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  • 251.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Modeling and simulation of a silo cleaning robot2014In: Mobile Service Robotics / [ed] Krazystof Kotowski, Mohammad O Tokhi and Gurvinder S Virk, Singapore: World Scientific, 2014, p. 627-635Conference paper (Refereed)
    Abstract [en]

    A suspended robot for surface cleaning in silos is presented in this paper. Thesuggested concept is a reasonable compromise between the basic contradictingfactors in the design: small entrance and large surface of the confined space,suspension and stabilization of the robot. A dynamic study for the suspendedrobot is presented in this paper. A dynamic simulation in MSC ADAMS iscarried out to confirm the results from the theoretic study.

  • 252.
    Daoutis, Marios
    Örebro University, School of Science and Technology.
    Knowledge based perceptual anchoring: grounding percepts to concepts in cognitive robots2013Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    A successful articial cognitive agent needs to integrate its perception of the environment with reasoning and actuation. A key aspect of this integration is the perceptual-symbolic correspondence, which intends to give meaning to the concepts the agent refers to { known as Anchoring. However, perceptual representations alone (e.g., feature lists) cannot entirely provide sucient abstraction and enough richness to deal with the complex nature of the concepts' meanings. On the other hand, neither plain symbol manipulation appears capable of attributing the desired intrinsic meaning.

    We approach this integration in the context of cognitive robots which operate in the physical world. Specically we investigate the challenge of establishing the connection between percepts and concepts referring to objects, their relations and properties.We examine how knowledge representation can be used together with an anchoring framework, so as to complement the meaning of percepts while supporting linguistic interaction. This implies that robots need to represent both their perceptual and semantic knowledge, which is often expressed in dierent abstraction levels and may originate from dierent modalities.

    The solution proposed in this thesis concerns the specication, design and implementation ofa hybrid cognitive computational model, which extends a classical anchoring framework, in order to address the creation and maintenance of the perceptual-symbolic correspondences. The model is based on four main aspects: (a) robust perception, by relying on state-of-the art techniques from computer vision and mobile robot localisation; (b) symbol grounding, using topdown and bottom-up information acquisition processes as well as multi-modal representations; (c) knowledge representation and reasoning techniques in order to establish a common language and semantics regarding physical objects, their properties and relations, that are to be used between heterogeneous robotic agents and humans; and (d) commonsense information in order to enable high-level reasoning as well as to enhance the semantic

    descriptions of objects.

    The resulting system and the proposed integration has the potential to strengthen and expand the knowledge of a cognitive robot. Specically, by providing more robust percepts it is possible to cope better with the ambiguity and uncertainty of the perceptual data. In addition, the framework is able to exploit mutual interaction between dierent levels of representation while integrating dierent sources of information. By modelling and using semantic & perceptual knowledge, the robot can: acquire, exchange and reason formally about concepts, while prior knowledge can become a cognitive bias in the acquisition of novel concepts.

    List of papers
    1. Using Knowledge Representation for Perceptual Anchoring in a Robotic System
    Open this publication in new window or tab >>Using Knowledge Representation for Perceptual Anchoring in a Robotic System
    2008 (English)In: International Journal on Artificial Intelligence Tools, ISSN 0218-2130, Vol. 17, no 5, p. 925-944Article in journal (Refereed) Published
    Abstract [en]

    In this work we introduce symbolic knowledge representation and reasoning capabilities to enrich perceptual anchoring. The idea that encompasses perceptual anchoring is the creation and maintenance of a connection between the symbolic and perceptual description that refer to the same object in the environment. In this work we further extend the symbolic layer by combining a knowledge representation and reasoning (KRR) system with the anchoring module to exploit a knowledge inference mechanisms. We implemented a prototype of this novel approach to explore through initial experimentation the advantages of integrating a symbolic knowledge system to the anchoring framework in the context of an intelligent home. Our results show that using the KRR we are better able to cope with ambiguities in the anchoring module through exploitation of human robot interaction.

    National Category
    Engineering and Technology Computer and Information Sciences
    Research subject
    Computer and Systems Science
    Identifiers
    urn:nbn:se:oru:diva-5175 (URN)
    Available from: 2009-02-24 Created: 2009-01-29 Last updated: 2018-01-13Bibliographically approved
    2. Grounding commonsense knowledge in intelligent systems
    Open this publication in new window or tab >>Grounding commonsense knowledge in intelligent systems
    2009 (English)In: Journal of Ambient Intelligence and Smart Environments, ISSN 1876-1364, E-ISSN 1876-1372, Vol. 1, no 4, p. 311-321Article in journal (Refereed) Published
    Abstract [en]

    Ambient environments which integrate a number of sensing devices and actuators intended for use by human users need to be able to express knowledge about objects, their functions and their properties to assist in the performance of everyday tasks. For this to occur perceptual data must be grounded to symbolic information that in its turn can be used in the communication with the human. For symbolic information to be meaningful it should be part of a rich knowledge base that includes an ontology of concepts and common sense. In this work we present an integration between ResearchCyc and an anchoring framework that mediates the connection between the perceptual information in an intelligent home environment and the reasoning system. Through simple dialogues we validate how objects placed in the home environment are grounded by a network of sensors and made available to a larger KB where reasoning is exploited. This first integration work is a step towards integrating the richness of a KRR system developed over many years in isolation, with a physically embedded intelligent system.

    Place, publisher, year, edition, pages
    Amsterdam: IOS Press, 2009
    Keywords
    Physical Symbol Grounding, Commonsense Knowledge Representation, Human Robot Interaction, Intelligent Home
    National Category
    Computer Sciences
    Research subject
    Computer Science; Information technology
    Identifiers
    urn:nbn:se:oru:diva-8485 (URN)10.3233/AIS-2009-0040 (DOI)000207842000002 ()2-s2.0-78651496919 (Scopus ID)
    Available from: 2009-11-09 Created: 2009-11-09 Last updated: 2018-01-12Bibliographically approved
    3. Cooperative knowledge based perceptual anchoring
    Open this publication in new window or tab >>Cooperative knowledge based perceptual anchoring
    2012 (English)In: International journal on artificial intelligence tools, ISSN 0218-2130, Vol. 21, no 3, article id 1250012Article in journal (Refereed) Published
    Abstract [en]

    In settings where heterogenous robotic systems interact with humans, information from the environment must be systematically captured, organized and maintained in time. In this work, we propose a model for connecting perceptual information to semantic information in a multi-agent setting. In particular, we present semantic cooperative perceptual anchoring, that captures collectively acquired perceptual information and connects it to semantically expressed commonsense knowledge. We describe how we implemented the proposed model in a smart environment, using different modern perceptual and knowledge representation techniques. We present the results of the systemand investigate different scenarios in which we use the common sense together with perceptual knowledge, for communication, reasoning and exchange of information.

