Pozna Claudiu Radu. Robotics and Artificial Intelligence

Transcription

1 Pozna Claudiu Radu Robotics and Artificial Intelligence Abstract of Habilitation Thesis Gyor 2011, September

2 Content 1. Introduction Theses on Robotics An Intelligent Control System used in mobile robots control The obstacle avoiding algorithm.. 5(13) 2.3. A formalism for modular robots kinematics 6(29) 3. Theses on Artificial Intelligence... 7(37) 3.1. The model of knowledge acquisition..7(37) 3.2. The model of abductiv reasoning.. 8(48) 3.3. The signature data structure.... 9(69) 3.4. The degree of trust of the model...9(90) 4. Conclusions 11(117) References and Curriculum Vitae.. 13(119) 1

3 Chapter 1 INTRODUCTION The research work of the author, focused in two convergent directions in the period that followed the doctoral thesis (PhD): Robotics (R) and Artificial Intelligence (AI). The mentioned directions have not been followed incidentally. We will remember that the subject of the doctoral thesis was: the model of the biped locomotion used in biped robots design. We will mention also that the PhD thesis Contributions on Analysis and Synthesis of Biped Robots Locomotion (1998) contains the first results of the author in fuzzy control systems. For the reason of systematic presentation, we propose the following structure of the author researc works: Applications in Robotics: o Design and construction of a Mobile Robot (MR) autonomous car; Design of mechanical and electrical subsystem; Design of intelligent control system; o Conception of obstacles avoiding trajectories algorithm ; o Imagining the concept of User Design Manipulators like a possibility of assisted design based on existing robots modules and an expert system; Applications in Artificial Intelligence: o Imagining the model of knowledge acquisition; o Imagining the model of perception, observation and experience; o Imagining the algorithm of abduction; o Redefining the concept of signature; Obtaining the algebraic properties of this data structures; Implementation of signatures in object oriented programming; Modeling the fuzzy inference system as an application of signature; o Defining the concept of Degree of trust for a model; o Conception of class and subclass formation algorithms; Other applications: o Design of the control system for photovoltaic tracking systems; o Design of control system for ABS 2

4 All these results have been obtained in the frame of three major research projects one in Germany at the University of Applied Science Heilbronn and the last two in Romania at the Transylvania University of Brasov: ACC Fahrautomat ( ; EUR) New design methodology on modular robots ( ; EUR) Research on new cognition systems based on experimenting the causal relations ( ; EUR): The mentioned results have been published in 105 scientific papers, 8 books and several project reports. The effects of these publications can be observed in 59 bibliographical references. The previous systematization gives the possibility to organize our thesis in two groups. The first group contains the thesis in Robotics and the second group contains the thesis in Artificial Intelligence. More precisely we propose the following structure: Theses in Robotics: A. An intelligent control system used in mobile robots control; B. An obstacle avoiding algorithm; C. A formalism for modular robots kinematics; Theses in Artificial Intelligence: D. The model of knowledge acquisition ; E. The model of abductiv reasoning; F. The signature data structure; G. The degree of trust of the model; The structure of present work is organized as follows: in the next chapter we will present the theses in (R), in the third chapter the theses in (AI) will be presented, chapter four will conclude these presentations. Because the present work is in fact a presentation of author several theses, and because we accept that a thesis is a statement or theory that is put forward as a premise to be proved, we have organized chapter two and three in the following way: we start with a short introduction where we explain the necessity (reason) of our work; we continue with the thesis enouncement; an analysis will give the proof of the thesis; in the end conclusions will underline the originality of our work. Chapter four will present our conclusions offering a short overview of the theses and mentioning the author s scientific papers or books which contain these theses. The author publication list is inserted after this chapter. 3

5 Chapter 2 THESES IN ROBOTICS The author s works in the field of robotic starts in 1994 with a scholarship at INSTN Saclay Paris France. These activities have been concretized in 1998 in a PhD with the title Contributions on Analysis and Synthesis of Biped Robots Locomotion. Based on our results on mobile robots we had the opportunity to be hired in the project ACC Fahrautomat and to obtain, as project manager, the New design methodology on modular robots project financing. The thesis, which will be presented in this chapter, refers to the work that has been done in these projects. We have selected the following domains: An intelligent control system used in mobile robots control; An obstacle avoidance algorithm; A design strategy of modular robots; Next sections will focus on each thesis, will analyze it and will present short conclusions An intelligent control system used in mobile robot control The need of design an intelligent control system for a mobile robot occurred when we constructed an autonomous car. The task was to replace the human driver with a driving robot, and to integrate this driving robot with the central control system and with the car. The idea was to create a central control system which gives autonomy to the car. We have named this control system intelligent control system. 4

6 Thesis A The intelligent control system designed and implemented is an expert system which manages a control architecture composed from three levels. At the first level (the strategic level) the task of the mobile robot is established. At the second level (the tactical level) the control system solves expected (triggered by the strategically level) and unexpected (triggered by de sensory system) events by choosing appropriate behaviors (from a behavior collection). At the third level (the operational level) the control system triggers the actuators and reads the sensory data. A behavior is a sequence of actions (actuators task) needed in order to solve a particular event (use case). For example: start de car, stop the car, avoid one obstacle etc. The behaviors are obtained by modeling human driver actions The obstacle avoidance algorithm The need for an obstacle avoidance algorithm occurred when we designed an autonomous car (a mobile robot). The task was to obtain an algorithm which offerd the possibility to design a behavior which handled unexpected events i.e. obstacle detection. The idea was to use primary sensory data in order to obtain a function which allowed a quick computation of the avoiding trajectory. We have named this function the potential field. Thesis B In order to compute the avoidance trajectory the potential field concept is used. The potential field is a discrete function constructed on the sensor target points corroborated with the road profile. The minimum of this function represents a curve which approximates the avoidance trajectories. Computing a point of this curve is equivalent with finding the smallest element of a vector. The fast computation allows an online implementation. A target point is a primary sensory data. For example if we work with a laser scanner the target point is the distance and the angle between the sensor and one point of the obstacle. 5

