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  • 1.
    Abdul-Ahad, Amir Stefan
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Cürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Mahmoud, W. A.
    Al-Isra Private University, Amman, Jordan.
    Robust distance-based watermarking for digital image2008Ingår i: Proceedings of the 2008 International Conference on Security and Management, SAM 2008, 2008, s. 404-409Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, an algorithm is developed to invisibly watermark a cover object (color image) using watermark object (iconic image). The algorithm is based on the distances among the addresses of values of the cover object. These distances use to make the embedding. The order of manipulating these distances are specified by the values of the watermark data which is dealt with serially. The algorithm serves and achieves self encryption key. Each watermark object has its unique pattern of distances at different possible lengths of distance bits. This enhances the complexity of sequential embedding. The algorithm is tested using direct and single level and double level of Two-Dimensional Discrete Wavelet Transform (2D DWT) embeddings. Two important issues are addressed. Firstly is to achieve a high Peak Signal to Noise Ratio (PSNR). The ratio was found to increase with an increasing of distance bits. Secondly is that the watermarked object retains the same properties of cover object. The algorithm shows resisting and withstanding against the most important attacks. Some of these include the lossy compression, blurring, resize and some types of Noise.

  • 2.
    Abdul-Ahad, Amir Stefan
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Folke, Mia
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Lindén, Maria
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Indirect Wavelet-Based Cardio Arrhythmia Detection Algorithm2008Ingår i: Medicinteknikdagarna, Gothenburg, Sweden, 2008, s. 14-15Konferensbidrag (Refereegranskat)
  • 3.
    Abut, Hüseyin
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Ercil, Aytul
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Erdogan, Hakan
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Koman, Hakki Can
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Tas, Fatih
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Argunsah, Ali Özgur
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Cosar, Serhan
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Akan, Batu
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Karabalkan, Harun
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Cökelek, Emre
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Ficici, Rahmi
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Sezer, Volkan
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Danis, Serhan
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Karaca, Mehmet
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Abbak, Mehmet
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Uzunbaş, Mustafa Gökhan
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Eritmen, Kayhan
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Kalaycıoglu, Caglar
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Imamoğlu, Mümin
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Karabat, Cagatay
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Peyic, Merve
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Arslan, Burak
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Data Collection with UYANIK: Too Much Pain; But Gains are Coming2007Ingår i: Proc. of the Biennial on DSP for In-Vehicle and Mobile Systems, Istanbul, Turkey, 2007Konferensbidrag (Refereegranskat)
  • 4.
    Abut, Hüseyin
    et al.
    San Diego State University.
    Erdogan, Hakan
    Ercil, Aytul
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Koman, Hakki Can
    Tas, Fatih
    Argunsah, Ali Özgur
    Cosar, Serhan
    Akan, Batu
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Karabalkan, Harun
    Cökelek, Emre
    Ficici, Rahmi
    Sezer, Volkan
    Danis, Serhan
    Karaca, Mehmet
    Abbak, Mehmet
    Uzunbaş, Mustafa Gökhan
    Eritmen, Kayhan
    Imamoğlu, Mümin
    Kalaycıoglu, Caglar
    Real-World Data Collection with UYANIK2009Ingår i: In-Vehicle Corpus and Signal Processing for Driver Behavior, Springer, 2009, s. 23-44Kapitel i bok, del av antologi (Övrigt vetenskapligt)
  • 5.
    Afsar, Atahan
    et al.
    Sabanci University, Istanbul.
    Ulubilge, Tunca
    Sabanci University, Istanbul.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    A biological plausible recurrent model of V1 hypercolumns2011Ingår i: BMC neuroscience (Online), ISSN 1471-2202, E-ISSN 1471-2202, Vol. 12(Suppl 1), nr P48Artikel i tidskrift (Refereegranskat)
  • 6.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ameri E., Afshin
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Scheduling for Multiple Type Objects Using POPStar Planner2014Ingår i: Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'14), Barcelona, Spain, September, 2014, 2014, s. Article number 7005148-Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, scheduling of robot cells that produce multiple object types in low volumes are considered. The challenge is to maximize the number of objects produced in a given time window as well as to adopt the  schedule for changing object types. Proposed algorithm, POPStar, is based on a partial order planner which is guided by best-first search algorithm and landmarks. The best-first search, uses heuristics to help the planner to create complete plans while minimizing the makespan. The algorithm takes landmarks, which are extracted from user's instructions given in structured English as input. Using different topologies for the landmark graphs, we show that it is possible to create schedules for changing object types, which will be processed in different stages in the robot cell. Results show that the POPStar algorithm can create and adapt schedules for robot cells with changing product types in low volume production.

  • 7.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Ameri E., Afshin
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Augmented Reality-based Industrial Robot Control2011Ingår i: Proceedings of SIGRAD 2011 / [ed] Larsson, Thomas ; Kjelldahl, Lars ; Jää-Aro, Kai-Mikael, Linköping University Electronic Press, 2011, s. 113-114Konferensbidrag (Refereegranskat)
    Abstract [en]

    Most of the interfaces which are designed to control or program industrial robots are complex and require special training for the user. This complexity alongside the changing environment of small medium enterprises (SMEs) has lead to absence of robots from SMEs. The costs of (re)programming the robots and (re)training the robot users exceed initial costs of installation. In order to solve this shortcoming, we propose a new interface which uses augmented reality (AR) and multimodal human-robot interaction. We show that such an approach allows easier manipulation of robots at industrial environments.

