Vision-based guidance of unmanned aerial vehicles (UAVs) toward unmanned ground vehicles (UGVs) supports cooperative aerial--ground robotics, but reliable continuous yaw estimation from onboard vision remains challenging because of sensing uncertainty, limited computation, and the need for interpretable control. Existing deep-learning and geometric-reconstruction approaches often require large datasets, external localization, or complex modeling assumptions, reducing transparency and deployment suitability on resource-constrained platforms. We present an interpretable fuzzy-inference framework that generates continuous yaw commands from low-dimensional features extracted from YOLO boxes: target centroid location, area, and aspect ratio. No explicit geometric modeling is required. A Mamdani fuzzy system serves as an interpretable baseline using a shoulder--triangle--shoulder input partition. It is followed by a first-order Takagi--Sugeno model with three antecedent membership terms per input, whose parameters are derived from training-set quantiles, yielding a compact 27-rule structure. Evaluation uses 6{,}169 labeled samples from a VICON motion-capture environment. Across five rand
Python dominates AI development, yet the numerical work behind frameworks like PyTorch and NumPy is executed in C, C++, or Rust. When a developer must implement an algorithm without such libraries -- because none exists, the target is resource-constrained, or a new system is being built -- which language should they choose? This paper answers that question empirically. Five algorithms covering data mining (k-means), machine learning (k-NN), neural networks (MLP with backpropagation), computational intelligence (genetic algorithm), and fuzzy systems (Mamdani inference) are implemented from scratch in Python, C, C++, Rust, Go, and Julia. All implementations share a common pseudo-random generator, consume identical inputs, and produce bit-identical outputs, so every measured difference reflects the language rather than the computation. Three performance tiers emerge: C and C++ are effectively tied; Rust trails them by 9% (geometric mean); Julia runs 3.3x slower than C and Go 5.0x; Python sits at 315x. Memory tells a different story -- Julia's JIT runtime carries a fixed ~224 MiB footprint regardless of workload, while C, C++, and Rust stay below 6 MiB. Crucially, rankings are not stab
Machine learning models achieve high predictive accuracy in regression tasks, but their deployment in safety-critical and regulated domains requires interpretability. While fuzzy rule-based systems offer transparent, linguistically explicit interpretable models, Mamdani-style fuzzy regression remains underrepresented in modern machine learning software libraries. This paper presents an interpretable regression extension for the Ex-Fuzzy library, enabling Mamdani fuzzy inference with scalar consequents learned directly from data. For this, a target-aware partition initialisation strategy based on Fuzzy C-Means clustering is introduced, in which linguistic variables are derived from an augmented input-output space to emphasise output-relevant regions of the feature space. The proposed extension is evaluated on ten regression datasets from the KEEL repository, comparing Gaussian and trapezoidal partition strategies against standard baselines including linear regression, multilayer perceptron, and random forests. Experimental results show that Gaussian partitions consistently outperform uniform trapezoidal partitions, achieving a mean coefficient of determination of approximately 0.86
Regression analysis is employed to examine and quantify the relationships between input variables and a dependent and continuous output variable. It is widely used for predictive modelling in fields such as finance, healthcare, and engineering. However, traditional methods often struggle with real-world data complexities, including uncertainty and ambiguity. While deep learning approaches excel at capturing complex non-linear relationships, they lack interpretability and risk over-fitting on small datasets. Fuzzy systems provide an alternative framework for handling uncertainty and imprecision, with Mamdani and Takagi-Sugeno-Kang (TSK) systems offering complementary strengths: interpretability versus accuracy. This paper presents a novel fuzzy regression method that combines the interpretability of Mamdani systems with the precision of TSK models. The proposed approach introduces a hybrid rule structure with fuzzy and crisp components and dual dominance types, enhancing both accuracy and explainability. Evaluations on benchmark datasets demonstrate state-of-the-art performance in several cases, with rules maintaining a component similar to traditional Mamdani systems while improvin
In this study, we propose a fuzzy system for conducting short-term transactions in the forex market. The system is designed to enhance common strategies in the forex market using fuzzy logic, thereby improving the accuracy of transactions. Traditionally, technical strategies based on oscillator indicators have relied on predefined ranges for indicators such as Relative Strength Index (RSI), Commodity Channel Indicator (CCI), and Stochastic to determine entry points for trades. However, the use of these classic indicators has yielded suboptimal results due to the changing nature of the market over time. In our proposed approach, instead of employing classical indicators, we introduce a fuzzy Mamdani system for each indicator. The results obtained from these systems are then combined through voting to design a trading robot. Our findings demonstrate a considerable increase in the profitability factor compared to three other methods. Additionally, net profit, gross profit, and maximum capital reduction are calculated and compared across all approaches.