7 2.3. A formalism for modular robots kinematics The need for new robot design strategy occured from the need of small and medium companies to use robots in own production lines. The task was to give the possibility to design special robotic structure under low cost conditions. The idea was to design a modular system. System modularity gives the possibility to construct several robotic structures. In order to describe the kinematic of the structure a new formalism was proposed. Thesis C The formalism proposed for modular robots kinematics takes into account the multitude of possible connections between the modules and offers a mathematical description between the robot joint movement and the effectors movement. A module is an element of the robotic structure which can be designed and produced separately but which have connection with other modules. 6

8 Chapter 3 THESES IN ARTIFICIAL INTELLIGENCE The author s work in Artificial Intelligence field started in 2004 with the project ACC Fahrautomat Heilbronn Germany. The project required the construction of an expert system. Ultimately this expert system provided the intelligence attribute to the mobile robot. Based on these results we had the opportunity to obtain, as project manager, the financing of the Research on new cognition systems based on experimenting the causal relations project. The theses, which will be presented in this chapter, refer to the works which have been done in this project. We have selected the following topics: The model of knowledge acquisition ; The model of abduction; The signature data structure; The model degree of true; Next sections will focus on each thesis, will analyze it and will present short conclusions The model of knowledge acquisition The aim of the Research on new cognition systems based on experimenting the causal relations project is to build an intelligent agent. The project has been organized in four research levels: obtaining a model of knowledge acquisition, transposition of this model into a mathematical language, constructing the agent like a robotic system and experimenting with the system. The objective of the 7

9 first level was to establish a model of knowledge acquisition. The idea was to use the human knowledge acquisition as the phenomenon which must be transposed (copied) into an (artificial) agent. Thesis D The knowledge acquisition is a dynamic process which transforms the generator of the process itself. The process consists of the following phases: perception, observation and experiment. The elements of the designed systems are the schemas, the concepts, and the reasoning functions. During the mentioned phases the elements of the system are modified themselves. The knowledge process is based on information acquisition. For the definition of information we accept that the information is the change which leads to a change. This means that an individual who performs information acquisition is able to react (change) to an external change. We accept to name this reaction perception and in conformity with the Kantian philosophy we agree that this reaction is possible based on schemas. The result of this reaction is the identification of the class and the concept. We accept that observation means to extract the features of an object. This process is possible because the concept informs us about what features to search. New information will trigger new reactions. We also accept that experience means to understand the observations, more precisely to corroborate the a priori knowledge with the new information. The experience generates new (understood, accepted) knowledge The model of abductiv reasoning An important element of the knowledge acquisition model is the reasoning function. The strategy of the mentioned project is based on agent development during learning (education) process. This aspect made necessary the study of plausible reasoning processes. One of these processes is the abduction (guessing). The following thesis refers to a strategy of transformations, in minimum steps and by appropriates questions, a guessing in a deduction. Thesis E Under the condition that the concept belongs to the hypothesis set, the abductiv reasoning model offers a strategy of questioning which will transform the abduction in a deduction. The strategy offers a minimum number of questions. This result is provided even under the following conditions: there are questions which are not answered and/or the answer is fuzzy. 8

10 By hypothesis we accept a possible solution of the problem and by the concept we accept the correct solution of the problem. In abduction we propose a hypothesis like a possible solution of the problem. On the contrary in deduction we offer the correct answer to a problem. Here we accept that the term question is synonymous with the term observation The signature data structure The second goal of the project Research on new cognition systems based on experimenting the causal relations was to transpose the knowledge acquiring model into a mathematical language. The idea was to construct a data structure able to represent the information manipulated in this process. Figure 3D gives us a good image about this idea. Thesis F The signature is a data structure which gives the possibility to model the complex information through representation and manipulations. The nested like representation gives the possibility to associate data with data meaning. The operations defined on these structures allow complex manipulations. The concept of signatures is well known from the literature. This thesis affirms the originality of our work in the redefinition of the concept, in proposing new operations and in identifying new applications 3.4. The degree of trust for the model In the knowledge process the intelligent agent is constructing models. Because most of the time these models are obtained from plausible reasoning it is appropriate to attach them the degree of trust. The idea was to generalize this concept to traditional dynamical models. 9

11 Thesis G Each model is an approximation. The sources of model inaccuracy are the perturbations. The effect of perturbations can be statistically associated with the model prediction (output). The maximum probability of the model output is referred as the degree of trust. During the model use the degree of trust increases (for convergent models) or decreases (for divergent models) and can be used in the decision of the appropriate moment of observation. Because of perturbations the model output has a particular statistical distribution. Each possible value has a certain probability. The output of the model is considered the value with the maximum probability. Thesis G associates the output with his probability and describes the dynamic of the probability during the model utilizations and the observation process. 10

