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  • 301.
    Herrero-Pérez, David
    et al.
    University of Murcia, Spain.
    Martínez-Barberá, Humberto
    University of Murcia, Spain.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Fuzzy self-localization using natural features in the four-legged league2004In: RoboCup 2004: Lisbon, Portugal, 2004 / [ed] Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor, Springer Berlin/Heidelberg, 2004, 110-121 p.Conference paper (Refereed)
    Abstract [en]

    In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of legged locomotion and to undetected collisions. This makes the use of robust sensor-based localization a necessity. We present an extension of our previous technique for fuzzy self-localization based on artificial landmarks, by including observations of features that occur naturally in the soccer field. In this paper, we focus on the use of corners between the field lines. We show experimental results obtained using these features together with the two nets. Eventually, our approach should allow us to migrate from landmarks-only to line-only localisation.

  • 302.
    Herring, Susan C.
    et al.
    Indiana University, Bloomington, USA.
    Fussel, Susan R.
    Cornell University, Ithaca, USA.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Mutlu, Bilge
    University of Wisconsin-Madison, Madison, USA.
    Neustaedter, Carman
    Simon Fraser University, Surrey, Canada.
    Tsui, Katherine
    Yale University, New Haven, USA.
    The Future of Robotic Telepresence: Visions, Opportunities and Challenges2016In: Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, New York: ACM , 2016, 1038-1042 p.Conference paper (Refereed)
    Abstract [en]

    This panel will bring together experts on robotic telepresence from HCI and related fields. Panelists will engage the audience in a discussion of visions, opportunities and challenges for the future of telepresence robots.

  • 303.
    Hertzberg, Joachim
    et al.
    University of Osnabrück, Inst. of Computer Science, Knowledge-Based Systems Research Group Osnabrück, Germany.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Using semantic knowledge in robotics2008In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 56, no 11, 875-877 p.Article in journal (Refereed)
    Abstract [en]

    There is a growing tendency to introduce high-level semantic knowledge into robotic systems and beyond. This tendency is visible in different forms within several areas of robotics. Recent work in mapping and localization tries to extract semantically meaningful structures from sensor data during map building, or to use semantic knowledge in the map building process, or both. A similar trend characterizes the cognitive vision approach to scene understanding. Recent efforts in human–robot interaction try to endow the robot with some understanding of the human meaning of words, gestures and expressions. Ontological knowledge is increasingly being used in distributed systems in order to allow automatic re-configuration in the areas of flexible automation and of ubiquitous robotics. Ontological knowledge was also used recently to improve the inter-operability of robotic components developed for different systems.

    While these trends have many questions and issues in common, work on each one of them is often pursued in isolation within a specific area, without being aware of the related achievements in other areas. The aim of this special issue is to collect in a single place a set of advanced, high-quality papers that tackle the problem of using semantic knowledge in robotics in many of its different forms.

    The submissions to this special issue made it clear that there are many ways in which semantic knowledge may play a role in robotics. Interestingly, they also revealed that there are many ways in which the term semantic knowledge is being interpreted. Before turning to the technical papers, then, it is worth spending a few words on this matter.

  • 304.
    Hertzberg, Joachim
    et al.
    Osnabrück University, Osnabrück, Germany .
    Zhang, Jianwei
    Hamburg University, Hamburg, Germany .
    Zhang, Liwei
    Hamburg University, Hamburg, Germany .
    Rockel, Sebastian
    Hamburg University, Hamburg, Germany .
    Neumann, Bernd
    Hamburg University, Hamburg, Germany .
    Lehmann, Jos
    Hamburg University, Hamburg, Germany .
    Dubba, Krishna S.R.
    University of Leeds, Leeds, England .
    Cohn, Anthony G.
    University of Leeds, Leeds, England .
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Mansouri, Masoumeh
    Örebro University, School of Science and Technology.
    Konečný, Štefan
    Örebro University, School of Science and Technology.
    Günther, Martin
    Osnabrück University, Osnabrück, Germany .
    Stock, Sebastian
    Osnabrück University, Osnabrück, Germany .
    Seabra Lopes, Luis
    University of Aveiro, Aveiro, Portugal .
    Oliveira, Miguel
    University of Aveiro, Aveiro, Portugal .
    Lim, Gi Hyun
    University of Aveiro, Aveiro, Portugal .
    Kasaei, Hamidreza
    University of Aveiro, Aveiro, Portugal .
    Mokhtari, Vahid
    University of Aveiro, Aveiro, Portugal .
    Hotz, Lothar
    HITeC Hamburger Informatik Technologie-Center e. V., Hamburg, Germany .
    Bohlken, Wilfried
    HITeC Hamburger Informatik Technologie-Center e. V., Hamburg, Germany .
    The RACE Project: Robustness by Autonomous Competence Enhancement2014In: Künstliche Intelligenz, ISSN 0933-1875, E-ISSN 1610-1987, Vol. 28, no 4, 297-304 p.Article in journal (Refereed)
    Abstract [en]

    This paper reports on the aims, the approach, and the results of the European project RACE. The project aim was to enhance the behavior of an autonomous robot by having the robot learn from conceptualized experiences of previous performance, based on initial models of the domain and its own actions in it. This paper introduces the general system architecture; it then sketches some results in detail regarding hybrid reasoning and planning used in RACE, and instances of learning from the experiences of real robot task execution. Enhancement of robot competence is operationalized in terms of performance quality and description length of the robot instructions, and such enhancement is shown to result from the RACE system.

  • 305.
    Hägglund, Maria
    et al.
    Health Informatics Centre, Karolinska Institutet, Stockholm, Sweden.
    Scandurra, Isabella
    Örebro University, Örebro University School of Business. APRI eHealth, Själevad, Sweden.
    Does user centred design work in homecare for elderly?: a retrospective on the OLD@HOME case2011In: International Journal of Integrated Care, ISSN 1568-4156, E-ISSN 1568-4156, Vol. 11Article in journal (Refereed)
    Abstract [en]

    Introduction: Mobile information and communication technology (ICT) has been suggested to improve collaboration in integrated homecare, yet, few successful implementations are available. User centred design (UCD) can improve the usefulness of ICT, however, it is often claimed to be expensive and difficult to use in healthcare. In the action research project OLD@HOME (Sweden 2002–2005) a user centred approach was adapted to the specific context of integrated homecare for elderly.

