Select best function design

[Rezenders]

I am having a hard time trying to modify the SUAVE PDDL formulation to select the best function design available.

So far, I have something like the following:

(:derived (inferred-performance_value ?fd ?value)
    (and
      (exists (?eqa)
        (and
          (hasQAestimation ?fd ?eqa)
          (isQAtype ?eqa performance)
          (hasValue ?eqa ?value)
        )
      )
    )
  )

  (:derived (inferred-better_performance ?f ?fd_best ?fd)
    (and
      (FunctionDesign ?fd_best)
      (FunctionDesign ?fd)
      (solvesF ?fd_best ?f)
      (solvesF ?fd ?f)
      (exists (?value_best ?value - owl-number)
        (and
          (inferred-performance_value ?fd_best ?value_best)
          (inferred-performance_value ?fd ?value)
          (lessThan ?value ?value_best)
        )
      )
    )
  )

(:action reconfigure
    :parameters (?f ?fd_initial ?fd_goal)
    :precondition (and
      (Function ?f)
      (FunctionDesign ?fd_initial)
      (FunctionDesign ?fd_goal)
      (system_in_mode ?f ?fd_initial)
      (not (= ?fd_initial ?fd_goal))
      (solvesF ?fd_goal ?f)
      (forall (?fd)
        (imply
          (and (FunctionDesign ?fd) (solvesF ?fd ?f) (not (= ?fd_goal ?fd)) (not (inferred-Fd_realisability ?fd false_boolean)))
          (inferred-better_performance ?f ?fd_goal ?fd)
        )
      )
    )
    :effect (and
      (not (system_in_mode ?f ?fd_initial))
      (system_in_mode ?f ?fd_goal)
    )
  )

This formulation doesn't work, and I am not sure why.
In addition, PlanSys doesn't support forall and imply so the final solution shouldn't contain both.
Perhaps it is easier to define a SWRL rule for this instead of defining it in PDDL

[tobiaswjohn]

• one should be able to model forall as

not(
   exists (?fd) (not (
      ...
   ))
)

• one should be able to model imply( X Y ) as (or (not X) Y)
• but I think a SWRL rule and some modifications to the PDDL might be better suited. I don't think, we can encode everything in SWRL because of how negations work in OWL. But we can have a SWRL rule for better_performance such as:

FunctionDesign(?fd) ^ FunctionDesign(?fd_better) ^ Function(?f) ^ solvesF(?fd, ?f) ^ solvesF(?fd_better, ?f) ^ performanceValue(?fd, ?x) ^ performanceValue(?fd_better, ?x_better) ^ lessThan(?x, ?x_better) -> betterPerformance(?fd_better, ?fd)

(I dropped the function from the relation as solvesF is functional anyway and it is therefore redundant)
this can than be used in PDDL, where one checks that there is no better functional design that is realisable (syntax might be slightly off...):

(:action reconfigure
    :parameters (?f ?fd_initial ?fd_goal)
    :precondition (and
      (Function ?f)
      (FunctionDesign ?fd_initial)
      (FunctionDesign ?fd_goal)
      (system_in_mode ?f ?fd_initial)
      (not (= ?fd_initial ?fd_goal))
      (solvesF ?fd_goal ?f)
      (not (exists (?fd)
          (not (inferred-Fd_realisability ?fd false_boolean)))
          (inferred-better_performance ?fd ?fd_goal)
        )
      )
    )
    :effect (and
      (not (system_in_mode ?f ?fd_initial))
      (system_in_mode ?f ?fd_goal)
    )
  )

Any thoughts?