12 Chapter 4 CONCLUSIONS Present work proposed seven theses related to Robotics and Artificial Intelligence. We have grouped this thesis in two sets. The first set which was associated with the field of Robotics have been presented in chapter 2 and the second set which was associated with the field of Artificial Intelligence have been presented in chapter 3. In each mentioned chapter we have tried to give a unitary presentation starting with the thesis enunciation, continuing with the thesis demonstration and ending with conclusions about the thesis originality. In the last chapter of present work we will offer a synthetic presentation of the seven theses mentioning the author references related to the thesis. The bolded number represents the paper used as source for the thesis analysis. A B C Theses In Robotics The intelligent control system designed and implemented is an expert system which manages a control architecture composed from three levels. At the first level (the strategic level) the task of the mobile robot is established. At the second level (the tactical level) the control system solves expected (triggered by the strategically level) and unexpected (triggered by de sensory system) events by choosing appropriate behaviors (from a behavior collection). At the third level (the operational level) the control system triggers the actuators and reads the sensory data. In order to compute the avoidance trajectory the potential field concept is used. The potential field is a discrete function constructed on the sensor target points corroborated with the road profile. The minimum of this function represents a curve which approximates the avoidance trajectories. Computing a point of this curve is equivalent with finding the smallest element of a vector. The fast computation allows an online implementation. The formalism proposed for modular robots kinematics takes into account the multitude of possible connections between the modules and offers a mathematical description between the robot joint movement and the effectors movement. Author reference Scientific Papers 34;60;63;70;80;8 2;86;86; 88;90 Book s 5;3;4 Scientific Papers 33;44;60;81 Book s 5;4 Scientific Papers 56;65;66;74;75 Book s 4;3 11

13 D E F G In Artificial Intelligence The knowledge acquisition is a dynamic process which transforms the generator of the process itself. The process consists of the following phases: perception, observation and experiment. The elements of the designed systems are the schemas, the concepts, and the reasoning functions. During the mentioned phases the elements of the system are modified themselves. Under the condition that the concept belongs to the hypothesis set, the abductiv reasoning model offers a strategy of questioning which will transform the abduction in a deduction. The strategy offers a minimum number of questions. This result is provided even under the following conditions: there are questions which are not answered and/or the answer is fuzzy. The signature is a data structure which gives the possibility to model the complex information through representation and manipulations. The nested like representation gives the possibility to associate data with data meaning. The operations defined on these structures allow complex manipulations. Each model is an approximation. The sources of model inaccuracy are the perturbations. The effect of perturbations can be statistically associated with the model prediction (output). The maximum probability of the model output is referred as the degree of trust. During the model use the degree of trust increases (for convergent models) or decreases (for divergent models) and can be used in the decision of the appropriate moment of observation. Scientific Papers 2;6;20;21;22;24;2 6;30; 32;37;40; 62;71;76 Scientific Papers 3;4;5;10;11;12;28 Scientific Papers 3;12;27;28 Scientific Papers 15;41;43;51;52;5 3;59; 64;67;71; Book s 4 12

14 References ( ) Scientific Papers John, S., Pedro, J-O., POZNA, C. Enhanced slip control performance using nonlinear passive suspension system. In Proc IEEE/ASME International Conference on Advanced Intelligent Mechatronic (AIM2011) Budapest Hungary, July 3-5, pp (2011) 2. POZNA, C., Precup, R-E., Minculete, N., Alexandru, C., Modeling the intelligence phenomenon. In Acta Technica Jaurinensis, vol.4. No pp13-23; 3. Ballagi, A., Koczy, L.T., POZNA, C.,Robot system with fuzzy signature rules base. In Acta Technica Jaurinensis, vol.4. No , pp71-89; 4. POZNA, C., Koczy, L.T., Precup, R-E, Minculete, N., Ballagi, A., Cooperation of Agents in Fuzzy Environments, WConSC 2011 in San Francisco, May 23-26, (CD) 2011; 5. POZNA, C., Precup, R-E, P. New Results in Abduction Process Modeling, INES 2011 pp ; 6. POZNA, C., Precup, R-E., Results Concerning a New Pattern of Human Knowledge; In Proc. 2 nd International Conference on Cognitive Intercommunications July 7-9, 2011, pp 7. Tar, J. K.,. Rudas, I. J.,. Bitó, J. F and POZNA, C.,: Adaptive Control Design in Chaos Synchronization as Alternative of Lyapunov s Direct Method; In Proc. 2 nd International Conference on Cognitive Intercommunications July 7-9, 2011, pp 8. Stînean, A.I., Preitl,S., Precup,R-E., POZNA, C., Dragoş, C-A., and Rădac, M.-B., Speed and Position Control of BLDC Servo Systems with Low Inertia; In Proc. 2 nd International Conference on Cognitive Intercommunications July 7-9, 2011, pp 9. POZNA, C., Kóczy, L-T., Ballagi, A., and Takács, M. Nonlinear systems controller design as a result of Uninorm tuning. In Proc. 2 nd International Conference on Cognitive Intercommunications July 7-9, 2011, pp 10. POZNA, C., Precup, R-E., Kovacs, J., Foldesi, P., Cooperation in multiagent system. Proc. of SISY 2011 IEEE 9 th International Symposium on Intelligent Systems and Informatics September 8-9, 2011 Subotica, Serbia pp: POZNA, C., Koczy, L-T., Precup, R-E., Minculete, N., A cooperation Scenario for Multiagent Systems. Proc. of IEEE Africon 2011, September, ISBN , ISSN: ; 12. Ballagi, A., Koczy, L-T., POZNA, Fuzzy simulation map as decision support in mobile robotics. In Proc of The Fourth Gyor Symposium on Computational Intelligence, Gyor September pp.10-13; 13. Minculete, N., POZNA, C., The entropy of a natural number. In Proc of The Fourth Gyor Symposium on Computational Intelligence, Gyor September pp.54-56; 14. Minculete, N., POZNA, C., On some properties of divisors of order k. In IJRRAS 8 (3) September 2011, pp ; 15. POZNA, C., Precup, R.-E., Tar, J. K., Škrjanc, I., Preitl, S.: New results in modelling derived from Bayesian filtering, Knowledge-Based Systems Volume 23, Issue 2, pp , 2010 a. Lates, M. T., Alexandru, C.: Autonomous hybrid renewable energy system, Proceedings of the 3rd International Conference on Maritime and Naval Science and Engineering, Constantza, Romania, pp , 2010; b. Jieming Yang, Yuanning Liu, Zhen Liu, Xiaodong Zhu, Xiaoxu Zhang, A new feature selection algorithm based on binomial hypothesis testing for spam filtering. In Elsevier Knowledge-Based Systems 24 (2011) pp ; 16. Tar, J. K., Rudas, I. J., Bitó, J. F., Kozłowski, K. R., POZNA, C.: A novel approach to the Model Reference Adaptive Control of MIMO systems, Robotics in Alpe-Adria-Danube Region (RAAD), IEEE 19th International Workshop, Budapest, Hungary, pp ,