    Aim: To revisit OLD@HOME and explore what methodological adjustments were needed to adapt UCD to integrated homecare of elderly, and what the long-term effects of using UCD were.

    Results: Our collaborative design method included all stakeholders and enabled development of both new work situations and new tools. Five years after implementation, the system is still used by home help service personnel, for both homecare- and office-based work, as it provides ubiquitous access to information and communication. Technical support is rarely needed; experienced users handle occurring problems, training and introduction of new users.

    Conclusions: We consider the development method a key factor for the OLD@HOME system’s success as it enabled the design of a homecare system that is not only easy to use, but adapted to the context of integrated homecare for elderly

  • 306. Hägglund, Maria
    et al.
    Scandurra, Isabella
    Centre for eHealth, Uppsala University, Uppsala, Sweden.
    Studying intersection points – an analysis of information needs in shared homecare of elderly2009In: Journal on Information Technology in Healthcare, ISSN 1479-649X, The journal on information technology in healthcare, ISSN 1479-649X, Vol. 7, no 1, 23-42 p.Article in journal (Refereed)
    Abstract [en]

    Objectives: Elderly patients are increasingly receiving care in their own homes but this process is not well supported by existing systems which suffer from limited integration of health and social care services. The result is fragmentation of care, lack of coordination between services, duplication of services, and limited participation of patients and informal carers in the care process. In this study we attempt to identify the key intersection points, i.e. where different actors involved in the homecare of elderly patients interact, and to analyse their individual information requirements. How these requirements can be met using information and communication technology (ICT) is discussed.

    Methods: The study involved 13 participants representing professional health and social careworkers, patients and relatives. Their interactions and information needs were obtained using a variety of methods including multi-disciplinary thematic seminars, participatory observations, interviews, inventory of current information systems, scenarios, sketching and prototyping. 

    Results: The key intersection points where information exchange between different actors isneeded are (i) Initiation of patient specific changes in homecare provision, (ii) Consultations, (iii) Delegation of duties, (iv) Referrals, (v) Important health events and general care (vi) Coordination of planned activities. Shared information objects which would be beneficial include(i) Contact information of all parties, (ii) Patient care plan, (iii) Patient's medication list, (iv) Risk factors, (v) Updates to medical records, (vi) Patient medical summaries, (vii) Patient centred calendar (viii) Assessment of their homecare needs. An ICT solution implemented to meet these requirements must be integrated with existing systems to minimise any additional work that staff will have to do and also address major issues such as security, design of mobile applications (including both interface design and synchronisation issues), interoperability and ethical and legal aspects. 

    Conclusion: This study has identified the information that needs to be shared at key intersection points between different actors involved in providing homecare for the elderly. It has also indicated how this information can be made available through ICT and highlighted the challenges that will have to be overcome in order to support patient centred care.

  • 307. Hägglund, Maria
    et al.
    Scandurra, Isabella
    Centre for eHealth, Uppsala University, Akademiska sjukhuset, Uppsala, Sweden.
    Koch, Sabine
    Scenarios to Capture Work Processes in Shared Home Care – from analysis to application2010In: International Journal of Medical Informatics, ISSN 1386-5056, E-ISSN 1872-8243, Vol. 79, no 6, 126-134 p.Article in journal (Refereed)
    Abstract [en]

    Background

    Shared homecare is increasingly common, and in order to develop ICT that support such complex cooperative and interdisciplinary work it is crucial to obtain an understanding of work processes at the clinical level before the development is initiated. It is also crucial, but difficult, to correctly transfer this insight to the development team.

    Method

    User-centered scenario building in interdisciplinary working groups is applied for capturing cooperative work routines, information demands, and other central preconditions in shared homecare.

    Results

    Use of scenarios for analysis of cooperative work and as information carrier is described via a case from the multi-disciplinary OLD@HOME project. Both current and future work scenarios were elicited. To illustrate the process of transforming scenarios into more technical descriptions (use cases), and finally into an application, examples showing the transparency in resulting use cases and in the implemented system are provided.

    Conclusion

    In this case study, scenarios proved to be useful not only in initial system development phases but throughout the entire development process, improving accessibility and assessment of end user needs. For the development team, scenarios assisted in solving usability issues, and served as a basis for describing use cases and for further system development. More importantly, the shared care scenarios ensured the provision of different perspectives on common work processes, which are often neglected in conventional requirements specifications. This also improved understanding between different clinical groups and between clinicians and developers.

  • 308.
    Iliev, Boyko
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Improved sliding mode robot control: a fuzzy approach2002In: Proceedings of the third international workshop on robot motion and control, 2002. RoMoCo '02, 2002, 393-398 p.Conference paper (Refereed)
    Abstract [en]

    An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.

  • 309.
    Islam, Asif Moinul
    Örebro University, School of Science and Technology.
    Case Based Reasoning method for analysing Physiological sensor data2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Remote healthcare is a demanding as well as emergent research area. The rise of healthcare costs in the developed countries have made the policy makers for trying to find an alternate model of healthcare rather than relying on traditional healthcare system. Although advancement in the sensor technology, forthcomingness of devices like smart phones and improvement in artificial intelligence technology have made the remote healthcare close to reality but still there are plenty of issues to be solved before it becomes a commonly used healthcare model. In this thesis, studies of two vital physiological parameters pulse rate and oxygen saturation were done to unearth some patterns using Case-Based Reasoning technique. A three-tiered application is developed focusing remote healthcare. The results of the thesis could be used as a starting point of further research of two above mentioned physiological parameters in order to detect anomalous condition of health.