  • 8.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ameri E., Afshin
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Intuitive Industrial Robot Programming Through Incremental Multimodal Language and Augmented Reality2011Ingår i: 2011 IEEE International Conferance on Robotics and Automation (ICRA 2011), IEEE , 2011, s. 3934-3939Konferensbidrag (Refereegranskat)
    Abstract [en]

    Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs exceed installation costs by a large margin. In addition, traditional programming methods for industrial robots is too complex for an inexperienced robot programmer, thus external assistance is often needed. In this paper a new incremental multimodal language, which uses augmented reality (AR) environment, is presented. The proposed language architecture makes it possible to manipulate, pick or place the objects in the scene. This approach shifts the focus of industrial robot programming from coordinate based programming paradigm, to object based programming scheme. This makes it possible for non-experts to program the robot in an intuitive way, without going through rigorous training in robot programming.

  • 9.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Interacting with industrial robots through a multi-modal language and sensory systems2008Ingår i: 39th International Sysmposium on Robotics, Seoul, Korea, 2008, s. 66-69Konferensbidrag (Refereegranskat)
    Abstract [en]

    Over the past few decades the use of industrial robots has increased a company's efficiency as well as strengthening their competitiveness in the market.

    Despite this fact, in many cases, robot automation investments are considered to be technically challenging as well as costly by small and medium sized enterprises (SME). We hypothesize that in order to make industrial robots more common within the SME sector, the robots should be reprogrammable by task experts rather than robot programming experts. Within this project we propose to develop a high level language for intelligent human robot interaction that relies on multi-sensor inputs providing an abstract instructional programming environment for the user. Eventually to bring robot programming to stage where it is as easy as working together with a colleague

  • 10.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Scheduling POP-Star for Automatic Creation of Robot Cell Programs2013Konferensbidrag (Refereegranskat)
    Abstract [en]

    Typical pick and place, and machine tending applications often require an industrial robot to be embedded in a cell and to communicate with other devices in the cell. Programming the program logic is a tedious job, requiring expert programming knowledge, and it can take more time than programming the specific robot movements itself. We propose a new system, which takes in the description of the whole manufacturing process in natural language as input, fills in the implicit actions, and plans the sequence of actions to accomplish the task described in minimal makespan using a modified partial planning algorithm. Finally we demonstrate that the proposed system can come up with a sensible plan for the given instructions.

  • 11.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Spampinato, Giacomo
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Object selection using a spatial language for flexible assembly2009Konferensbidrag (Refereegranskat)
  • 12.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Spampinato, Giacomo
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Object Selection using a Spatial Language for Flexible Assembly2009Ingår i: 14th IEEE International Conference on Emerging Technologies and Factory Automation, 2009. (ETFA 2009), Mallorca, Spain, 2009Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper we present a new simplified natural language that makes use of spatial relations between the objects in scene to navigate an industrial robot for simple pick and place applications. Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs are far higher than installation costs. In order to hide the complexities of robot programming we propose a natural language where the use can control and jog the robot based on reference objects in the scene. We used Gaussian kernels to represent spatial regions, such as left or above. Finally we present some dialogues between the user and robot to demonstrate the usefulness of the proposed system.

  • 13.
    Akan, Batu
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Spampinato, Giacomo
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Towards Robust Human Robot Collaboration in Industrial Environments2010Ingår i: 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010, 2010, s. 71-72Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper a system, which is driven through natural language, that allows operators to select and manipulate objects in the environment using an industrial robot is proposed. In order to hide the complexities of robot programming we propose a natural language where the user can control and jog the robot based on reference objects in the scene. We used semantic networks to relate different types of objects in the scene

  • 14.
    Al-Rawi, M. S.
    et al.
    Departamento de Eletrónica, Telecomunicações e Informática (DETI), Universidade de Aveiro, Aveiro, Portugal.
    Galdrán, A.
    Departamento de Eletrónica, Telecomunicações e Informática (DETI), Universidade de Aveiro, Aveiro, Portugal.
    Yuan, X.
    Research Center on Software Technologies and Multimedia Systems for Sustainability (CITSEM), Universidad Politécnica de Madrid, Spain.
    Eckert, M.
    Research Center on Software Technologies and Multimedia Systems for Sustainability (CITSEM), Universidad Politécnica de Madrid, Spain.
    Martínez, J. -F
    Research Center on Software Technologies and Multimedia Systems for Sustainability (CITSEM), Universidad Politécnica de Madrid, Spain.
    Elmgren, Fredrik
    DeepVision AB, Linköping, Sweden.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Rodriguez, J.
    Departamento de Eletrónica, Telecomunicações e Informática (DETI), Universidade de Aveiro, Aveiro, Portugal.
    Bastos, J.
    Instituto de Telecomunicações, Pólo de Aveiro, Aveiro, Portugal.
    Pinto, M.
    ECA Robotics, La Garde, France.
    Intensity normalization of sidescan sonar imagery2016Ingår i: 2016 6th International Conference on Image Processing Theory, Tools and Applications, IPTA 2016, 2016, artikel-id 7820967Konferensbidrag (Refereegranskat)
    Abstract [en]

    Sonar imaging is currently the exemplary choice used in underwater imaging. However, since sound signals are absorbed by water, an image acquired by a sonar will have gradient illumination; thus, underwater maps will be difficult to process. In this work, we investigated this phenomenon with the objective to propose methods to normalize the images with regard to illumination. We propose to use MIxed exponential Regression Analysis (MIRA) estimated from each image that requires normalization. Two sidescan sonars have been used to capture the seabed in Lake Vattern in Sweden in two opposite directions west-east and east-west; hence, the task is extremely difficult due to differences in the acoustic shadows. Using the structural similarity index, we performed similarity analyses between corresponding regions extracted from the sonar images. Results showed that MIRA has superior normalization performance. This work has been carried out as part of the SWARMs project (http://www.swarms.eu/).

