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Human Intention Recognition in Flexible Robotized Warehouses based on Markov Decision Processes [article]

Tomislav Petković, Ivan Marković, Ivan Petrović
2018 arXiv   pre-print
The rapid growth of e-commerce increases the need for larger warehouses and their automation, thus using robots as assistants to human workers becomes a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions. Theory of mind (ToM) is an intuitive conception of other agents' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we present a ToM-based algorithm for human intention recognition
more » ... n flexible robotized warehouses. We have placed the warehouse worker in a simulated 2D environment with three potential goals. We observe agent's actions and validate them with respect to the goal locations using a Markov decision process framework. Those observations are then processed by the proposed hidden Markov model framework which estimated agent's desires. We demonstrate that the proposed framework predicts human warehouse worker's desires in an intuitive manner and in the end we discuss the simulation results.
arXiv:1804.01774v1 fatcat:hhvvrmlsujecxfktieg7hksnrm

Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems [article]

Tomislav Petković, Jakub Hvězda, Tomáš Rybecký, Ivan Marković, Miroslav Kulich, Libor Přeučil, Ivan Petrović
2020 arXiv   pre-print
Tomislav Petković, Ivan Marković and Ivan Petrović are with the University of Zagreb Faculty of Electrical Engineering and Computing, Department of Control and Computer Engineering, Laboratory for Autonomous  ...  Systems and Mobile Robotics, Unska 3, HR-10000, Zagreb, Croatia (email:,,  ... 
arXiv:2005.11202v1 fatcat:jsdjuudgprdnhmbzmj75qjokv4

Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems

Tomislav Petković, Jakub Hvězda, Tomáš Rybecký, Ivan Marković, Miroslav Kulich, Libor Přeučil, Ivan Petrović
2020 Zenodo  
Tomislav Petković, Ivan Marković and Ivan Petrović are with the University of Zagreb Faculty of Electrical Engineering and Computing, Department of Control and Computer Engineering, Laboratory for Autonomous  ...  Systems and Mobile Robotics, Unska 3, HR-10000, Zagreb, Croatia (email:,,  ... 
doi:10.5281/zenodo.3906373 fatcat:inc3pt6ivbdsni5ezvcz5xaqqm

A posteriori error bound methods for the inclusion of polynomial zeros

Miodrag S. Petković, Snežana Ilić, Ivan Petković
2007 Journal of Computational and Applied Mathematics  
Using Carstensen's results from 1991 we state a theorem concerning the localization of polynomial zeros and derive two a posteriori error bound methods with the convergence order 3 and 4. These methods possess useful property of inclusion methods to produce disks containing all simple zeros of a polynomial. We establish computationally verifiable initial conditions that guarantee the convergence of these methods. Some computational aspects and the possibility of implementation on parallel
more » ... ers are considered, including two numerical examples. A comparison of a posteriori error bound methods with the corresponding circular interval methods, regarding the computational costs and sizes of produced inclusion disks, were given.
doi:10.1016/ fatcat:ux3i5vi4xjckpoy64astu72fze

Small Business Lending and the Bank Branch Network

Ivan Petkov
2016 Social Science Research Network  
In this paper, I examine the role of banks in propagating local economic shocks from one area to another through their network of bank branches, by exploiting a newly developed branch-level dataset. Specifically, I examine the change in the geographical distribution of small business loans within each bank network in response to: 1) increases in deposit growth due to presence in areas with new fracking wells; 2) changes in the profitability of real estate loans due to presence in areas
more » ... ing real estate booms. I evaluate how the supply-driven changes in lending following these shocks impact real economic activity. I find that banks export the increase in liquidity from the fracking areas and fund more small business loans at other, more distant branches. Borrowers from banks with a higher exposure to fracking experience faster establishment growth at areas beyond 100 miles from the fracking activity. The results for the real estate booms show that increases in the return of real estate loans contributed to a decrease in small business lending at branches away these booms. Borrowers from banks with high exposure to residential appreciation experienced slower establishment growth even within areas at a significant distance from the real estate booms.
doi:10.2139/ssrn.2754138 fatcat:mn3j4wgnlvb5bafbpxh4xi3sdm

Culture: persistence and evolution

Francesco Giavazzi, Ivan Petkov, Fabio Schiantarelli
2019 Journal of economic growth (Boston)  
This paper presents evidence on the speed of evolution (or lack thereof) of a wide range of values and beliefs of different generations of European immigrants to the US and interprets the evidence in the light of a simple model of socialization and identity choice. The main result is that persistence differs greatly across cultural attitudes. For instance, many family values, political orientation, and most deep personal religious values converge slowly to the prevailing US norm. Others, such
more » ... attitudes toward cooperation, children's independence, and sexual matters, converge rather quickly. The results obtained studying higher generation immigrants differ greatly from those found when the analysis is limited to the second generation, as typically done in the literature, and they imply a lesser degree of persistence than previously thought. Finally, we show that persistence is "culture specific" in the sense that the country from which one's ancestors came matters for the pattern of generational convergence. JEL Classification: A13, F22, J00, J61, Z1.
doi:10.1007/s10887-019-09166-2 fatcat:7rc47s7ukvg4vc6hln5xjqrlly