15 17. Dragos, C.-A., Preitl, S., Precup, R.-E., Pirlea, D., Nes, C.-S., Petriu, E. M., POZNA, C.: Modeling of a vehicle with continuously variable transmission, Robotics in Alpe-Adria-Danube Region (RAAD), IEEE 19th International Workshop, Budapest, Hungary, pp , Dragos, C.-A., Preitl, S., Precup, R.-E., Bulzan, R.-G., POZNA, C., Tar, J. K.: Takagi-Sugeno fuzzy controller for a magnetic levitation system laboratory equipment, Computational Cybernetics and Technical Informatics (ICCC-CONTI), International Joint Conference, Timisoara, Romania, pp , Paul, A.-S., Precup, R.-E., POZNA, C., David, R.-C.: ndsp: A platform for audiophile software audio processing, Computational Cybernetics and Technical Informatics (ICCC-CONTI), International Joint Conference, Timisoara, Romania, pp , POZNA, C., Prahovean, V., Precup, R.-E.: A new pattern of knowledge based on experimenting the causality relation, Intelligent Engineering Systems (INES), 14th International Conference Las Palmas, Spain, pp , 2010 a. Gyula Mester, Intelligent Mobile Robot Motion Control in Unstructured Environments, In Acta Polytechnica Hungarica Vol. 7, No. 4, 2010 pp153,165; b. Gyula Mester, Aleksandar Rodic, Sensor Based Intelligent mobile robot navigation in unknown environments. International Journal of Electrical and Computer Engineering Systems, Volume 1, Number 2, December 2010, pp POZNA, C., Precup, R.-E., Minculete, N., Antonya, C., Dragos, C.-A.: Properties of classes, subclasses and objects in an abstraction model, Robotics in Alpe-Adria-Danube Region (RAAD), IEEE 19th International Workshop, Budapest, Hungary, pp , 2010 a. Gyula Mester, Intelligent Mobile Robot Motion Control in Unstructured Environments, In Acta Polytechnica Hungarica Vol. 7, No. 4, 2010 pp153,165; b. Gyula Mester, Aleksandar Rodic, Sensor Based Intelligent mobile robot navigation in unknown environments. International Journal of Electrical and Computer Engineering Systems, Volume 1, Number 2, December 2010, pp POZNA, C., Precup, R.-E., Minculete, N., Antonya, C.: Cognition Aspects Concerning an Abstraction Model, In Proc. of the 10th IASTED International Conference on Artificial Intelligence and Application, AIA 2010, Innsbruck Austria, pp , Alexandru, C., POZNA, C.: Simulation of a dual-axis solar tracker for improving the performance of a photovoltaic panel, Proceedings of the Institution of Mechanical Engineers, Part A: Journal of Power and Energy, Volume 224, Number 6, pp , 2010 a. Seme, S., Stumberger, G., Vorsic, J.: Maximum Efficiency Trajectories of a Two-axis Sun Tracking System Determined Considering Tracking System Consumption, IEEE Transactions on Power Electronics, doi.: /TPEL , Ballagi, A., Kóczy, L. T., POZNA, C.: Fuzzy Signature Based Fuzzy Communication of Mobile Robots, Computing and Communication Technologies, Research, Innovation, and Vision for the Future (RIVF), 2010 IEEE RIVF International Conference, Hanoi, Vietnam, pp. 1-4, Ballagi, A., Kóczy, L. T., POZNA, C : Man-machine cooperation without explicit communication, World Automation Congress (WAC), Kobe, Japan, pp. 1-6, POZNA, C., Kóczy, L. T., Precup, R., Ballagi, A.: A Kantian pattern of knowledge, the observation representation, Intelligent Systems and Informatics (SISY), 8th International Symposium, Subotica, Serbia, pp , Ballagi, A., Kóczy, L., POZNA, C.: Context Recognition in Mobile Robots Cooperation Using Fuzzy Signature, In Proc of the 2010 International Conference on Theoretical and Mathematical Foundations of Computer Science (TMFCS 10), Orlando, FL, USA, pp , Ballagi, B., Kóczy, T.L., POZNA, C., Fuzzy action selection in multi-robot task, In Proc. Third Győr Symposium on Computational Intelligence, Győr, Hungary, pp , POZNA, C., Precup, R-E.: Modeling the intelligence, In Proc. Third Győr Symposium on Computational Intelligence, Győr, Hungary pp , POZNA, C., Precup, R-E., Alexandru, C., Minculete, N.: Research on cognition systems based on experimenting the causal relations, In Proc. Third Győr Symposium on Computational Intelligence, Győr, Hungary, pp ,