  • 310.
    Islam, Asif Moinul
    Örebro University, School of Science and Technology.
    Case Based Reasoning method for analysis of Physiological sensor data2012Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
    Abstract [en]

    Remote healthcare is a demanding as well as emergent research area. The rise of healthcare costs in the developed countries have made the policy makers for trying to find an alternate model of healthcare rather than relying on traditional healthcare system. Although advancement in the sensor technology, forthcomingness of devices like smart phones and improvement in artificial intelligence technology have made the remote healthcare close to reality but still there are plenty of issues to be solved before it becomes a commonly used healthcare model. In this thesis, studies of two vital physiological parameters pulse rate and oxygen saturation were done to unearth some patterns using Case-Based Reasoning technique. A three-tiered application is developed focusing remote healthcare. The results of the thesis could be used as a starting point of further research of two above mentioned physiological parameters in order to detect anomalous condition of health.

  • 311.
    Jakobsson, David
    et al.
    Örebro University, School of Science and Technology.
    König, Bettina
    Örebro University, School of Science and Technology.
    Kvalitetsregister för epikutantestning2010Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Introduction: Epicutaneous patch testing is used to evaluate contact allergies. Every year approximately 3000 tests are performed in Sweden and the results are entered in a quality registry. The aim of the project was to develop a web application and a corresponding database for managing and storage of a national dermatologic quality registry (The Swedish Patch Test Register). The database will be located on a central server at the University hospital, Örebro.

    Methods: The solution required programming of an application for web browsers in the language C# with the help of Microsoft Visual Studio 2008 and the web framework ASP.NET 3.5. The .NET connector tool 6.2.2 enabled the connection between ASP.NET and the database created on the open source database server MySQL Server 5.1. Web server hosting was tested with IIS 7.

    Results: A web application in a design equivalent to the Örebro Läns Landsting web site and with the following functionalities was created: Secure Login (https, SSL-certificate), recording of test results, managing of user accounts and eligibility, creating test series and adding new substances for allergic skin testing respectively, and a help page. The input of data was standardised by means of the calendar component and DropDownLists with pre-selected answers for test reactions, evaluation, relevance of test results and a predefined standard test system in order to reduce possible handling errors. The database includes eight tables and information is preferably stored as integer values to facilitate future statistical calculation.'

    Discussion: Due to a lack of license for Microsoft SQL server 2008, the project was accomplished by means of an open source solution, and has full functionality in the corresponding environment. A solution in a Microsoft SQL server 2008 environment requires certain adapting of the source code.

  • 312.
    Jakobsson, Patrik
    Örebro University, School of Science and Technology.
    WEBBAPPLIKATIONER: En praktisk tillämpning för ammunitionsindustrin2009Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report discusses the process of developing a web application for Gyttorp Cartridge Company with the aim of making it easier and create new possibilities to handle data gathered during the production. Gyttorp Cartridge Company is a manufacturer of sports and hunting ammunition. The main requirements where to create an application with the same work flow as their previous proceedings. One of the problems that where solved was the possibility for the users to work with shared data. The goal was to solve the problems in a money efficient and platform independent way and to be able to deliver a stable, well tested and user friendly solution.

    The report explains a number of suitable methods that will be included in the application to satisfy the demands of the employer. An explanation of the need for a client/server solution and the choice of software (LAMP) is given. A web application was chosen for the task and the need for handling events with asynchronous communication is explained.

    To simplify the process for the software engineer a program library was written that handles events and provides widgets. An addition to the library was added which handles dialog windows, warnings and errors. With the goal of making a user-friendly application the subject of interaction between human and computer is discussed. The application is user based which gives the possibility to adapt the visuals according to the user. The application also gives the possibility for generating reports to the person in charge of the production.

    The project showed that the application does ease the task for the employer. It reduces the risk for errors during the production. It satisfies the demands and makes it possible for further enhancements in the future.

    I the final discussion alternatives for building a web application are given. Shortcomings of the written library and how to solve them are given. Suggestions on how to improve the value of the application for the employer is also discussed.

  • 313.
    Jansson, Chris
    Örebro University, School of Science and Technology.
    Automatiskt bygge av FUS39A2011Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This paper describes the design and implementation of an automated build system for the JAS39A simulator FUS39A at HiQ:s offices in Arboga. The assignment was to automate the process in which modules are built; the simulator is composed of a number of modules which are built manually at the end of each week, this process takes about a day of manual labor. The system can automatically build a module as either a scheduled service or by manual invocation. The system contains functionality for reporting the build results to any given recipient by e-mail. The purpose of the system is to free up the time put into manually building the modules for better suited tasks by automating the build of FUS39A.

    The assignment was split into two parts, an analysis part where information of the old system was gathered, tools and methods were chosen and the new system was designed. In the second part the system was implemented and tested.

  • 314.
    Jennergren, Lars
    Örebro University, Department of Technology.
    Flexible assembly of ready-to-eat meals2004Licentiate thesis, monograph (Other academic)
  • 315.
    Johansson, Andreas
    et al.
    Örebro University, School of Science and Technology.
    Dahlbäck, Peter
    Örebro University, School of Science and Technology.
    Mobil trygghetsapplikation för operativsystemet  Android2010Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report details the development of an application for personal safety for the Android operating system. Android is a relatively new platform, primarily used on mobile phones.

    The purpose of the developed application is to give the user the possibility to easily and quickly alert a number of contacts by phone in case of emergencies, and to show the user’s location on a map. This is not only used during emergencies, but for other purposes as well – for example to monitor a jogging round.

    The project was carried out in co-operation with the company D-Safety, the developer of the "SoftAlarm" – the product on which the developed application is based.

  • 316.
    Johansson, Erik
    Örebro University, School of Science and Technology.
    Automatiserad GUI-testning2009Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In today’s software development environment, testing has become more vital than before. More technology is constantly being developed, new standards arise and upgrades and patches are released. This is were software testing becomes relevant.

    This report involves an analysis of GUI (Graphical User Interface) testing and a implementation using GUI-testing in an automated fashion. The implementation was done at the Data Engineering group at Network Management ABB in Västerås, Sweden. The implementation was part of a project where automated GUI-testing was of interest.

