Query: Data fusion - Resolving Data Conflicts for Integration

Relevant passages:
Corroborating Answers from Multiple Web Sources <=SEP=> The Internet has changed the way people look for information. Users now expect the answers to their questions to be available through a simple web search. Web search engines are increasingly efficient at identifying the best sources for any given keyword query, and are often able to identify the answer within the sources. Unfortunately, many web sources are not trustworthy, because of erroneous, misleading, biased, or outdated information. In many cases, users are not satisfied with —or do not trust— the results from any single source and prefer checking several sources for corroborating evidence. In this paper, we propose methods to aggregate query results from different sources in order to save users the hassle of individually checking query-related web sites to corroborate answers. To return the best aggregated answers to the users, our techniques consider the number, importance, and similarity of the web sources reporting each answer, as well as the importance of the answer within the source. We present an experimental evaluation of our technique on real web queries, comparing the corroborated answers returned with real user clicks.

An Analysis of the AskMSR Question-Answering System <=SEP=> We describe the architecture of the AskMSR question answering system and systematically evaluate contributions of different system components to accuracy. The system differs from most question answering systems in its dependency on data redundancy rather than sophisticated linguistic analyses of either questions or candidate answers. Because a wrong answer is often worse than no answer, we also explore strategies for predicting when the question answering system is likely to give an incorrect answer.

Snowball: extracting relations from large plain-text collections <=SEP=> Text documents often contain valuable structured data that is hidden Yin regular English sentences. This data is best exploited infavailable as arelational table that we could use for answering precise queries or running data mining tasks.We explore a technique for extracting such tables from document collections that requires only a handful of training examples from users. These examples are used to generate extraction patterns, that in turn result in new tuples being extracted from the document collection.We build on this idea and present our Snowball system. Snowball introduces novel strategies for generating patterns and extracting tuples from plain-text documents.At each iteration of the extraction process, Snowball evaluates the quality of these patterns and tuples without human intervention,and keeps only the most reliable ones for the next iteration. In this paper we also develop a scalable evaluation methodology and metrics for our task, and present a thorough experimental evaluation of Snowball and comparable techniques over a collection of more than 300,000 newspaper documents.

Web-scale information extraction in knowitall: (preliminary results) <=SEP=> Manually querying search engines in order to accumulate a large bodyof factual information is a tedious, error-prone process of piecemealsearch. Search engines retrieve and rank potentially relevantdocuments for human perusal, but do not extract facts, assessconfidence, or fuse information from multiple documents. This paperintroduces KnowItAll, a system that aims to automate the tedious process ofextracting large collections of facts from the web in an autonomous,domain-independent, and scalable manner.The paper describes preliminary experiments in which an instance of KnowItAll, running for four days on a single machine, was able to automatically extract 54,753 facts. KnowItAll associates a probability with each fact enabling it to trade off precision and recall. The paper analyzes KnowItAll's architecture and reports on lessons learned for the design of large-scale information extraction systems.

Scaling question answering to the Web <=SEP=> 

Adolescent thriving: the role of sparks, relationships, and empowerment. <=SEP=> Although most social science research on adolescence emphasizes risks and challenges, an emergent field of study focuses on adolescent thriving. The current study extends this line of inquiry by examining the additive power of identifying and nurturing young people's "sparks," giving them "voice," and providing the relationships and opportunities that reinforce and nourish thriving. A national sample of 1,817 adolescents, all age 15 (49% female), and including 56% white, 17% Hispanic/Latino, and 17% African-American adolescents, completed an online survey that investigated their deep passions or interests (their "sparks"), the opportunities and relationships they have to support pursuing those sparks, and how empowered they feel to make civic contributions (their "voice"). Results consistently supported the hypothesis that linking one's spark with a sense of voice and supportive opportunities and relationships strengthens concurrent outcomes, particularly those reflecting prosociality, during a key developmental transition period. The three developmental strengths also predicted most outcomes to a greater degree than did demographics. However, less than 10 percent of 15-year-olds reported experiencing high levels of all three strengths. The results demonstrate the value of focusing on thriving in adolescence, both to reframe our understanding of this age group and to highlight the urgency of providing adolescents the opportunities and relationships they need to thrive.

