1. © 2002-2010 Franz J. Kurfess Expert System Design CPE/CSC 481: Knowledge-Based Systems Dr. Franz J. Kurfess Computer Science Department Cal Poly

2. © 2002-2010 Franz J. Kurfess Expert System Design Usage of the Slides ◆ these slides are intended for the students of my CPE/CSC 481 “Knowledge-Based Systems” class at Cal Poly SLO ◆ if you want to use them outside of my class, please let me know (fkurfess@calpoly.edu)fkurfess@calpoly.edu ◆ I usually put together a subset for each quarter as a “Custom Show” ◆ to view these, go to “Slide Show => Custom Shows”, select the respective quarter, and click on “Show” ◆ in Apple Keynote, I use the “Hide” feature to achieve similar results ◆ To print them, I suggest to use the “Handout” option ◆ 4, 6, or 9 per page works fine ◆ Black & White should be fine; there are few diagrams where color is important

3. © 2002-2010 Franz J. Kurfess Expert System Design Course Overview ◆ Introduction ◆ Knowledge Representation ◆ Semantic Nets, Frames, Logic ◆ Reasoning and Inference ◆ Predicate Logic, Inference Methods, Resolution ◆ Reasoning with Uncertainty ◆ Probability, Bayesian Decision Making ◆ Expert System Design ◆ ES Life Cycle ◆ CLIPS Overview ◆ Concepts, Notation, Usage ◆ Pattern Matching ◆ Variables, Functions, Expressions, Constraints ◆ Expert System Implementation ◆ Salience, Rete Algorithm ◆ Expert System Examples ◆ Conclusions and Outlook

4. © 2002-2010 Franz J. Kurfess Expert System Design Overview Implementation of Rule-Based Systems ◆ Motivation ◆ Objectives ◆ Chapter Introduction ◆ Important Concepts ◆ Performance Aspects ◆ Pattern Matching ◆ Basic Idea ◆ Unification ◆ Pattern Matching in Rule- Based Systems ◆ Rete Algorithm ◆ Overview ◆ Rete Network ◆ Assert and Retract ◆ Optimizations ◆ Improvements ◆ Rule Formulation ◆ General vs. Specific Rules ◆ Simple vs. Complex Rules ◆ Loading and Saving Facts ◆ Important Concepts and Terms ◆ Chapter Summary

5. © 2002-2010 Franz J. Kurfess Expert System Design Logistics ◆ Introductions ◆ Course Materials ◆ textbooks (see below) ◆ lecture notes ◆ PowerPoint Slides will be available on my Web page ◆ handouts ◆ Web page ◆ http://www.csc.calpoly.edu/~fkurfess http://www.csc.calpoly.edu/~fkurfess ◆ Term Project ◆ Lab and Homework Assignments ◆ Exams ◆ Grading

6. © 2002-2010 Franz J. Kurfess Expert System Design Bridge-In

7. © 2002-2010 Franz J. Kurfess Expert System Design Pre-Test

8. © 2002-2010 Franz J. Kurfess Expert System Design Motivation ◆ pattern matching and unification are powerful operations to determine the similarity and consistency of complex structures ◆ they are at the core of many rule-based and predicate logic mechanisms ◆ their application goes beyond rule-based systems ◆ study concepts and methods that are critical for the functionality and performance of rule-based systems ◆ pattern matching and the Rete algorithm ◆ use and formulation of rules

9. © 2002-2010 Franz J. Kurfess Expert System Design Objectives ◆ comprehend the mechanics of pattern matching in rule-based systems ◆ basic concepts and techniques ◆ Rete algorithm ◆ understand the effects of matching and rule formulation on the performance of rule-based systems ◆ learn to write rule-based programs and implement systems in an efficient way ◆ analyze and evaluate the performance of rule-based programs and systems ◆ identify bottlenecks ◆ formulate and implement strategies for performance improvements