    Place, publisher, year, edition, pages
    World Scientific, 2012
    Keywords
    Cognitive robotics; physical symbol grounding; commonsense information; multi-agent perception; object recognition
    National Category
    Computer Sciences
    Research subject
    Computer and Systems Science
    Identifiers
    urn:nbn:se:oru:diva-24226 (URN)10.1142/S0218213012500121 (DOI)000305795900008 ()2-s2.0-84863086324 (Scopus ID)
    Funder
    Swedish Research Council
    Available from: 2012-08-06 Created: 2012-08-05 Last updated: 2018-01-12Bibliographically approved
    4. Towards concept anchoring for cognitive robots
    Open this publication in new window or tab >>Towards concept anchoring for cognitive robots
    2012 (English)In: Intelligent Service Robotics, ISSN 1861-2784, Vol. 5, no 4, p. 213-228Article in journal (Refereed) Published
    Abstract [en]

    We present a model for anchoring categorical conceptual information which originates from physical perception and the web. The model is an extension of the anchoring framework which is used to create and maintain over time semantically grounded sensor information. Using the augmented anchoring framework that employs complex symbolic knowledge from a commonsense knowledge base, we attempt to ground and integrate symbolic and perceptual data that are available on the web. We introduce conceptual anchors which are representations of general, concrete conceptual terms. We show in an example scenario how conceptual anchors can be coherently integrated with perceptual anchors and commonsense information for the acquisition of novel concepts.

    Place, publisher, year, edition, pages
    Springer Berlin/Heidelberg, 2012
    Keywords
    Anchoring; Categorical perception; Near sets; Knowledge representation; Commonsense information
    National Category
    Robotics Computer Vision and Robotics (Autonomous Systems) Computer Sciences
    Research subject
    Computer Science
    Identifiers
    urn:nbn:se:oru:diva-26831 (URN)10.1007/s11370-012-0117-z (DOI)000208947900002 ()2-s2.0-84867580722 (Scopus ID)
    Funder
    Swedish Research Council
    Available from: 2013-01-10 Created: 2013-01-10 Last updated: 2018-01-11Bibliographically approved
  • 253.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Cooperative knowledge based perceptual anchoring2012In: International journal on artificial intelligence tools, ISSN 0218-2130, Vol. 21, no 3, article id 1250012Article in journal (Refereed)
    Abstract [en]

    In settings where heterogenous robotic systems interact with humans, information from the environment must be systematically captured, organized and maintained in time. In this work, we propose a model for connecting perceptual information to semantic information in a multi-agent setting. In particular, we present semantic cooperative perceptual anchoring, that captures collectively acquired perceptual information and connects it to semantically expressed commonsense knowledge. We describe how we implemented the proposed model in a smart environment, using different modern perceptual and knowledge representation techniques. We present the results of the systemand investigate different scenarios in which we use the common sense together with perceptual knowledge, for communication, reasoning and exchange of information.

  • 254.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Grounding commonsense knowledge in intelligent systems2009In: Journal of Ambient Intelligence and Smart Environments, ISSN 1876-1364, E-ISSN 1876-1372, Vol. 1, no 4, p. 311-321Article in journal (Refereed)
    Abstract [en]

    Ambient environments which integrate a number of sensing devices and actuators intended for use by human users need to be able to express knowledge about objects, their functions and their properties to assist in the performance of everyday tasks. For this to occur perceptual data must be grounded to symbolic information that in its turn can be used in the communication with the human. For symbolic information to be meaningful it should be part of a rich knowledge base that includes an ontology of concepts and common sense. In this work we present an integration between ResearchCyc and an anchoring framework that mediates the connection between the perceptual information in an intelligent home environment and the reasoning system. Through simple dialogues we validate how objects placed in the home environment are grounded by a network of sensors and made available to a larger KB where reasoning is exploited. This first integration work is a step towards integrating the richness of a KRR system developed over many years in isolation, with a physically embedded intelligent system.

  • 255.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Integrating common sense in physically embedded intelligent systems2009In: Intelligent environments 2009 / [ed] V. Callaghan, A. Kameas, A. Reyes, D. Royo, M. Weber, Amsterdam: IOS Press , 2009, p. 212-219Conference paper (Refereed)
    Abstract [en]

    In this paper we describe an implemented framework that integrates knowledge representation and reasoning in a symbiotic system. In such systems a number of heterogeneous sensors pervasively embedded in the environment, mobile robots and humans co-exist and communicate. In this work, the integration is mediated through perceptual anchoring, which creates and maintains the correspondences between the symbol system and the perceptual data that refer to the same physical object. The overall framework is evaluated using ResearchCyc as the knowledge representation and reasoning system, within the context of a physical testbed, which consists of a small apartment-like home.

  • 256.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Towards concept anchoring for cognitive robots2012In: Intelligent Service Robotics, ISSN 1861-2784, Vol. 5, no 4, p. 213-228Article in journal (Refereed)
    Abstract [en]

    We present a model for anchoring categorical conceptual information which originates from physical perception and the web. The model is an extension of the anchoring framework which is used to create and maintain over time semantically grounded sensor information. Using the augmented anchoring framework that employs complex symbolic knowledge from a commonsense knowledge base, we attempt to ground and integrate symbolic and perceptual data that are available on the web. We introduce conceptual anchors which are representations of general, concrete conceptual terms. We show in an example scenario how conceptual anchors can be coherently integrated with perceptual anchors and commonsense information for the acquisition of novel concepts.

  • 257.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Mavridis, Nikolaos
    Towards a Model for Grounding Semantic Composition2014Conference paper (Refereed)
  • 258.
    Dashti, HesamAddin T.
    et al.
    School of Math and Computer Science, University of Tehran.
    Aghaeepour, NimaSchool of Math and Computer Science, University of Tehran.Asadi, SaharÖrebro University, School of Science and Technology.Bastani, MeysamSchool of Math and Computer Science, University of Tehran.Delafkar, ZahraSchool of Math and Computer Science, University of Tehran.Disfani, Fatemeh M.School of Math and Computer Science, University of Tehran.Ghaderi, Serveh M.School of Math and Computer Science, University of Tehran.Kamali, ShahinSchool of Math and Computer Science, University of Tehran.Pashami, SepidehÖrebro University, School of Science and Technology.Siahpirani, Alireza F.School of Math and Computer Science, University of Tehran.
    Dynamic Positioning based on Voronoi Cells (DPVC)2006Collection (editor) (Refereed)
    Abstract [en]

    In this paper we are proposing an approach for flexible positioning of players in Soccer Simulation in a Multi-Agent environment. We introduce Dynamic Positioning based on Voronoi Cells (DPVC) as a new method for players' positioning which uses Voronoi Diagram for distributing agents in the field. This method also uses Attraction Vectors that indicate agents' tendency to specific objects in the field with regard to the game situation and players' roles. Finally DPVC is compared with SBSP as the conventional method of positioning.