  • 317.
    Johansson, Fredrik
    Örebro University, School of Science and Technology.
    Evaluating the performance of TEWA systems2010Doctoral thesis, monograph (Other academic)
    Abstract [en]

    It is in military engagements the task of the air defense to protect valuable assets such as air bases from being destroyed by hostile aircrafts and missiles. In order to fulfill this mission, the defenders are equipped with sensors and firing units. To infer whether a target is hostile and threatening or not is far from a trivial task. This is dealt with in a threat evaluation process, in which the targets are ranked based upon their estimated level of threat posed to the defended assets. Once the degree of threat has been estimated, the problem of weapon allocation comes into the picture. Given that a number of threatening targets have been identified, the defenders need to decide on whether any firing units shall be allocated to the targets, and if so, which firing unit to engage which target. To complicate matters, the outcomes of such engagements are usually stochastic. Moreover, there are often tight time constraints on how fast the threat evaluation and weapon allocation processes need to be executed. There are already today a large number of threat evaluation and weapon allocation (TEWA) systems in use, i.e. decision support systems aiding military decision makers with the threat evaluation and weapon allocation processes. However, despite the critical role of such systems, it is not clear how to evaluate the performance of the systems and their algorithms. Hence, the work in thesis is focused on the development and evaluation of TEWA systems, and the algorithms for threat evaluation and weapon allocation being part of such systems. A number of algorithms for threat evaluation and static weapon allocation are suggested and implemented, and testbeds for facilitating the evaluation of these are developed. Experimental results show that the use of particle swarm optimization is suitable for real-time target-based weapon allocation in situations involving up to approximately ten targets and ten firing units, while it for larger problem sizes gives better results to make use of an enhanced greedy maximum marginal return algorithm, or a genetic algorithm seeded with the solution returned by the greedy algorithm.

  • 318.
    Johansson, Fredrik
    et al.
    Örebro University, School of Science and Technology.
    Falkman, Göran
    Performance evaluation of TEWA systems for improved decision support2009In: Modeling decisions for artificial intelligence, Berlin: Springer , 2009, Vol. 5861, 205-216 p.Conference paper (Other academic)
    Abstract [en]

    In air defense situations, decision makers have to protect defended assets through assigning available firing units to threatening targets in real-time. To their help they have decision support systems known as threat evaluation and weapon allocation (TEWA) systems. The problem of performance evaluation of such systems is of great importance, due to their critical role. Despite this research on this problem is close to non-existing. We are discussing the use of survivability and resource usage cost as comparative performance metrics, which can be used for comparing the effectiveness of different system configurations, by using simulations. These metrics have been implemented into a testified, in which we have performed some comparative experiments. Our results show that changes of individual parts of the threat evaluation and weapon allocation system configuration can have a large effect on the effectiveness of the system as a whole, and illustrate how the metrics and the testbed can be used.

  • 319.
    Johansson, Robert
    et al.
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Navigating by stigmergy: a realization on an RFID floor for minimalistic robots2009In: IEEE international conference on robotics and automation: ICRA '09, New York, NY: IEEE conference proceedings, 2009, 245-252 p.Conference paper (Refereed)
    Abstract [en]

    Stigmergy is a mechanism that allows the coordination of actions within the same agent or across different agents by means of traces left in the environment. We propose a stigmergetic approach to robot navigation in which a robot sets values in a hexagonal grid of RFID tags buried under the floor. This approach only requires minimal resources on the robot. The RFID floor will eventually contain a distance map that can guide the robot to a given goal (or set of goals) without the use of any localization system. The same map can be used or improved by other robots or by the same robot at later times. We define algorithms for building the RFID-floor map and for navigating on this map, we prove the convergence of the map building algorithm, and we show an empirical validation of our results using a small robot in a domestic environment.

  • 320.
    Johansson, Stefan
    et al.
    Blekinge Institute of Technology.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Using the electric field approach in the RoboCup domain2002In: RoboCup 2001: Robot Soccer World Cup V / [ed] Andreas Birk, Silvia Coradeschi, Satoshi Tadokoro, 2002, Vol. 2377/2002, 117-138 p.Conference paper (Refereed)
    Abstract [en]

    In autonomous robotics, so-called artificial potential fields are often used to plan and control the motion of a physical robot. In this paper, we propose to use an artificial electric field to address the problem or real time action selection in embodied, autonomous agents. We attach positive and negative electric charges to the relevant objects in the agent's domain, and use the resulting electric field to estimate the heuristic value of a given configuration. This value is used to select the action that results in the best configuration. This allows us to consider in the same framework both navigation and manipulation actions. We apply the electric field approach in the RoboCup domain, and present results drawn from our experience in the Sony legged robots league

  • 321.
    Jun, Li
    et al.
    Örebro University, Department of Technology.
    Duckett, Tom
    Örebro University, Department of Technology.
    Q-Learning with a growing RBF network for behavior learning in mobile robotics2005In: Proceedings,  IASTED International Conference on Robotics and Applications: RA 2005 / [ed] L. A. Gerhardt, 2005Conference paper (Refereed)
    Abstract [en]

    The use of artificial neural networks for approximating value functions in reinforcement learning is a common practice, but usually requires much work on designing the network architecture and refining of the network parame ters. In this paper we present a simple learning system that uses Q-learning with a resource allocating network (RAN) for behaviour learning in mobile robotics. The resource allocating network is used as a function approximator to dynamically represent the continuous sensory space, thus acquiring the sensorimotor mapping for generalization; and Q-learning is used to learn the control policy in ‘off-policy’ fashion that enables the human operator to guide the initial learning process, thus speeding up the reinforcement learn ing. We illustrate our approach using a PeopleBot robot to acquire a wall-following behaviour, and discuss some ob servations on the convergence and online training of our learning algorithm in the experiments.