10. © 2002-2010 Franz J. Kurfess Expert System Design Evaluation Criteria

11. © 2002-2010 Franz J. Kurfess Expert System Design Overview Implementation of Rule-Based Systems ◆ due to their more declarative nature, it can be difficult to evaluate and predict the performance of rule-based systems ◆ time to complete a task ◆ memory usage ◆ disk space usage ◆ pattern matching can be used to eliminate unsuitable rules and facts ◆ but it can also introduce substantial overhead

12. © 2002-2010 Franz J. Kurfess Expert System Design Chapter Introduction ◆ Important Concepts ◆ entities with internal structure ◆ data structures, objects, components ◆ terms, sentences, graphs ◆ diagrams, images ◆ concepts, hierarchies ◆ Performance Aspects ◆ somewhat different from conventional programs ◆ less control over the runtime behavior ◆ pattern matching can do a lot of the work

13. © 2002-2010 Franz J. Kurfess Expert System Design Pattern Matching ◆ determines if two or more complex entities (patterns) are compatible with each other ◆ patterns can be (almost) anything that has a structure ◆ pictures: mugshot vs. person ◆ drawings: diagrams of systems ◆ expressions: words,sentences of a language, strings ◆ graphs are often used as the underlying representation ◆ the structure of the graphs must be compatible ◆ usually either identical, or one is a sub-graph of the other ◆ the individual parts must be compatible ◆ nodes must have identical or compatible values ◆ variables are very valuable ◆ links must indicate compatible relationships ◆ compatibility may be dependent on the domain or task [Giarratano & Riley 1998, Friedmann-Hill 2003, Gonzalez & Dankel, 2004]

14. © 2002-2010 Franz J. Kurfess Expert System Design ????? Pattern Matching Example ◆ images ◆ Do both images refer to the same individual? ◆ Do they have other commonalities? ❖ test Bucky Bucky likes fish Bucky Bucky likes fish Bucky and Satchel Satchel likes Bucky Bucky likes to take advantage of Satchel

15. © 2002-2010 Franz J. Kurfess Expert System Design Pattern Matching Example ◆ shapes ?? ?????

16. © 2002-2010 Franz J. Kurfess Expert System Design Pattern Matching Examples ◆ constants and variables “Hans” “Franz” ? “Josef” “Joseph” first_name “Joseph” ? last_name “Joseph”

17. © 2002-2010 Franz J. Kurfess Expert System Design Pattern Matching Examples ◆ terms ◆ composed of constants, variables, functions ? father(X) “Joseph” ? father(Y)father(X) mother(X) ?? father(father(X))grandfather(X)

18. © 2002-2010 Franz J. Kurfess Expert System Design Applications of Pattern Matching ◆ search and retrieval ◆ precise matching ❖ strings, images, documents, objects ◆ similarity-based matching ❖ imprecise ❖ requires specification of a similarity measure ❖ often domain/application/task-specific

19. © 2002-2010 Franz J. Kurfess Expert System Design Search and Retrieval ◆ strings, images, documents, objects ◆ precise matching ◆ the query and the result have to match perfectly ❖ the two can be identical ❖ all requirements specified in the query have to be met by the result ◆ similarity-based matching ◆ imprecise ❖ some aspects of the result are different from the query specification ❖ but not too different ◆ partial match ❖ not all requirements specified in the query are met ◆ requires specification of a similarity measure ❖ often domain/application/task-specific

20. © 2002-2010 Franz J. Kurfess Expert System Design Face Recognition and Matching ◆ some cameras and photo management applications have “face recognition” capabilities ◆ identify areas in a photo that are likely to be a person’s face ❖ matching of an image area with a “face” prototype ◆ compare face candidates against a set of known faces ❖ matching of an image area against another image area to determine if they show the face of the same person

21. © 2002-2010 Franz J. Kurfess Expert System Design Genetic Analysis ◆ comparison of gene sequences

22. © 2002-2010 Franz J. Kurfess Expert System Design Analysis of Chemical Compounds ◆ candidates are compared agains compounds with known properties ◆ search for compounds with therapeutic potential