  • 259.
    Davidsson, Paul
    et al.
    Malmö University, Malmö, Sweden.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Verhagen, Harko
    Stockholm University, Stockholm, Sweden.
    Simulation of Complex Systems2017In: Springer Handbook of Model-Based Science / [ed] Lorenzo Magnani and Tommaso Bertolotti, Cham: Springer, 2017, 1, p. 783-797Chapter in book (Refereed)
    Abstract [en]

    Understanding and managing complex systems has become one of the biggest challenges for research, policy and industry. Modeling and simulationof complex systems promises to enable us to understand how a human nervous systemand brain not just maintain the activities of a metabolism, but enable the production of intelligent behavior, how huge ecosystems adapt to changes, or what actually influences climatic changes. Also man-made systems are getting more complex and difficult, or even impossible, to grasp. Therefore we need methods and tools that can help us in, for example, estimating how different infrastructure investments will affect the transport system and understanding the behavior of large Internet-based systems in different situations. This type of system is becoming the focus of research and sustainable management as there are now techniques, tools and the computational resources available. This chapter discusses modeling and simulation of such complex systems. We will start by discussing what characterizes complex systems.

  • 260.
    De Donno, Michele
    et al.
    DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Giaretta, Alberto
    Örebro University, School of Science and Technology.
    Mazzara, Manuel
    Innopolis University, Innopolis, Russian Federation.
    AntibIoTic: Protecting IoT Devices Against DDoS Attacks2018In: Proceedings of 5th International Conference in Software Engineering for Defence Applications: SEDA 2016 / [ed] Ciancarini, P.; Litvinov, S.; Messina, A.; Sillitti, A.; Succi, G., Cham: Springer, 2018, p. 59-72Conference paper (Refereed)
    Abstract [en]

    The 2016 is remembered as the year that showed to the world how dangerous Distributed Denial of Service attacks can be. Gauge of the disruptiveness of DDoS attacks is the number of bots involved: the bigger the botnet, the more powerful the attack. This character, along with the increasing availability of connected and insecure IoT devices, makes DDoS and IoT the perfect pair for the malware industry. In this paper we present the main idea behind AntibIoTic, a palliative solution to prevent DDoS attacks perpetrated through IoT devices.

  • 261.
    De Donno, Michele
    et al.
    DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Giaretta, Alberto
    Örebro University, School of Science and Technology.
    Spognardi, Angelo
    DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Analysis of DDoS-Capable IoT Malwares2017In: Proceedings of the 2017 Federated Conference on Computer Science and Information Systems / [ed] M. Ganzha, L. Maciaszek, M. Paprzycki, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 807-816Conference paper (Refereed)
    Abstract [en]

    The Internet of Things (IoT) revolution promises to make our lives easier by providing cheap and always connected smart embedded devices, which can interact on the Internet and create added values for human needs. But all that glitters is not gold. Indeed, the other side of the coin is that, from a security perspective, this IoT revolution represents a potential disaster. This plethora of IoT devices that flooded the market were very badly protected, thus an easy prey for several families of malwares that can enslave and incorporate them in very large botnets. This, eventually, brought back to the top Distributed Denial of Service (DDoS) attacks, making them more powerful and easier to achieve than ever. This paper aims at provide an up-to-date picture of DDoS attacks in the specific subject of the IoT, studying how these attacks work and considering the most common families in the IoT context, in terms of their nature and evolution through the years. It also explores the additional offensive capabilities that this arsenal of IoT malwares has available, to mine the security of Internet users and systems. We think that this up-to-date picture will be a valuable reference to the scientific community in order to take a first crucial step to tackle this urgent security issue.

  • 262.
    De Donno, Michele
    et al.
    DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Giaretta, Alberto
    Örebro University, School of Science and Technology.
    Spognardi, Angelo
    Computer Science Department, Sapienza University of Rome, Rome, Italy.
    DDoS-Capable IoT Malwares: Comparative Analysis and Mirai Investigation2018In: Security and Communication Networks, ISSN 1939-0114, E-ISSN 1939-0122, article id 7178164Article in journal (Refereed)
    Abstract [en]

    The Internet of Things (IoT) revolution has not only carried the astonishing promise to interconnect a whole generation of traditionally “dumb” devices, but also brought to the Internet the menace of billions of badly protected and easily hackable objects. Not surprisingly, this sudden flooding of fresh and insecure devices fueled older threats, such as Distributed Denial of Service (DDoS) attacks. In this paper, we first propose an updated and comprehensive taxonomy of DDoS attacks, together with a number of examples on how this classification maps to real-world attacks. Then, we outline the current situation of DDoS-enabled malwares in IoT networks, highlighting how recent data support our concerns about the growing in popularity of these malwares. Finally, we give a detailed analysis of the general framework and the operating principles of Mirai, the most disruptive DDoS-capable IoT malware seen so far.

  • 263.
    De Donno, Michele
    et al.
    DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Giaretta, Alberto
    Örebro University, School of Science and Technology.
    Dragoni, Nicola
    Örebro University, School of Science and Technology.
    Spognardi, Angelo
    DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark; Dipartimento Informatica, Sapienza Università di Roma, Italy.
    A Taxonomy of Distributed Denial of Service Attacks2017In: i-Society 2017: Proceedings / [ed] Charles A. Shoniregun, Galyna A. Akmayeva, Infonomics Society, 2017, p. 99-106Conference paper (Refereed)
  • 264.
    Department of Computer and Information Science (IDA) Linköpings Universitet, SE - 581 83 Linköping, Sweden, Vivian
    et al.
    Department of Computer and Information Science (IDA) Linköpings Universitet, Linköping, Sweden.
    Olve, Nils-Göran
    Department of Computer and Information Science Linköping University, Sweden .
    Scandurra, Isabella
    Centre for eHealth, Uppsala University, Sweden; Department of Medical Sciences, Uppsala University, Sweden .
    Koch, Sabine
    Centre for eHealth, Uppsala University, Sweden; Department of Medical Sciences, Uppsala University, Sweden .
    Organizational effects of the use of information and communication technology (ICT) in elderly homecare: a case study2008In: Health Informatics Journal, ISSN 1460-4582, E-ISSN 1741-2811, Vol. 14, no 3, p. 195-209Article in journal (Refereed)
    Abstract [en]

    The use of information and communication technology (ICT) to support integrated healthcare services in elderly homecare is becoming more established. In particular, ICT can enable information exchange, knowledge sharing and documentation at the point-of-care (POC). The aim of this study was to explore these effects using the Old@Home prototype. Old@Home was perceived to contribute in developing horizontal links for communication between individuals who work together, independent of geographical distance or organizational affiliation, and to contribute to increased work efficiency. The prototype was further seen to reduce professional isolation by providing a holistic overview of the care process. User centred design and implementation of Old@Home was considered key to facilitating acceptance of organizational changes. Participation of care professionals not only led to a better understanding of the needs of involved organizations, but also increased end-users' involvement and commitment, stimulating them to test and improve the prototype until the final version.

