on multiple conceivability relations, of the modal logic concepts of necessity and possibility. By contrast, chance-oriented probabilistic concepts and structures rely on measures of set extension that quantify the proportion of possible worlds where a proposition is true. Resemblance between possible worlds is quantified by a generalized similarity relation: a function that assigns a number between O and 1 to every pair of possible worlds. Using this similarity relation, which is a form of numerical complement of a classic metric or distance, it is possible to define and interpret the major constructs and methods of fuzzy logic: conditional and unconditioned possibility and necessity distributions and the generalized modus ponens of Zadeh.

Cutset conditioning and clique-tree propagation are two popular methods for performing exact probabilistic inference in Bayesian belief networks. Cutset conditioning is based on decomposition of a subset of network nodes, whereas clique-tree propagation depends on aggregation of nodes. We describe a means to combine cutset conditioning and clique- tree propagation in an approach called aggregation after decomposition (AD). We discuss the application of the AD method in the Pathfinder system, a medical expert system that offers assistance with diagnosis in hematopathology.

Knowledge elicitation is one of the major bottlenecks in expert system design. Systems based on Bayes nets require two types of information--network structure and parameters (or probabilities). Both must be elicited from the domain expert. In general, parameters have greater opacity than structure, and more time is spent in their refinement than in any other phase of elicitation. Thus, it is important to determine the point of diminishing returns, beyond which further refinements will promise little (if any) improvement. Sensitivity analyses address precisely this issue--the sensitivity of a model to the precision of its parameters. In this paper, we report the results of a sensitivity analysis of Pathfinder, a Bayes net based system for diagnosing pathologies of the lymph system. This analysis is intended to shed some light on the relative importance of structure and parameters to system performance, as well as the sensitivity of a system based on a Bayes net to noise in its assessed parameters.

When expert systems based on causal probabilistic networks (CPNs) reach a certain size and complexity, the "combinatorial explosion monster" tends to be present. We propose an approximation scheme that identifies rarely occurring cases and excludes these from being processed as ordinary cases in a CPN-based expert system. Depending on the topology and the probability distributions of the CPN, the numbers (representing probabilities of state combinations) in the underlying numerical representation can become very small. Annihilating these numbers and utilizing the resulting sparseness through data structuring techniques often results in several orders of magnitude of improvement in the consumption of computer resources. Bounds on the errors introduced into a CPN-based expert system through approximations are established. Finally, reports on empirical studies of applying the approximation scheme to a real-world CPN are given.

In this paper we present a framework for dynamically constructing Bayesian networks. We introduce the notion of a background knowledge base of schemata, which is a collection of parameterized conditional probability statements. These schemata explicitly separate the general knowledge of properties an individual may have from the specific knowledge of particular individuals that may have these properties. Knowledge of individuals can be combined with this background knowledge to create Bayesian networks, which can then be used in any propagation scheme. We discuss the theory and assumptions necessary for the implementation of dynamic Bayesian networks, and indicate where our approach may be useful.

In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field model that maintains probabilistic estimates of the occupancy state of each cell in a spatial lattice. Bayesian estimation mechanisms employing stochastic sensor models allow incremental updating of the Occupancy Grid using multi-view, multi-sensor data, composition of multiple maps, decision-making, and incorporation of robot and sensor position uncertainty. We present the underlying stochastic formulation of the Occupancy Grid framework, and discuss its application to a variety of robotic tusks. These include range-based mapping, multi-sensor integration, path-planning and obstacle avoidance, handling of robot position uncertainty, incorporation of pre-compiled maps, recovery of geometric representations, and other related problems. The experimental results show that the Occupancy Grid approach generates dense world models, is robust under sensor uncertainty and errors, and allows explicit handling of uncertainty. It supports the development of robust and agile sensor interpretation methods, incremental discovery procedures, and composition of information from multiple sources. Furthermore, the results illustrate that robotic tasks can be addressed through operations performed di- rectly on the Occupancy Grid, and that these operations have strong parallels to operations performed in the image processing domain.

PIBNET is hard for NP, by reduction from 3-satisfiability in the propositional calculus [3]. That classification has focused research on approximate methods, special-case techniques, heuristics, and analyses of average-case behavior. There now exists a number of algorithms for exact probabilistic inference in belief networks: the message-passing algorithm of Pearl [ 12], the triangulation method of Lauritzen and Spiegelhalter [10], and others. Previous approximation algorithms include the Markov-simulation scheme of Pearl [13, 14], Henrion's logic sampling [7], and the randomized approximation scheme (ras), known as BN-RAS, which we have previously demonstrated [1]. Heckerman has proposed a special-case algorithm for certain kinds of two-level belief networks [6]. Each algorithm has computational properties that render it attractive for inference on certain kinds of networks. The NPhard classification suggests, however, that no algorithm can provide a definitive efficient solution for all inference problems.