Deep learning models, despite their popularity, face challenges such as long training times and a lack of interpretability. In contrast, fuzzy inference systems offer a balance of accuracy and transparency. This paper addresses the limitations of traditional Takagi-Sugeno-Kang fuzzy models by extending the recently proposed New Takagi-Sugeno-Kang model to a new Mamdani-based regressor. These models are data-driven, allowing users to define the number of rules to balance accuracy and interpretability. To handle the complexity of large datasets, this research integrates wrapper and ensemble techniques. A Genetic Algorithm is used as a wrapper for feature selection, creating genetic versions of the models. Furthermore, ensemble models, including the Random New Mamdani Regressor, Random New Takagi-Sugeno-Kang, and Random Forest New Takagi-Sugeno-Kang, are introduced to improve robustness. The proposed models are validated on photovoltaic energy forecasting datasets, a critical application due to the intermittent nature of solar power. Results demonstrate that the genetic and ensemble fuzzy models, particularly the Genetic New Takagi-Sugeno-Kang and Random Forest New Takagi-Sugeno-Kang,
This paper presents the design, implementation, and evaluation of an IoT-based robotic system for mapping and monitoring indoor air quality. The primary objective was to develop a mobile robot capable of autonomously mapping a closed environment, detecting concentrations of CO$_2$, volatile organic compounds (VOCs), smoke, temperature, and humidity, and transmitting real-time data to a web interface. The system integrates a set of sensors (SGP30, MQ-2, DHT11, VL53L0X, MPU6050) with an ESP32 microcontroller. It employs a mapping algorithm for spatial data acquisition and utilizes a Mamdani fuzzy logic system for air quality classification. Empirical tests in a model room demonstrated average localization errors below $5\%$, actuator motion errors under $2\%$, and sensor measurement errors within $12\%$ across all modalities. The contributions of this work include: (1) a low-cost, integrated IoT robotic platform for simultaneous mapping and air quality detection; (2) a web-based user interface for real-time visualization and control; and (3) validation of system accuracy under laboratory conditions.
Full-text screening is the major bottleneck of systematic reviews (SRs), as decisive evidence is dispersed across long, heterogeneous documents and rarely admits static, binary rules. We present a scalable, auditable pipeline that reframes inclusion/exclusion as a fuzzy decision problem and benchmark it against statistical and crisp baselines in the context of the Population Health Modelling Consensus Reporting Network for noncommunicable diseases (POPCORN). Articles are parsed into overlapping chunks and embedded with a domain-adapted model; for each criterion (Population, Intervention, Outcome, Study Approach), we compute contrastive similarity (inclusion-exclusion cosine) and a vagueness margin, which a Mamdani fuzzy controller maps into graded inclusion degrees with dynamic thresholds in a multi-label setting. A large language model (LLM) judge adjudicates highlighted spans with tertiary labels, confidence scores, and criterion-referenced rationales; when evidence is insufficient, fuzzy membership is attenuated rather than excluded. In a pilot on an all-positive gold set (16 full texts; 3,208 chunks), the fuzzy system achieved recall of 81.3% (Population), 87.5% (Intervention),
This paper introduces a novel approach to project success evaluation by integrating fuzzy logic into an existing construct. Traditional Likert-scale measures often overlook the context-dependent and multifaceted nature of project success. The proposed hierarchical Type-1 Mamdani fuzzy system prioritizes sustained positive impact for end-users, reducing emphasis on secondary outcomes like stakeholder satisfaction and internal project success. This dynamic approach may provide a more accurate measure of project success and could be adaptable to complex evaluations. Future research will focus on empirical testing and broader applications of fuzzy logic in social science.