23. © 2002-2010 Franz J. Kurfess Expert System Design Dating ◆ Web sites like Match.com use (more or less) sophisticated matching methods to identify potential mates ◆ some approaches are based on scientific research ❖ although it is not clear how much better they are than others

24. © 2002-2010 Franz J. Kurfess Expert System Design Unification ◆ formal specification for finding substitutions that make logical expressions identical ◆ the unification algorithm takes two sentences and returns a unifier for them (if one exists) Unify(p,q) =  if Subst( ,p) = Subst( ,q) ◆ if there is more than one such substitution, the most general unifier is returned ◆ used in logic programming, automated theorem proving ◆ possibly complex operation ◆ quadratic in the size of the expressions ◆ “occur check” sometimes omitted ❖ determines if a variable is contained in the term against which it is unified

25. © 2002-2010 Franz J. Kurfess Expert System Design Informal Unification ◆ assume that there are two or more entities with an internal structure and properties ◆ all or some of them are willing to make adjustments to their structure or properties ❖ some of the properties may be unspecified (“don’t care”) ❖ structure may not be modifiable ◆ example: personal relationships ◆ partners involved are willing to change their properties ❖ behavior, appearance, values, beliefs,... ❖ some aspects are difficult to change

26. © 2002-2010 Franz J. Kurfess Expert System Design Pattern Matching in Rule-Based Systems ◆ used to match rules with appropriate facts in working memory ◆ rules for which facts can be found are satisfied ◆ the combination of a rule with the facts that satisfy it is used to form activation records ❖ one of the activation records is selected for execution ❖ the respective rule “fires”

27. © 2002-2010 Franz J. Kurfess Expert System Design Simplistic Rule-Based Pattern Matching ◆ go through the list of rules, and check the antecedent (LHS) of each rule against the facts in working memory ◆ create an activation record for each rule with a matching set of facts ◆ repeat after each rule firing ◆ very inefficient ◆ roughly (number of rules) * (number of facts) (number of patterns) ◆ the actual performance depends on the formulation of the rules and the contents of the working memory

28. © 2002-2010 Franz J. Kurfess Expert System Design Rete Algorithm ◆ in most cases, the set of rules in a rule-based system is relatively constant ◆ the facts (contents of working memory) change frequently ◆ most of the contents of working memory, however, don’t change every time ◆ optimization of the matching algorithm ◆ remember previous results ◆ change only those matches that rely on facts that have changed ◆ the Rete algorithm performs an improved matching of rules and facts ◆ invented by Charles Forgy in the early 80s ◆ basis for many rule-based expert system shells [ Friedmann-Hill 2003, Giarratano & Riley 1998, Gonzalez & Dankel, 2004] Friedmann-Hill 2003,04]

29. © 2002-2010 Franz J. Kurfess Expert System Design Rete Network ◆ the name comes from the latin word rete ◆ stands for net ◆ consists of a network of interconnected nodes ◆ each node represents one or more tests on the LHS of a rule ◆ input nodes are at the top, output nodes at the bottom ◆ pattern nodes have one input, and check the names of facts ◆ join nodes have two inputs, and combine facts ◆ terminal node at the bottom of the network represent individual rules ◆ a rule is satisfied if there is a combination of facts that passes all the test nodes from the top to the output node at the bottom that represents the rule ◆ the Rete network effectively is the working memory for a rule- based system

30. © 2002-2010 Franz J. Kurfess Expert System Design Rete Network Example 1 (deftemplate x (slot a)) (deftemplate y (slot b)) (defrule example-1 (x (a ?v1)) (y (b ?v1)) ==> ) ?= x ?= y Left.0.a ?= Right.b example-1 ?v1 ?v1 = ?v1