ModaNet: A Large-scale Street Fashion Dataset with Polygon Annotations <=SEP=> Understanding clothes from a single image would have huge commercial and cultural impacts on modern societies. However, this task remains a challenging computer vision problem due to wide variations in the appearance, style, brand and layering of clothing items. We present a new database called ModaNet, a large-scale collection of images based on Paperdoll dataset. Our dataset provides 55,176 street images, fully annotated with polygons on top of the 1 million weakly annotated street images in Paperdoll. ModaNet aims to provide a technical benchmark to fairly evaluate the progress of applying the latest computer vision techniques that rely on large data for fashion understanding. The rich annotation of the dataset allows to measure the performance of state-of-the-art algorithms for object detection, semantic segmentation and polygon prediction on street fashion images in detail.

Visual comparison for information visualization <=SEP=> Data analysis often involves the comparison of complex objects. With the ever increasing amounts and complexity of data, the demand for systems to help with these comparisons is also growing. Increasingly, information visualization tools support such comparisons explicitly, beyond simply allowing a viewer to examine each object individually. In this paper, we argue that the design of information visualizations of complex objects can, and should, be studied in general, that is independently of what those objects are. As a first step in developing this general understanding of comparison, we propose a general taxonomy of visual designs for comparison that groups designs into three basic categories, which can be combined. To clarify the taxonomy and validate its completeness, we provide a survey of work in information visualization related to comparison. Although we find a great diversity of systems and approaches, we find that all designs are assembled from the building blocks of juxtaposition, superposition, and explicit encodings. This initial exploration shows the power of our model, and suggests future challenges in developing a general understanding of comparative visualization and facilitating the development of more comparative visualization tools.

Recommendations For Streaming Data <=SEP=> Recommender systems have become increasingly popular in recent years because of the broader popularity of many web-enabled electronic commerce applications. However, most recommender systems today are designed in the context of an offline setting. The online setting is, however, much more challenging because the existing methods do not work very effectively for very large-scale systems. In many applications, it is desirable to provide real-time recommendations in large-scale scenarios. The main problem in applying streaming algorithms for recommendations is that the in-core storage space for memory-resident operations is quite limited. In this paper, we present a probabilistic neighborhood-based algorithm for performing recommendations in real-time. We present experimental results, which show the effectiveness of our approach in comparison to state-of-the-art methods.

Three-column fixation for complex tibial plateau fractures. <=SEP=> OBJECTIVES
1) To introduce a computed tomography-based "three-column fixation" concept; and 2) to evaluate clinical outcomes (by using a column-specific fixation technique) for complex tibial plateau fractures (Schatzker classification Types V and VI).


DESIGN
Prospective cohort study.


SETTING
Level 1 trauma center.


PATIENTS
Twenty-nine cases of complex tibial plateau fractures were included. Based on routine x-ray and computed tomography images, all the fractures were classified as a "three-column fracture," which means at least one separate fragment was found in lateral, medial, and posterior columns in the proximal tibia (Schatzker classification Types V and VI).


INTERVENTION
The patients were operated on in a "floating position" with a combined approach, an inverted L-shaped posterior approach combined with an anterior-lateral approach. All three columns of fractures were fixed.


OUTCOME MEASURES
Operative time, blood loss, quality of reduction and alignment, fracture healing, complications, and functional outcomes based on Hospital for Special Surgery score and lower-extremity measure were recorded.


RESULTS
All the cases were followed for average 27.3 months (range, 24-36 months). All the cases had satisfactory reduction except one case, which had a 4-mm stepoff at the anterior ridge of the tibial plateau postoperatively. No case of secondary articular depression was found. One case had secondary varus deformity, one case had secondary valgus deformity, and two cases of screw loosening occurred postoperatively. No revision surgery was performed. Two cases had culture-negative wound drainage. No infection was noted. The average radiographic bony union time and full weightbearing time were 13.1 weeks (range, 11-16 weeks) and 16.7 weeks (range, 12-24 weeks), respectively. The mean Short Form 36, Hospital for Special Surgery score, and lower-extremity measure at 24 months postoperatively were 89 (range, 80-98), 90 (range, 84-98), and 87 (range, 80-95), respectively. The average range of motion of the affected knee was 2.7° to 123.4° at 2 years after the operation.


CONCLUSION
Three-column fixation is a new fixation concept in treating complex tibial plateau fractures, which is especially useful for multiplanar fractures involving the posterior column. The combination of posterior and anterior-lateral approaches is a safe and effective way to have direct reduction and satisfactory fixation for such difficult tibial plateau fractures.

