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  • 1.
    Abdul-Ahad, Amir Stefan
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Cürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Mahmoud, W. A.
    Al-Isra Private University, Amman, Jordan.
    Robust distance-based watermarking for digital image2008In: Proceedings of the 2008 International Conference on Security and Management, SAM 2008, 2008, p. 404-409Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Folke, Mia
    Mälardalen University, School of Innovation, Design and Engineering.
    Lindén, Maria
    Mälardalen University, School of Innovation, Design and Engineering.
    Indirect Wavelet-Based Cardio Arrhythmia Detection Algorithm2008In: Medicinteknikdagarna, Gothenburg, Sweden, 2008, p. 14-15Conference paper (Refereed)
  • 3.
    Abut, Hüseyin
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Ercil, Aytul
    Mälardalen University, School of Innovation, Design and Engineering.
    Erdogan, Hakan
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Koman, Hakki Can
    Mälardalen University, School of Innovation, Design and Engineering.
    Tas, Fatih
    Mälardalen University, School of Innovation, Design and Engineering.
    Argunsah, Ali Özgur
    Mälardalen University, School of Innovation, Design and Engineering.
    Cosar, Serhan
    Mälardalen University, School of Innovation, Design and Engineering.
    Akan, Batu
    Mälardalen University, School of Innovation, Design and Engineering.
    Karabalkan, Harun
    Mälardalen University, School of Innovation, Design and Engineering.
    Cökelek, Emre
    Mälardalen University, School of Innovation, Design and Engineering.
    Ficici, Rahmi
    Mälardalen University, School of Innovation, Design and Engineering.
    Sezer, Volkan
    Mälardalen University, School of Innovation, Design and Engineering.
    Danis, Serhan
    Mälardalen University, School of Innovation, Design and Engineering.
    Karaca, Mehmet
    Mälardalen University, School of Innovation, Design and Engineering.
    Abbak, Mehmet
    Mälardalen University, School of Innovation, Design and Engineering.
    Uzunbaş, Mustafa Gökhan
    Mälardalen University, School of Innovation, Design and Engineering.
    Eritmen, Kayhan
    Mälardalen University, School of Innovation, Design and Engineering.
    Kalaycıoglu, Caglar
    Mälardalen University, School of Innovation, Design and Engineering.
    Imamoğlu, Mümin
    Mälardalen University, School of Innovation, Design and Engineering.
    Karabat, Cagatay
    Mälardalen University, School of Innovation, Design and Engineering.
    Peyic, Merve
    Mälardalen University, School of Innovation, Design and Engineering.
    Arslan, Burak
    Mälardalen University, School of Innovation, Design and Engineering.
    Data Collection with UYANIK: Too Much Pain; But Gains are Coming2007In: Proc. of the Biennial on DSP for In-Vehicle and Mobile Systems, Istanbul, Turkey, 2007Conference paper (Refereed)
  • 4.
    Abut, Hüseyin
    et al.
    San Diego State University.
    Erdogan, Hakan
    Ercil, Aytul
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Koman, Hakki Can
    Tas, Fatih
    Argunsah, Ali Özgur
    Cosar, Serhan
    Akan, Batu
    Mälardalen University, School of Innovation, Design and Engineering.
    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 UYANIK2009In: In-Vehicle Corpus and Signal Processing for Driver Behavior, Springer, 2009, p. 23-44Chapter in book (Other academic)
  • 5.
    Afsar, Atahan
    et al.
    Sabanci University, Istanbul.
    Ulubilge, Tunca
    Sabanci University, Istanbul.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    A biological plausible recurrent model of V1 hypercolumns2011In: BMC neuroscience (Online), ISSN 1471-2202, E-ISSN 1471-2202, Vol. 12(Suppl 1), no P48Article in journal (Refereed)
  • 6.
    Akan, Batu
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ameri E., Afshin
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Scheduling for Multiple Type Objects Using POPStar Planner2014In: Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'14), Barcelona, Spain, September, 2014, 2014, p. Article number 7005148-Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering.
    Ameri E., Afshin
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Augmented Reality-based Industrial Robot Control2011In: Proceedings of SIGRAD 2011 / [ed] Larsson, Thomas ; Kjelldahl, Lars ; Jää-Aro, Kai-Mikael, Linköping University Electronic Press, 2011, p. 113-114Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ameri E., Afshin
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Intuitive Industrial Robot Programming Through Incremental Multimodal Language and Augmented Reality2011In: 2011 IEEE International Conferance on Robotics and Automation (ICRA 2011), IEEE , 2011, p. 3934-3939Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Interacting with industrial robots through a multi-modal language and sensory systems2008In: 39th International Sysmposium on Robotics, Seoul, Korea, 2008, p. 66-69Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Scheduling POP-Star for Automatic Creation of Robot Cell Programs2013Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Spampinato, Giacomo
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Object selection using a spatial language for flexible assembly2009Conference paper (Refereed)
  • 12.
    Akan, Batu
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Spampinato, Giacomo
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Object Selection using a Spatial Language for Flexible Assembly2009In: 14th IEEE International Conference on Emerging Technologies and Factory Automation, 2009. (ETFA 2009), Mallorca, Spain, 2009Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Spampinato, Giacomo
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Towards Robust Human Robot Collaboration in Industrial Environments2010In: 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010, 2010, p. 71-72Conference paper (Refereed)
    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
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    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 imagery2016In: 2016 6th International Conference on Image Processing Theory, Tools and Applications, IPTA 2016, 2016, article id 7820967Conference paper (Refereed)
    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
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    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 Images2017In: OCEANS '17 A Vision for our Marine Future OCEANS '17, Aberdeen, United Kingdom, 2017Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering.
    Akan, Batu
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Incremental Multimodal Interface for Human-Robot Interaction2010In: Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010, 2010, p. Art.nr. 5641234-Conference paper (Refereed)
    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.
    Mälardalen University, School of Innovation, Design and Engineering.
    Akan, Batu
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    A General Framework for Incremental Processing of Multimodal Inputs2011In: Proceedings of the 13th international conference on multimodal interfaces, New York: ACM Press, 2011, p. 225-228Conference paper (Refereed)
    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
    Mälardalen University, School of Innovation, Design and Engineering.
    Cetin, Mujdat
    Detection of Eye Blinks from EEG using Hidden Markov Models2009Conference paper (Refereed)
  • 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 Performance2007Conference paper (Refereed)
  • 20.
    Argunsah, Ali Özgur
    et al.
    Sabanci Üniversitesi .
    Çürüklü, Baran
    Mälardalen University, Department of Computer Science and Electronics.
    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]2007In: 2007 IEEE 15th Signal Processing and Communications Applications, SIU, 2007, p. Article number 4298842-Conference paper (Refereed)
    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.
    Cavaco, Philip
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Petersson, Karl-Magnus
    Radboud University of Nigmegen, Nijmegen, Netherlands.
    Artificial grammar processing in biologically plausible neural networks2010Conference paper (Refereed)
  • 22.
    Cavaco, Philip
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Petersson, Karl-Magnus
    Radboud University of Nigmegen.
    Artificial grammar recognition using spiking neural networks2009In: BMC neuroscience (Online), ISSN 1471-2202, E-ISSN 1471-2202, Vol. 10 (suppl. 1)Article in journal (Refereed)
  • 23.
    Curuklu, Baran
    Mälardalen University, Department of Computer Science and Electronics.
    A Canonical Model of the Primary Visual Cortex2005Doctoral thesis, comprehensive summary (Other scientific)
    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.