31. © 2002-2010 Franz J. Kurfess Expert System Design Rete Left and Right Memories ◆ left (alpha) memory ◆ contains the left input of a join node ◆ right (beta) memory ◆ contains the right input of a join node ◆ notation: Left.p.q ?= Right.r ◆ compare the contents of slot q in fact p from the left memory with slot r in the fact from the right memory (deftemplate x (slot a)) (deftemplate y (slot b)) (defrule example-1 (x (a ?v1)) (y (b ?v1)) ==> ) ?= x ?= y Left.0.a ?= Right.b example-1 ?v1 ?v1 = ?v1

32. © 2002-2010 Franz J. Kurfess Expert System Design Running the Network ◆ only facts x and y are considered ◆ all facts where x.a == y.b pass the join network ◆ all {x, y} tuples are fowarded to the next node ◆ compare the contents of slot q in fact p from the left memory with slot r in the fact from the right memory (deftemplate x (slot a)) (deftemplate y (slot b)) (defrule example-1 (x (a ?v1)) (y (b ?v1)) ==> ) Left.0.a ?= Right.b example-1 ?= x ?= y ?v1 ?v1 = ?v1

33. © 2002-2010 Franz J. Kurfess Expert System Design Rete Network Example 2 ◆ shares some facts with Example 1 (deftemplate x (slot a)) (deftemplate y (slot b)) (deftemplate z (slot c)) (defrule example-2 (x (a ?v2)) (y (b ?v2)) (z) ==> ) ?= x ?= y ?= z Left.0.a ?= Right.b example-2 ?v2 ?v2 = ?v2 ?v2

34. © 2002-2010 Franz J. Kurfess Expert System Design Rete Network Example 2 with Assert ◆ additional fact asserted (deftemplate x (slot a)) (deftemplate y (slot b)) (deftemplate z (slot c)) (defrule example-2 (x (a ?v2)) (y (b ?v2)) (z) ==> ) (assert (z (c 17)) ?= x ?= y ?= z Left.0.a ?= Right.b example-2 ?v2 ?v2 = ?v2 ?v2 ?v2 = 17 17

35. © 2002-2010 Franz J. Kurfess Expert System Design Assert and Retract with Rete ◆ asserting additional facts imposes some more constraints on the network ◆ retracting facts indicates that some previously computed activation records are not valid anymore, and should be discarded ◆ in addition to the actual facts, tags are sent through the networks ◆ ADD to add facts (i.e. for assert) ◆ REMOVE to remove facts (i.e. for retract) ◆ CLEAR to flush the network memories (i.e. for reset) ◆ UPDATE to populate the join nodes of newly added rules ❖ already existing join nodes can neglect these tokens

36. © 2002-2010 Franz J. Kurfess Expert System Design Rete Network Optimization ◆ networks with shared facts can be combined (deftemplate x (slot a)) (deftemplate y (slot b)) (deftemplate z (slot c)) (defrule example-1 (x (a ?v1)) (y (b ?v1)) ==> ) (defrule example-2 (x (a ?v2)) (y (b ?v2)) (z) ==> ) ?= x ?= y ?= z Left.0.a ?= Right.b example-1example-2

37. © 2002-2010 Franz J. Kurfess Expert System Design Further Optimizations ◆ sophisticated data structures to optimize the network ◆ hash table to presort the tokens before running the join node tests ◆ fine-tuning via parameters ◆ frequently trade-off between memory usage and time

38. © 2002-2010 Franz J. Kurfess Expert System Design Special Cases for Pattern Matching ◆ additional enhancements of the Rete network can be used to implement specific methods ◆ backward chaining ❖ requires a signal indicating to the network that a particular fact is needed ◆ not conditional element ❖ indicates the absence of a fact ❖ requires special join nodes and special fields in the tokens passing through the network ◆ test conditional element ❖ uses a special join node that ignores its right input ❖ the result of the function is passed on

39. © 2002-2010 Franz J. Kurfess Expert System Design Exploring the Rete Network in Jess ◆ (watch compilations) function ◆ diagnostic output when rules are compiled example-1: +1+1+1+2+t ❖ +1 one-input (pattern) node added to the Rete network ❖ +2 two-input (pattern) node added ❖ +t terminal node added ◆ (view) function ◆ graphical viewer of the Rete network in Jess ◆ (matches ) function ◆ displays the contents of the left and right memories of the join nodes for a rule ◆ useful for examining unexpected rule behavior