Performance anomaly of 802.11b <=SEP=> We analyze the performance of the IEEE 802.11b wireless local area networks. We have observed that when some mobile hosts use a lower bit rate than the others, the performance of all hosts is considerably degraded. Such a situation is a common case in wireless local area networks in which a host far away from an Access Point is subject to important signal fading and interference. To cope with this problem, the host changes its modulation type, which degrades its bit rate to some lower value. Typically, 802.11b products degrade the bit rate from 11 Mb/s to 5.5, 2, or 1 Mb/s when repeated unsuccessful frame transmissions are detected. In such a case, a host transmitting for example at 1 Mb/s reduces the throughput of all other hosts transmitting at 11 Mb/s to a low value below 1 Mb/s. The basic CSMA/CA channel access method is at the root of this anomaly: it guarantees an equal long term channel access probability to all hosts. When one host captures the channel for a long time because its bit rate is low, it penalizes other hosts that use the higher rate. We analyze the anomaly theoretically by deriving simple expressions for the useful throughput, validate them by means of simulation, and compare with several performance measurements.

Finding academic experts on a multisensor approach using Shannon's entropy <=SEP=> Expert finding is an information retrieval task concerned wi th the search for the most knowledgeable people, in some topic, with basis on document s describing peoples activities. The task involves taking a user query as input and retur ning a list of people sorted by their level of expertise regarding the user query. This pape r introduces a novel approach for combining multiple estimators of expertise based on a mu ltisensor data fusion framework together with the Dempster-Shafer theory of evidence a nd Shannon’s entropy. More specifically, we defined three sensors which detect heteroge neous information derived from the textual contents, from the graph structure of the citati on patterns for the community of experts, and from profile information about the academic exp erts. Given the evidences collected, each sensor may define different candidates as ex perts and consequently do not agree in a final ranking decision. To deal with these conflicts , we applied the DempsterShafer theory of evidence combined with Shannon’s Entropy f rmula to fuse this information and come up with a more accurate and reliable final rankin g list. Experiments made over two datasets of academic publications from the Compute r Science domain attest for the adequacy of the proposed approach over the traditional s tate of the art approaches. We also made experiments against representative supervised s tat of the art algorithms. Results revealed that the proposed method achieved a similar p erformance when compared to these supervised techniques, confirming the capabilities o f the proposed framework. This work was supported by national funds through FCT Funda ção para a Ciência e a Tecnologia, under project PEst-OE/EEI/LA0021/2011 and supported by nationa l funds through FCT Fundação para a Ciência e a Tecnologia, under project PTDC/EIA-CCO/119722/2010

Crowd detection and management using cascade classifier on ARMv8 and OpenCV-Python <=SEP=> The steady increase in population and overcrowding has become an unavoidable factor in any public gathering or on the street during any festive occasions. The intelligent monitoring technology has been developing in recent years and human tracking has made a lot of progress. In this paper, we propose a method to manage the crowd by keeping in track the count of the people in the scene. In our study, we develop a system using Raspberry Pi 3 board that consists of ARMv8 CPU that detects the human heads and provide a count of humans in the region using OpenCV-Python. A Haar cascade classifier is trained for human head detection. Human tracking is achieved by indicating the direction of movement of the person. The results of the analysis will be helpful in managing the crowd in any area with high density of crowds.

ClusType: Effective Entity Recognition and Typing by Relation Phrase-Based Clustering <=SEP=> Entity recognition is an important but challenging research problem. In reality, many text collections are from specific, dynamic, or emerging domains, which poses significant new challenges for entity recognition with increase in name ambiguity and context sparsity, requiring entity detection without domain restriction. In this paper, we investigate entity recognition (ER) with distant-supervision and propose a novel relation phrase-based ER framework, called ClusType, that runs data-driven phrase mining to generate entity mention candidates and relation phrases, and enforces the principle that relation phrases should be softly clustered when propagating type information between their argument entities. Then we predict the type of each entity mention based on the type signatures of its co-occurring relation phrases and the type indicators of its surface name, as computed over the corpus. Specifically, we formulate a joint optimization problem for two tasks, type propagation with relation phrases and multi-view relation phrase clustering. Our experiments on multiple genres---news, Yelp reviews and tweets---demonstrate the effectiveness and robustness of ClusType, with an average of 37% improvement in F1 score over the best compared method.