  • 322.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Behavior abstraction robustness in agent modeling2012Conference paper (Refereed)
    Abstract [en]

    Due to the "generative" nature of the macro phenomena, agent-based systems require experience from the modeler to determine the proper low-level agent behavior. Adaptive and learning agents can facilitate this task: Partial or preliminary learnt versions of the behavior can serve as inspiration for the human modeler. Using a simulation process we develop agents that explore sensors and actuators inside a given environment. The exploration is guided by the attribution of rewards to their actions, expressed in an objective function. These rewards are used to develop a situation-action mapping, later abstracted to a human-readable format. In this contribution we test the robustness of a decision-tree-representation of the agent's decision-making process with regards to changes in the objective function. The importance of this study lies on understanding how sensitive the definition of the objective function is to the final abstraction of the model, not merely to a performance evaluation.

  • 323.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University.
    Evaluation of techniques for a learning-driven modeling methodology in multiagent simulation2010In: Multiagent system technologies / [ed] Jürgen Dix, Cees Witteveen, Berlin, Germany: Springer, 2010, 185-196 p.Conference paper (Refereed)
    Abstract [en]

    There have been a number of suggestions for methodologies supporting the development of multiagent simulation models. In this contribution we are introducing a learning-driven methodology that exploits learning techniques for generating suggestions for agent behavior models based on a given environmental model. The output must be human-interpretable. We compare different candidates for learning techniques - classier systems, neural networks and reinforcement learning - concerning their appropriateness for such a modeling methodology.

  • 324.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Evolution for modeling: a genetic programming framework for SeSAm2011In: GECCO '11: Proceedings of the 13th annual conference companion on Genetic and evolutionary computation, 2011, 551-558 p.Conference paper (Refereed)
    Abstract [en]

    Developing a valid agent-based simulation model is not always straight forward, but involves a lot of prototyping, testing and analyzing until the right low-level behavior is fully specified and calibrated. Our aim is to replace the try and error search of a modeler by adaptive agents which learn a behavior that then can serve as a source of inspiration for the modeler. In this contribution, we suggest to use genetic programming as the learning mechanism. For this aim we developed a genetic programming framework integrated into the visual agent-based modeling and simulation tool SeSAm, providing similar easy-to-use functionality.

  • 325.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Generating inspiration for multi-agent simulation design by Q-Learning2010In: MALLOW-2010: proceedings of  the multi-agent logics, languages, and organisations federated workshops 2010, 2010Conference paper (Refereed)
    Abstract [en]

    One major challenge in developing multiagent simulations is to find the appropriate agent design that is able to generate the intended overall phenomenon dynamics, but does not contain unnecessary details. In this paper we suggest to use agent learning for supporting the development of an agent model: the modeler defines the environmental model and the agent interfaces. Using rewards capturing the intended agent behavior, reinforcement learning techniques can be used for learning the rules that are optimally governing the agent behavior. However, for really being useful in a modeling and simulation context, a human modeler must be able to review and understand the outcome of the learning. We propose to use additional forms of learning as post-processing step for supporting the analysis of the learned model. We test our ideas using a simple evacuation simulation scenario.

  • 326.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Learning Agent Models in SeSAm: (Demonstration)2013In: / [ed] Ito, Jonker, Gini and Shehory, The International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), 2013Conference paper (Refereed)
    Abstract [en]

    Designing the agent model in a multiagent simulation is a challenging task due to the generative nature of such systems. In this contribution we present an extension to the multiagent simulation platform SeSAm, introducing a learning-based design strategy for building agent behavior models.

  • 327.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Learning convergence and agent behavior interpretation for designing agent-based simulations2010Conference paper (Refereed)
    Abstract [en]

    Designing a proper agent behavior for a multiagent simulation is a complex task as it is not obvious how the agents actions, and interactions among them and with their environment, result in an intended macro-phenomenon. To cope with the complexity involved in this challenge, and to achieve the intended overall result, the modeler may benefit from using agent learning techniques. In this contribution we focus on testing different configurations of the interface between the learning algorithm and the simulation scenario. The learned result is post-processed by a decision tree learner, to derive a comprehensible model for the agent behavior.

  • 328.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Learning Tools for Agent-based Modeling and Simulation2013In: Künstliche Intelligenz, ISSN 0933-1875, E-ISSN 1610-1987, Vol. 27, no 3, 273-280 p.Article in journal (Refereed)
    Abstract [en]

    In this project report, we describe ongoing research on supporting the development of agent-based simulation models. The vision is that the agents themselves should learn their (individual) behavior model, instead of letting a human modeler test which of the many possible agent-level behaviors leads to the correct macro-level observations. To that aim, we integrate a suite of agent learning tools into SeSAm, a fully visual platform for agent-based simulation models. This integration is the focus of this contribution.

  • 329.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Modeling agent behavior through online evolutionary and reinforcement learning2011In: Federated Conference on Computer Science and Information Systems (FedCSIS), 2011, IEEE, 2011, 643-650 p.Conference paper (Refereed)
    Abstract [en]

    The process of creation and validation of an agentbased simulation model requires the modeler to undergo a number of prototyping, testing, analyzing and re-designing rounds. The aim is to specify and calibrate the proper low level agent behavior that truly produces the intended macro level phenomena. We assume that this development can be supported by agent learning techniques, specially by generating inspiration about behaviors as starting points for the modeler. In this contribution we address this learning-driven modeling task and compare two methods that are producing decision trees: reinforcement learning with a post-processing step for generalization and Genetic Programming.

  • 330.
    Kadmiry, Bourhane
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control2004In: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 146, no 3, 313-347 p.Article in journal (Refereed)
    Abstract [en]

    In this paper we address the design of a fuzzy flight controller that achieves stable and robust -aggressive- manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic controller is used to compute the inputs to the fuzzy gain scheduler, i.e., desired values for roll, pitch, and yaw at given desired altitude and horizontal velocities. The flight controller is obtained and tested in simulation using a realistic nonlinear MIMO model of a real unmanned helicopter platform, the APID-MK

  • 331.
    Kadmiry, Bourhane
    et al.
    Linköping University, Linköping SE-58183, Sweden.
    Driankov, Dimiter
    Örebro University, School of Science and Technology.
    A fuzzy gain-scheduler for the attitude control of an unmanned helicopter2004In: IEEE transactions on fuzzy systems, ISSN 1063-6706, E-ISSN 1941-0034, ISSN 1063-6706/04, Vol. 12, no 4, 502-515 p.Article in journal (Refereed)
    Abstract [en]

    In this paper, we address the design of an attitude controller that achieves stable, and robust aggressive maneuverability for an unmanned helicopter. The controller proposed is in the form of a fuzzy gain-scheduler, and is used for stable and robust altitude, roll, pitch, and yaw control. The controller is obtained from a realistic nonlinear multiple-input-multiple-output model of a real unmanned helicopter platform, the APID-MK3. The results of this work are illustrated by extensive simulation, showing that the objective of aggressive, and robust maneuverability has been achieved.