  • 265.
    Di Lello, Enrico
    et al.
    Dept. of Informatics and Automation, University Roma-3, Italy.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Robotic furniture in a smart environment: the PEIS table2009In: Workshops Proceedings of the 5th International Conference on Intelligent Environments / [ed] Michael Schneider et al., Amsterdam: IOS Press, 2009, p. 185-192Conference paper (Refereed)
    Abstract [en]

    According to a recent trend, robotic technologies will be included into domestic environments in the form of simple, networked robotic devices able to cooperate in the performance of tasks. These devices may take the form of smart appliances, distributed sensors, or robotic furniture. In this paper, we describe the design of an autonomous robotic table and its inclusion in a smart environment, the PEIS Ecology. The design takes into account the constraints posed by the domestic environment. The robotic table can perform autonomous point-to-point navigation, and it can collaborate with the other devices in the ecology to perform complex tasks that go beyond simple navigation.

  • 266. Di Lello, Enrico
    et al.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    The PEIS table: an autonomous robotic table for domestic environments2011In: Automatika: Journal for Control, Measurement, Electronics, Computing and Communications, ISSN 0005-1144, E-ISSN 1848-3380, Vol. 52, no 3, p. 244-255Article in journal (Refereed)
    Abstract [en]

    There are two main trends in the area of home and service robotics. The classical one aims at the developmentof a single skilled servant robot, able to perform complex tasks in a passive environment. The second, more recenttrend aims at the achievement of complex tasks through the cooperation of a network of simpler robotic devicespervasively embedded in the domestic environment. This paper contributes to the latter trend by describing the PEISTable, an autonomous robotic table that can be embedded in a smart environment. The robotic table can operatealone, performing simple point-to-point navigation, or it can collaborate with other devices in the environment toperform more complex tasks. Collaboration follows the PEIS Ecology model. The hardware and software designof the PEIS Table are guided by a set of requirements for robotic domestic furniture that differ, to some extent, fromthe requirements usually considered for service robots.

  • 267.
    Di Lello, Enrico
    et al.
    Dept of Informatics and Automation, University Roma-3, Italy.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    The PEIS table: an autonomous robotic table for domestic environments2009Conference paper (Refereed)
    Abstract [en]

    Two main trends are emerging in the area of home and service robotics. The classical one aims at the development of a single skilled servant robot, able to perform complex tasks in a passive environment. The second, more recent trend aims at the achievement of domestic tasks through the cooperation of a network of simpler robotic devices pervasively embedded in the environment. This paper contributes to the latter trend by describing the PEIS Table, a robotic table that can be embedded in a domestic environment and perform autonomous navigation tasks. The PEIS Table can operate alone, or it can be part of a smart robotic environment, based on the concept of PEIS Ecology, and cooperate with other devices to perform more complex tasks. The hardware construction and navigation software of the PEIS Table are guided by a set of requirements for robotic domestic furniture. Interestingly, these are not the same as the requirements usually considered for service robots.

  • 268.
    Di Mauro, Alessio
    et al.
    DTU Compute, Technical University of Denmark, Kgs. Lyngby, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Kgs. Lyngby, Denmark.
    Adaptive Multipath Key Reinforcement for Energy Harvesting Wireless Sensor Networks2015In: Procedia Computer Science, ISSN 1877-0509, E-ISSN 1877-0509, Vol. 63, p. 48-55Article in journal (Refereed)
    Abstract [en]

    Energy Harvesting - Wireless Sensor Networks (EH-WSNs) constitute systems of networked sensing nodes that are capable of extracting energy from the environment and that use the harvested energy to operate in a sustainable state. Sustainability, seen as design goal, has a significant impact on the design of the security protocols for such networks, as the nodes have to adapt and optimize their behaviour accordingto the available energy. Traditional key management schemes do not take energy into account, making them not suitable for EH-WSNs. In this paper we propose a new multipath key reinforcement scheme specifically designed for EH-WSNs. The proposed scheme allows each node to take into consideration and adapt to the amount of energy available in the system.In particular, we present two approaches, one static and one fully dynamic, and we discuss some experimental results.

  • 269.
    Di Mauro, Alessio
    et al.
    DTU Compute, Technical University of Denmark, Lyngby, Denmark .
    Fafoutis, Xenofon
    Department of Electrical and Electronic Engineering, University of Bristol, Bristol, United Kingdom.
    Dragoni, Nicola
    Örebro University, School of Science and Technology.
    Adaptive security in ODMAC for multihop energy harvesting wireless sensor networks2015In: International Journal of Distributed Sensor Networks, ISSN 1550-1329, E-ISSN 1550-1477, article id 760302Article in journal (Refereed)
    Abstract [en]

    Energy Harvesting Wireless Sensor Networks (EH-WSNs) represent an interesting new paradigm where individual nodes forming a network are powered by energy sources scavenged from the surrounding environment. This technique provides numerous advantages, but also new design challenges. Securing the communications under energy constraints represents one of these key challenges. The amount of energy available is theoretically infinite in the long run but highly variable over short periods of time, and managing it is a crucial aspect. In this paper we present an adaptive approach for security in multihop EH-WSNs which allows different nodes to dynamically choose the most appropriate energy-affecting parameters such as encryption algorithm and key size, providing in this way energy savings. In order to provide evidence of the approach's feasibility in a real-world network, we have designed and implemented it as extension of on-demand medium access control (ODMAC), a receiver-initiated (RI) MAC protocol specifically designed and developed to address the foundational energy-related needs of Energy Harvesting Wireless Sensor Networks.

  • 270.
    Di Rocco, Maurizio
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    When Robots are Late: Configuration Planning for Multiple Robots with Dynamic Goals2013Conference paper (Refereed)
    Abstract [en]

    Unexpected contingencies in robot execution may induce a cascade of effects, especially when multiple robots are involved. In order to effectively adapt to this, robots need the ability to reason along multiple dimensions at execution time. We propose an approach to closed-loop planning capable of generating configuration plans, i.e., action plans for multirobot systems which specify the causal, temporal, resource and information dependencies between individual sensing, computation, and actuation components. The key feature which enables closed loop performance is that configuration plans are represented as constraint networks, which are shared between the planner and the executor and are continuously updated during execution.We report experiments run both in simulation and on real robots, in which a fault in one robot is compensated through different types of planmodifications at run time.