Make new friends, but keep the old: recommending people on social networking sites <=SEP=> This paper studies people recommendations designed to help users find known, offline contacts and discover new friends on social networking sites. We evaluated four recommender algorithms in an enterprise social networking site using a personalized survey of 500 users and a field study of 3,000 users. We found all algorithms effective in expanding users' friend lists. Algorithms based on social network information were able to produce better-received recommendations and find more known contacts for users, while algorithms using similarity of user-created content were stronger in discovering new friends. We also collected qualitative feedback from our survey users and draw several meaningful design implications.

The big and the small: challenges of imaging the brain's circuits. <=SEP=> The relation between the structure of the nervous system and its function is more poorly understood than the relation between structure and function in any other organ system. We explore why bridging the structure-function divide is uniquely difficult in the brain. These difficulties also explain the thrust behind the enormous amount of innovation centered on microscopy in neuroscience. We highlight some recent progress and the challenges that remain.

Learning for Semantic Parsing <=SEP=> Semantic parsing is the task of mapping a natural language sentence into a complete, formal meaning representation. Over the past decade, we have developed a number of machine learning methods for inducing semantic parsers by training on a corpus of sentences paired with their meaning representations in a specified formal language. We have demonstrated these methods on the automated construction of naturallanguage interfaces to databases and robot command languages. This paper reviews our prior work on this topic and discusses directions for future research.

Evaluation of Different Control Strategies for Teams of Unmanned Marine Vehicles ( UMVs ) Comparing the Requirements of Underwater Communication and Navigation in MATLAB ® Simulations <=SEP=> Thomas Glotzbach, TU Ilmenau; Fraunhofer Center for Applied Systems Technology, Ilmenau/Germany, thomas.glotzbach@tu-ilmenau.de Andrea Picini, INNOVA S.p.A., Rome/Italy, a.picini@innova-eu.net Antonio Zangrilli, INNOVA S.p.A., Rome/Italy, a.zangrilli@innova-eu.net Mike Eichhorn, TU Ilmenau/Germany, mike.eichhorn@tu-ilmenau.de Peter Otto, TU Ilmenau/Germany, peter.otto@tu-ilmenau.de Matthias Schneider, TU Ilmenau/Germany, schneider.matthias@tu-ilmenau.de

Entity Comparison in RDF Graphs <=SEP=> In many applications, there is an increasing need for the new types of RDF data analysis that are not covered by standard reasoning tasks such as SPARQL query answering. One such important analysis task is entity comparison, i.e., determining what are similarities and differences between two given entities in an RDF graph. For instance, in an RDF graph about drugs, we may want to compare Metamizole and Ibuprofen and automatically find out that they are similar in that they are both analgesics but, in contrast to Metamizole, Ibuprofen also has a considerable anti-inflammatory effect. Entity comparison is a widely used functionality available in many information systems, such as universities or product comparison websites. However, comparison is typically domain-specific and depends on a fixed set of aspects to compare. In this paper, we propose a formal framework for domain-independent entity comparison over RDF graphs. We model similarities and differences between entities as SPARQL queries satisfying certain additional properties, and propose algorithms for computing them.

G-SQL: Fast Query Processing via Graph Exploration <=SEP=> A lot of real-life data are of graph nature. However, it is not until recently that business begins to exploit data’s connectedness for business insights. On the other hand, RDBMSs are a mature technology for data management, but they are not for graph processing. Take graph traversal, a common graph operation for example, it heavily relies on a graph primitive that accesses a given node’s neighborhood. We need to join tables following foreign keys to access the nodes in the neighborhood if an RDBMS is used to manage graph data. Graph exploration is a fundamental building block of many graph algorithms. But this simple operation is costly due to a large volume of I/O caused by the massive amount of table joins. In this paper, we present G-SQL, our effort toward the integration of a RDBMS and a native in-memory graph processing engine. G-SQL leverages the fast graph exploration capability provided by the graph engine to answer multi-way join queries. Meanwhile, it uses RDBMSs to provide mature data management functionalities, such as reliable data storage and additional data access methods. Specifically, G-SQL is a SQL dialect augmented with graph exploration functionalities and it dispatches query tasks to the in-memory graph engine and its underlying RDMBS. The G-SQL runtime coordinates the two query processors via a unified cost model to ensure the entire query is processed efficiently. Experimental results show that our approach greatly expands capabilities of RDBMs and delivers exceptional performance for SQL-graph hybrid queries.