Accurate prediction of traffic flow parameters and real time identification of congestion states are essential for the efficient operation of intelligent transportation systems. This paper proposes a Periodic Pattern Transformer Network (PPTNet) for traffic flow prediction, integrating periodic pattern extraction with the Transformer architecture, coupled with a fuzzy inference method for real-time congestion identification. Firstly, a high-precision traffic flow dataset (Traffic Flow Dataset for China's Congested Highways and Expressways, TF4CHE) suitable for congested highway scenarios in China is constructed based on drone aerial imagery data. Subsequently, the proposed PPTNet employs Fast Fourier Transform to capture multi-scale periodic patterns and utilizes two-dimensional Inception convolutions to efficiently extract intra and inter periodic features. A Transformer decoder dynamically models temporal dependencies, enabling accurate predictions of traffic density and speed. Finally, congestion probabilities are calculated in real-time using the predicted outcomes via a Mamdani fuzzy inference-based congestion identification module. Experimental results demonstrate that the pr
Affective artificial intelligence has made substantial advances in recent years; yet two critical issues persist, particularly in sensitive applications. First, these systems frequently operate as 'black boxes', leaving their decision-making processes opaque. Second, audit logs often lack reliability, as the entity operating the system may alter them. In this work, we introduce the concept of Immutable Explainability, an architecture designed to address both challenges simultaneously. Our approach combines an interpretable inference engine - implemented through fuzzy logic to produce a transparent trace of each decision - with a cryptographic anchoring mechanism that records this trace on a blockchain, ensuring that it is tamper-evident and independently verifiable. To validate the approach, we implemented a heuristic pipeline integrating lexical and prosodic analysis within an explicit Mamdani-type multimodal fusion engine. Each inference generates an auditable record that is subsequently anchored on a public blockchain (Sepolia Testnet). We evaluated the system using the Spanish MEACorpus 2023, employing both the original corpus transcriptions and those generated by Whisper. The
One of the significant steps in the process leading to the identification of proteins is mass spectrometry, which allows for obtaining information about the structure of proteins. Removing isotope peaks from the mass spectrum is vital and it is done in a process called deisotoping. There are different algorithms for deisotoping, but they have their limitations, they are dedicated to different methods of mass spectrometry. Data from experiments performed with the MALDI-ToF technique are characterized by high dimensionality. This paper presents a method for identifying isotope envelopes in MALDI-ToF molecular imaging data based on the Mamdani-Assilan fuzzy system and spatial maps of the molecular distribution of peaks included in the isotopic envelope. Several image texture measures were used to evaluate spatial molecular distribution maps. The algorithm was tested on eight datasets obtained from the MALDI-ToF experiment on samples from the National Institute of Oncology in Gliwice from patients with cancer of the head and neck region. The data were subjected to pre-processing and feature extraction. The results were collected and compared with three existing deisotoping algorithms.
By decoupling substrate resources, network virtualization (NV) is a promising solution for meeting diverse demands and ensuring differentiated quality of service (QoS). In particular, virtual network embedding (VNE) is a critical enabling technology that enhances the flexibility and scalability of network deployment by addressing the coupling of Internet processes and services. However, in the existing deep neural networks (DNNs)-based works, the black-box nature DNNs limits the analysis, development, and improvement of systems. For example, in the industrial Internet of Things (IIoT), there is a conflict between decision interpretability and the opacity of DNN-based methods. In recent times, interpretable deep learning (DL) represented by deep neuro fuzzy systems (DNFS) combined with fuzzy inference has shown promising interpretability to further exploit the hidden value in the data. Motivated by this, we propose a DNFS-based VNE algorithm that aims to provide an interpretable NV scheme. Specifically, data-driven convolutional neural networks (CNNs) are used as fuzzy implication operators to compute the embedding probabilities of candidate substrate nodes through entailment operat
This paper is a continuation of our work concerning the logical and computational foundations of multi-step fuzzy inference. We bring further results on the implementation of the Mamdani-Assilian type of fuzzy rules and inference in Goedel logic with truth constants. In our previous work, we have provided translation of Mamdani-Assilian fuzzy rules to formulae of Goedel logic, and subsequently, to suitable clausal form. Moreover, we have outlined a class of problems regarding general properties of fuzzy inference and shown its reduction to a class of deduction/unsatisfiability problems. We now focus on solving such problems using an adapted hyperresolution calculus.