  • 271.
    Di Rocco, Maurizio
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Sivakumar, Prasanna Kumar
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Configuration Planning with Multiple Dynamic Goals2013In: Designing intelligent robots: reintegrating AI II. Papers from the AAAI Spring Symposium, AAAI Press, 2013, p. 12-17Conference paper (Refereed)
    Abstract [en]

    We propose an approach to configuration planning for robotic systems in which plans are represented as constraint networks and planning is defined as search in the space of such networks. The approach supports reasoning about time, resources, and information dependencies between actions. In addition, the system can leverage the flexibility of such networks at execution time to support dynamic goal posting and re-planning.

  • 272.
    Di Rocco, Maurizio
    et al.
    Örebro University, School of Science and Technology.
    Sathyakeerthy, Subhash
    Örebro University, School of Science and Technology.
    Grosinger, Jasmin
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Bonaccorsi, Manuele
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Cavallo, Filippo
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Limosani, Raffaele
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Manzi, Alessandro
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Teti, Giancarlo
    Dario, Paolo
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    A Planner for Ambient Assisted Living: From High-Level Reasoning to Low-Level Robot Execution and Back2014In: Papers from the AAAI Spring Symposium, AAAI Press, 2014Conference paper (Refereed)
    Abstract [en]

    Robot ecologies are a growing paradigm in which oneor several robotic systems are integrated into a smartenvironment. Robotic ecologies hold great promises forelderly assistance. Planning the activities of these systems,however, is not trivial, and requires considerationof issues like temporal and information dependenciesamong different parts of the ecology, exogenous actions,and multiple, dynamic goals. We describe a plannerable to cope with the above challenges. We showin particular how this planner has been incorporatedin closed-loop into a full robotic system that performsdaily tasks in support of elderly people. The full robotecology is deployed in a test apartment inside a real residentialbuilding, and it is currently undergoing an extensiveuser evaluation.

  • 273.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    A non-monotonic fuzzy logic.1991In: International Fuzzy Systems Association, Fourth World Congress,1991, 1991Conference paper (Refereed)
  • 274.
    Doherty, Patrick
    et al.
    Linköpings universitet, KPLAB - Laboratoriet för kunskapsbearbetning.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Nonmonotonicity, fuzziness, and multi-values.1993In: Fuzzy Logic: State of the Art. Series D: System Theory, Knowledge Engineering and Problem Solving. / [ed] R. Lowen and M. Roubens, Dordrecht ; Boston: Kluwer Academic Publishers , 1993Chapter in book (Other academic)
    Abstract [en]

      

  • 275.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Hellendoorn, H.
    Fuzzy if-then-unless rules and their implementation.1992In: International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems, IPMU92,1992, Springer , 1992Conference paper (Refereed)
  • 276.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Hellendoorn, H.
    Fuzzy if-then-unless rules and their implementation.1992Report (Refereed)
  • 277.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Hellendoorn, Hans
    Fuzzy if-then-unless rules and their implementation1993In: International Journal of Uncertainty Fuzziness and Knowledge-Based Systems, ISSN 0218-4885, Vol. 1, no 2, p. 167-182Article in journal (Refereed)
    Abstract [en]

    We consider the possibility of generalizing the notion of a fuzzy If-Then rule to take into account its context dependent nature. We interpret fuzzy rules as modeling a forward directed causal relationship between the antecedent and the conclusion, which applies in most contexts, but on occasion breaks down in exceptional contexts. The default nature of the rule is modeled by augmenting the original If-Then rule with an exception part. We then consider the proper semantic correlate to such an addition and propose a ternary relation which satisfies a number of intuitive constraints described in terms of a number of inference rules. In the rest of the paper, we consider implementational issues arising from the unless extension and propose the use of reason maintenance systems, in particular TMS's, where a fuzzy If-Then-Unless rule is encoded into a dependency net. We verify that the net satisfies the constraints stated in the inference schemes and conclude with a discussion concerning the integration of qualitative IN-OUT labelings of the TMS with quantitative degree of membership labelings for the variables in question.

  • 278.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Tsoukias, A.
    Partial logics and partial preferences.1992In: International Conference on Economics/Management and Information Technology,1992, 1992, p. 525-Conference paper (Refereed)
  • 279.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Tsoukias, A.
    Partiality, para-consistency and preference modeling: Preliminary version.1992Report (Refereed)
  • 280.
    Dragone, Mauro
    et al.
    University College Dublin, Dublin, Ireland.
    Abdel-Naby, Sameh
    University College Dublin, Dublin, Ireland.
    Swords, David
    University College Dublin, Dublin, Ireland.
    O'Hare, Gregory M.P.
    University College Dublin, Dublin, Ireland.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    A Programming Framework for Multi-agent Coordination of Robotic Ecologies2013In: Programming Multi-Agent Systems: 10th International Workshop, ProMAS 2012, Valencia, Spain, June 5, 2012, Revised Selected Papers / [ed] Mehdi Dastani, Jomi F. Hübner, Brian Logan, Springer Publishing Company, 2013, p. 72-89Conference paper (Refereed)
    Abstract [en]

    Building smart environments with Robotic ecologies, comprising of distributed sensors, actuators and mobile robot devices facilitates and extends the nature and form of smart environments that can be developed, and reduces the complexity and cost of such solutions. While the potentials of such an approach makes robotic ecologies increasingly popular, many fundamental research questions remain open. One such question is how to make a robotic ecology self-adaptive, so as to adapt to changing conditions and evolving requirements, and consequently reduce the amount of preparation and pre-programming required for their deployment in real world applications. This paper presents a framework for the specification and the programming of robotic ecologies. The framework extends an existing agent system and integrates it with the pre-existing and dominant traditional robotic and middleware approach to the development of robotic ecologies. We illustrate how these technologies complement each other and offer a candidate technology to pursue adaptive robotic ecologies.

  • 281.
    Dragone, Mauro
    et al.
    Trinity College Dublin, Dublin, Ireland.
    Amato, Giuseppe
    ISTI-CNR, Pisa, Italy.
    Bacciu, Davide
    Università di Pisa, Pisa, Italy.
    Chessa, Stefano
    Università di Pisa, Pisa, Italy.
    Coleman, Sonya
    University of Ulster, Derry, United Kingdom.
    Di Rocco, Maurizio
    Örebro University, School of Science and Technology.
    Gallicchio, Claudio
    Università di Pisa, Pisa, Italy.
    Gennaro, Claudio
    ISTI-CNR, Pisa, Italy.
    Lozano, Hector
    Tecnalia, Bilbao, Spain.
    Maguire, Liam
    University of Ulster, Derry, United Kingdom.
    McGinnity, Martin
    University of Ulster, Derry, United Kingdom.
    Micheli, Alessio
    Università di Pisa, Pisa, Italy.
    O'Hare, Gregory M. P.
    University College Dublin, Dublin, Ireland.
    Renteria, Arantxa
    Tecnalia, Bilbao, Spain.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Vairo, Claudio
    ISTI-CNR, Pisa, Italy.
    Vance, Philip
    University of Ulster, Derry, United Kingdom.
    A cognitive robotic ecology approach to self-configuring and evolving AAL systems2015In: Engineering applications of artificial intelligence, ISSN 0952-1976, E-ISSN 1873-6769, Vol. 45, p. 269-280Article in journal (Refereed)
    Abstract [en]