Self-Adaptive Skin Segmentation in Color Images <=SEP=> In this paper, we present a new method for skin detection and segmentation, relying on spatial analysis of skin-tone pixels. Our contribution lies in introducing self-adaptive seeds, from which the skin probability is propagated using the distance transform. The seeds are determined from a local skin color model that is learned on-line from a presented image, without requiring any additional information. This is in contrast to the existing methods that need a skin sample for the adaptation, e.g., acquired using a face detector. In our experimental study, we obtained F-score of over 0.85 for the ECU benchmark, and this is highly competitive compared with several state-of-the-art methods.

Kinect Gesture Recognition for Interactive System <=SEP=> Gaming systems like Kinect and XBox always have to tackle the problem of extracting features from video data sets and classifying the body movement. In this study, reasonable features like human joints positions, joints velocities, joint angles and joint angular velocities are extracted. We used several machine learning methods including Naive Bayes, Support Vector Machine and Random Forest to learn and classify the human gestures. Simulation results and the final confusion matrix show that by combining delicately preprocessed data sets and Random Forest methods, the F-scores of the correct predictions can be maximized. Such methods can also be applied in real-time scenarios.

Differentially private aggregation of distributed time-series with transformation and encryption <=SEP=> We propose the first differentially private aggregation algorithm for distributed time-series data that offers good practical utility without any trusted server. This addresses two important challenges in participatory data-mining applications where (i) individual users collect temporally correlated time-series data (such as location traces, web history, personal health data), and (ii) an untrusted third-party aggregator wishes to run aggregate queries on the data.
 To ensure differential privacy for time-series data despite the presence of temporal correlation, we propose the Fourier Perturbation Algorithm (FPAk). Standard differential privacy techniques perform poorly for time-series data. To answer n queries, such techniques can result in a noise of Θ(n) to each query answer, making the answers practically useless if n is large. Our FPAk algorithm perturbs the Discrete Fourier Transform of the query answers. For answering n queries, FPAk improves the expected error from Θ(n) to roughly Θ(k) where k is the number of Fourier coefficients that can (approximately) reconstruct all the n query answers. Our experiments show that k << n for many real-life data-sets resulting in a huge error-improvement for FPAk.
 To deal with the absence of a trusted central server, we propose the Distributed Laplace Perturbation Algorithm (DLPA) to add noise in a distributed way in order to guarantee differential privacy. To the best of our knowledge, DLPA is the first distributed differentially private algorithm that can scale with a large number of users: DLPA outperforms the only other distributed solution for differential privacy proposed so far, by reducing the computational load per user from O(U) to O(1) where U is the number of users.

General Perspectives on Knowledge Management: Fostering a Research Agenda <=SEP=> We trace in pragmatic terms some of what we know about knowledge, information technology, knowledge management practice and research, and provide two complementary frameworks that highlight potential opportunities for building a research agenda in this area. The papers in this special issue are then discussed.

Modeling and execution of event stream processing in business processes <=SEP=> The Internet of Things and Cyber-physical Systems provide enormous amounts of real-time data in form of streams of events. Businesses can benefit from the integration of these real-world data; new services can be provided to customers, or existing business processes can be improved. Events are a well-known concept in business processes. However, there is no appropriate abstraction mechanism to encapsulate event stream processing in units that represent business functions in a coherent manner across the process modeling, process execution, and IT infrastructure layer. In this paper we present Event Stream Processing Units (SPUs) as such an abstraction mechanism. SPUs encapsulate application logic for event stream processing and enable a seamless transition between process models, executable process representations, and components at the IT layer. We derive requirements for SPUs and introduce EPC and BPMN extensions to model SPUs at the abstract and at the technical process layer. We introduce a transformation from SPUs in EPCs to SPUs in BPMN and implement our modeling notation extensions in Software AG ARIS. We present a runtime infrastructure that executes SPUs and supports implicit invocation and completion semantics. We illustrate our approach using a logistics process as running example.

Issues in Implementing IT Governance in Small and Medium Enterprises <=SEP=> Nowadays, almost all the enterprises in the world fall in Small Medium Enterprises (SMEs) category even though SMEs has different definitions in different countries. At the same time, there is no exemplar standard and /or framework for information technology (IT) governance for SMEs. This paper presents the main issues in implementing IT governance in SMEs. Firstly, it explains the definition of SMEs and their characteristics, secondly it discusses IT governance definition and its framework. Finally, some issues and approaches for ITG implementation in SMEs are described, and end with conclusion and future work.

