Nikola Georgiev Shakev

• PhD
• Professor (Associate) at Technical University of Sofia - Branch Plovdiv

The aim of this paper is to present a systematic literature review of the existing research, published between 2006 and 2023, in the field of artificial intelligence for management information systems. Of the 3946 studies that were considered by the authors, 60 primary studies were selected for analysis. The analysis shows that most research is foc...

The article presents a study of the implementation of AI in ERP systems. In recent years, with the digitization of manufacturing and the globalization of the economy, the implementation of ERP systems has become a necessary condition for the effective functioning of the industry. Developers of ERP systems are using AI as a tool for functionality op...

The following behavior is an important aspect in developing of mobile robot control algorithms. It is frequently a substantial part of the control strategies used to control robots that are designed to co-exist and collaborate with human beings in a shared working environment. In this research, an approach is proposed and investigated allowing a ho...

he purpose of this paper is to discuss the elearning opportunities provided by Internet technologies and web-based engineering tools for electric drive design on the websites of specialized companies. A method for online conducting interactive laboratory exercises for electric drive disciplines for students during the pandemic time has been propose...

The precise planning of production and demand schedules is essential for the stability of the energy system. For this purpose, various economic incentives have been developed and implemented that encourage accurate adherence to the pre-registered schedules. In order to respond to the strictly following of the schedules a proactive compensation of e...

This paper presents the developed trajectory tracking controller for a formation of nonholonomic robots, which combines features from the leader-follower and virtual-structure approaches. The implemented decentralized control strategy allows the robots to be relatively independent and to switch easily between the executed individual tasks and the c...

Decentralization, immutability and transparency make of Blockchain one of the most innovative technology of recent years. This paper presents an overview of solutions based on Blockchain technology for multi-agent robotic systems, and provide an analysis and classification of this emerging field. The reasons for implementing Blockchain in a multi-r...

A precise gestural control interface of a four-wheel mobile robot is presented. The introduced hand gesture based concept of human - mobile robot interaction is inspired by the approaches of Cyber-physical systems, which combine cyber and physical world solutions. The goal is to create an effective human-machine interface that will allow more intui...

A new approach to control robot manipulators using body gestures is presented. It implements the Microsoft Kinect sensor ability to track joint positions. The later has been used in the developed software application for gesture recognition, operating in Matlab programming environment, that maps the gestures into robot control commands. The goal is...

The presented investigation demonstrates the results of tests of abilities for classification of reflected spectra from human cutaneous lesions. Typical peculiarity for these spectra is big deviation for collections obtained from healthy skin areas and from lesions with same diagnoses. Two different approaches are used to ascertain similarity: calc...

Big cities and growing industrial areas bring high risk of different kinds of pollutions which would implicate to the quality of life of the society. Discovering and monitoring of polluted areas using autonomous mobile robots is nowadays a frequently considered solution concerning both environmental and human safety problems. Being part of a distrib...

Precise gestural positioning interface of a small quadrotor, presented here, is an advance continuation (ending stage) of intelligent autonomous flight control strategy. It is based on gestures and visual computing techniques and ensures intuitive way of prepositioning (fine movements in flight’s end point proximity) in absence of GPS signal or whe...

The ability of mobile robots to detect and track moving targets is frequently considered as an important behavior that is a necessary pre-requisite while developing autonomous robots intended to coexist with humans or other dynamic objects in a shared environment. If the robot can track dynamic objects this is further simplifying the development of...

Perimeter detection and surveillance by autonomous agents in the form of autonomous robots has become one of the most used solutions concerning both environmental and human safety problems. Being part of distributed control systems, such robots support conventional pollution prevention systems. On the other hand, in the last decade wireless sensor...

A new approach using gestures and visual computing techniques to control unmanned aerial vehicles is presented. The goal is to control automatically and in semi-autonomous mode the flight of a quad-rotor rotorcraft in indoor environments characterized with the absence of possibility to receive GPS data. Human operator can control the implementation...

Some problems related to the efficiency of rooftop or building integrated photovoltaic (PV) plants are studied in this paper. The economic performance of PV plants depends strongly on the support schemes and policy applied in the different markets. The status quo of Bulgarian electrical power market has been analyzed and a specific approach for siz...

Friction and disturbances have an important influence on the robot manipulator dynamics. They are highly nonlinear terms that cannot be easily modeled. In this investigation an incrementally tuned parametric type-2 fuzzy cerebellar model articulation controller (P-T2FCMAC) neural network is proposed for compensation of friction and disturbance effe...

Over the past decade, wireless sensor networks (WSN) have provoked the interest of specialists from different areas by imposing a large number of theoretical and practical challenges related to their implementation. The inclusion of mobile robots into the WSN structure is a recently observed trend. Robots can provide flexibility with respect to the...

In the recent years sensor networks have emerged as an effective tool for monitoring environments that are large in size and have complex topology. They have been successfully applied to solve various problems such as monitoring of different environmental indicators, detection of floods and fires, temperature control in office buildings, to collect...