40. © 2002-2010 Franz J. Kurfess Expert System Design Rete Visualization http://upload.wikimedia.org/wikipedia/commons/9/92/Rete.JPG

41. © 2002-2010 Franz J. Kurfess Expert System Design Rule Formulation ◆ Pattern Order ◆ General vs. Specific Rules ◆ Simple vs. Complex Rules ◆ Loading and Saving Facts [Giarratano & Riley 1998]

42. © 2002-2010 Franz J. Kurfess Expert System Design Pattern Order ◆ since Rete saves information about rules and facts, it can be critical to order patterns in the right way ◆ otherwise a potentially huge number of partial matches can be generated

43. © 2002-2010 Franz J. Kurfess Expert System Design Example Pattern Order (deffacts information (find-match a c e g)f1 (item a) f2 (item b) f3 (item c) f4 (item d) f5 (item e) f6 (item f) f7 (item g)) f8 (defrule match-1 (find-match ?x ?y ?z ?w)P1 (item ?x) P2 (item ?y) P3 (item ?z) P4 (item ?w) P5 ==> (assert (found-match ?x ?y ?z ?w)) (deffacts information (find-match a c e g) (item a) (item b) (item c) (item d) (item e) (item f) (item g)) (defrule match-2 (item ?x) (item ?y) (item ?z) (item ?w) (find-match ?x ?y ?z ?w) ==> (assert (found-match ?x ?y ?z ?w)) [Giarratano & Riley 1998]

44. © 2002-2010 Franz J. Kurfess Expert System Design Pattern Matches ◆ full matches P1: f1 P2: f2,f3,f4,f5,f6,f7,f8 P3: f2,f3,f4,f5,f6,f7,f8 P4: f2,f3,f4,f5,f6,f7,f8 P5: f2,f3,f4,f5,f6,f7,f8 ◆ partial matches P1: [f1] P1-2: [f1,f2] P1-3: [f1,f2,f4] P1-4: [f1,f2,f4,f6] P1-5: [f1,f2,f4,f6,f8] Total: 29 full, 5 partial matches ◆ full matches P1: f2,f3,f4,f5,f6,f7,f8 P2: f2,f3,f4,f5,f6,f7,f8 P3: f2,f3,f4,f5,f6,f7,f8 P4: f2,f3,f4,f5,f6,f7,f8 P5: f1 ◆ partial matches P1: [f2,f3,f4,f5,f6,f7,f8] P1-2:[f2,f2],[f2,f3],[f2,f4],[f2,f5], [f2,f6],[f2,f7],[f2,f8], [f3,f2],[f3,f3],[f3,f4],[f3,f5], [f3,f6],[f3,f7],[f3,f8],... P1-3, P1-4:... P1-5: [f2,f4,f6,f8, f1] Total: 29 full, 2801 partial matches

45. © 2002-2010 Franz J. Kurfess Expert System Design Adding another Fact ◆ what is the effect on the two cases if another fact (item h) is added? ◆ no significant changes for match-1 ◆ in particular, no additional partial matches ◆ major changes for match-2 ◆ another 1880 partial matches

46. © 2002-2010 Franz J. Kurfess Expert System Design Guidelines for Pattern Matches ◆ try to formulate your rule such that the number of matches is low ◆ full and partial matches ◆ try to limit the number of old partial matches ◆ removing those also is time-consuming ◆ in general, the state of the system should be reasonably stable ◆ matches ◆ assertion, retraction, modification of facts

47. © 2002-2010 Franz J. Kurfess Expert System Design Guidelines for Pattern Ordering ◆ most specific patterns first ◆ smallest number of matching facts ◆ largest number of variable bindings to constrain other facts ◆ patterns matching volatile facts go last ◆ facts that are changing frequently should be used by patterns late in the LHS ◆ smallest number of changes in partial matches ◆ may cause a dilemma with the above guideline ◆ patterns matching the fewest facts first ◆ reduces the number of partial matches