  • 15.
    Al-Rawi, Mohammed
    et al.
    Universidade de Aveiro, Portugal.
    Elmgren, Fredrik
    DeepVision AB, Linköping, Sweden.
    Frasheri, Mirgita
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Yuan, Xin
    Universidad Politecnica de Madrid, Spain.
    Martínez, José-Fernán
    Universidad Politecnica de Madrid, Spain.
    Bastos, Joaquim
    Instituto de Telecomunicações - Pólo de Aveiro, Portugal.
    Rodriguez, Jonathan
    Universidade de Aveiro, Portugal.
    Pinto, Marc
    ECA Robotics, France.
    Algorithms for the Detection of First Bottom Returns and Objects in the Water Column in Side-Scan Sonar Images2017Ingår i: OCEANS '17 A Vision for our Marine Future OCEANS '17, Aberdeen, United Kingdom, 2017Konferensbidrag (Refereegranskat)
    Abstract [en]

    Underwater imaging has become an active research area in recent years as an effect of increased interest in underwater environments and is getting potential impact on the world economy, in what is called blue growth. Since sound propagates larger distances than electromagnetic waves underwater, sonar is typically used for underwater imaging. One interesting sonar image setting is comprised of using two parts (left and right) and is usually referred to as sidescan sonar. The image resulted from sidescan sonars, which is called waterfall image, usually has to distinctive parts, the water column and the image seabed. Therefore, the edge separating these two parts, which is called the first bottom return, is the real distance between the sonar and the seabed bottom (which is equivalent to sensor primary altitude). The sensory primary altitude can be measured if the imaging sonar is complemented by interferometric sonar, however, simple sonar systems have no way to measure the first bottom returns other than signal processing techniques. In this work, we propose two methods to detect the first bottom returns; the first is based on smoothing cubic spline regression and the second is based on a moving average filter to detect signal variations. The results of both methods are compared to the sensor primary altitude and have been successful in 22 images out of 25.

  • 16.
    Ameri E., Afshin
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Akan, Batu
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Incremental Multimodal Interface for Human-Robot Interaction2010Ingår i: Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010, 2010, s. Art.nr. 5641234-Konferensbidrag (Refereegranskat)
    Abstract [en]

    Face-to-face human communication is a multimodal and incremental process. An intelligent robot that operates in close relation with humans should have the ability to communicate with its human colleagues in such manner. The process of understanding and responding to multimodal inputs has been an interesting field of research and resulted in advancements in areas such as syntactic and semantic analysis, modality fusion and dialogue management. Some approaches in syntactic and semantic analysis take incremental nature of human interaction into account. Our goal is to unify syntactic/semantic analysis, modality fusion and dialogue management processes into an incremental multimodal interaction manager. We believe that this approach will lead to a more robust system which can perform faster than today's systems.

  • 17.
    Ameri E., Afshin
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Akan, Batu
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik.
    A General Framework for Incremental Processing of Multimodal Inputs2011Ingår i: Proceedings of the 13th international conference on multimodal interfaces, New York: ACM Press, 2011, s. 225-228Konferensbidrag (Refereegranskat)
    Abstract [en]

    Humans employ different information channels (modalities) such as speech, pictures and gestures in their commu- nication. It is believed that some of these modalities are more error-prone to some specific type of data and therefore multimodality can help to reduce ambiguities in the interaction. There have been numerous efforts in implementing multimodal interfaces for computers and robots. Yet, there is no general standard framework for developing them. In this paper we propose a general framework for implementing multimodal interfaces. It is designed to perform natural language understanding, multi- modal integration and semantic analysis with an incremental pipeline and includes a multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.

  • 18. Argunsah, Ali Özgur
    et al.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Cetin, Mujdat
    Detection of Eye Blinks from EEG using Hidden Markov Models2009Konferensbidrag (Refereegranskat)
  • 19.
    Argunsah, Ali Özgur
    et al.
    Sabanci University, Turkey.
    Çürüklü, Baran
    Sabanci University, Turkey.
    Cetin, Mujdat
    Sabanci University, Turkey.
    Ercil, Aytul
    Sabanci University, Turkey.
    A Novel Feature Extraction Method for Improving P300-Speller Performance2007Konferensbidrag (Refereegranskat)
  • 20.
    Argunsah, Ali Özgur
    et al.
    Sabanci Üniversitesi .
    Çürüklü, Baran
    Mälardalens högskola, Institutionen för datavetenskap och elektronik.
    Cetin, Mujdat
    Sabanci Üniversitesi .
    Ercil, Aytul
    Sabanci Üniversitesi .
    EEG tabanli beyin-bilgisayar arayüzü sistemlerinde siniflandirmayi etkileyen faktörler [Factors that Affect Classification Performance in EEG based Brain-Computer Interfaces]2007Ingår i: 2007 IEEE 15th Signal Processing and Communications Applications, SIU, 2007, s. Article number 4298842-Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, some of the factors that affect classification performance of EEG based Brain-Computer Interfaces (BCI) is studied. Study is specified on P300 speller system which is also an EEG based BCI system. P300 is a physiological signal that represents a response of brain to a given stimulus which occurs right 300ms afier the stimulus onset. When this signal occurs, it changes the continuous EEG some micro volts. Since this is not a very distinguished change, some other physiological signals (movement of muscles and heart, blinking or other neural activities) may distort this signal. In order to understand if there is really a P300 component in the signal, consecutive P300 epochs are averaged over trials. In this study, we have been tried two different multi channel data handling methods with two different frequency windows. Resulted data have been classified using Support Vector Machines (SVM). It has been shown that proposed method has a better classification performance.