  • 24.
    Curuklu, Baran
    et al.
    Mälardalen University, Department of Computer Science and Electronics.
    Lansner, Anders
    Royal Institute of Technology, Sweden.
    A Model of the Summation Pools within the Layer 4 (Area 17)2005In: Neurocomputing, ISSN 0925-2312, E-ISSN 1872-8286, Vol. SPEC. ISS, p. 167-172Article in journal (Other academic)
    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.

  • 25.
    Curuklu, Baran
    et al.
    Mälardalen University, Department of Computer Science and Electronics.
    Lansner, Anders
    An Abstract Model of a Cortical Hypercolumn2002In: ICONIP'02: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON NEURAL INFORMATION PROCESSING: COMPUTATIONAL INTELLIGENCE FOR THE E-AGE, 2002, p. 80-85Conference paper (Other academic)
    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.

  • 26.
    Curuklu, Baran
    et al.
    Mälardalen University, Department of Computer Science and Electronics.
    Lansner, Anders
    On the development and functional roles of the horizontal connections within the primary visual cortex (V1)Manuscript (Other academic)
  • 27.
    Curuklu, Baran
    et al.
    Mälardalen University, Department of Computer Science and Electronics.
    Lansner, Anders
    Quantitative Assessment of the Local and Long-Range Horizontal Connections within the Striate Cortex2003In: IEEE Proceedings of the Computational Intelligence, Robotics and Autonomous System, 2003Conference paper (Other academic)
  • 28.
    Curuklu, Baran
    et al.
    Mälardalen University, Department of Computer Science and Electronics.
    Lansner, Anders
    KTH, Sweden.
    Spike and Burst Synchronization in a Detailed Cortical Network Model with I-F Neurons2001In: Artificial Neural Networks — ICANN 2001, 2001, p. 1095-1102Conference paper (Other academic)
    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.

  • 29.
    Curuklu, Baran
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Martínez, José-Fernán
    Universidad Politécnica de Madrid, Spain.
    Fresco, Roberto
    CREA, Madrid, Spain.
    Adaptive Autonomy Paves the Way for Disruptive Innovations in Advanced Robotics2017In: ERCIM News, ISSN 0926-4981, E-ISSN 1564-0094, p. 25-26Article in journal (Other academic)
  • 30.
    Dodig-Crnkovic, Gordana
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Robots: Ethical by Design2012In: Ethics and Information Technology, ISSN 1388-1957, E-ISSN 1572-8439, Vol. 14, no 1, p. 61-71Article in journal (Refereed)
    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.