  • 332.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    New speed limits of the fuzzy controller hardware1999Conference paper (Refereed)
    Abstract [en]

    Implementation of very fast fuzzy controllers is proposed. The state of fuzzy control system is presented by moving fired-rules-hyper-cube (FRHC) in phase space. Only rules inside FRHC are fired and processed in parallel, thus speeding up the fuzzy inference. Some fuzzy controller structures are discussed with estimation of the speed

  • 333.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boyko
    Örebro University, School of Science and Technology.
    SME robotics demand flexible grippers and fixtures2008In: Proc. 39th Int. Symposium on Robotics, Seoul, Korea, 2008, 62-65 p.Conference paper (Refereed)
  • 334.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boykov
    Örebro University, School of Science and Technology.
    Flexible grippers and fixtures2008Conference paper (Refereed)
  • 335.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Iliev, Boyko
    Örebro University, Department of Technology.
    Time-optimal sliding mode control of robot manipulator2000In: 26th annual conference of the IEEE industrial electronics society: IECON 2000, 2000, 265-270 p.Conference paper (Refereed)
    Abstract [en]

    We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties.

  • 336.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Tolt, Gustav
    Örebro University, Department of Technology.
    Fast fuzzy signal and image processing hardware2002In: Proceedings, NAFIPS 2002: Annual meeting of the North American fuzzy information processing society, 2002, 2002, 7-12 p.Conference paper (Refereed)
    Abstract [en]

    The paper presents the development of fast fuzzy logic based hardware for various applications such as controllers for very fast processes, real-time image processing and pattern recognition. It is based on the fired-rules-hyper-cube (FRHC) concept, characterized by extremely simple way of the fuzzy inference in a layered parallel architecture. The processing time slightly depends on the number of inputs of the fuzzy system and does not depend on the number of rules and fuzzy partitioning of all variables. Most important is the inherent high speed of processing because of the parallelism and pipelining, implemented in all layers.

  • 337.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Wide, Peter
    Örebro University, Department of Technology.
    Intelligent feature estimation, based on human's perceptual features2003In: IEEE international workshop on soft computing techniques in instrumentation, measurement and related applications, 2003: SCIMA 2003, 2003, 44-48 p.Conference paper (Refereed)
    Abstract [en]

    The paper presents a relatively new human-computer interaction paradigm, where a human operator's perceptual actions are mimicked by the computer. In this sensor controlled system concept, we estimate a specific feature characterizing, for example, product quality, and apply intelligent analysis and an optimization to assess product quality as acquired by a human expert. The human operator contributes his/her intelligence to this man-machine interaction through learning the measurement system. An illustrative example shows how the human operator's knowledge and experience are learned by a sensor based system within a complex dough mixing optimization process in an industrial bread baking plant. The resulting sensor system acts as an intelligent feature estimator in a complex industrial process for monitoring the dynamical behavior there. The system allows easy sensor observation and makes decisions based on learning interaction with a human.

  • 338.
    Kamarudin, Kamarulzaman
    et al.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia; School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Pauh Putra Campus, Arau, Perlis, Malaysia.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Mamduh, S. H.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia.
    Visvanathan, R.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia.
    Yeon, A. S. A.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia.
    Shakaff, A. Y. M.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia; School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Pauh Putra Campus, Arau, Perlis, Malaysia.
    Zakaria, A.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia; School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Pauh Putra Campus, Arau, Perlis, Malaysia.
    Abdullah, A. H.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia; School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), Pauh Putra Campus, Arau, Perlis, Malaysia.
    Kamarudin, L. M.
    Centre of Excellence for Advanced Sensor Technology, Universiti Malaysia Perlis, Malaysia.
    Cross-sensitivity of Metal Oxide Gas Sensor to Ambient Temperature and Humidity: Effects on Gas Distribution Mapping2017In: Proceedings of the 11th Asian Conference on Chemical Sensors, American Institute of Physics (AIP), 2017, Vol. 1808, UNSP 020025-1Conference paper (Refereed)
    Abstract [en]

    Metal oxide gas sensors have been widely used in robotics application to perform remote and mobile gas sensing. However, previous researches have indicated that this type of sensor technology is cross-sensitive to environmental temperature and humidity. This paper therefore investigates the effects of these two factors towards gas distribution mapping and gas source localization domains. A mobile robot equipped with TGS2600 gas sensor was deployed to build gas distribution maps of indoor environment, where the temperature and humidity varies. The results from the trials in environment with and without gas source indicated that there is a strong relation between the fluctuation of the mean and variance map with respect to the variations in the temperature and humidity maps.

  • 339.
    Kardell, Linus
    Örebro University, School of Science and Technology.
    Utvecklingav ordersida i SmartOff 2.02017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    SmartOff is a small company in Fellingsbro, developing a web app for managing orders,

    offers, planning, invoices etc. The company was founded and is owned by Henning

    Baeckström. Their main product, SmartOff, is an order program for small companies. When

    this project was done, they were developing a new version of the application, SmartOff 2.0,

    which was rewritten from the ground up. This was written with a great focus on code

    structure, modularity, and “clean code”, to make sure it was maintainable, and it was easy to

    add new functions. It’s also designed with a more simplistic and well structured user

    interface, which adapts depending on the screen size. This allows the same page to function

    well on both PCs and phones. The goal was to develop SmartOff 2.0, so that eventually it

    could entirely replace the old version, at which point they could use a single code base on

    both phones and the web site. This project consisted of developing two new views under the

    order tab of SmartOff 2.0: an offer view and a calculation view. Before the start of the project

    the tab contained an order view.