Capillary Bridges — A Tool for Three-Phase Contact Investigation [chapter]

Boryan P. Radoev, Plamen V. Petkov, Ivan T. Ivanov
2015 Surface Energy  
Petkov 2 and Ivan T. Ivanov 1 *Address all correspondence to:  ... 
doi:10.5772/60684 fatcat:pxnat2v2ineapkmsyxadkqmwpy

Computational geometry as a tool for studying root-finding methods

Ivan Petkovic, Lidija Rancic
2019 Filomat  
We present an efficient method from Computational geometry, a branch of computer science devoted to the study of algorithms, for mathematical visualization of a third order root solver. For many decades the quality of iterative methods for solving nonlinear equations were analyzed only by using numerical experiments. The disadvantage of this approach is the inconvenient fact that convergence behavior strictly depends on the choice of initial approximations and the structure of functions whose
more » ... ros are sought, which often makes the convergence analysis very hard and incomplete. For this reason in this paper we apply dynamic study of iterative processes relied on basins of attraction, a new and powerful methodology developed at the beginning of the 21th century. This approach provides graphic visualization of the behavior of convergent sequences and, consequently, offers considerably better insight into the quality of applied root solvers, especially into the domain of convergence. For demonstration, we present dynamic study of one parameter family of Halley's type introduced in the first part of the paper. Characteristics of this family are discussed by basins of attractions for various values of the involved parameter. Special attention is devoted to clusters of polynomial roots, one of the most difficult problems in the topic. The analysis of the methods and presentation of basins of attractions are performed by the computer algebra system Mathematica.
doi:10.2298/fil1904019p fatcat:36matgio3rgjdfxxfnyasfs3xm


Ivan Vasiljević, Danilo Bojanić, Jovica Petković, Aldijana Muratović
2014 Sport Mont Journal  
Decades of research support the theory that when there are sports competitions the question of what to eat and drink in order to enhance sport performance. Nutrition is one of the most important factors in achieving top performance athletes. According to most studies conducted in the world's top athletes receive information from their coaches when it comes to sports nutrition, especially of the coaches involved in fitness training. (Burns, Schiller, Merrick & Wolf, 2004).The aim of this study
more » ... s to determine the knowledge of sports nutrition in sports coaching. Mthods: The sample was composed of 30 licensed coaches from Montenegro (football, handball, basketball, volleyball, athletics and tennis). Knowledge of sports nutrition was tested by means of a standardized questionnaire. The questionnaire was designed to determine the knowledge manager on sports nutrition, the ingredients that are necessary in order to provide a sufficient amount of energy to training and competition, the dietary supplements, meal prior to the competition as well as dehydration and rehydration during training and competition. The survey was anonymous. The data were analyzed by statistical methods, using the statistical software STATISTICA for WINDOWS. Results: According to the results as a whole, it can be concluded that the trainer's knowledge of sports nutrition at a satisfactory level. Out of 600 responses was achieved 469 correct answers, or 78.1%. However, when looking at individual responses then satisfaction with the relative high percentage loss since the observed large gaps on very important issues related to sports nutrition. Discussion: By analyzing and comparing research results (Matkovic, Prince & Cigrovski, 2006) that in a sample of 56 coaches basketball and skiing, received 77.8% of correct answers and insight into the results of our study, it is clear that the results of the approximate value of both work, which is an indicator of quality education trainers. However, viewing individual responses, worrying is [...]
doaj:02c3d61fb24f4f5b98d439d2ff4f1b26 fatcat:bn5akws7bna2fl27w5pbldhquy


Mladen Djordjević, Ivan Petković
2019 Acta Medica Medianae  
Curative therapy for follicular lymphomas (FLs) has not been established yet. FLs respond well to chemotherapy and radiation. A large number of current studies confirmed an improved overall response if rituximab was added to chemotherapy. Dichloroacetate (DCA) can be used to inhibit tumor growth. There have been reports that DCA leads to neuropathy. In non-Hodgkin's lymphoma (NHL), DCA leads to antineoplastic action against cell lines and apoptosis of tumor cells, which reduces the metabolism
more » ... d the number of tumor cells. We present a patient with NHL-FL Grade 3a who took alternatively DCA therapy. In our case report, DCA did not show any treatment benefit but only serious sensorimotor neuropathy as a result of DCA therapy.
doi:10.5633/amm.2019.0114 fatcat:5t6mdjzwcjftvieqvkoyxe3vnu


