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Periodica polytechnica Electrical engineering and computer science 2022年第1期66卷 12-19页

作者： Hideg, Attila Lukovszki, Tamás Forstner, Bertalan Department of Automation and Applied Informatics Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok krt. 2 BudapestH-1117 Hungary Faculty of Informatics Eötvös Loránd University Pázmány Péter sétány 1/C. BudapestH-1117 Hungary

In this paper, a particular type of dispersion is further investigated, which is called Filling. In this problem, robots are injected one by one into an a priori not known area and have to travel across until the whole area is covered. The coverage is achieved by a robotic team whose hardware capabilities are restricted in order to maintain low production costs. This includes limited viewing and communication ranges. In this work, we present an algorithm solving the synchronous Filling problem in O((k + ∆)·n) time steps by n robots with a viewing range of 1 hop, where k is the number of doors, n is the number of vertices of the graph, and ∆ is the maximum degree of the graph. This improves the best previously known running time bound of O(k · ∆ · n). Furthermore, we remove the constraint from the previous algorithm that the door vertices need to have a degree of 1. © 2022 Budapest University of Technology and Economics. All rights reserved.

关键词： Multipurpose robots

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From News to Summaries: Building a Hungarian Corpus for Extractive and Abstractive Summarization

arXiv

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arXiv 2024年

作者： Barta, Botond Lakatos, Dorina Nagy, Attila Nyist, Milán Konor Ács, Judit HUN-REN Institute for Computer Science and Control Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

Training summarization models requires substantial amounts of training data. However for less resourceful languages like Hungarian, openly available models and datasets are notably scarce. To address this gap our paper introduces HunSum-2 an open-source Hungarian corpus suitable for training abstractive and extractive summarization models. The dataset is assembled from segments of the Common Crawl corpus undergoing thorough cleaning, preprocessing and deduplication. In addition to abstractive summarization we generate sentence-level labels for extractive summarization using sentence similarity. We train baseline models for both extractive and abstractive summarization using the collected dataset. To demonstrate the effectiveness of the trained models, we perform both quantitative and qualitative evaluation. Our dataset, models and code are publicly available, encouraging replication, further research, and real-world applications across various domains. © 2024, CC BY.

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Integrated Path Planning and Lateral-Longitudinal Control for Autonomous Electric Vehicles

Integrated Path Planning and Lateral-Longitudinal Control fo...

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2021 AEIT International Conference on Electrical and Electronic Technologies for Automotive, AEIT AUTOMOTIVE 2021

作者： Kovacs, Adorjan Vajk, Istvan Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Automation and Applied Informatics Budapest Hungary

ISBN: (纸本)9788887237528

In this paper, an integrated path planning and tracking algorithm are presented. The proposed cascade structure consists of two parts. The outer loop is a predictive, optimization-based yaw rate reference planner that uses a path-based coordinate system handling the reference track as boundary constraints, seeking to find the maneuver with the possible minimal control effort. The inner loop is responsible for the lateral and longitudinal movement ensuring robustness against parameter changes and disturbances, using the Internal Model Control structure. The algorithm includes a minimal number of tuning parameters as the lateral planner path uses a physical phenomenon as a cost function. The effectiveness of the proposed structure is illustrated by simulation results. The algorithm was implemented in a real-time environment, and the tests performed on the Lotus Evora test vehicle developed by ThyssenKrupp are examined and evaluated. © 2021 AEIT.

关键词： Convex optimization

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Human Body Motion Tracking for Rehabilitation

Human Body Motion Tracking for Rehabilitation

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Moraru Andrei Eva-H. Dulf Lehel Dénes-Fazakas Levente Kovacs Department of Automation And Applied Informatics Faculty of Automation and Computer Science Technical University of Cluj-Napoca Cluj-Napoca Romania Obuda University University Research and Innovation Center Physiological Controls Research Center Obuda University John von Neumann Faculty of Informatics Biomatics and Applied Artificial Intelligence Institute Obuda University Applied Informatics and Applied Mathematics Doctoral School Obuda University

ISBN: (数字)9798350367591

ISBN: (纸本)9798350367607

Human body motion tracking is a key technique in robotics, virtual reality and other human–computer interaction fields, for interactive mixed reality applications. Human motion tracking for rehabilitation is widely discussed by researchers in the last period, being motivated by the increased number of patients with motor function disability. For such patients rehabilitation is an important step to restore their functional capability to normal or close to normal. To reach this target, a patients’ activities need to be continuously monitored, and subsequently corrected. This involves accurate identification, tracking, and post-processing of movement. This paper thus proposes an open loop real time angle computation algorithm designed in Matlab®. Its efficacy was tested using an Arduino Nano® coupled with the MPU-6050 as the Inertial Measurement Units (IMU). The advantages of the proposed algorithm are presented by comparison with the already existing and widely used methods.