The interest into the unmanned aerial vehicles has largely increased recently. With the advances in technologies it has become possible to test efficiently and cost effectively different autonomous flight control concepts using small-scale aircrafts. In this work the stabilizing and trajectory tracking control problem of a quad-rotor helicopter usi...

The interest into the unmanned aerial vehicles (UAVs) has largely increased recently. With the advances in technologies it has become possible to test efficiently and cost-effectively different autonomous flight control concepts using small-scale aircrafts. In this paper the stabilizing control problem of quad-rotor rotorcraft using multiple slidin...

Cerebellar model articulation controller (CMAC) networks have been widely applied to problems involving modeling and control of complex dynamical systems because of their computational simplicity, fast learning and good generalization capability. The integration of fuzzy logic systems and CMAC networks into fuzzy CMAC structures can help to improve...

An incrementally tuned interval type-2 Takagi-Sugeno-Kang (TSK) fuzzy neural network implementing fuzzy if then rule base with first order output functions is proposed for compensation of friction and disturbance effects during the trajectory tracking control of rigid robot manipulators. Friction and disturbances have an important influence on the...

Type-2 fuzzy logic systems are an area of growing interest over the last years. The ability to model uncertainties and to perform under noisy conditions in a better way than type-1 fuzzy logic systems increases their applicability. A new stable on-line learning algorithm for interval type-2 Takagi–Sugeno–Kang (TSK) fuzzy neural networks is proposed...

In the recent years autonomous flying vehicles are being increasingly used in both civil and military areas. With the advancement of the technology it has become possible to test efficiently and cost-effectively different autonomous flight control concepts and design variations using small-scale aerial vehicles. In this paper the stabilization prob...

Type-2 fuzzy logic systems are an area of growing interest over the last years. The ability to model uncertainties in a better way than type-1 fuzzy logic systems increases their applicability. A new stable on-line learning algorithm for type-2 fuzzy neural networks is proposed in this paper. It can be considered as an extended version of the recen...

The interest into the autonomous aerial vehicles has largely increased recently. With the advancement of the technology in the area it has become possible to test efficiently and cost-effectively different autonomous flight control concepts and design variations using small-scale aircrafts. The paper presents a new neuro-adaptive approach for contr...

A neuro-adaptive trajectory control approach for unmanned aerial vehicles is proposed. The aerial robot's altitude and latitude-longitude is controlled by three neuro-adaptive controllers that are used to track the desired altitude, airspeed and roll angle of the vehicle. Each intelligent control module consists of a conventional and a neural netwo...

To control complex dynamical systems, which are frequently coupled with unknown dynamics, modeling errors, nonlinearities, various sorts of disturbances, uncertainties and noise robust or model-free control methods should be employed. The features of a novel dynamical algorithm for robust adaptive learning in fuzzy rule-based neural networks of Tak...

A new, variable structure systems theory based, algorithm has been developed for on-line training of fuzzy-neural networks. Such computationally intelligent structures are widely used for modeling, identification and control of nonlinear dynamic systems. The algorithm is applicable to fuzzy rule-based neural nets of Takagi-Sugeno-Kang type with a s...

A neuro-adaptive approach for autonomous flight controller design for aerial robots is proposed. Three intelligent modules are implemented to control respectively the altitude, airspeed and roll angle of the airplane, through which the altitude and the latitude-longitude of the unmanned aerial vehicle are controlled. Each intelligent module consist...

A new sliding mode control approach is proposed for on-line learning in multilayer feedforward neural networks having scalar output. Such neural structures are commonly used for on-line modeling, identification and adaptive control purposes in case variations in process dynamics or in disturbance characteristics are present. The network weights are...

A new dynamical sliding mode control algorithm is proposed for robust adaptive learning in analog multilayer feedforward networks with a scalar output. These type neural structures are widely used for modeling, identification and control of nonlinear dynamical systems. The zero level set of the learning error variable is considered as a sliding sur...

The Sony Legged Robot League is an international robot soccer competition that has been launched within the RoboCup initiative [1]. Sony's quadruped robot AIBO has been adopted as a hardware platform, so the competition in this league is on a software level. The competition rules do not allow remotely controlling robots in any way and the robots ar...

The features of a novel adaptive PID-like neurocontrol scheme for nonlinear plants are presented. The controller tuning is based on an estimate of the command-error determined via one-step-ahead neural predictive model of the plant. An on-line learning sliding mode algorithm is applied to the model and to the controller as well. The control archite...

The robotic soccer belongs to the class of multi-agent systems and involves many challenging sub-problems. Teams of robotic players have to cooperate in order to put the ball in the opposing goal and at the same time defend their own goal. The paper is concerned with the problem of learning and implementation of reactive behaviors for robotic agent...

Cerberus is one of the four new teams in the RoboCup Tournament, Legged Robot Category. The team is a joint effort of Boğaziçi University (Turkey) and Technical University of Sofia, Branch Plovdiv (Bulgaria). We have divided the robot software design into six major tasks, and worked on those tasks in parallel. With limited time in our hands, our ai...