This paper addresses the logical and computational foundations of multi-step fuzzy inference using the Mamdani-Assilian type of fuzzy rules by implementing such inference in Goedel logic with truth constants. We apply the results achieved in the development of a hyperresolution calculus for this logic. We pose three fundamental problems: reachability, stability, the existence of a k-cycle in multi-step fuzzy inference and reduce them to certain deduction and unsatisfiability problems. The corresponding unsatisfiability problems may be solved using hyperresolution.
This paper introduces \textsc{FuzzyLogic.jl}, a Julia library to perform fuzzy inference. The library is fully open-source and released under a permissive license. The core design principles of the library are: user-friendliness, flexibility, efficiency and interoperability. Particularly, our library is easy to use, allows to specify fuzzy systems in an expressive yet concise domain specific language, has several visualization tools, supports popular inference systems like Mamdani, Sugeno and Type-2 systems, can be easily expanded with custom user settings or algorithms and can perform fuzzy inference efficiently. It also allows reading fuzzy models from other formats such as Matlab .fis, FCL or FML. In this paper, we describe the library main features and benchmark it with a few examples, showing it achieves significant speedup compared to the Matlab fuzzy toolbox.
Any complex dynamic system's ability to function successfully depends in significant part on the accuracy of the sensor data; hence sensor data validation is crucial. Because sensor data is utilized for monitoring and oversight, erroneous sensor data would result in overall poor process output. In this study, the data confidence of the sensor data is ascertained using a Mamdani fuzzy inference system. Erroneous data can be corrected with this method. If the sensor outputs faulty value for a prolonged period of time, the system will be reported and a report will be generated. This can be used as a generic module for any system. This fuzzy system is then used on the readings from an ultrasonic sensor and is used as a part of a bigger and more complex IoT system.
Temperature and humidity are two of the rudimentary factors that must be controlled during egg incubation. Improper temperature and humidity levels during the incubation period often result in unwanted conditions. This paper proposes the design of an efficient Mamdani fuzzy interference system instead of the widely used Takagi-Sugeno system in this field for controlling the temperature and humidity levels of an egg incubator. Though the optimum incubation temperature and humidity levels used here are that of chicken egg, the proposed methodology is applicable to other avian species as well. Theinput functions have been used here as per estimated values forsafe hatching using Mamdani whereas defuzzification method, COA, has been applied for output. From the model output,a stabilized heat from temperature level and fan speed to control the humidity level of an egg incubator can be obtained. This maximizes the hatching rate of healthy chicks under any conditions in the field.
Stock Market can be easily seen as one of the most attractive places for investors, but it is also very complex in terms of making trading decisions. Predicting the market is a risky venture because of the uncertainties and nonlinear nature of the market. Deciding on the right time to trade is key to every successful trader as it can lead to either a huge gain of money or totally a loss in investment that will be recorded as a careless trade. The aim of this research is to develop a prediction system for stock market using Fuzzy Logic Type2 which will handle these uncertainties and complexities of human behaviour in general when it comes to buy, hold or sell decision making in stock trading. The proposed system was developed using VB.NET programming language as frontend and Microsoft SQL Server as backend. A total of four different technical indicators were selected for this research. The selected indicators are the Relative Strength Index, William Average, Moving Average Convergence and Divergence, and Stochastic Oscillator. These indicators serve as input variable to the Fuzzy System. The MACD and SO are deployed as primary indicators, while the RSI and WA are used as secondary i
Things are becoming more advanced as technology advances,and machines now perform the majority of the manual work. The most often used home appliance is the washing machine for cloths. In this paper, we used the Mamdani approach and created an algorithm based on multi-input multi-output. The algorithm is implemented in Python.The results of this simulation show that the washing machine provides better execution at a low computation cost