    Robotic ecologies are systems made out of several robotic devices, including mobile robots, wireless sensors and effectors embedded in everyday environments, where they cooperate to achieve complex tasks. This paper demonstrates how endowing robotic ecologies with information processing algorithms such as perception, learning, planning, and novelty detection can make these systems able to deliver modular, flexible, manageable and dependable Ambient Assisted Living (AAL) solutions. Specifically, we show how the integrated and self-organising cognitive solutions implemented within the EU project RUBICON (Robotic UBIquitous Cognitive Network) can reduce the need of costly pre-programming and maintenance of robotic ecologies. We illustrate how these solutions can be harnessed to (i) deliver a range of assistive services by coordinating the sensing & acting capabilities of heterogeneous devices, (ii) adapt and tune the overall behaviour of the ecology to the preferences and behaviour of its inhabitants, and also (iii) deal with novel events, due to the occurrence of new user's activities and changing user's habits.

  • 282.
    Dragoni, Nicola
    et al.
    Örebro University, School of Science and Technology.
    Giallorenzo, Saverio
    Lluch-Lafuente, Alberto
    Mazzara, Manuel
    Montesi, Fabrizio
    Mustafin, Ruslan
    Safina, Larisa
    Microservices: Yesterday, Today, and Tomorrow2017In: Present and Ulterior Software Engineering / [ed] M. Mazzara and B. Meyer, Springer, 2017, p. 195-216Chapter in book (Refereed)
    Abstract [en]

    Microservices is an architectural style inspired by service-oriented computing that has recently started gaining popularity. Before presenting the current state of the art in the field, this chapter reviews the history of software architecture, the reasons that led to the diffusion of objects and services first, and microservices later. Finally, open problems and future challenges are introduced. This survey primarily addresses newcomers to the discipline, while offering an academic viewpoint on the topic. In addition, we investigate some practical issues and point out a few potential solutions.

  • 283.
    Dragoni, Nicola
    et al.
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Giaretta, Alberto
    Örebro University, School of Science and Technology.
    Mazzara, Manuel
    Innopolis University, Innopolis, Russian Federation.
    The Internet of Hackable Things2018In: Proceedings of 5th International Conference in Software Engineering for Defence Applications: SEDA 2016 / [ed] Ciancarini, P.; Litvinov, S.; Messina, A.; Sillitti, A.; Succi, G., Cham: Springer, 2018, p. 129-140Conference paper (Refereed)
    Abstract [en]

    The Internet of Things makes possible to connect each everyday object to the Internet, making computing pervasive like never before. From a security and privacy perspective, this tsunami of connectivity represents a disaster, which makes each object remotely hackable. We claim that, in order to tackle this issue, we need to address a new challenge in security: education.

  • 284.
    Dragoni, Nicola
    et al.
    Örebro University, School of Science and Technology. Technical University of Denmark, Kongens Lyngby, Denmark.
    Lanese, Ivan
    University of Bologna, Bologna, Italy.
    Thordal Larsen, Stephan
    Technical University of Denmark, Kongens Lyngby, Denmark.
    Mazzara, Manuel
    Innopolis University, Russian Federation.
    Mustafin, Ruslan
    Innopolis University, Russian Federation.
    Safina, Larisa
    Innopolis University, Russian Federation; University of Southern Denmark, Odense, Denmark.
    Microservices: How To Make Your Application Scale2017In: Proceedings of the 11th A.P. Ershov Informatics Conference, 2017, LNCS, Springer, 2017Conference paper (Refereed)
    Abstract [en]

    The microservice architecture is a style inspired by service-oriented computing that has recently started gaining popularity and that promises to change the way in which software is perceived, conceived and designed. In this paper, we describe the main features of microservices and highlight how these features improve scalability.

  • 285.
    Driankov, Dimiter
    et al.
    Linköpings universitet, Tekniska högskolan.
    Doherty, Patrick
    Linköpings universitet, KPLAB - Laboratoriet för kunskapsbearbetning.
    A non-monotonic fuzzy logic1992In: Fuzzy Logic for the Management of Uncertainty / [ed] Lotfi A. Zadeh, Janusz Kacprzyk, New York: John Wiley & Sons , 1992, p. 171-190Chapter in book (Other academic)
  • 286.
    Driankov, Dimiter
    et al.
    Örebro University, School of Science and Technology.
    Hellendoorn, Hans
    Siemens AG Corporate Research and Development Dept., ZFE ST SN 4 81730 Munich, Germany .
    Chaining of fuzzy IF-THEN rules in Mamdani-controllers1995In: Proceedings of 1995 IEEE International conference on fuzzy systems, Vols I-IV. / [ed] IEEE, IEEE conference proceedings, 1995, p. 103-108Conference paper (Refereed)
    Abstract [en]

    The problem of chaining of fuzzy IF-THEN rules has so far received a rather theoretic treatment in the literature on approximate reasoning. In particular, different types of composition operators, fuzzy implication operators, etc., have been identified such that the conclusion obtained via a chain of fuzzy rules coincides with the conclusion derived from the “abbreviated” version of the same chain. This “abbreviated” version is a single fuzzy rule which the rule-antecedent is the rule-antecedent of the first rule in the chain, and its rule-consequent is the rule-consequent of the last rule in the chain. However, in the case of more than one chain of rules and when the fuzzy sets defining the meaning of the rule-antecedents and rule-consequents from different chains overlap, then the above theoretical results do not hold in general. In the present paper we identify two major problems with the chaining of fuzzy rules in the case of more than one chain and overlapping rule-antecedents and rule-consequents that belong to different chains

  • 287.
    Driankov, Dimiter
    et al.
    Siemens AG, Munich, Germany.
    Hellendoorn, Hans
    Siemens AG, Munich, Germany.
    Fuzzy logic with unless-rules1992In: IEEE International Conference on Fuzzy Systems, New York, USA: IEEE conference proceedings, 1992, p. 255-262Conference paper (Refereed)
    Abstract [en]

    Unless-rules are intended to deal with problems of reasoning with incomplete information and/or resource constraints. An unless-rule is proposed to be of the form `if X is A then Y is B unless Z is C'. Such rules are employed in situations in which the conditional statement if X is A then Y is B usually holds and the assertion Z is C holds rarely. Thus, using a rule of this type the exception condition can be ignored when the resources needed to establish its presence are tight or there simply is no information available as to whether it holds or does not hold. In this case of incomplete information, since it is the case that if X is A then Y is B usually holds, one may be willing to jump to the conclusion Y is B given that X is A because no information as to whether Z is C holds is available