关键词： Target tracking Quaternions Virtual reality Patient rehabilitation Sensor fusion Time measurement Sensor systems

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Nature Inspired Optimization Algorithms in Fractional Order Controller Design

Nature Inspired Optimization Algorithms in Fractional Order ...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Eva-H. Dulf Alexandru George Berciu Lehel Dénes-Fazakas Levente Kovacs Department of Automation And Applied Informatics Faculty of Automation and Computer Science Technical University of Cluj-Napoca Cluj-Napoca Romania Obuda University University Research and Innovation Center Physiological Controls Research Center Obuda University John von Neumann Faculty of Informatics Biomatics and Applied Artificial Intelligence Institute Obuda University Applied Informatics and Applied Mathematics Doctoral School Obuda University

ISBN: (数字)9798350367591

ISBN: (纸本)9798350367607

Fractional-order PID (FOPID) controllers have gained increasing interest in control theory in recent years, mainly to improve the performance and stability of complex systems. FOPID controllers are a generalization of classical PID controllers that have both integral and derivative orders of fractional order. This means that instead of having three tuning parameters as in classical PID, there are two additional degrees of freedom to achieve the control objectives. At the same time, the structure of the PID controller, so valued in industrial applications, is retained. A preferred method for designing FOPID controllers is the use of optimization algorithms. Different objective functions are used, such as the integral of the square error (ISE), the integral of the absolute error (IAE), the integral of the time-weighted absolute error (ITAE) or the integral of the time-weighted square error (ITSE), which must be minimized in order to adjust the five unknown parameters of the FOPID controller. There are several papers discussing different optimization methods and objective functions for different applications, but there are no general recommendations to help engineers choose the right method for their design. The present research compares three of the most well-known nature-inspired optimization techniques from the point of view of a FOPID controller design tool, using all the above enumerated objective functions. The analysis is realized both for processes with large time constants (such as thermal processes) and for dynamic systems (such as mechatronic processes), presenting the advantages and disadvantages of each method.

关键词： Transient response Heuristic algorithms Sociology Linear programming Stability analysis Thermal analysis Statistics

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Real-time Pricing Mechanism for V2G Using Distributed Bilevel Optimization 63

Real-time Pricing Mechanism for V2G Using Distributed Bileve...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： You, Jiawei Dai, Xinliang Jiang, Yuning Yin, Haoyu Shi, Yuanming Jones, Colin N. ShanghaiTech University School of Information Science and Technology China Epfl Switzerland Karlsruhe Institute of Technology Institute for Automation and Applied Informatics Germany Epfl Automatic Control Laboratory Switzerland Washington University in St. Louis Department of Electrical and Systems Engineering United States

ISBN: (纸本)9798350316339

This paper explores the impact of the burgeoning electric vehicle (EV) presence on distribution grid operations, highlighting the challenges they present to conventional pricing strategies due to their dual role as power consumers and suppliers, coupled with their energy storage capabilities. We propose an advanced real-time pricing model for the electricity market, employing a novel distributed bilevel optimization framework. This framework distinguishes between the distribution system operator (DSO) at the upper level and the EVs at the lower level, each aiming to optimize profit margins. The optimization includes power flow constraints at the upper level to ensure efficient operation within safe system limits, while model predictive control (MPC) is used to optimize lower-level EV responses. Additionally, we provide a rigorous convergence analysis of the proposed bilevel optimization method. Detailed convergence studies and simulation results demonstrate the effectiveness and superiority of the proposed algorithm. © 2024 IEEE.

关键词： Predictive control systems

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Assessing Temperature Sensitivity and Ring Oscillator Count Impact on Configurable Ring Oscillator PUF Performance

Assessing Temperature Sensitivity and Ring Oscillator Count ...

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Mediterranean Conference on Embedded Computing (MECO)

作者： Husam Kareem Oliver Krammer Dmitriy Dunaev Department of Automation and Applied Informatics Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Budapest Hungary Department of Electronics Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (数字)9798350387568

ISBN: (纸本)9798350387575

Physically Unclonable Functions (PUFs) have been introduced as highly promising hardware primitives for key-based security applications. A PUF can be thought of as a hardware fingerprint that is able to produce a device-specific key for utilization in applications involving device identification and cryptographic key-based security. Among various PUF approaches, the ring oscillator (RO) PUF stands out as the most common PUF design due to its simple implementation and high-performance features. However, RO-PUFs are often classified as weak PUFs due to their limited input-output combinations, commonly referred to as challenge-response pairs within the scope of PUFs. Increasing the CRPs size of traditional RO-PUF results in a proportional growth in the hardware requirements for the RO-PUF design. This correlation arises from the linear relationship between the CRPs size and the hardware resources necessary for the RO-PUF design. Configurable RO-PUF emerged as a solution that expands the CRPs size without a substantial hardware increase. This study evaluates the performance reliability of CRO-PUF across various temperatures. Additionally, we explore the impact of altering the ring oscillators count on the CRO-PUF's performance.

