{"title":"Sensor fusion system for autonomous localization of mobile robots","authors":"M. Avila, J. G. Arancibia","doi":"10.1109/INTELLISYS.2017.8324249","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324249","url":null,"abstract":"In this paper, sensor fusion system applied to the location of a mobile robot is presented. The idea behind this work is to improve the accuracy in estimating the robot position with respect to systems currently used, which are based on deterministic odometry models. The mainstreaming of sensor fusion involves working with probabilistic mathematical models, which are much better suited to deal with the dynamics of complex environments. A small differential mobile robot with two accelerometers, two odometers and a gyroscope which provide the necessary data to update the estimates provided by the motion model is used. The fusion process is performed using an extended Kalman filter that requires the movement model, the measuring model of the sensors and the set of sensory measurements available in each time instant. The results indicate that the sensor fusion system is more accurate than the reference odometry system. A quantitative analysis shows that in all evaluated cases, the system reports a 38% improvement in estimating the endpoint and 27% in the accuracy over the entire trajectory.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132655686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Modeling of computational perception of reality, situational awareness, cognition and machine learning under uncertainty","authors":"Ben Khayut, Lina Fabri, Maya Avikhana","doi":"10.1109/INTELLISYS.2017.8324314","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324314","url":null,"abstract":"The paper suggests how to model a computational perception of reality, situational awareness, cognition and machine learning, in the system of Computational Systemic Deep Mind. The modules of this model, determine the states of objects in the environment of unknown in advance situation, represent and realize the objects by machine memory, display the objects to be recognized by systems and humans. The method applies to the principles of the systemic and situational control, the main achievements of fuzzy logic, linguistics and cyber-physical approach to the perception, understanding and processing of languages, images, signals and other essences of reality. The functionality of this method is based on the following interconnected modules: 1) situational fuzzy control of data, information, knowledge, objects and subsystems; 2) fuzzy inference; 3) decisions making; 4) knowledge representation; 5) knowledge generalization; 6) reasoning; 7) systems thinking; and 8) intelligent user interface. The use of this method allows to be self-organized under uncertainty and to operate autonomously in various subject areas.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"160 45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130507940","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Falaye, Etuk Stella Oluyemi, Seun Ale, M. Abdullahi, Ugwu Cosmas Uchenna, Femi Awogbemi
{"title":"Quantitative model for dynamic propagation and countermeasure of malicious cyber attack on the mobile wireless network","authors":"A. Falaye, Etuk Stella Oluyemi, Seun Ale, M. Abdullahi, Ugwu Cosmas Uchenna, Femi Awogbemi","doi":"10.1109/INTELLISYS.2017.8324266","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324266","url":null,"abstract":"One major concern of network and data security consultants globally is the capabilities of infectious malicious cyber-attacks (Malware) to invade the entire population of the network terminals within few days of an outbreak of an attack to wreak havoc ranging from identity theft, financial fraud to systemic digital assault on critical national assets. It is known that when the vulnerable mobile device communicates with the infected nodes, it becomes infected. This work studies the behavioral dynamics of the Vulnerable, infected and the recovered terminals on the mobile wireless network and the effectiveness of an antivirus security signature as countermeasure and the effect of lack of anti-virus update. Solving for stability, we found out that its Eigen values gives a negative value which means that the equilibrium point is in a stable state. We analyzed the differential equations using Homotopy Perturbation Method (HPM). The simulation to evaluate the consequence of different countermeasure options were carried on a mathematical-tool platform called maple. From our results we discovered that if security patches are fixed on our mobile devices and there is regular antivirus update on the devices, then financial fraud, privacy inversion and running of scam can be curtailed to a significant level.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"647 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133068190","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Robustness of cooperative behaviour model on N robot-based multi-robot systems: Application to mine emergency and disaster management","authors":"C. Yinka-banjo, I. Osunmakinde, A. Bagula","doi":"10.1109/INTELLISYS.2017.8324254","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324254","url":null,"abstract":"Developing an efficient model for real-life management has been a rapidly growing robotic research area. Environments such as underground tunnels are one of many harsh areas that still need exploration and exploitation by autonomous systems in the field robotics. In this paper, a robust cooperative framework is presented for pre emergency and disaster management, in other words, safety prevention measures in the underground terrain. The system is designed for n-robots to understand the emergency and disaster behaviours of one another and cooperate while avoiding collision. The framework logically establishes a QLACS model based on Ant Colony System (ACS) and QLearning (QL) techniques. To provide a robust way of achieving pre-emergency and disaster management in the mine, the scalable QLACS was tested with 2-robots, 3-robots and 4-robots. The performance evaluation result shows that the QLACS is reliably robust in communication and search costs, and also scalable to n-based MRS.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115520889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"LUCID: Author name disambiguation using graph Structural Clustering","authors":"I. Hussain, S. Asghar","doi":"10.1109/INTELLISYS.2017.8324326","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324326","url":null,"abstract":"Author name ambiguity may occur in two situations when multiple authors have the same name or the same author writes her name in multiple ways. The former is called homonym and the later is called synonym. Disambiguation of these ambiguous authors is a non-trivial job because there is a limited amount of information available in citations data set. In this paper, a graph structural clustering algorithm “LUCID: Author Name Disambiguation using Graph Structural Clustering” is proposed which disambiguates authors by using community detection algorithm and graph operations. In the first phase, LUCID performs some preprocessing tasks on data set and creates blocks of ambiguous authors. In the second phase coauthors graph is built and “SCAN: A Structural Clustering Algorithm for Networks” is applied to detect hubs, outliers, and clusters of nodes (author communities). The hub node that intersects with many clusters is considered as a homonym and resolved by splitting across this node. Finally, the synonyms are disambiguated using proposed hybrid similarity function. LUCID performance is evaluated using a real data set of Arnetminer. Results show that LUCID performance is overall better than baseline methods and it achieves 97% in terms of pairwise precision, 74% in pairwise recall and 82% in pairwise F1.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"06 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115853745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Michał Karwatowski, M. Wielgosz, M. Pietroń, Mateusz Staruchowicz, K. Wiatr