  • 288.
    Driankov, Dimiter
    et al.
    Örebro University, School of Science and Technology.
    Hellendoorn,, Hans
    Siemens AG Corporate Research and Development, Otto-Hahn-Ring 6 81730 Munich, Germany .
    Palm, Rainer
    Siemens AG Corporate Research and Development, Otto-Hahn-Ring 6 81730 Munich, Germany .
    Fuzzy control with fuzzy inputs: the need for new rule semantics1994In: Proceedings of the Third IEEE Conference on Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence, VOLS I-III, IEEE conference proceedings, 1994, p. 111-114Conference paper (Refereed)
    Abstract [en]

    The standard computation taking place in a fuzzy logic controller proceeds from crisp inputs and via the consecutive steps of fuzzification, inference, and defuzzification computes a crisp control output. However, this computational practice simplifies to an extent the actual developments taking place in the closed loop. In reality, the knowledge about the current values of the controller input is very often available via sensory measurements. In this case, one has to take into account the negative side effects that come up with the use of sensors, in particular the presence of noisy measurements. In the paper the authors consider one particular way of dealing with noisy controller inputs, namely transforming the noise-distribution into a fuzzy set and then feeding back the so obtained fuzzy signal to the controller input. Adopting this approach requires that the shape of the input fuzzy signal should be reflected as much as possible in the output fuzzy signal so that important noise characteristics are preserved. In the paper the authors describe the requirements on the shape of the fuzzy output signal given a certain fuzzy input signal and show that the existing semantics for fuzzy IF-THEN rules do not satisfy these requirements. The authors propose new semantics for such rules which together with max-min composition produces the desired results.

  • 289.
    Driankov, Dimiter
    et al.
    Dept. of Computer Science, University of Linköping, Linköping, Sweden.
    Palm, Rainer
    Siemens AG Corporate Technology, Otto-Hahn-Ring 6 8 1739 Munich, Germany.
    Towards a systematic analysis of fuzzy observers1999In: Proceedings of the  18th International Conference of the North American   Fuzzy Information Processing Society, 1999. NAFIPS. / [ed] Dave, R. N., Sudkamp, T., IEEE conference proceedings, 1999, p. 179-183Conference paper (Refereed)
    Abstract [en]

    The paper deals with the analysis of local fuzzy observers for nonlinear plants. The plant is approximated by a TS fuzzy model for which a local linear fuzzy observer is designed. This type of fuzzy observer reconstructs the non-measurable states if the parameters of the locally linearized plant are given. Matched uncertainties in the plant model can be eliminated by an additional nonlinear fuzzy sliding mode observer. Conditions are given under which the combination of the linear and the nonlinear observer lead to a reconstruction of non-measurable states                                                                                                                                                      

  • 290.
    Dubba, Krishna Sandeep Reddy
    et al.
    School of Computing, University of Leeds, United Kingdom.
    Bhatt, Mehul
    SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Dylla, Frank
    SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Hogg, David C.
    School of Computing, University of Leeds, Leeds, United Kingdom.
    Cohn, Anthony G.
    School of Computing, University of Leeds, Leeds, United Kingdom.
    Interleaved Inductive-Abductive Reasoning for Learning Complex Event Models2011In: Inductive Logic Programming: 21st International Conference, ILP 2011, Windsor Great Park, UK, July 31 - August 3, 2011, Revised Selected Papers / [ed] Stephen H. Muggleton, Alireza Tamaddoni-Nezhad, Francesca A. Lisi, Springer , 2011, Vol. 7207, p. 113-129Conference paper (Refereed)
    Abstract [en]

    We propose an interleaved inductive-abductive model for reasoning about complex spatio-temporal narratives. Typed Inductive Logic Programming (Typed-ILP) is used as a basis for learning the domain theory by generalising from observation data, whereas abductive reasoning is used for noisy data correction by scenario and narrative completion thereby improving the inductive learning to get semantically meaningful event models. We apply the model to an airport domain consisting of video data for 15 turn-arounds from six cameras simultaneously monitoring logistical processes concerned with aircraft arrival, docking, departure etc and a verbs data set with 20 verbs enacted out in around 2500 vignettes. Our evaluation and demonstration focusses on the synergy afforded by the inductive-abductive cycle, whereas our proposed model provides a blue-print for interfacing common-sense reasoning about space, events and dynamic spatio-temporal phenomena with quantitative techniques in activity recognition.

  • 291.
    Dubba, Krishna Sandeep Reddy
    et al.
    School of Computing, University of Leeds, Leeds, UK.
    Cohn, Anthony G.
    School of Computing, University of Leeds, Leeds, UK.
    Hogg, David C.
    School of Computing, University of Leeds, Leeds, UK.
    Bhatt, Mehul
    Cognitive Systems, SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Dylla, Frank
    Cognitive Systems, SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Learning Relational Event Models from Video2015In: The journal of artificial intelligence research, ISSN 1076-9757, E-ISSN 1943-5037, Vol. 53, p. 41-90Article in journal (Refereed)
    Abstract [en]

    Event models obtained automatically from video can be used in applications ranging from abnormal event detection to content based video retrieval. When multiple agents are involved in the events, characterizing events naturally suggests encoding interactions as relations. Learning event models from this kind of relational spatio-temporal data using relational learning techniques such as Inductive Logic Programming (ILP) hold promise, but have not been successfully applied to very large datasets which result from video data. In this paper, we present a novel framework REMIND (Relational Event Model INDuction) for supervised relational learning of event models from large video datasets using ILP. Efficiency is achieved through the learning from interpretations setting and using a typing system that exploits the type hierarchy of objects in a domain. The use of types also helps prevent over generalization. Furthermore, we also present a type-refining operator and prove that it is optimal. The learned models can be used for recognizing events from previously unseen videos. We also present an extension to the framework by integrating an abduction step that improves the learning performance when there is noise in the input data. The experimental results on several hours of video data from two challenging real world domains (an airport domain and a physical action verbs domain) suggest that the techniques are suitable to real world scenarios.

  • 292.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Axelsson, Mikael
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Learning to locate an odour source with a mobile robot2001In: IEEE international conference on robotics and automation: ICRA 2001, 2001, p. 4017-4022Conference paper (Refereed)
    Abstract [en]

    We address the problem of enabling a mobile robot to locate a stationary odour source using an electronic nose constructed from gas sensors. On the hardware side, we use a stereo nose architecture consisting of two parallel chambers, each containing an identical set of sensors. On the software side, we use a recurrent artificial neural network to learn the direction to a stationary source from a time series of sensor readings. This contrasts with previous approaches, that rely on the existence of a model of the sensor's dynamics. The complete system is able to orient and turn towards the source. An experimental validation was carried out to evaluate the performance of the system.