48. © 2002-2010 Franz J. Kurfess Expert System Design Multifield Variables ◆ multifield wildcards and multifield variables are very powerful, but possible very inefficient ◆ should only be used when needed ◆ limit their number in a single slot of a pattern

49. © 2002-2010 Franz J. Kurfess Expert System Design Test Conditional Element ◆ the test conditional element should be placed as close to the top of the rule as possible ◆ reduces the number of partial matches ◆ evaluation of expressions during pattern matching is usually more efficient

50. © 2002-2010 Franz J. Kurfess Expert System Design Built-In Pattern Matching Constraints ◆ the built-in constraints are always more efficient than the equivalent expression ◆ not so good: (defrule primary-color color ?x&: (or (eq ?x red) (eq ?x green) (eq ?x blue) ==> (assert (primary-color ?x))) ◆ better: (defrule primary-color color ?x&red|green|blue) ==> (assert (primary-color ?x)))

51. © 2002-2010 Franz J. Kurfess Expert System Design General vs. Specific Rules ◆ some knowledge can be expressed through many specific, or a few general rules ◆ specific rules generate a top-heavy Rete network with many pattern nodes and fewer join nodes ◆ general rules offer better opportunities for sharing pattern and join nodes ◆ it usually is easier to write an inefficient general rule than an inefficient specific rule

52. © 2002-2010 Franz J. Kurfess Expert System Design Simple vs. Complex Rules ◆ simple rules are sometimes elegant, but not necessarily efficient ◆ storing temporary facts can be very helpful ❖ especially in recursive or repetitive programs

53. © 2002-2010 Franz J. Kurfess Expert System Design Loading and Saving Facts ◆ facts can be kept in a file, and loaded into memory when needed ◆ (load-facts) and (save-facts) functions ◆ may lead to visibility or scoping problems if the respective deftemplates are not contained in the current module

54. © 2002-2010 Franz J. Kurfess Expert System Design Figure Example

55. © 2002-2010 Franz J. Kurfess Expert System Design Post-Test

56. © 2002-2010 Franz J. Kurfess Expert System Design Evaluation ◆ Criteria

57. © 2002-2010 Franz J. Kurfess Expert System Design Use of References ◆ [Giarratano & Riley 1998] ◆ [Russell & Norvig 1995] ◆ [Jackson 1999] ◆ [Durkin 1994] [Giarratano & Riley 1998]

58. © 2002-2010 Franz J. Kurfess Expert System Design Important Concepts and Terms ◆ agenda ◆ assert ◆ backward chaining ◆ constant ◆ fact ◆ expert system (ES) ◆ expert system shell ◆ forward chaining ◆ join node ◆ knowledge base ◆ knowledge-based system ◆ left (alpha) memory ◆ matches ◆ matching ◆ pattern ◆ pattern matching ◆ pattern node ◆ RETE algorithm ◆ retract ◆ right (beta) memory ◆ rule ◆ substitution ◆ term ◆ test conditional element ◆ unification ◆ variable ◆ view ◆ working memory

59. © 2002-2010 Franz J. Kurfess Expert System Design Summary ES Implementation ◆ for rule-based systems, an efficient method for pattern matching between the rule antecedents and suitable facts is very critical ◆ matching every rule against all possible facts repeatedly is very inefficient ◆ the Rete algorithm is used in many expert system shells ◆ it constructs a network from the facts and rules in the knowledge base ◆ since certain aspects of the knowledge base are quite static, repeated matching operations can be avoided ◆ a few strategies can be used by programmers to achieve better performance ◆ most specific patterns first, patterns with volatile facts last ◆ careful use of multifield variables, general rules ◆ use of the test conditional element, built-in pattern constraints ◆ loading and saving of facts

60. © 2002-2010 Franz J. Kurfess Expert System Design