16 Alexandru, C., POZNA, C.: Design and simulation of an active - mechatronic tracking system, Proceedings of the 2010 IEEE International Symposium on Industrial Electronics ISIE, Bari, Italy, pp , ISBN , IEEE Catalog Number CFP10ISI-CDR, POZNA, C., Precup, R.: Artificial Intelligence Applications in Robotics, In Proc. of the 18th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD, Brasov, Romania, POZNA, C., Troester, F., Precup, R.-E., Tar, J. K., Preitl, S.: On the design of an obstacle avoiding trajectory: Method and simulation, Mathematics and Computers in Simulation, Vol. 79, Issue 7, pp , 2009 a. Blazi, S. A novel trajectory-tracking control law for wheeled mobile robots. Robotics and Autonomous Systems volume 59, issue 11, year 2011, pp b. R. Kala, et al.,robotic path planning using evolutionary momentum based exploration. Journal of Experimental & Theoretical Artificial Intelligence, Vol. 3, No. 4, Dec 2011, ; c. Tamás Kovács, Attila Pásztor, Zoltán Istenes, A multi-robot exploration algorithm based on a static Bluetooth communication chain. In Robotics and Autonomous Systems, Elvesier, Vol 59, Issues 7-8, July August 2011, ISSN , pp d. R. Kala, et al., Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness, Neurocomputing (2011), doi: /j.neucom e. Vašcák J.: Using Neural Gas Networks in Traffic Navigation, Acta Technica Jaurinensis, Series Intelligentia Computatorica, vol. 2, pp , 2009 f. Kala, R., Shukla, A., Tiwari, R.: Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning in Artificial Intelligence Review, Springer, Vol 33, No. 4, pp , 2010 g. Teslic, L., Skrjanc, I., Klancar, G.: EKF-Based Localization of a Wheeled Mobile Robot in Structured Environments, Journal of Intelligent & Robotic Systems, Springer, DOI: /s , 2010 h. Blažič, S.: Takagi-Sugeno vs. Lyapunov-based tracking control for a wheeled mobile robot, WSEAS Transactions on Systems and Control, Vol. 5, Issue 8., pp , 2010 i. Alexandru, C., Alexandru, P.: The virtual prototype of a mechatronic suspension system with active force control, WSEAS Transactions on Systems, Vol. 9 Issue 9., pp , 2010 j. Vascak, J., Madarasz, L.: Adaptation of fuzzy cognitive maps - a comparison study, Acta Polytechnica Hungarica, Vol. 7, No. 3, pp , 2010 k. Vašcák J.: Approaches in adaptation of fuzzy cognitive maps for navigation purposes, IEEE 8th International Symposium on Applied Machine Intelligence and Informatics (SAMI), Herlany, Slovakia, pp , 2010 l. Kala, R., Shukla, A., Tiwari, R.: Dynamic environment robot path planning using hierarchical evolutionary algorithms, Cybernetics and Systems, Vol. 41, Issue 6., pp , 2010 m. Lates, M. T., Alexandru, C.: Autonomous hybrid renewable energy system, Proceedings of the 3rd International Conference on Maritime and Naval Science and Engineering, Constantza, Romania, 2010 n. Kala, R., Tiwari, R., Shukla, A.: Evolving robotic path with genetically optimised fuzzy planner, International Journal of Computational Vision and Robotics, Vol. 1, No. 4, pp , 2010 o. Vaskak, J., Hirota, K., Integrated decision making system for robot soccer, Journal of Advanced Computational Intelligence and Inteligence Infomatics, No. 2, 2011; p. Takarics B., TP Model transformation based sliding model control and friction compensattion. Phd Dissertation MTA SZTAKI (2011) 34. POZNA, C., Troester, F., Precup, R.-E., Tar, J. K., Preitl, S.: Characteristics of a new abstraction model, Computational Intelligence and Intelligent Informatics, ISCIII '09. 4th International Symposium, Luxor, Egypt, pp , 2009 a. Lates, M. T., Alexandru, C.: Autonomous hybrid renewable energy system, Proceedings of the 3rd International Conference on Maritime and Naval Science and Engineering, Constantza, Romania, pp ,

17 Precup, R.-E., Preitl, S., Petriu, E. M., Tar, J. K., Tomescu, M. L., POZNA, C.: Generic two-degree-of-freedom linear and fuzzy controllers for integral processes, Journal of the Franklin Institute, Volume 346, Issue 10, pp , 2009 a. Alippi, C., Boracchi, G., Camplani, R., Roveri, M.: Detecting External Disturbances on the Camera Lens in Wireless Multimedia Sensor Networks, IEEE Transactions on Instrumentation and Measurement, VOL. 59, NO. 11, pp , 2010; b. Bakhtyar, R., Ghaheri, A., Yeganeh-Bakhtiary, A., Jeng, D.-S. Journal of the Franklin Institute volume 348, issue 8, year 2011, pp ; 36. Alexandru, C., POZNA, C.: Dynamic modeling and control of the windshield wiper mechanisms, WSEAS Transactions on Systems, Volume 8 Issue 7, pp , 2009, 37. POZNA, C., Precup, R.-E., Preitl, S., Petriu, E. M., Tar, J. K.: Structure for Behaviourist Representation of Knowledge, 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, Budapest, Hungary, pp , POZNA, C., Alexandru, C.: A behaviorist knowledge representation, Proceedings of the 13th WSEAS International Conference on SYSTEMS, Rodos, Greece, pp , Alexandru, C., POZNA, C.: A Mechatronic Model for the Dynamic Analysis of the Windshield Wiper Linkages used for the Motor Vehicles, Proceedings of the 2nd WSEAS International Conference on Engineering Mechanics, Structures and Engineering Geology, Rodos, Greece, pp , POZNA, C., Precup, R.-E., Preitl, S., Troester, F., Tar, J. K.: Points of View on Building an Intelligent Robot, Towards Intelligent Engineering and Information Technology, Studies in Computational Intelligence, Springer-Verlag Berlin-Heidelberg, Volume 243, pp , POZNA, C., Precup, R.-E.: Modeling derived from Bayesian filtering: Analysis of estimation process, Intelligent Engineering Systems, INES International Conference, Barbados, pp , Alexandru, C., POZNA, C.: The optimization of the tracking mechanism used for a group of PV panels, International Conference on Renewable Energies and Power Quality (ICREPQ 09), Valencia, Spain, POZNA, C., Alexandru, C., Buta, A.C.: Fuzzy Logic and Bayesian Filters, In Proc. of 4-th international conference on Robotics, Brasov Romania, pp , POZNA, C., Alexandru, C.: Avoidance trajectory design for robots, In Proc. of The 19th International Danube Adria Association Automation & Manufacturing DAAAM Symposium "Intelligent Manufacturing & Automation: Focus on Next Generations of Intelligent Systems and Solutions" Trnava, Slovakia, pp , Alexandru, C., POZNA, C.: Improving the energetic efficiency of the photovoltaic arrays using mechatronic solar trackers, In Proc. of The 19th International Danube Adria Association Automation & Manufacturing DAAAM Symposium "Intelligent Manufacturing & Automation: Focus on Next Generations of Intelligent Systems and Solutions", Trnava Slovakia, pp.13-14, Alexandru, C., POZNA, C.: Dynamic analysis of the windshield wiper mechanisms in mechatronic concept, In Proc. of Theory of Machines and Mechanisms, Bielsko-Biala, Poland, ISBN , pp. 9-16, Alexandru, C., POZNA, C.: Testing the solar tracking mechanisms in virtual environment, Theory of Machines and Mechanisms, Bielsko-Biala, Poland, ISBN , pp , Alexandru, C.; POZNA, C.: Different tracking strategies for optimizing the energetic efficiency of a photovoltaic system, Automation, Quality and Testing, Robotics, AQTR IEEE International Conference, Cluj-Napoca, Romania, pp , 2008 a. Petrovid, I., Gašparac, I., Vražid, M.: Comparison of expected and measured values of luminance sensors in dual-axis photovoltaic positioning system, XIX International Conference on Electrical Machines (ICEM), Rome, Italy, pp. 1-4, 2010 b. Seme, S., Stumberger, G., Vorsic, J.: Maximum Efficiency Trajectories of a Two-axis Sun Tracking System Determined Considering Tracking System Consumption, IEEE Transactions on Power Electronics, doi.: /TPEL ,