  • 293.
    Duckett, Tom
    et al.
    Lincoln School of Computer Science, University of Lincoln, Brayford Pool, Lincoln, United Kingdom.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Special Issue: Selected Papers from the 5th European Conference on Mobile Robots (ECMR 2011)2013In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 61, no 10, p. 1049-1050Article in journal (Other academic)
  • 294.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Marsland, Stephen
    University of Manchester.
    Shapiro, Jonathan
    University of Manchester.
    Fast, on-line learning of globally consistent maps2002In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 12, no 3, p. 287-300Article in journal (Refereed)
    Abstract [en]

    To navigate in unknown environments, mobile robots require the ability to build their own maps. A major problem for robot map building is that odometry-based dead reckoning cannot be used to assign accurate global position information to a map because of cumulative drift errors. This paper introduces a fast, on-line algorithm for learning geometrically consistent maps using only local metric information. The algorithm works by using a relaxation technique to minimise an energy function over many small steps. The approach differs from previous work in that it is computationally cheap, easy to implement and is proven to converge to a globally optimal solution. Experiments are presented in which large, complex environments were successfully mapped by a real robot.

  • 295.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Nehmzow, Ulrich
    University of Manchester.
    Mobile robot self-localisation using occupancy histograms and a mixture of Gaussian location hypotheses2001In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 34, no 2-3, p. 117-129Article in journal (Refereed)
    Abstract [en]

    The topic of mobile robot self-localisation is often divided into the sub-problems of global localisation and position tracking. Both are now well understood individually, but few mobile robots can deal simultaneously with the two problems in large, complex environments. In this paper, we present a unified approach to global localisation and position tracking which is based on a topological map augmented with metric information. This method combines a new scan matching technique, using histograms extracted from local occupancy grids, with an efficient algorithm for tracking multiple location hypotheses over time. The method was validated with experiments in a series of real world environments, including its integration into a complete navigating robot. The results show that the robot can localise itself reliably in large, indoor environments using minimal computational resources

  • 296.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Building globally consistent gridmaps from topologies2000In: Proceedings of the 6th international symposium on robot control: IFAC - (SYROCO), 2000, p. 357-361Conference paper (Refereed)
    Abstract [en]

    This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation. Gridmaps can only be updated consistently using exact estimates of the robot position, a requirement which is very hard to fulfil in real world environments because the same sensor data must be used for both map building and self-localisation. To overcome this problem, we use a hierarchy of robot maps which integrates topological and grid-based representations. The consistency problem is solved at the topological level, by applying a relaxation technique to generate coordinates for the places in the robot's map. Consequently, the robot is able to recover a globally consistent gridmap without requiring accurate sensors or high computational costs. Experiments on a Nomad 200 robot are presented which demonstrate the efficacy of our approach.

  • 297.
    Dufberg, Johan
    Örebro University, School of Science and Technology.
    Automatisk dokumentklassificering med hjälp av maskininlärning2018Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    To manually handle and classify large quantities of text documents, takes a lot of time and demands a large staff, to use machine learning for this purpose is an alternative. This thesis aims to give the reader a fundamental insight in how automatic classification of texts work and give a quick overview of the most common algorithms used for this purpose. The examples that are shown uses news articles in English about tech and finance, but the thesis takes a start in the question about how mature the technique is for handling official Swedish documents. The first part is the scientific background on which the second part rests, here several algorithms and techniques are described which is used in practice later. The report does not aim to describe a product in any form but acts as a “proof of concept” for the use of text classification. Finally, the results from the tests are discussed, and one of the conclusions drawn is that when data is abundant a relatively simple classifier can perform close to equal to a technically more developed and complex classifier. If the performance of the classifier is related to the time taken this indicates that complex classifiers need hardware with high computational power and a fair bit of memory for the classifier to be viable.

     

  • 298.
    Dybeck, Markus
    Örebro University, School of Science and Technology.
    Omnia HR En HR-plattform för SharePoint2017Independent thesis Advanced level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Omnia HR is a HR-platform developed for Microsoft SharePoint. In this article, the creation of a smaller part for the platform – the onboarding – is described. When a new employee is hired, the company need to do some tasks before the new employees first day, that’s what the onboarding is all about. In this project conditions to administrate and handle these tasks were made.

     

    The project was written in the programing language TypeScript, developed by Microsoft. TypeScript is superset of JavaScript and is transpiled down to pure JavaScript with support for the latest functions. In this rapport pros and cons by using TypeScript for a project is discussed, and if it actually makes the process easier or if it’s just as good to use regular JavaScript.

  • 299.
    Dylla, Frank
    et al.
    SFB/TR 8 Spatial Cognition, Universität Bremen, Bremen, Germany.
    Bhatt, Mehul
    SFB/TR 8 Spatial Cognition, Universität Bremen, Bremen, Germany.
    Qualitative Spatial Scene Modeling for Ambient Intelligence Environments2008In: Intelligent Robotics and Applications: First International Conference, ICIRA 2008, Wuhan, China, October 15-17, 2008, Proceedings, Part I, Springer , 2008, Vol. 5314, p. 716-725Conference paper (Refereed)
    Abstract [en]

    In ambient intelligence systems, it is necessary to represent and reason about dynamic spatial scenes and configurations. Primarily; the ability to perform predictive and explanatory analyses on the basis of available sensory data is crucial toward serving a useful intelligent function within such environments. In this paper; we present a qualitative model for representing the relevant aspects of these environments in an adequate manner. The model is suited for reasoning about spatial configurations and dynamics in spatial environments. We clarify and elaborate on our ideas with examples grounded in a smart home environment.

  • 300.
    Dyrebrant, Tobias
    Örebro University, School of Science and Technology.
    Utveckling av användargränssnittet för Atlas Copcos portal för samarbete med underleverantörer (SCP)2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    When creating a user interface, a developer should base their work on a number of design

    principles. This enables an effective user flow, where the user navigates through the system

    without difficulties. Thereby the user can absorb the information that the system provides to

    the fullest.

     

    These design principles form the basis of the practical work that was carried out for this

    report. The purpose was to develop a web portal, which was used by a company for

    collaboration with its suppliers. By basing the development on the principles, as well as

    interviews with the users, improvements were to be made on the current system. This should

    result in a better user experience and an optimal efficiency of the system.

     

    The practical work was divided into two stages. The first stage involved concrete changes on

    the current system, where smaller adjustments were introduced that could easily be

    implemented on the current web portal. The second stage was about an analysis of the

    market's leading design solutions, which should show existing smart and up-to-date solutions

    that could be used to improve the system. These steps constituted the process of improvement

    work that was to be carried out on the web portal.

     

    The result was a user interface that satisfies the majority of users. Through the objective

    design principles a user friendly system with an efficient user flow was created.

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