     

    The offer view was to be reached by clicking a left arrow on the order view. It was to

    resemble an offer as it appears on paper, and essentially look like an editable version of a

    paper offer. It should contain all the elements that were on an offer, including the company

    information, the customer information, an article list, and some texts above and below the

    article list. All of these were to be editable or selectable.

     

    There was to be one calculation (a list of materials and work needed to make the article, as

    well as amounts, prices etc for these) for each article in an order, and you should be able to

    get to the calculation by clicking an arrow on the article in the article list on the order view.

    The calculation view was to have a table with calculation rows, where each row represents a

    piece of material that needs to be purchased, or some work that needs to be done. On each

    row you were supposed to be able to input e g price and amount, to calculate the price of the

    row, and each row was to have a total price. Below the calculation table, there was to be total

    prices; an editable surcharge; as well as a way to edit the article price and transfer the price

    from the calculation to the article.

  • 340.
    Karlsson, Alexander
    Örebro University, School of Science and Technology.
    Evaluating credal set theory as a belief framework in high-level information fusion for automated decision-making2010Doctoral thesis, monograph (Other academic)
    Abstract [en]

    High-level information fusion is a research field in which methods for achieving an overall understanding of the current situation in an environment of interest are studied. The ultimate goal of these methods is to provide effective decision-support for human or automated decision-making. One of the main proposed ways of achieving this is to reduce the uncertainty, coupled with the decision, by utilizing multiple sources of information. Handling uncertainty in high-level information fusion is performed through a belief framework, and one of the most commonly used such frameworks is based on Bayesian theory. However, Bayesian theory has often been criticized for utilizing a representation of belief and evidence that does not sufficiently express some types of uncertainty. For this reason, a generalization of Bayesian theory has been proposed, denoted as credal set theory, which allows one to represent belief and evidence imprecisely. In this thesis, we explore whether credal set theory  yields measurable advantages, compared to Bayesian theory, when used as a belief framework in high-level information fusion for automated decision-making, i.e., when decisions are made by some pre-determined algorithm. We characterize the Bayesian and credal operators for belief updating and evidence combination and perform three experiments where the Bayesian and credal frameworks are evaluated with respect to automated decision-making. The decision performance of the frameworks are measured by enforcing a single decision, and allowing a set of decisions, based on the frameworks’ belief and evidence structures. We construct anomaly detectors based on the frameworks and evaluate these detectors with respect to maritime surveillance. The main conclusion of the thesis is that although the credal framework uses considerably more expressive structures to represent belief and evidence, compared to the Bayesian framework, the performance of the credal framework can be significantly worse, on average, than that of the Bayesian framework, irrespective of the amount of imprecision.

  • 341.
    Karlsson, Fredrik
    et al.
    Örebro University, School of Science and Technology.
    Petersson, David
    Örebro University, School of Science and Technology.
    Examensarbete på Flex Datasystem AB: Säljstödsystem till Flex CRM2009Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This is the report for the examination of the Sales support system at Flex Datasystem. The project has consisted of building an extension of a web application in Microsoft .NET Framework. The web application is a so called CRM (Customer Relations Manager) –system that is being used internally within the company (Flex Datasystem), named Flex CRM. The application is to be extended with an additional section called Sales Support.

    A sales support is a section of the application targeted the employees on Flex Datasystem with the role of a Sales-person. A sales-persons task assignment consists of dealing with the selling of products developed by Flex Datasystem. The sales support system is to ease their work and management of clients and ongoing contracts.

    This report will go in to detail of what a CRM system is good for and how it can be used, what a sales support system is, who benefits from it and how the approach taken in developing  and implementing it in Flex CRM.

    The report will also talk about what tools used when building this application, how the page structure is structured and the database design. The system is written with the programming language Visual Basic for asp .NET in the design layer and with C# in the Data Access Layer.

  • 342.
    Karlsson, Lars
    Örebro University, Department of Technology.
    Conditional progressive planning under uncertainty2001Conference paper (Refereed)
    Abstract [en]

    In this article, we describe a possibilis - tic/probabilistic conditional planner called PTLplan Being inspired by Bacchus and Ka - banza's TLplan, PTLplan is a progressive planner that uses strategic knowledge encoded in a tem - poral logic to reduce its search space Actions effects and sensing can be context dependent and uncertain, and the information the planning agent has at each point in time is represented as a set of situations with associated possibilities or probabilities Besides presenting the planner itself - its representation of actions and plans, and its algorithm - we also provide some promising data from performance tests

  • 343.
    Karlsson, Lars
    et al.
    Örebro University, School of Science and Technology.
    Bidot, Julien
    Örebro University, School of Science and Technology.
    Lagriffoul, Fabien
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Hillenbrand, Ulrich
    DLR, Oberpfaffenhofen, Germany.
    Schmidt, Florian
    DLR, Oberpfaffenhofen, Germany.
    Combining task and path planning for a humanoid two-arm robotic system2012In: Combining Task and Motion Planning for Real-World Applications (ICAPS workshop), 2012, 13-20 p.Conference paper (Refereed)
  • 344.
    Karlsson, Lars
    et al.
    Örebro University, School of Science and Technology.
    Bidot, Julien
    Örebro University, School of Science and Technology.
    Lagriffoul, Fabien
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Hillenbrand, Ulrich
    DLR, Oberpfaffenhofen, Germany.
    Schmidt, Florian
    DLR, Oberpfaffenhofen, Germany.
    Progress and challenges in planning for a two-arm robot2012Conference paper (Refereed)
  • 345.
    Karlsson, Lars
    et al.
    Örebro University, Department of Technology.
    Bouguerra, Abdelbaki
    Örebro University, Department of Technology.
    Broxvall, Mathias
    Örebro University, Department of Technology.
    Coradeschi, Silvia
    Örebro University, Department of Technology.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    To secure an anchor: a recovery planning approach to ambiguity in perceptual anchoring2008In: AI Communications, ISSN 0921-7126, Vol. 21, no 1, 1-14 p.Article in journal (Refereed)
    Abstract [en]

    An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol.