{"title":"Comparison of semantic vectors with reduced precision using the cosine similarity measure","authors":"Michał Karwatowski, M. Wielgosz, M. Pietroń, Mateusz Staruchowicz, K. Wiatr","doi":"10.1109/INTELLISYS.2017.8324236","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324236","url":null,"abstract":"This paper presents an analysis of an impact of a precision reduction on a performance of the cosine similarity measure in a document comparison task. The precision reduction of semantic vectors allows for a substantial computing performance improvement at the expense of a negligible decline of a comparison quality. In order to take an advantage of the precision reduction in terms of a lower number of bits, a dedicated hardware platforms are essential. Consequently, we proposed an FPGA-based hardware solution and examined its performance. In order to validate the adopted method of the precision reduction we also created the quality assessment setup. This allowed us to determine that it is possible to decrease a vector precision down to 8 bits and still maintain 0.99 correlation of the regular and reduced results. This is feasible for a wide range of data set sizes.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116587643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"An expert system for evaluation of human mental resources: Holistic and developmental approach","authors":"E. Volkova, V. Rusalov, M. N. Nilopets","doi":"10.1109/INTELLISYS.2017.8324345","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324345","url":null,"abstract":"The main disadvantage of expert systems for evaluation of human mental resources is that they measure mainly partial characteristics of individuality ignoring the holistic nature of a personality. Attempts to implement a comprehensive assessment of a person as a rule lead to the elaboration of time-consuming battery of tests. In this paper we investigated the possibilities of a Holistic and Developmental Expert System (HDES) for time-saving evaluation of human mental resources. The HDES is developed on the basis of INT-Test Design Software. As distinct from other expert systems, the proposed system allows to realize holistic (all the set of behavior characteristics) and developmental approach (from 15 to 70 years of age) to the assessment of human potential. Based on comparative analyses of existing expert systems as well as theoretical and statistical analyses, we selected only those indicators which enable us quickly and efficiently to measure human mental resources of different levels: from temperament to motivation. The given multi-purpose expert system assesses 43 selected indexes of individual behavior. The preliminary results show that all the scales possess a high level of reliability and validity.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128745149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Cluster restarted DM: New algorithm for global optimisation","authors":"M. Dlapa","doi":"10.1109/INTELLISYS.2017.8324271","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324271","url":null,"abstract":"Global optimisation method Differential Migration (DM) with restarting is described in this paper and evaluated together with Restart Covariance Matrix Adaptation Evolution Strategy With Increasing Population Size (IPOP-CMA-ES). Differential Migration is another step in global optimisation from SOMA (Self-Organizing Migration Algorithm) combining two basic individual movement methods of SOMA — all-to-one and all-to-all, via cluster analysis and internal algorithm constant defining continuous change from one type of movement to another. The proposed algorithm implements essential ideas of Differential Evolution regardless of their original interpretation in living nature with subsequent increase of efficiency in finding global extreme which holds mainly for noisy multimodal cost functions present in the benchmarks as well as in real world applications.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117169472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Implementing a cross-curricular digital project into a PGCE computer science initial teacher education course","authors":"Carlisle Wilkinson","doi":"10.1109/INTELLISYS.2017.8324213","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324213","url":null,"abstract":"The aim of this research is to open discourse over the matters, processes and skills of the subject of Computer Science in the new English National Curriculum of 2013. The challenge for graduate computer scientists enrolled onto a Post Graduate Certificate of Education Initial Teacher Training course in the North of England was to develop a cross-curricular digital technology project using Raspberry Pi hardware and peripherals that could sense and record data to enhance pedagogy in any other English National Curriculum subject. The results of the research were unexpected and highlight the need for “soft skill” development within the Computer Science curriculum.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121659530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
AbedAlrahman Alshawatreya, M. Malkawi, A. Albashiti
{"title":"The detection of security threat level by analyzing certain human emotions using neuro-fuzzy techniques","authors":"AbedAlrahman Alshawatreya, M. Malkawi, A. Albashiti","doi":"10.1109/INTELLISYS.2017.8324270","DOIUrl":"https://doi.org/10.1109/INTELLISYS.2017.8324270","url":null,"abstract":"A novel security threat level detection system is proposed based on a number of human physiological variables such as electroencephalography, heart rate and others which are utilized to detect a set of negative emotions such as anger, fear, anxiety, and fear imminent threat, which are considered as security related emotions. Based on the detected emotions the proposed model will be able to determine the security threat level, e.g. low, moderate, high, substantial, and critical. Several models are presented; each corresponds to a particular security alert demand.","PeriodicalId":131825,"journal":{"name":"2017 Intelligent Systems Conference (IntelliSys)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126879670","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}