UAV with two passive rotating hemispherical shells for physical interaction and power tethering in a complex environment <=SEP=> For the past few years, unmanned aerial vehicles (UAVs) have been successfully employed in several investigations and exploration tasks such as aerial inspection and manipulations. However, most of these UAVs are limited to open spaces distant from any obstacles because of the high risk of falling as a result of an exposed propeller or not enough protection. On the other hand, a UAV with a passive rotating spherical shell can fly over a complex environment but cannot engage in physical interaction and perform power tethering because of the passive rotation of the spherical shell. In this study, we propose a new mechanism that allows physical interaction and power tethering while the UAV is well-protected and has a good flight stability, which enables exploration in a complex environment such as disaster sites. We address the current problem by dividing the whole shell into two separate hemispherical shells that provide a gap unaffected by passive rotation. In this paper, we mainly discuss the concept, general applications, and design of the proposed system. The capabilities of the proposed system for physical interaction and power tethering in a complex space were initially verified through laboratory-based test flights of our experimental prototype.

Loop closure detection for visual SLAM using PCANet features <=SEP=> Loop closure detection benefits simultaneous localization and mapping (SLAM) in building a consistent map of the environment by reducing the accumulate error. Handcrafted features have been successfully used in traditional approaches, whereas in this paper, we show that unsupervised features extracted by deep learning models, can improves the accuracy of loop closure detection. In particular, we employ a cascaded deep network, namely the PCANet, to extract features as image descriptors. We tested the performance of our proposed method on open datasets to compare with traditional approaches. We found that the PCANet features outperform state-of-the-art handcrafted competitors, and are computational efficient to be implemented in practical robotics.

Taming THC: potential cannabis synergy and phytocannabinoid-terpenoid entourage effects. <=SEP=> Tetrahydrocannabinol (THC) has been the primary focus of cannabis research since 1964, when Raphael Mechoulam isolated and synthesized it. More recently, the synergistic contributions of cannabidiol to cannabis pharmacology and analgesia have been scientifically demonstrated. Other phytocannabinoids, including tetrahydrocannabivarin, cannabigerol and cannabichromene, exert additional effects of therapeutic interest. Innovative conventional plant breeding has yielded cannabis chemotypes expressing high titres of each component for future study. This review will explore another echelon of phytotherapeutic agents, the cannabis terpenoids: limonene, myrcene, α-pinene, linalool, β-caryophyllene, caryophyllene oxide, nerolidol and phytol. Terpenoids share a precursor with phytocannabinoids, and are all flavour and fragrance components common to human diets that have been designated Generally Recognized as Safe by the US Food and Drug Administration and other regulatory agencies. Terpenoids are quite potent, and affect animal and even human behaviour when inhaled from ambient air at serum levels in the single digits ng·mL(-1) . They display unique therapeutic effects that may contribute meaningfully to the entourage effects of cannabis-based medicinal extracts. Particular focus will be placed on phytocannabinoid-terpenoid interactions that could produce synergy with respect to treatment of pain, inflammation, depression, anxiety, addiction, epilepsy, cancer, fungal and bacterial infections (including methicillin-resistant Staphylococcus aureus). Scientific evidence is presented for non-cannabinoid plant components as putative antidotes to intoxicating effects of THC that could increase its therapeutic index. Methods for investigating entourage effects in future experiments will be proposed. Phytocannabinoid-terpenoid synergy, if proven, increases the likelihood that an extensive pipeline of new therapeutic products is possible from this venerable plant. http://dx.doi.org/10.1111/bph.2011.163.issue-7.

Autonomous navigation robot for landmine detection applications <=SEP=> Modern robotic technologies have provided efficient solutions to protect workers from hazards in the work environments; such as radioactive, toxic, or explosive. This paper presents a design of a holonomic mobile robot for rough terrain that can replace the human role in the demining applications. A suspension system based on the bogie mechanism was adopted in order to overcome rough terrains. The flexible design of the robot enables it to move in any direction at any instant without changing the orientation of the body. The motion of the robot was simulated using the Pro-Engineer software and the robot stability margins for different road conditions were found in order to predict the possibility of tipping-over before any maneuver.