    In this paper, we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations. We also present methods to recover from these situations based onautomatically formulating them as conditional planning problems that then are solved by a planner.

    We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.

  • 346.
    Karlsson, Lars
    et al.
    Örebro University, Department of Technology.
    Schiavinotto, Tommaso
    Technische Universität Darmstadt.
    Progressive planning for mobile robots: a progress report2002In: Advances in Plan-Based Control of Robotic Agents / [ed] Michael Beetz, Joachim Hertzberg, Malik Ghallab, Martha E. Pollack, 2002, Vol. 2466, 273-297 p.Conference paper (Refereed)
    Abstract [en]

    In this article, we describe a possibilistic/probabilistic conditional planner called PTLplan, and how this planner can be integrated with a behavior-based fuzzy control system called the Thinking Cap in order to execute the generated plans. Being inspired by Bacchus and Kabanza's TLplan, PTLplan is a progressive planner that uses strategic knowledge encoded in a temporal logic to reduce its search space. Actions' effects and sensing can be context dependent and uncertain, and the resulting plans may contain conditional branches. When these plans are executed by the control system, they are transformed into B-plans which essentially are combinations of fuzzy behaviors to be executed in different contexts

  • 347.
    Kashani, Zahra RM
    et al.
    Institute of Biochemistry and Biophysics, University of Tehran.
    Ahrabian, Hayedeh
    School of Mathematics and Computer Science, University of Tehran.
    Elahi, Elahe
    School of Biology, University of Tehran.
    Nowzari-Dalini, Abbas
    School of Mathematics and Computer Science, University of Tehran.
    Ansari, Elnaz S
    School of Mathematics and Computer Science, University of Tehran.
    Asadi, Sahar
    Örebro University, School of Science and Technology.
    Mohammadi, Shahin
    School of Mathematics and Computer Science, University of Tehran.
    Schreiber, Falk
    Institute for Computer Science, Martin-Luther-University Halle-Wittenberg.
    Masoudi-Nejad, Ali
    Institute of Biochemistry and Biophysics, University of Tehran.
    Kavosh: a new algorithm for finding network motifs2009In: BMC Bioinformatics, ISSN 1471-2105, Vol. 10, no 318Article in journal (Refereed)
    Abstract [en]

    Background

    Complex networks are studied across many fields of science and are particularly important to understand biological processes. Motifs in networks are small connected sub-graphs that occur significantly in higher frequencies than in random networks. They have recently gathered much attention as a useful concept to uncover structural design principles of complex networks. Existing algorithms for finding network motifs are extremely costly in CPU time and memory consumption and have practically restrictions on the size of motifs.

    Results

    We present a new algorithm (Kavosh), for finding k-size network motifs with less memory and CPU time in comparison to other existing algorithms. Our algorithm is based on counting all k-size sub-graphs of a given graph (directed or undirected). We evaluated our algorithm on biological networks of E. coli and S. cereviciae, and also on non-biological networks: a social and an electronic network.

    Conclusion

    The efficiency of our algorithm is demonstrated by comparing the obtained results with three well-known motif finding tools. For comparison, the CPU time, memory usage and the similarities of obtained motifs are considered. Besides, Kavosh can be employed for finding motifs of size greater than eight, while most of the other algorithms have restriction on motifs with size greater than eight. The Kavosh source code and help files are freely available at: http://Lbb.ut.ac.ir/Download/LBBsoft/Kavosh/.

  • 348.
    Kasselia, Paul
    Örebro University, School of Science and Technology.
    Webbapplikation för administrering av dokument2015Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the investigation and the development of a web application that will serve as a support application for Combitech when registering their systems in a database. When component needs to be replaced or upgraded, then you should be able to produce all documents that describe the component, and systems that consist of this component.Thus theycan estimate how much impact a replacement of an upgrade of a component will be in the early stages of their work.The web application was developedfollowing an extensive investigation of the tools that would be used during the project, and an investigation of the functions of the application. The web application was then developed in the ASP. NET MVC framework.

  • 349.
    Khaliq, Ali Abdul
    et al.
    Örebro University, School of Science and Technology.
    Di Rocco, Maurizio
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Stigmergic algorithms for multiple minimalistic robots on an RFID floor2014In: Swarm Intelligence, ISSN 1935-3820, Vol. 8, no 3, 199-225 p.Article in journal (Refereed)
    Abstract [en]

    Stigmergy is a powerful principle in nature, which has been shown to have interesting applications to robotic systems. By leveraging the ability to store information in the environment, robots with minimal sensing, memory, and computational capabilities can solve complex problems like global path planning. In this paper, we discuss the use of stigmergy in minimalist multi-robot systems, in which robots do not need to use any internal model, long-range sensing, or position awareness. We illustrate our discussion with three case studies: building a globally optimal navigation map, building a gradient map of a sensed feature, and updating the above maps dynamically. All case studies have been implemented in a real environment with multiple ePuck robots, using a floor with 1,500 embedded radio frequency identification tags as the stigmergic medium. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.

  • 350.
    Khaliq, Ali Abdul
    et al.
    Örebro University, School of Science and Technology.
    Di Rocco, Maurizio
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Stigmergic Algorithms for Simple Robotic Devices (Extended abstract)2013In: Workshop on Unconventional Approaches to Robotics, Automation and Control Inspired by Nature (ICRA 2013), 2013Conference paper (Refereed)
    Abstract [en]

    This position paper is meant to discuss the use of stigmergy in minimalist robotic systems, and to argue for a methodological approach based on the combination of formal analysis and empirical evaluation. In the full paper we will illustrate this approach in three case studies: building a globally optimal navigation map, building a gas concentration gradient map, and updating the above maps dynamically. All case studies have been implemented in a real environment with inexpensive robots, using an RFID floor as the stigmergic medium.

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