18 2007 c. Petrovid, I.: Solarna delija u sustavu napajanja elektromobila, d. Guo, L., Curtis, P., Barendregt, A., Surillo, A.: Design and implementation of a sun tracking solar power system, Proceedings of the ASEE Annual Conference & Exposition, American Society for Engineering Education, Austin, USA, 2009 e. Wong, C. W.: Study of sun-tracking error in elevation-azimuth sun tracker, Doctoral Thesis, University Tunku Abdul Rahman, Malaysia, Alexandru, C.; POZNA, C.: Virtual prototype of a dual-axis tracking system used for photovoltaic panels, Industrial Electronics, ISIE 2008, IEEE International Symposium, Cambridge, UK, pp , 2008 a. Petrovid, I.: Solarna delija u sustavu napajanja elektromobila, Alexandru, C., POZNA, C.: Developing the Virtual Prototype of the tracking system used for a PV array in mechatronic concept, In Proc. 10th World Renewable Energy Congress, WREC X., Glasgow, UK, pp , POZNA, C., Precup, R.-E.: Using Plausible Reasoning in Modular Robots Kinematics, Intelligent Engineering Systems, INES International Conference, Miami, FL, USA, pp , POZNA, C., Alexandru, C.: An Epistemological Comparison Between Fuzzy Logic Engines and Bayesian Filters, WSEAS Transactions on Systems and Control, Bucharest, Romania, Vol. 3, No. 6, pp , POZNA, C., Alexandru, C.: About Artificial Intelligence Methods: Fuzzy Engines and Bayesian Filters, Proceedings of the 9th WSEAS International Conference on Automation and Information ICAI 08, Bucharest, Romania, pp , Antonya, Cs., Rusák, Z., POZNA, C.: Simulation of product s grasping, EngOpt International Conference on Engineering Optimization Rio de Janeiro, Brazil, Buta, A.-C., POZNA, C.: The water friction between the wiper blade and the windshield, Annals of the Oradea University, Fascicle of Management and Technological Engineering, Volume VII (XVII), pp , POZNA, C., Alexandru, C.: Researches on modular robots kinematics, In Modelling and Optimization in the Machine Building Field MOCM Romanian Technical Science Academy, Vol. 3, pp , ISSN , Alexandru, C., POZNA, C.: Windshield Wiper Mechanisms Design In mechatronic Concept, In Modelling and Optimization in the Machine Building Field MOCM Romanian Technical Science Academy, Vol.2, pp.22-27, ISSN , Alexandru, C., POZNA, C.: Dynamic analysis of the photovoltaic tracking systems in mechatronic concept, In Modelling and Optimization in the Machine Building Field MOCM Romanian Technical Science Academy, Vol.2, pp.28-33, ISSN , POZNA, C: Using Plausible Reasoning Theory, Applied Computational Intelligence and Informatics, SACI '07, 4th International Symposium, Timisoara, Romania, pp , POZNA, C., Alexandru, C.: Mobile robot control by learned behavior, In Proceedings & Annals of the 18th International Danube Adria Association Automation & Manufacturing DAAAM Symposium: Intelligent manufacturing & Automation: Focus on creativity, responsibility and ethics of engineers, Zadar, Croatia, pp , Alexandru, C., POZNA, C.: The optimization in virtual environment of the mechatronic tracking systems used for improving the photovoltaic conversion, In Proceedings & Annals of the 18th International Danube Adria Association Automation & Manufacturing DAAAM Symposium: Intelligent manufacturing & Automation: Focus on creativity, responsibility and ethics of engineers, Zadar, Croatia, pp. 7-8, POZNA, C.: An Introduction on Cognition System Design, Acta Polytechnica Hungarica, Vol. 4, No. 3, 2007, 63. POZNA, C., Troester, F.: Research on the ACC autonomous car, Journal of Automation, Mobile Robotics & Intelligent Systems, Vol. 1. No. 1. pp , POZNA, C.: Several Case Studies Solved by Plausible Reasoning, 8th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, Budapest, Hungary, pp , POZNA, C.: The Modular Robots Kinematics, Acta Polytechnica Hungarica, Vol. 4, No. 2, pp. 5-18,