  • 31.
    Frasheri, Mirgita
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Analysis of perceived helpfulness in adaptive autonomous agent populations2018In: Transactions on Computational Collective Intelligence XXVIII, Springer Verlag , 2018, Vol. 10780, p. 221-252Conference paper (Refereed)
    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.

  • 32.
    Frasheri, Mirgita
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Comparison Between Static and Dynamic Willingness to Interact in Adaptive Autonomous Agents2018In: Proceedings of the 10th International Conference on Agents and Artificial Intelligence, 2018, Vol. 1, p. 258-267Conference paper (Refereed)
    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.

  • 33.
    Frasheri, Mirgita
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Adaptive Autonomy in a Search and Rescue ScenarioConference paper (Refereed)
  • 34.
    Frasheri, Mirgita
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Cürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Towards Collaborative Adaptive Autonomous Agents2017In: ICAART: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE, VOL 1, 2017, p. 78-87Conference paper (Refereed)
    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.

  • 35.
    Frasheri, Mirgita
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Trinh, LanAnh
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems. ().
    Failure Analysis for Adaptive Autonomous Agents using Petri Nets2017In: Proceedings of the 2017 Federated Conference on Computer Science and Information Systems, FedCSIS 2017, 2017, p. 293-297Conference paper (Refereed)
    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.

  • 36.
    Hazy, James K.
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems. Adelphi University, US.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Influence Process Structural Learning and the Emergence of Collective Intelligence2014In: Collective Intelligence Conference 2014 CIC'14, 2014Conference paper (Refereed)
  • 37.
    Hägg, Johan
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Akan, Batu
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Automatic Generation of Neural Networks for Gesture Recognition2010Manuscript (preprint) (Other academic)
  • 38.
    Hägg, Johan
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Akan, Batu
    Mälardalen University, School of Innovation, Design and Engineering.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Gesture Recognition Using Evolution Strategy Neural Network2008In: 2008 IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, PROCEEDINGS, 2008, p. 245-248Conference paper (Refereed)
    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.

  • 39.
    Li, Ning
    et al.
    Universidad Politecnica de Madrid, Madrid, Spain .
    Cürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    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 networks2017In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, no 5, article id 1022Article in journal (Refereed)
    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.

  • 40.
    Miloradovic, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    A genetic mission planner for solving temporal multi-agent problems with concurrent tasks2017In: Lecture Notes in Computer Science, vol. 10386, Springer Verlag , 2017, p. 481-493Conference paper (Refereed)
    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. 

  • 41.
    Miloradovic, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    A genetic planner for mission planning of cooperative agents in an underwater environment2017In: The 2016 IEEE Symposium Series on Computational Intelligence SSCI'16, 2017, article id 7850163Conference paper (Refereed)
    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.

  • 42.
    Miloradovic, Branko
    et al.
    Mihailo Pupin Institute, Belgrade, Serbia.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    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 results2015In: Proceedings of the 2nd International Conference on Electrical, Electronic and Computing Engineering, 2015Conference paper (Refereed)
    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.

  • 43.
    Parokaran, Jessy
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Argunsah, Ali Özgur
    Sabanci University,Istanbul,Turkey .
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Cetin, Mujdat
    Sabanci University,Istanbul,Turkey .
    Analysis of EEG Signals for Brain Computer Interface2009Conference paper (Refereed)
  • 44.
    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
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    An optimized, data distribution service-based solution for reliable data exchange among autonomous underwater vehicles2017In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, no 8, article id 1802Article in journal (Refereed)
    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. 

  • 45.
    Trinh, Lan Anh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Cürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Fault Tolerance Analysis for Dependable Autonomous Agents Using Colored Time Petri Nets2017In: ICAART: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE, VOL 1, 2017, p. 228-235Conference paper (Refereed)
    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.

  • 46.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Dependability for Autonomous Control with a Probability Approach2017In: ERCIM News, ISSN 0926-4981, E-ISSN 1564-0094, no 109, p. 22-23Article in journal (Other academic)
    Abstract [en]

    For the last decade, dependability - the ability to offer a service that can be trusted - has been the focus of much research, and is of particular interest when designing and building systems. We are developing a dependable framework for an autonomous system and its control.

  • 47.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Dipole Flow Field for Dependable Path Planning of Multiple Agents2017In: IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2017Conference paper (Refereed)
  • 48.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning2018In: Frontiers in Neurorobotics, ISSN 1662-5218, Vol. 12, article id 28Article in journal (Refereed)
    Abstract [en]

    Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e, safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta* algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta* algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of these two fields results in a safe path planning algorithm, with a deterministic outcome, to navigate agents to their desired goals.

  • 49.
    Çürüklü, Baran
    Mälardalen University, Department of Computer Science and Engineering.
    Layout and function of the intracortical connections within the primary visual cortex2003Licentiate thesis, comprehensive summary (Other scientific)
  • 50.
    Çürüklü, Baran
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Kalaykov, Ivan
    Robotics for SME´s – increased flexibility through mobility and ease of use2009Report (Other academic)
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