关键词： Ring oscillators Temperature sensors Embedded computing Sensitivity Fingerprint recognition Reliability engineering Physical unclonable function

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Unleashing the Full Potential: Increasing the Bit Configuration Options in Configurable Ring Oscillator PUF

Unleashing the Full Potential: Increasing the Bit Configurat...

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Mediterranean Electrotechnical Conference (MELECON)

ISBN: (数字)9798350387025

ISBN: (纸本)9798350387032

Physically unclonable functions (PUFs) are essential primitives for enhancing hardware security, leveraging the variations in physical characteristics of integrated circuits (ICs) that happen during the manufacturing process. Among various PUF designs, the Ring Oscillator (RO) PUF offers design simplicity and high performance. However, RO-PUFs have been limited in their input-output combinations or what is referred to as challenge-response pairs (CRPs) within the scope of PUFs, classifying them as weak PUFs. Consequently, increasing the CRPs size of the RO-PUF will result in an enhancement of the PUF's overall security attributes. Increasing the CRPs size of a RO-PUF can be achieved through two main methods. Firstly, by increasing the number of ring oscillators in the design which leads to greater hardware demands. Secondly, configurability can be introduced into the individual ring oscillators of the RO-PUF without imposing a substantial demand on hardware resources. Therefore, this paper utilizes the configurability approach to maximize the size of the CRPs set. The evaluation process conducted in this study demonstrates that the proposed design provides excellent results across several performance metrics.

关键词： Ring oscillators Measurement Integrated circuits Electric potential Manufacturing processes Hardware security Artificial neural networks

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Feasibility of Comparing Constructive Spatial Processes in Real and Virtual Spaces among School-Age Children: A Randomized Pilot Study 2

Feasibility of Comparing Constructive Spatial Processes in R...

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2nd IEEE International Conference on Cognitive Aspects of Virtual Reality, CVR 2023

作者： Pulay, Mark Agoston Geszten, Dalma Szakal, Vince Abosa Forstner, Bertalan Szentandrasi, Dora Budapest University of Technology and Economics Faculty of Economic and Social Sciences Department of Ergonomics and Psychology BudapestH-1111 Hungary Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Automation and Applied Informatics BudapestH-1111 Hungary Moholy-Nagy University of Art and Design BudapestH-1121 Hungary

ISBN: (纸本)9798350338638

Nowadays new information and communication technologies (IT) directly influence teaching methods, practices and resources. The use of virtual reality (VR) technology in education enables new approaches that can enhance, guide, and stimulate students' interest in learning while allowing them to experience the subject and acquire sensory and intuitive cognition in a more personal and realistic environment. This research aims to answer the question: can constructive spatial activity with real materials in real space be replaced by virtual space and digital tools in terms of assessing stability and knowledge acquisition? This current pilot study aims to examine the feasibility of our research setup and analysis methods while children are asked to perform an intuitive creative process to construct a structure in real and digital space. We involved twelve school-Age (8,47 years average) from an elementary school, and we randomly allocated them to group 1 (real space construction) and to group 2 (tablet application construction). We created a behavioral coding scheme for the widely used and validated Noldus Observer XT (version 15) video behavior analyzer software. The video analyses showed that the creation phases defined in the construction process appeared on both real space and in a virtual setting, confirming the assumption that the acquisition of knowledge and skills related to stability can also be phased. Based on our pilot research on a small sample, the chosen observation and research methodology is feasible. We predict that the real-space constructive task applied in the measurement can be replaced by a digital interface to experience stability. © 2023 IEEE.

关键词： Virtual reality

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Parameter estimation for a simplified model of an electrolytic capacitor in transient regimes 10

Parameter estimation for a simplified model of an electrolyt...

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10th International Conference on Mathematical Modeling in Physical Sciences, IC-MSQUARE 2021

作者： Barbulescu, Corneliu Dragomir, Toma-Leonida Department of Automation and Applied Informatics Politehnica University Timișoara Timișoara Romania

The real capacitors' behaviour in electric circuits modelled by a single capacity deviates from the ideal one. In order to find better compromises between precision and simplicity, different C-R-L models are used. In these models, C, R, L are called equivalent parameters and take constant values. Under these assumptions, the capacitors are modelled as lumped parameter subsystems although it is well known that the real capacitors are essentially distributed parameter systems. As highlighted in this paper, the capacitors are also time-variant subsystems. To prove this, we use two types of experimental data: data measured during the capacitor’s discharge process and data obtained from frequency characteristics. The article proposes two estimation methods of equivalent values for the model parameters C and R based on their time variance highlighted by the experimental data. The estimation methods use a system of equations associated with the discharging of capacitors, respectively, with the frequency characteristics via polynomial regression. The experiments were carried out with an electrolytic polymer capacitor rated 220 μF, 25 V, 2.5 A rms, 85 ℃, designed mainly for energy storage and filtering, the results being confirmed by experiments performed on other similar capacitors. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Digital storage

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