19 66. POZNA, C.: Modular Robots Design Concepts and Research Directions, In Proceedings of 5th International Symphosium on Inteligent Systems and Informatics, Subotica, Serbia, IEEE Catalog Number 07EX1865C, ISBN , 2007 a. Xuan, L., Minglu, Z., Wei, L.: Methods to Modular Robot Design, Second International Symposium on Intelligent Information Technology Application, IITA, Vol. 1, pp , 2008 b. Su, K. L., Shiau, S. V., Guo Jr. H., Chia, S. H.: Development of a Module Based Intelligent Mobile Robot, Asia International Symposium on Mechatronics 2008, Hokkaido University, Japan, pp , 2008 c. Xuan, L., Minglu, M., Wei, L., Lina, F.: Modular robot system configuration design based on axiomatic design, IEEE International Conference on Automation and Logistics, ICAL '09., Shenyang, China, pp , 2009 d. Liao, CY.: Design of a Hierarchical Architecture for a Modularized Low-cost Embedded System - an Implementation of multi-robot systems, Master's Thesis, 2008 e. Su, K. L., Guo, H., Shiau, S. V.: Development of a module based platform for mobile robots, IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2008, Taipei, Taiwan, pp. 1-6, 2008 f. Chien, T.L, Tzou, J.H, Wang, C.C, Su, K.L: Detection system of a security robot using multisensor fusion algorithms, Artificial Life and Robotics, Springer, Vol. 14, No. 2, Oita, Japan, pp , POZNA, C., Precup, R-E.: Plausible Reasoning and Fuzzy Logic, In Proc. 5th IEEE International Conference on Computational Cybernetics, Tunisia, pp.51-56, Alexandru, C., POZNA, C., Comsit, M.: Evaluating the energetic efficiency of a dual-axis tracking system by using virtual prototyping tools, 21st European Photovoltaic solar energy conference - EUPVSEC, Milano, Italy, pp , 2007 a. Visa, I.: Structural Synthesis of the Planar Cam-Linkage Mechanisms as Multibody Systems, SYROM 2009, Springer, pp , DOI: / _4, Alexandru, C., POZNA, C.: Design of the photovoltaic tracking systems by considering the energy balance, In Proc. 11th International research/expert Conference Trends in the development of machinery and associated technology TMT, Hammamet, Tunisia, pp , POZNA, C., Troester, F.: The driving robot of the ACC autonomous Car, In Proc. 11th International research/expert Conference Trends in the development of machinery and associated technology TMT Hammamet, Tunisia, pp , POZNA, C., Precup, R.-E.: Plausible Reasoning in Modular Robotics and Human Reasoning, Acta Polytechnica Hungarica, Vol. 4, No. 4, pp , 2007 a. Horváth L., Rudas, I. J., Jezernik, K.: Engineering for Industrial Robots in Content-based Virtual Space, IEEE 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), Budapest, Hungary, pp , 2010 b. Takács, M.: Soft computing-based risk level calculation algorithms, International Joint Conference on Computational Cybernetics and Technical Informatics (ICCC-CONTI), Timisoara, Romania, pp , Alexandru, C., POZNA, C.: The virtual prototyping of the windshield wiper systems in mechatronic concept. In Proc. EAEC th European automotive congress, Budapest, Hungary, pp , Stancescu, C., POZNA, C.: Issues regarding the virtual prototyping of a gripper, In Culegere de lucrari stiintifice, Chisinau, Moldova Vol. 3, editia XI, pp , POZNA, C.: Modular Robots Kinematics, Journal of Applied Science at Budapest Tech, Vol. 3, Nr. 2, pp. 5-18, POZNA, C.: Using plausible reasoning in model construction, in Annals of the Oradea University, Fascicle of Management and Technological Engineering, Oradea, Romania, Volume VI (XVI), pp ,