  • 21.
    Castillejo, P.
    et al.
    Universidad Politecnica de Madrid, Madrid, Spain.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Fresco, R.
    CNR - IMAMOTER, Ferrara, Italy.
    Johansen, G.
    SINTEF, Trondheim, Norway.
    Bilbao-Arechabala, S.
    Martinez-Rodriguez, B.
    Tecnalia, Bizkaia, Spain.
    Pomante, L.
    Università degli Studi dell'Aquila, Center of Excellence DEWS, L'Aquila, Italy.
    Martinez-Ortega, J. -F
    Universidad Politecnica de Madrid, Madrid, Spain.
    Santic, M.
    Università degli Studi dell'Aquila, Center of Excellence DEWS, L'Aquila, Italy.
    The AFarCloud ECSEL Project2019Ingår i: Proceedings - Euromicro Conference on Digital System Design, DSD 2019, Institute of Electrical and Electronics Engineers Inc. , 2019, s. 414-419Konferensbidrag (Refereegranskat)
    Abstract [en]

    Farming is facing many economic challenges in terms of productivity and cost-effectiveness. Labor shortage partly due to depopulation of rural areas, especially in Europe, is another challenge. Domain specific problems such as accurate identification and proper quantification of pathogens affecting plant and animal health are key factors for minimizing economical risks, and not risking human health. The ECSEL AFarCloud (Aggregate FARming in the CLOUD) project will provide a distributed platform for autonomous farming that will allow the integration and cooperation of agriculture Cyber Physical Systems in real-time in order to increase efficiency, productivity, animal health, food quality and reduce farm labour costs. This platform will be integrated with farm management software and will support monitoring and decision-making solutions based on big data and real-time data mining techniques.

  • 22.
    Castillejo, P.
    et al.
    Universidad Politecnica de Madrid, Madrid, Spain.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Fresco, R.
    CNR - IMAMOTER, Ferrara, Italy.
    Johansen, G.
    SINTEF, Trondheim, Norway.
    Bilbao-Arechabala, S.
    Tecnalia, Bizkaia, Spain.
    Martinez-Rodriguez, B.
    Tecnalia, Bizkaia, Spain.
    Pomante, L.
    Università degli Studi dell'Aquila, Center of Excellence DEWS, L'Aquila, Italy.
    Martinez-Ortega, J. -F
    Universidad Politecnica de Madrid, Madrid, Spain.
    Santic, M.
    Università degli Studi dell'Aquila, Center of Excellence DEWS, L'Aquila, Italy.
    The AFarCloud ECSEL Project2019Ingår i: Proceedings - Euromicro Conference on Digital System Design, DSD 2019, Institute of Electrical and Electronics Engineers Inc. , 2019, s. 414-419Konferensbidrag (Refereegranskat)
    Abstract [en]

    Farming is facing many economic challenges in terms of productivity and cost-effectiveness. Labor shortage partly due to depopulation of rural areas, especially in Europe, is another challenge. Domain specific problems such as accurate identification and proper quantification of pathogens affecting plant and animal health are key factors for minimizing economical risks, and not risking human health. The ECSEL AFarCloud (Aggregate FARming in the CLOUD) project will provide a distributed platform for autonomous farming that will allow the integration and cooperation of agriculture Cyber Physical Systems in real-time in order to increase efficiency, productivity, animal health, food quality and reduce farm labour costs. This platform will be integrated with farm management software and will support monitoring and decision-making solutions based on big data and real-time data mining techniques. 

  • 23.
    Cavaco, Philip
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Petersson, Karl-Magnus
    Radboud University of Nigmegen, Nijmegen, Netherlands.
    Artificial grammar processing in biologically plausible neural networks2010Konferensbidrag (Refereegranskat)
  • 24.
    Cavaco, Philip
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Petersson, Karl-Magnus
    Radboud University of Nigmegen.
    Artificial grammar recognition using spiking neural networks2009Ingår i: BMC neuroscience (Online), ISSN 1471-2202, E-ISSN 1471-2202, Vol. 10 (suppl. 1)Artikel i tidskrift (Refereegranskat)
  • 25.
    Curuklu, Baran
    Mälardalens högskola, Institutionen för datavetenskap och elektronik.
    A Canonical Model of the Primary Visual Cortex2005Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
    Abstract [sv]

    Ny datormodell visar hur hjärnan behandlar information

    Baran Çürüklüs forskning handlar om att förstå hur syncentret i hjärnan fungerar. Detta är viktigt för forskningen inom neurovetenskap och artificiell intelligens.

    Under de senaste decennierna har hjärnforskningen visat att olika centra av hjärnbarken hos en och samma art har liknande struktur och att det finns stora likheter mellan olika arters hjärnbark. Dessa resultat tyder också på att nerv cellerna använder ett universellt språk när de kommunicerar med varandra. Dessutom verkar det finns generella regler som kan förklara hur hjärnan utvecklas och får sin slutliga form. En direkt konsekvens av dessa hypoteser är att Baran Çürüklüs forskning på syncentret kan ha stor inverkan på forskning på andra delar av hjärnan.

    Syncentret är den del av hjärnbarken som tar emot de inkommande signaler från ögat. Syncentret är en mycket viktig del av hjärnan och innehåller uppskattningsvis 40 % av hjärnbarkens nerv celler. Baran Çürüklü har i detalj kartlagt svarsegenskaperna hos nerv cellerna i den primära visuella hjärnbarken under hjärnans utvecklingsförlopp. Detta arbete bygger på upptäckten av Hubel och Wiesel om att nerv cellerna i den primära visuella hjärnbarken reagerar på kontrastkanter. Deras forskning har resulterat i feedforward modellen som är en viktig del av arbetet som har gett dem Nobelpriset i fysiologi/medicin (1981).

