Ústav inteligentních systémů

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    Operational Semantic of an AgentSpeak(L) Interpreter using Late Bindings
    (SciTePress - Science and Technology Publications, 2023-02-01) Vídeňský, František; Zbořil, František; Kočí, Radek; Zbořil, František
    Although BDI systems have long been studied in the field of agent-based programming, there are still problems open for research. One problem is that some parts of systems are non-deterministic in the original specification. However, finding a suitable deterministic method can lead to improved rationality of an agent's behaviour. In our previous work, we introduced late binding into the interpretation of AgentSpeak(L) language. The main benefit of this approach is that the interpreter chooses substitutions only when needed, thus avoiding unnecessary and incorrect substitution selection. In this paper, we present a formal operational semantics for an interpreter using late binding variables. A well-specified operational semantics is necessary for the implementation of such an interpreter and its further development
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    Energy Efficiency of a Wheeled Bio-Inspired Hexapod Walking Robot in Sloping Terrain
    (MDPI, 2023-05-31) Žák, Marek; Rozman, Jaroslav; Zbořil, František
    Multi-legged robots, such as hexapods, have great potential to navigate challenging terrain. However, their design and control are usually much more complex and energy-demanding compared to wheeled robots. This paper presents a wheeled six-legged robot with five degrees of freedom, that is able to move on a flat surface using wheels and switch to gait in rugged terrain, which reduces energy consumption. The novel joint configuration mimics the structure of insect limbs and allows our robot to overcome difficult terrain. The wheels reduce energy consumption when moving on flat terrain and the trochanter joint reduces energy consumption when moving on slopes, extending the operating time and range of the robot. The results of experiments on sloping terrain are presented. It was confirmed that the use of the trochanter joint can lead to a reduction in energy consumption when moving in sloping terrain.
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    Shepherding Hordes of Markov Chains
    (Springer International Publishing, 2019-04-17) Češka, Milan
    This paper considers large families of Markov chains (MCs) that are defined over a set of parameters with finite discrete domains. Such families occur in software product lines, planning under partial observability, and sketching of probabilistic programs. Simple questions, like does at least one family member satisfy a property?, are NP-hard. We tackle two problems: distinguish family members that satisfy a given quantitative property from those that do not, and determine a family member that satisfies the property optimally, i.e., with the highest probability or reward. We show that combining two well-known techniques, MDP model checking and abstraction refinement, mitigates the computational complexity. Experiments on a broad set of benchmarks show that in many situations, our approach is able to handle families of millions of MCs, providing superior scalability compared to existing solutions.
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    Influence of Skin Diseases on Fingerprint Recognition
    (2012-05-20) Drahanský, Martin; Doležel, Michal; Urbánek, Jaroslav; Březinová, Eva; Kim, Tae hoon
    There are many people, who suffer from some of the skin diseases. These diseases have a strong influence on the process of fingerprint recognition. People with fingerprint diseases are unable to use fingerprint scanners, which is discriminating for them, since they are not allowed to use their fingerprints for the authentication purposes. First in this article the various diseases, which might influence functionality of the fingerprint based systems, are introduced, mainly from the medical point of view. This overview is followed by some examples of diseased finger fingerprints, acquired both from dactyloscopic card and electronic sensors. At the end of this article the proposed fingerprint image enhancement algorithm is described.
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    Anatomy of Biometric Passports
    (2012-07-18) Malčík, Dominik; Drahanský, Martin
    Travelling is becoming available for more and more people. Millions of people are on a way every day. That is why a better control over global human transfer and a more reliable identity check is desired. A recent trend in a field of personal identification documents is to use RFID (Radio Frequency Identification) technology and biometrics, especially (but not only) in passports. This paper provides an insight into the electronic passports (also called e-passport or ePassport) implementation chosen in the Czech Republic. Such a summary is needed for further studies of biometric passports implementation security and biometric passports analysis. A separate description of the Czech solution is a prerequisite for a planned analysis, because of the uniqueness of each implementation (Each country can choose the implementation details within a range specified by the ICAO (International Civil Aviation Organisation); moreover, specific security mechanisms are optional and can be omitted).