Danilo Bojanić, Ivan Vasiljević, Jovica Petković, Aldijana Muratović
2015 Sport Mont Journal  
From a survey (Vasiljevic, Bo¬ja¬nic, Petkovic & Muratovic, 2014) of 30 licensed coaches from Mon¬tenegro (foot¬ball, handball, basketball, volleyball, athletics and tennis) 78.,1% of correct answers were  ...  Petkovic, J., & Muratovic, A. (2014). Knowledge about sports nutrition coach. Sport Mont, 40,41,42 / XII, 126-131.  ...  From a survey (Vasiljevic, Bojanic, Petkovic & Muratovic, 2014) of 30 licensed coaches from Montenegro (football, handball, basketball, volleyball, athletics and tennis) 78.,1% of correct answers were  ... 
doaj:f900e8e48b26412e8f3a75dba875f06d fatcat:rwrfndqg55gkhbo73r4b4w3xku

Prenatal treatment with metronidazole induces cerebellar folia alteration in guinea pig fetuses

Ivan Capo, Ivan Milenkovic, Natasa Capo, Nebojsa Stilinovic, Sasa Vukmirovic, Branislava Teofilovic, Branka Petkovic, Slobodan Sekulic
2020 Archives of Biological Sciences  
The most sensitive period in brain development is during prenatal life. The use of antibiotics in pregnancy is still controversial. Recent studies revealed the high neurotoxic potential of the antibiotic and antiprotozoal medication, metronidazole. However, there are insufficient data from animal studies about prenatal treatment effects. We investigated the effect of prenatal treatment with metronidazole on cerebellar development in guinea pigs. Treatment with metronidazole was performed from
more » ... e 42nd to the 49th day of gestation. On the 50th day of pregnancy, all dams were killed, and the cerebella of the fetuses were analyzed. Gross cerebellar changes characterized by malposition of the folia with partial atrophy were found in 12 of 19 fetuses in the experimental group, but in none of 20 control fetuses that received saline. The most affected were folia VII with depletion of the areal fraction of the external granular layer, molecular layer and the internal granular layer. Purkinje cells displayed cell distortion with loss of normal dendritic polarity. The investigation revealed cell depletion, with a disturbance of the cytoarchitectonic of the cerebellar cortex and folia alteration. [Projects of the Serbian Ministry of Education, Science and Technological Development, Grant no. 175006 and Grant no. 142-451-3176/2020-01]
doi:10.2298/abs200619041c fatcat:s5hlkkdolfbs3g2mbo4uum3e44


Ivan Petković, Dragan Mihailović, Miljan Krstić, Ivica Pejčić, Svetislav Vrbić, Mirjana Balić
2012 Acta Medica Medianae  
PRIMARY MANTLE CELL LYMPHOMA OF GASTROINTESTINAL TRACT-A CASE REPORT Ivan Petković, Dragan Mihailović, Miljan Krstić, Ivica Pejčić, Svetislav Vrbić and Mirjana Balić Mantle cell lymphoma (MCL) represents  ... 
doi:10.5633/amm.2012.0307s fatcat:fwcedtn3xbcnnglui5wtq37sby

Heparin as an Anti-Inflammatory Agent [article]

Leandar Litov, Peicho Petkov, Miroslav Rangelov, Nevena Ilieva, Elena Lilkova, Nadezhda Todorova, Elena Krachmarova, Kristina Malinova, Anastas Gospodinov, Rossitsa Hristova, Ivan Ivanov, Genoveva Nacheva
2020 bioRxiv   pre-print
Timely control of the cytokine release syndrome (CRS) at the severe stage of COVID-19 is key to improving the treatment success rate and reducing the mortality rate. The inhibition of the activity of the two key cytokines, IFNγ and IL-6, can significantly reduce or even reverse the development of the cytokine storm. The objective of our investigations is to reveal the anti-inflammatory potential of heparin for prevention and suppression of the development of CRS in acute COVID-19 patients. The
more » ... ffect of low-molecular-weight heparin (LMWH) on IFNγ signalling inside the stimulated WISH cells was investigated by measuring its antiproliferative activity and the translocation of phosphorylated STAT1 in the nucleus. The mechanism of heparin binding to IFNγ and IL-6 and therefore inhibition of their activity was studied by means of extensive molecular-dynamics simulations. We find that LMWH binds with high affinity to IFNγ and is able to inhibit fully the interaction with its cellular receptor. It also influences the biological activity of IL-6 by binding to either IL-6 or IL-6/IL-6Ralpha thus preventing the formation of the IL-6/IL-6R/gp130 signalling complex. Our conclusion is that heparin is a potent anti-inflammatory agent that can be used in acute inflammatory conditions, due to its potential to inhibit both IFNγ and IL-6 signalling pathways. Based on our results and available clinical observations, we suggest the administration of LMWH to COVID-19 patients in the initial stages of the acute phase. The beginning of the treatment and the dosage should be based on a careful follow-up of the platelet count and the D-dimer, IL-6, IFN, T-cells, and B-cells levels.
doi:10.1101/2020.07.29.223859 fatcat:5lajz3s4d5fu7fadjlsycumrji


Ivan M. Petković, Đorđe Herceg
2021 Facta Universitatis Series Mathematics and Informatics  
Petković and Neta [37] , I. Petković and -D. Herceg [38] and others.  ... 
doi:10.22190/fumi201203017p fatcat:6rwbijaogzgsnjt7pnmed3slq4
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