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Artificial neural network based local motion planning of a wheeled mobile robot

Artificial neural network based local motion planning of a w...

引用

International Symposium on Computational Intelligence and Informatics

作者： I. Engedy G. Horváth Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In this paper we present an artificial neural network based motion and path planning system of a wheeled mobile robot navigating among stationary and moving obstacles. The neural network is aware of its distance sensor readings and its relative position from the target. The neural network is used in this system as a controller, and it is trained using a previously proposed extension of the backpropagation through time algorithm, which uses potential fields for obstacle avoidance. The operability of this method is presented in a series of simulation results.

关键词： Robot kinematics Artificial neural networks Training Mobile robots Planning Navigation

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Variable microwave time delay by utilizing optical approaches

Variable microwave time delay by utilizing optical approache...

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International Conference on Microwaves, Radar and Wireless Communications

作者： Eszter Udvary Laszló Jakab Tibor Berceli Broadband Infocomunication and Electromagnetic Theory Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

ISBN: (纸本)9781424452880

A new method is presented for establishing variable microwave time delay utilizing optical approaches. In many applications there is a need for a significant time delay which cannot be established by microwave methods. The optical fiber can offer a substantial time delay which can be utilized by converting the microwave signal into the optical domain and after the proper delay it is converted back to microwave. By choosing the fiber length the necessary microwave delay can be adjusted. The main contribution is the variation of the delay. That is achieved by applying a dispersive fiber and a tunable laser. When the laser wavelength is changed the delay is varied due to the fiber dispersion. That new approach is very advantageous for beam steering of phased array antennas.

关键词： Delay effects Microwave theory and techniques Fiber lasers Masers Phased arrays Optical fibers Dispersion Tunable circuits and devices Laser transitions Propagation delay

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Hybrid knowledge modeling for an intelligent greenhouse

Hybrid knowledge modeling for an intelligent greenhouse

引用

International Symposium on Intelligent Systems and Informatics (SISY)

作者： P. Eredics T. P. Dobrowiecki Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The quality of control provided by greenhouse control systems can be improved by applying model based and intelligent control. To this aim a good model of a greenhouse is needed. For a large variety of industrial or recreational greenhouses the derivation of an analytical model is not feasible, due to the large amount of identification data and expertise needed. A black-box model of the whole system is neither feasible, as it would require a huge number of teaching samples. The only way to tackle this problem is the decomposition of the greenhouse system using hybrid modularized models, where each module represents a relatively loosely coupled component of the system. This paper discusses such decomposition and a model under development.

关键词： Temperature measurement Green products Meteorology Predictive models Actuators Heating Biological system modeling

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Robust control techniques and its graphical representation in case of Type I diabetes using Mathematica

Robust control techniques and its graphical representation i...

引用

International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Levente Kovács Béla Paláncz Endre Borbély Zoltán Benyó Balázs Benyó Budapest University슠of슠Technology슠and슠Economics Hungary Óbuda University Hungary

The case study presents modern robust control methods of the Bergman minimal model of Type I diabetic patients under intensive care using computer algebra: the disturbance rejection LQ control or minimax control (as extension of the classical LQ control) and the robust H ¿ control. It is shown the minimax control has limitations in practice, but employing reduced Gro¿bner basis on rational field, it is possible to approximate the theoretical solution and so getting a better solution than LQ does. The symbolic and numeric computations were carried out with Mathematica 5.2 and with its CSPS Application, as well as with MATLAB 6.5. In case of H ¿ control, the graphical method in frequency domain- implemented under Mathematica by-is extended with a disturbance rejection constraint and the robustness of the resulted highorder linear controller is demonstrated by nonlinear closed loop simulation in state-space, in case of standard meal disturbances.

关键词： Robust control Diabetes Optimal control Mathematical model Minimax techniques Biological system modeling Nonlinear control systems Sugar Algebra MATLAB

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Detector response function of the NanoPET™/CT system

Detector response function of the NanoPET™/CT system

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： J. Lantos Sz. Czifrus D. Legrady A. Cserkaszky Institute of Nuclear Techniques Budapest University슠of슠Technology슠and슠Economics Hungary

Even with the huge advance of computers and computing power, full three dimensional reconstructions of PET and CT scans belong to the future as far as commercially available scanners and software are concerned. Recent investigations have shown that with the aid of Graphical Processing Units (GPUs) extremely high computational speed might be achieved, which lends itself to the implementation of iterative 3D reconstruction techniques. Moreover, these techniques make it possible to make use of off-line and on-the-fly Monte Carlo calculations. A consortium of several Hungarian institutions has been working on the development and optimization of a Monte Carlo supported 3D iterative reconstruction program. The in-body scatter processes are modeled by real-time Monte Carlo, however, the detector response is calculated off-line. Therefore, the effective implementation of this MC code requires the calculation of a detector response function in advance. The paper describes our analysis of the response function characteristics of the NanoPET™ (Mediso) detector system. Using MCNPX we constructed a data base consisting of 300 simulations (different incoming photon angles and energies). We studied the sensitivity of the system to several parameters. It was found that the spatial dependence is stronger than the energy dependence. At right angle (at 511 keV) the side-neighbors have an order of magnitude less probability compared to the central pixel, while for photons reaching the central pixel with 350 keV or 511 keV there is only 40% difference in the probabilities. We studied different techniques to include the response function into the MC code mentioned in order to find the optimal strategy. With the approach described in the paper a significant improvement in image quality can be obtained.