    Trots att denna modell har varit den mest refererade modellen i litteraturen så återstår fortfarande mycket forskning för att förstå nerv cellernas svarsegenskaper. Baran Çürüklüs modell kompletterar feedforward-modellen genom att bl.a. förklara hur hjärnan kan känna igen former under olika kontrastförhållanden. Modellen visar också hur omgivningen inverkar på syncentrets utvecklingsförlopp.

  • 26.
    Curuklu, Baran
    et al.
    Mälardalens högskola, Institutionen för datavetenskap och elektronik.
    Lansner, Anders
    Royal Institute of Technology, Sweden.
    A Model of the Summation Pools within the Layer 4 (Area 17)2005Ingår i: Neurocomputing, ISSN 0925-2312, E-ISSN 1872-8286, Vol. SPEC. ISS, s. 167-172Artikel i tidskrift (Övrigt vetenskapligt)
    Abstract [en]

    We propose a developmental model of the summation pools within the layer 4. The model is based on the modular structure of the neocortex and captures some of the known properties of layer 4. Connections between the orientation minicolumns are developed during exposure to visual input. Excitatory local connections are dense and biased towards the iso-orientation domain. Excitatory long-range connections are sparse and target all orientation domains equally. Inhibition is local. The summation pools are elongated along the orientation axis. These summation pools can facilitate weak and poorly tuned LGN input and explain improved visibility as an effect of enlargement of a stimulus.

  • 27.
    Curuklu, Baran
    et al.
    Mälardalens högskola, Institutionen för datavetenskap och elektronik.
    Lansner, Anders
    An Abstract Model of a Cortical Hypercolumn2002Ingår i: ICONIP'02: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON NEURAL INFORMATION PROCESSING: COMPUTATIONAL INTELLIGENCE FOR THE E-AGE, 2002, s. 80-85Konferensbidrag (Övrigt vetenskapligt)
    Abstract [en]

    An abstract model of a cortical hypercolumn is presented. This model could replicate experimental findings relating to the orientation tuning mechanism in the primary visual cortex. Properties of the orientation selective cells in the primary visual cortex like, contrast-invariance and response saturation were demonstrated in simulations. We hypothesize that broadly tuned inhibition and local excitatory connections are sufficient for achieving this behavior. We have shown that the local intracortical connectivity of the model is to some extent biologically plausible.

  • 28.
    Curuklu, Baran
    et al.
    Mälardalens högskola, Institutionen för datavetenskap och elektronik.
    Lansner, Anders
    On the development and functional roles of the horizontal connections within the primary visual cortex (V1)Manuskript (Övrigt vetenskapligt)
  • 29.
    Curuklu, Baran
    et al.
    Mälardalens högskola, Institutionen för datavetenskap och elektronik.
    Lansner, Anders
    Quantitative Assessment of the Local and Long-Range Horizontal Connections within the Striate Cortex2003Ingår i: IEEE Proceedings of the Computational Intelligence, Robotics and Autonomous System, 2003Konferensbidrag (Övrigt vetenskapligt)
  • 30.
    Curuklu, Baran
    et al.
    Mälardalens högskola, Institutionen för datavetenskap och elektronik.
    Lansner, Anders
    KTH, Sweden.
    Spike and Burst Synchronization in a Detailed Cortical Network Model with I-F Neurons2001Ingår i: Artificial Neural Networks — ICANN 2001, 2001, s. 1095-1102Konferensbidrag (Övrigt vetenskapligt)
    Abstract [en]

    Previous studies have suggested that synchronized firing is a prominent feature of cortical processing. Simplified network models have replicated such phenomena. Here we study to what extent these results are robust when more biological detail is introduced. A biologically plausible network model of layer of tree shrew primary visual cortex with a columnar architecture and realistic values on unit adaptation, connectivity patterns, axonal delays and synaptic strengths was investigated. A drifting grating stimulus provided afferent noisy input. It is demonstrated that under certain conditions, spike and burst synchronized activity between neurons, situated in different minicolumns, may occur.

  • 31.
    Curuklu, Baran
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Martínez, José-Fernán
    Universidad Politécnica de Madrid, Spain.
    Fresco, Roberto
    CREA, Madrid, Spain.
    Adaptive Autonomy Paves the Way for Disruptive Innovations in Advanced Robotics2017Ingår i: ERCIM News, ISSN 0926-4981, E-ISSN 1564-0094, s. 25-26Artikel i tidskrift (Refereegranskat)
  • 32.
    Dodig-Crnkovic, Gordana
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Robots: Ethical by Design2012Ingår i: Ethics and Information Technology, ISSN 1388-1957, E-ISSN 1572-8439, Vol. 14, nr 1, s. 61-71Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Among ethicists and engineers within robotics there is an ongoing discussion as to whether ethical robots are possible or even desirable. We answer both of these questions in the positive, based on an extensive literature study of existing arguments. Our contribution consists in bringing together and reinterpreting pieces of information from a variety of sources. One of the conclusions drawn is that artifactual morality must come in degrees and depend on the level of agency, autonomy and intelligence of the machine. Moral concerns for agents such as intelligent search machines are relatively simple, while highly intelligent and autonomous artifacts with significant impact and complex modes of agency must be equipped with more advanced ethical capabilities. Systems like cognitive robots are being developed that are expected to become part of our everyday lives in future decades. Thus, it is necessary to ensure that their behaviour is adequate. In an analogy with artificial intelligence, which is the ability of a machine to perform activities that would require intelligence in humans, artificial morality is considered to be the ability of a machine to perform activities that would require morality in humans. The capacity for artificial (artifactual) morality, such as artifactual agency, artifactual responsibility, artificial intentions, artificial (synthetic) emotions, etc., come in varying degrees and depend on the type of agent. As an illustration, we address the assurance of safety in modern High Reliability Organizations through responsibility distribution. In the same way that the concept of agency is generalized in the case of artificial agents, the concept of moral agency, including responsibility, is generalized too. We propose to look at artificial moral agents as having functional responsibilities within a network of distributed responsibilities in a socio-technological system. This does not take away the responsibilities of the other stakeholders in the system, but facilitates an understanding and regulation of such networks. It should be pointed out that the process of development must assume an evolutionary form with a number of iterations because the emergent properties of artifacts must be tested in real world situations with agents of increasing intelligence and moral competence. We see this paper as a contribution to the macro-level Requirement Engineering through discussion and analysis of general requirements for design of ethical robots.

