### Towards Diagnosing Hybrid Systems

This paper reports on the findings of an ongoing project to investigate techniques to diagnose complex dynamical systems that are modeled as hybrid systems. In particular, we examine continuous systems with embedded supervisory controllers which experience abrupt, partial or full failure of component devices. The problem we address is: given a hybrid model of system behavior, a history of executed controller actions, and a history of observations, including an observation of behavior that is aberrant relative to the model of expected behavior, determine what fault occurred to have caused the aberrant behavior. Determining a diagnosis can be cast as a search problem to find the most likely model for the data. Unfortunately, the search space is extremely large. To reduce search space size and to identify an initial set of candidate diagnoses, we propose to exploit techniques originally applied to qualitative diagnosis of continuous systems. We refine these diagnoses using parameter estimation and model fitting techniques. As a motivating case study, we have examined the problem of diagnosing NASA's Sprint AERCam, a small spherical robotic camera unit with 12 thrusters that enable both linear and rotational motion.

### Causal Knowledge Network Integration for Life Cycle Assessment

Sustainability requires emphasizing the importance of environmental causes and effects among design knowledge from heterogeneous stakeholders to make a sustainable decision. Recently, such causes and effects have been well developed in ontological representation, which has been challenged to generate and integrate multiple domain knowledge due to its domain specific characteristics. Moreover, it is too challengeable to represent heterogeneous, domain-specific design knowledge in a standardized way. Causal knowledge can meet the necessity of knowledge integration in domains. Therefore, this paper aims to develop a causal knowledge integration system with the authors’ previous mathematical causal knowledge representation.

### SAT Solvers and Computer Algebra Systems: A Powerful Combination for Mathematics

Over the last few decades, many distinct lines of research aimed at automating mathematics have been developed, including computer algebra systems (CASs) for mathematical modelling, automated theorem provers for first-order logic, SAT/SMT solvers aimed at program verification, and higher-order proof assistants for checking mathematical proofs. More recently, some of these lines of research have started to converge in complementary ways. One success story is the combination of SAT solvers and CASs (SAT+CAS) aimed at resolving mathematical conjectures. Many conjectures in pure and applied mathematics are not amenable to traditional proof methods. Instead, they are best addressed via computational methods that involve very large combinatorial search spaces. SAT solvers are powerful methods to search through such large combinatorial spaces---consequently, many problems from a variety of mathematical domains have been reduced to SAT in an attempt to resolve them. However, solvers traditionally lack deep repositories of mathematical domain knowledge that can be crucial to pruning such large search spaces. By contrast, CASs are deep repositories of mathematical knowledge but lack efficient general search capabilities. By combining the search power of SAT with the deep mathematical knowledge in CASs we can solve many problems in mathematics that no other known methods seem capable of solving. We demonstrate the success of the SAT+CAS paradigm by highlighting many conjectures that have been disproven, verified, or partially verified using our tool MathCheck. These successes indicate that the paradigm is positioned to become a standard method for solving problems requiring both a significant amount of search and deep mathematical reasoning. For example, the SAT+CAS paradigm has recently been used by Heule, Kauers, and Seidl to find many new algorithms for $3\times3$ matrix multiplication.

### QLISP: A language for the interactive development of complex systems

This paper presents a functional overview of the features and capabilities of QLISP, one of the newest of the current generation of very high level languages developed for use in Artificial Intelligence (AI) research.QLISP is both a programming language and an interactive programming environment. It embeds an extended version of QA4, an earlier AI language, in INTERLISP, a widely available version of LISP with a variety of sophisticated programming aids.The language features provided by QLISP include a variety of useful data types, an associative data base for the storage and retrieval of expressions, the ability to associate property lists with arbitrary expressions, a powerful pattern matcher based on a unification algorithm, pattern-directed function invocation, "teams" of pattern invoked functions, a sophisticated mechanism for breaking a data base into contexts, generators for associative data retrieval, and easy extensibility.System features available in QLISP include a very smooth interaction with the underlying INTERLISP language, a facility for aggregating multiple pattern matches, and features for interactive control of programs.A number of applications to which QLISP has been put are briefly discussed, and some directions for future development are presented.SRI Tech.Note 120, AI Center, SRI International, Inc., Menlo Park, Calif.

### Multimodal Cognitive Architecture: Making Perception More Central to Intelligent Behavior

I propose that the notion of cognitive state be broadened from the current predicate-symbolic, Language-of-Thought framework to a multi-modal one, where perception and kinesthetic modalities participate in thinking. In contrast to the roles assigned to perception and motor activities as modules external to central cognition in the currently dominant theories in AI and Cognitive Science, in the proposed approach, central cognition incorporates parts of the perceptual machinery. I motivate and describe the proposal schematically, and describe the implementation of a bimodal version in which a diagrammatic representation component is added to the cognitive state. The proposal explains our rich multimodal internal experience, and can be a key step in the realization of embodied agents. The proposed multimodal cognitive state can significantly enhance the agent's problem solving. Note: Memory, as well as the information retrieved from memory and from perception, represented in a predicate-symbolic form.