关键词： Detectors Pixel Photonics Image reconstruction Three dimensional displays Monte Carlo methods Imaging

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Extending the concept of tensor product modelling for delayed systems

Extending the concept of tensor product modelling for delaye...

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International Symposium on Intelligent Systems and Informatics (SISY)

作者： Péter Galambos Péter Baranyi Péter Korondi Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Manufacturing Science and Technology Budapest University슠of슠Technology슠and슠Economics Hungary Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Hungary Department of Mechatronics Optics and Information Engineering Budapest University슠of슠Technology슠and슠Economics Hungary

Feedback delays are inherent attributes of distributed control systems that usually cause unfavorable effect on the stability of the controlled process. Modelling of such systems is essential for traceable controller synthesis. In this paper we apply the TP Model Transformation to derive a polytopic representation of an LPV model where the time-delay is considered as parameter. The method is introduced via a single degree of freedom impedance model with feedback delay. The resulted model is validated by simulation.

关键词： Mathematical model Delay Computational modeling Tensile stress Biological system modeling Impedance Numerical models

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Dynamics of different speed controls of ultra high speed induction generator using approximate and accurate model

Dynamics of different speed controls of ultra high speed ind...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Peter Stumpf Rafael K. Jardan Istvan Nagy Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The paper is concerned with the study of ultrahigh speed induction machine (USIM) applied in the utilization of renewables and recovering waste energy. The rated speed of the machine is 90 000 rpm. The main target of the study is to investigate the performance of the speed control loop in order to avoid or minimize the overspeed. The USIM is modelled by using an approximate and an accurate model. In the approximate model the refined Kloss formula is used and ideal converter supplying the USIM is assumed. In the accurate model the electric transients in the USIM and the harmonics in the output of the PWM converter are also taken into account.

关键词： Velocity control Induction generators Induction machines Voltage Stators Frequency Automation Pulse width modulation converters Turbines Power electronics

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Managing constraints of validation in model transformations

Managing constraints of validation in model transformations

引用

International Conference on Software, Telecommunications and Computer Networks (SoftCOM)

作者： László Lengyel Tihamér Levendovszky Hassan Charaf Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Model-Driven Development (MDD) facilitates the synthesis of application programs from models using customized, domain-specific model processors. MDD appears in many, different areas including telecommunication services, communication protocols, enterprise networking and multimedia systems. Model compilers can be realized by graph rewriting-based model transformations, where constraints ensuring the validation can be assigned to model transformation rules. The approach supports validated model processing. This paper introduces new algorithms applied to manage validation constraints in model transformation rules. The presented algorithms facilitate the better understanding of the transformations, their easier constraint-based configuration, and make both the constraints and the rewriting rules reusable.

关键词： Biological system modeling Weaving Color Unified modeling language Computational modeling Context Adaptation model

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Speed control of ultrahigh speed induction generator fed by Voltage Source Converter

Speed control of ultrahigh speed induction generator fed by ...

引用

International (EPE-PEMC) Power Electronics and Motion Control Conference

作者： Peter Stumpf Rafael K. Jardan Istvan Nagy Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The paper is concerned with the study of the speed control loop of an ultrahigh speed machine applied in the utilisation of renewables and in recovering waste energy. The rated speed of the machine is 90 000 rpm. The main target is to prevent the overspeed of the machine set by studying with simulation the response of the nonlinear speed control loop by taking into consideration both the mechanical and electrical transients of the turbine-generator set and the effect of the PWM converter connected to the generator.

关键词： Torque Velocity control Turbines Rotors Converters Transient analysis Stators

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3D reconstruction system for autonomous robot navigation

3D reconstruction system for autonomous robot navigation

引用

International Symposium on Computational Intelligence and Informatics

作者： Tamás Fazakas Róbert T. Fekete Department of Mechatronics Optics and Engineering Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In this paper, a full 3D reconstruction pipeline is presented to realize the navigation of an autonomous robot. The system utilizes the existing algorithms for multi-view stereo and develops them into an automated system where the input is a video (or random images) obtained by the robot and the output is the model of the reconstructed environment containing the path of the robot exploring it. We have tested the system in several environments and we demonstrate the results that show the potential of this state of the art approach.

关键词： Image reconstruction Cameras Mathematical model Robot kinematics Robot vision systems Pipelines

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