  • 33.
    Frasheri, Mirgita
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Analysis of perceived helpfulness in adaptive autonomous agent populations2018Ingår i: Transactions on Computational Collective Intelligence XXVIII, Springer Verlag , 2018, Vol. 10780, s. 221-252Konferensbidrag (Refereegranskat)
    Abstract [en]

    Adaptive autonomy allows agents to change their autonomy levels based on circumstances, e.g. when they decide to rely upon one another for completing tasks. In this paper, two configurations of agent models for adaptive autonomy are discussed. In the former configuration, the adaptive autonomous behavior is modeled through the willingness of an agent to assist others in the population. An agent that completes a high number of tasks, with respect to a predefined threshold, increases its willingness, and vice-versa. Results show that, agents complete more tasks when they are willing to give help, however the need for such help needs to be low. Agents configured to be helpful will perform well among alike agents. The second configuration extends the first by adding the willingness to ask for help. Furthermore, the perceived helpfulness of the population and of the agent asking for help are used as input in the calculation of the willingness to give help. Simulations were run for three different scenarios. (i) A helpful agent which operates among an unhelpful population, (ii) an unhelpful agent which operates in a helpful populations, and (iii) a population split in half between helpful and unhelpful agents. Results for all scenarios show that, by using such trait of the population in the calculation of willingness and given enough interactions, helpful agents can control the degree of exploitation by unhelpful agents. © Springer International Publishing AG, part of Springer Nature 2018.

  • 34.
    Frasheri, Mirgita
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Comparison Between Static and Dynamic Willingness to Interact in Adaptive Autonomous Agents2018Ingår i: Proceedings of the 10th International Conference on Agents and Artificial Intelligence, 2018, Vol. 1, s. 258-267Konferensbidrag (Refereegranskat)
    Abstract [en]

    Adaptive autonomy (AA) is a behavior that allows agents to change their autonomy levels by reasoning on their circumstances. Previous work has modeled AA through the willingness to interact, composed of willingness to ask and give assistance. The aim of this paper is to investigate, through computer simulations, the behavior of agents given the proposed computational model with respect to different initial configurations, and level of dependencies between agents. Dependency refers to the need for help that one agent has. Such need can be fulfilled by deciding to depend on other agents. Results show that, firstly, agents whose willingness to interact changes during run-time perform better compared to those with static willingness parameters, i.e. willingness with fixed values. Secondly, two strategies for updating the willingness are compared, (i) the same fixed value is updated on each interaction, (ii) update is done on the previous calculated value. The maximum number of completed tasks which need assistance is achieved for (i), given specific initial configurations.

  • 35.
    Frasheri, Mirgita
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Papadopoulos, Alessandro
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Adaptive Autonomy in a Search and Rescue Scenario2018Ingår i: International Conference on Self-Adaptive and Self-Organizing Systems, SASO, Volume 2018-September, 15 January 2019, 2018, s. 150-155Konferensbidrag (Refereegranskat)
    Abstract [en]

    Adaptive autonomy plays a major role in the design of multi-robots and multi-agent systems, where the need of collaboration for achieving a common goal is of primary importance. In particular, adaptation becomes necessary to deal with dynamic environments, and scarce available resources. In this paper, a mathematical framework for modelling the agents' willingness to interact and collaborate, and a dynamic adaptation strategy for controlling the agents' behavior, which accounts for factors such as progress toward a goal and available resources for completing a task among others, are proposed. The performance of the proposed strategy is evaluated through a fire rescue scenario, where a team of simulated mobile robots need to extinguish all the detected fires and save the individuals at risk, while having limited resources. The simulations are implemented as a ROS-based multi agent system, and results show that the proposed adaptation strategy provides a more stable performance than a static collaboration policy. 

  • 36.
    Frasheri, Mirgita
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Cürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Towards Collaborative Adaptive Autonomous Agents2017Ingår i: ICAART: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE, VOL 1, 2017, s. 78-87Konferensbidrag (Refereegranskat)
    Abstract [en]

    Adaptive autonomy enables agents operating in an environment to change, or adapt, their autonomy levels by relying on tasks executed by others. Moreover, tasks could be delegated between agents, and as a result decision-making concerning them could also be delegated. In this work, adaptive autonomy is modeled through the willingness of agents to cooperate in order to complete abstract tasks, the latter with varying levels of dependencies between them. Furthermore, it is sustained that adaptive autonomy should be considered at an agent's architectural level. Thus the aim of this paper is two-fold. Firstly, the initial concept of an agent architecture is proposed and discussed from an agent interaction perspective. Secondly, the relations between static values of willingness to help, dependencies between tasks and overall usefulness of the agents' population are analysed. The results show that a unselfish population will complete more tasks than a selfish one for low dependency degrees. However, as the latter increases more tasks are dropped, and consequently the utility of the population degrades. Utility is measured by the number of tasks that the population completes during run-time. Finally, it is shown that agents are able to finish more tasks by dynamically changing their willingness to cooperate.