20 POZNA, C.: A Phenomenological Analysis Trial of the AI syntagma, In Proceedings of the 7th International Symposium of Hungarian Researchers, Budapest, Hungary, pp , Alexandru, C., POZNA C.: Dynamic Simulation of the windshield wiper systems using virtual prototyping tools, In Proc. The 1st International Conference Motor vehicle and transportation, MVT, Timisoara, Romania, pp , Buta, A.-C., POZNA, C.: The windshield wiper mechanism control simulation using the Matlab-Adams connection, In Annals of Oradea University, Fascicle of Management and Technological Engineering, Vol. V (XV), pp , Kirchgaessner, D., POZNA, C., Troester, F.: ACC Das projekt Fahrautomat Projektstruktur und Autopilot, In Forschungsbericht, Hochschule Heilbronn, Heilbronn, Germany, pp , POZNA, C., Troester, F.: Control program architecture for ACC mobile robot, In Buletinul Institutului Politehnic din Iasi, Tomul LII, Fascicula 7B 2006 pp , POZNA C., Troester F.: Collision Avoidance Trajectory Design, at 15th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD, Balatonfüred, Hungary, CD based, POZNA, C., Troester, F.: Human Behavior Model Based Control Program for ACC Mobile Robot, Acta Polytechnica Hungarica Vol. 3, No. 3, pp , 2006 a. Horváth, L., Rudas, I. J.: Modeling for Engineering Processes in Integrated Robot Definition, 19th International Workshop on Robotics in Alpe-Adria-Danube Region, IEEE RAAD, Budapest, Hungary, pp , 2010 b. Sram, M., Takács, M.: Minnesota code: A fuzzy logic-based approach, 11th International Symposium on Computational Intelligence and Informatics (CINTI), Budapest, Hungary, pp , Takács, M., Szeghegyi, Á., POZNA, C.: Quick Comparison of the Efficiency of Fuzzy Operatios Used in FLC, SISY 2006, 4th Serbian-Hungarian Joint Symposium on Intelligent Systems, Subotica, Serbia, pp , Stancescu, C., POZNA, C.: Aspecte privind prototiparea virtuala a prehensorului Sinteza mecanismului, In Proc. of Simpozionul National cu participare internationala PRASIC, Brasov Romania, pp , Stancescu, C., POZNA, C.: Aspecte privind prototiparea virtuala a prehensorului Sinteza controlerului, In Proc. of Simpozionul National cu participare internationala PRASIC, Brasov Romania, pp , POZNA, C., Troester, F.: The ACC Mobile Robot Control Program, In Proc. of the 3rd Romanian-Hungarian Joint Symposium on Applied Computational Intelligence, SACI 06, Timisoara, Romania, pp , POZNA, C., Troester, F.: Simulate the Inverse Cinematic of the ACC Mobile Robot, Proceedings of the IFToMM International Symposium on the Theory of Mechanisms and Machines - SYROM, POZNA, C.: The inverse cinematic of the ACC mobile robot, Proceedings of the 9th IFToMM international Symposium on the Theory of Mechanisms and Machines, 2005 a. Gall, R., Tröster, F., Mogan, G., Luca, R.: Trajectory Planning for Mobile Car-Like Robot Navigation in an Extra-Road Environment, Solid State Phenomena, Vol. Robotics and Automation Systems, pp , 2010 b. Gall, R., Tröster, F., Mogan, G.: On the development of en experimental car-like mobile robot, 12th International Conference on Optimization of Electrical and Electronic Equipment, (OPTIM), Brasov, Romania, pp , POZNA, C.: The control system design for DC motors actuated robots. In Buletinul Institulului Politehnic Iasi, Tomul L (LIV) Fascicula 6A, pp , Troester, F., POZNA, C., Kirchgaessner, D.: The ACC Fahrautomat project, International Journal Robotica & Management, pp.58-63, ISSN , Troester, F., POZNA, C., Kirchgaessner, D.: The ACC Fahrautomat project, In Proc. The 2nd International conference on robotics Robotica, pp , Timisoara Romania,

21 a. Gall, R., Tröster, F., Mogan, G., Luca, R.: Trajectory Planning for Mobile Car-Like Robot Navigation in an Extra-Road Environment, Solid State Phenomena, Vol. Robotics and Automation Systems, pp , 2010 b. Gall, R., Tröster, F., Mogan, G.: On the development of en experimental car-like mobile robot, 12th International Conference on Optimization of Electrical and Electronic Equipment, (OPTIM), Brasov, Romania, pp , POZNA, C.: Simularea controlului sistemelor electromecanice cu ajutorul softurilor Matlab-Adams, In Proc. of the Simpozionului Naţional cu participare internationala PRASIC 02, Vol. III, p , Brasov Romania, 2002 a. Buta, A.: Theoretical and Experimental Researches on the windshield wiper mechanisms, Doctoral Thesis, Transilvania University of Brasov, POZNA, C., Todor, I.: Simularea modelului dinamic al transmisiei autotractorului, DAC 16320FS, In Proc. of the Simpozionului Naţional cu participare internationala, PRASIC 02, Vol. III, p , Brasov Romania, POZNA, C., Vişa, I.: Mecatronica in Designul Industrial Dezvoltarea unui laborator didactic, In Proc. of the Simpozionului Naţional cu participare internationala PRASIC 02, Vol. III, p , Brasov Romania, POZNA, C., Diaconescu, D.: Robots PID Control Simulation Using Matlab-Simulink Soft, Proceedings of the 12-th International Conference on Control Systems and Computer Science, Bucharest, Romania, pp , POZNA, C.: The mechatronics control systems simulation using the Matlab-Adams connection, In Pro. The 8th International Symposium on Theory of Machines and Mechanisms, Vol. IV, pp , Bucharest Romania, 2001 a. Buta, A.: Theoretical and Experimental Researches on the windshield wiper mechanisms, Doctoral Thesis, Transilvania University of Brasov, POZNA, C.: Consideration about the synthesis of mechanical system. In Proc. The 8th International Symposium on Theory of Machines and Mechanisms, Vol. IV, pp , Bucharest Romania, Neagoe, M., Diaconescu, D., POZNA, C.: About the dynamic modelling of a bimobile planetary gears transmission. In Proc. BEYOND 2000 International Conference Vol. XXXV, pp , Sibiu Romania, Neagoe, M., POZNA, C., Jaliu C.: On the accuracy of a planar bi-mobile parallel structure. In Proc. BEYOND 2000 International Conference vol. XXXV, pp , Sibiu Romania, POZNA, C.: omanda i controlul robo ilor industriali, Editura CIT, Brasov, POZNA, C., Diaconescu, D.: Robots PID Control Simulation Using Matlab-Simulink Soft. In Proc. 12th International Conference on Control Systems and Computer Science, pp , Bucharest Romania POZNA, C., Neagoe, M.: Simularea controlului clasic al robo ilor utilizând softul Matlab-Simulink. In Proc. Conferinţa Internaţională Tehnologii Moderne Calitate Restructurare, Vol.4, pp , Chişinău Moldova, Neagoe, M., Munteanu, O., POZNA, C.: On the use of homogenous operators in precision modelling of a parallel-structure. Bulletin of the Transilvania University of Brasov, vol.6 (41)-series A, Brasov, pp , 1999, ISSN: , Dudita, F., Neagoe,M., POZNA, C.: Aspecte privind precizia cinematica a unei structuri spa iale trimobile de tip paralel. In Buletinul celei de-a XXVIII-a Sesiune de comunicări ştiinţifice cu participare internaţională, Academia Tehnică Militară, Secţiunea 17, Mecanică Aplicată, pp.19-26, Bucureşti Romania,