  • 37.
    Frasheri, Mirgita
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Trinh, LanAnh
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Failure Analysis for Adaptive Autonomous Agents using Petri Nets2017Ingår i: Proceedings of the 2017 Federated Conference on Computer Science and Information Systems, FedCSIS 2017, 2017, s. 293-297Konferensbidrag (Refereegranskat)
    Abstract [en]

    Adaptive autonomous (AA) agents are able to make their own decisions on when and with whom to share their autonomy based on their states. Whereas dependability gives evidence on whether a system, (e.g. an agent team), and its provided services are to be trusted. In this paper, an initial analysis on AA agents with respect to dependability is conducted. Firstly, AA is modeled through a pairwise relationship called willingness of agents to interact, i.e. to ask for and give assistance. Secondly, dependability is evaluated by considering solely the reliability attribute, which presents the continuity of correct services. The failure analysis is realized by modeling the agents through Petri Nets. Simulation results indicate that agents drop slightly more tasks when they are more willing to interact than otherwise, especially when the fail-rate of individual agents increases. Conclusively, the willingness should be tweaked such that there is compromise between performance and helpfulness.

  • 38.
    Hazy, James K.
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system. Adelphi University, US.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Influence Process Structural Learning and the Emergence of Collective Intelligence2014Ingår i: Collective Intelligence Conference 2014 CIC'14, 2014Konferensbidrag (Refereegranskat)
  • 39.
    Hägg, Johan
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Akan, Batu
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Automatic Generation of Neural Networks for Gesture Recognition2010Manuskript (preprint) (Övrigt vetenskapligt)
  • 40.
    Hägg, Johan
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Akan, Batu
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Asplund, Lars
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Gesture Recognition Using Evolution Strategy Neural Network2008Ingår i: 2008 IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, PROCEEDINGS, 2008, s. 245-248Konferensbidrag (Refereegranskat)
    Abstract [en]

    A new approach to interact with an industrial robot using hand gestures is presented. System proposed here can learn first time user's hand gestures rapidly. This improves product usability and acceptability. Artificial neural networks trained with the evolution strategy technique are found to be suited for this problem. The gesture recognition system is an integrated part of a larger project for addressing intelligent human-robot interaction using a novel multi-modal paradigm. The goal of the overall project is to address complexity issues related to robot programming by providing a multi-modal user friendly interacting system that can be used by SMEs.

  • 41.
    Li, Ning
    et al.
    Universidad Politecnica de Madrid, Madrid, Spain .
    Cürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Bastos, Joaquim
    Instituto de Telecomunicacoes, Lisboa, Portugal .
    Sucasas, Victor
    Universidade de Aveiro, Aveiro, Portugal .
    Fernandez, Jose Antonio Sanchez
    Universidad Politecnica de Madrid, Madrid, Spain .
    Rodriguez, Jonathan
    Campus Universitário de Santiago, Lisboa, Portugal .
    A probabilistic and highly efficient topology control algorithm for underwater cooperating AUV networks2017Ingår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, nr 5, artikel-id 1022Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power adjustment ratio while improving the network performance.

  • 42.
    Miloradovic, Branko
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    A genetic mission planner for solving temporal multi-agent problems with concurrent tasks2017Ingår i: Lecture Notes in Computer Science, vol. 10386, Springer Verlag , 2017, s. 481-493Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, a centralized mission planner is presented. The planner employs a genetic algorithm for the optimization of the temporal planning problem. With the knowledge of agents’ specification and capabilities, as well as constraints and parameters for each task, the planner can produce plans that utilize multi-agent tasks, concurrency on agent level, and heterogeneous agents. Numerous optimization criteria that can be of use to the mission operator are tested on the same mission data set. Promising results and effectiveness of this approach are presented in the case study section. 

  • 43.
    Miloradovic, Branko
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    A genetic planner for mission planning of cooperative agents in an underwater environment2016Ingår i: The 2016 IEEE Symposium Series on Computational Intelligence SSCI'16, 2016, artikel-id 7850163Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, a Genetic Algorithm (GA) is used for solving underwater mission planning problem. The proposed genetic planner is capable of utilizing multiple Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) in a mission plan, as well as running multiple tasks in parallel on the agent’s level. The problem is described using STRIPS modeling language. The proposed planner shows high robustness regarding initial population set, which is randomly generated. Chromosomes have variable length, consisting of active and inactive genes. Various genetic operators are used in order to improve convergence of the algorithm. Although genetic planner presented in this work is for underwater missions, this planning approach is universal, and it is not domain dependent. Results for a realistic case study with five AUVs and almost 30 tasks show that this approach can be used successfully for solving complex mission planning problems.

  • 44.
    Miloradovic, Branko
    et al.
    Mihailo Pupin Institute, Belgrade, Serbia.
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Vujovic, Milica
    Mihailo Pupin Institute, Belgrade, Serbia.
    Popic, Svemir
    Mihailo Pupin Institute, Belgrade, Serbia.
    Rodic, Aleksandar
    Mihailo Pupin Institute, Belgrade, Serbia.
    Low–-cost anthropomorphic robotic hand with elastic joints –: early results2015Ingår i: Proceedings of the 2nd International Conference on Electrical, Electronic and Computing Engineering, 2015Konferensbidrag (Refereegranskat)
    Abstract [en]

    The main objective of this paper is to propose a hand design that is inexpensive, robust against collisions and has enhanced grasping performance. Instead of simply copying human hand design this work will focus on mimicking its capabilities and functional properties. At this stage of the research only the index finger and the thumb have been realized. These two are the most important parts of the human hand from the design and usage point of view. The new approach includes the use of elastic joints instead of conventional hinge joints, thus providing passive grasp. This way the hand becomes more energy efficient. Since there is a lot of elasticity as an effect of material choice and design, it was decided to implement optoelectronic angular sensor for angular measurement.

  • 45.
    Miloradović, Branko
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Papadopoulos, Alessandro
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Extended colored traveling salesperson for modeling multi-agent mission planning problems2019Ingår i: ICORES 2019 - Proceedings of the 8th International Conference on Operations Research and Enterprise Systems, SciTePress , 2019, s. 237-244Konferensbidrag (Refereegranskat)
    Abstract [en]

    In recent years, multi-agent systems have been widely used in different missions, ranging from underwater to airborne. A mission typically involves a large number of agents and tasks, making it very hard for the human operator to create a good plan. A search for an optimal plan may take too long, and it is hard to make a time estimate of when the planner will finish. A Genetic algorithm based planner is proposed in order to overcome this issue. The contribution of this paper is threefold. First, an Integer Linear Programming (ILP) formulation of a novel Extensive Colored Traveling Salesperson Problem (ECTSP) is given. Second, a new objective function suitable for multi-agent mission planning problems is proposed. Finally, a reparation algorithm to allow usage of common variation operators for ECTSP has been developed. 

  • 46.
    Miloradović, Branko
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Frasheri, Mirgita
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Papadopoulos, Alessandro
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    TAMER: Task Allocation in Multi-robot Systems Through an Entity-Relationship Model2019Ingår i: PRIMA 2019: Principles and Practice of Multi-Agent Systems, 2019, s. 478-486Konferensbidrag (Refereegranskat)
    Abstract [en]

    Multi-robot task allocation (MRTA) problems have been studied extensively in the past decades. As a result, several classifications have been proposed in the literature targeting different aspects of MRTA, with often a few commonalities between them. The goal of this paper is twofold. First, a comprehensive overview of early work on existing MRTA taxonomies is provided, focusing on their differences and similarities. Second, the MRTA problem is modelled using an Entity-Relationship (ER) conceptual formalism to provide a structured representation of the most relevant aspects, including the ones proposed within previous taxonomies. Such representation has the advantage of (i) representing MRTA problems in a systematic way, (ii) providing a formalism that can be easily transformed into a software infrastructure, and (iii) setting the baseline for the definition of knowledge bases, that can be used for automated reasoning in MRTA problems.

  • 47.
    Parokaran, Jessy
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Argunsah, Ali Özgur
    Sabanci University,Istanbul,Turkey .
    Çürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Cetin, Mujdat
    Sabanci University,Istanbul,Turkey .
    Analysis of EEG Signals for Brain Computer Interface2009Konferensbidrag (Refereegranskat)
  • 48.
    Rodríguez-Molina, J.
    et al.
    Centro de Investigación en Tecnologías Software y Sistemas Multimedia Para la Sostenibilidad—CITSEM, Madrid, Spain.
    Bilbao, S.
    TECNALIA, Derio, Bizkaia, Spain.
    Martínez, B.
    TECNALIA, Derio, Bizkaia, Spain.
    Frasheri, Mirgita
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    An optimized, data distribution service-based solution for reliable data exchange among autonomous underwater vehicles2017Ingår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, nr 8, artikel-id 1802Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance. 

  • 49.
    Trinh, Lan Anh
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Cürüklü, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Fault Tolerance Analysis for Dependable Autonomous Agents Using Colored Time Petri Nets2017Ingår i: ICAART: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE, VOL 1, 2017, s. 228-235Konferensbidrag (Refereegranskat)
    Abstract [en]

    Fault tolerance has become more and more important in the development of autonomous systems with the aim to help the system to recover its normal activities even when some failures happen. Yet, one of the concerns is how to analyze the reliability of a fault tolerance mechanism with regards to the collaboration of multiple agents to complete a complicated task. To do so, an approach of fault tolerance analysis with the colored time Petri net framework is proposed in this work, where a task can be represented by a tree of different concurrent and dependent subtasks to assign to agents. Different subtasks and agents are modeled by color tokens in Petri network. The time values are added to evaluate the processing performance of the whole system with respect to its ability to solve a task with fault tolerance ability. The colored time Petri nets are then tested with simulation of centralized and distributed systems. Finally the experiments are performed to show the feasibility of the proposed approach. From the basics of this study, a generalized framework in the future can be developed to address the fault tolerance analysis for a set of agents working with a sophisticated plan to achieve a common target.

  • 50.
    Trinh, Lan Anh
    et al.
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Ekström, Mikael
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Curuklu, Baran
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Petri Net Based Navigation Planning with Dipole Field and Dynamic Window Approach for Collision Avoidance2019Ingår i: International Conference on Control, Decision and Information Technologies CoDIT, 2019, s. 1013-1018, artikel-id 8820359Konferensbidrag (Refereegranskat)
    Abstract [en]

    This paper presents a novel path planning system for multiple robots working in an uncontrolled environment in the presence of humans. The approach combines the use of Petri net to plan the movement of multiple robots to prevent the risk of congestion caused by routing several robots into a narrow region, together with a dipole field with dynamic window approach to avoid collisions of a robot with dynamic obstacles. By regarding the velocity and direction of both humans and robots as a source of magnetic dipole moment, the dipole-dipole interaction between the moving objects will generate repulsive forces to prevent collisions. The whole system is presented on robot operating system platform so that its implementation can be extendable into real robots. Experimental results with Gazebo simulator demonstrates the effectiveness of the proposed approach.

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