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International Symposium on Computational Intelligence and informatics

作者： David Szalóki Norbert Koszó Kristóf Csorba Gábor Tevesz Department of Automation and Applied Informatics Budapest University of Technology And Economics Hungary

This paper presents the optimization of a camera placement for improved localization accuracy. It is the basis of a localization system aiming for high localization accuracy. This goal is achieved using several cameras with very redundant field-of-views. The paper presents the calculation of the localization accuracy - which depends on the camera model and the pixel quantizing error - at one specific point. A method is introduced for handling areas in a probabilistic sense instead of examining only one point. The accuracy can be improved by adding a new camera to the system. The calculation of the optimal position of the new camera at compliance to some restrictions is demonstrated. The Smart Mobile Eyes for Localization (SMEyeL) project is open-source: the source code, all measurement input data and documentation are public available.

关键词： Cameras Accuracy Covariance matrices Density functional theory Three-dimensional displays Eigenvalues and eigenfunctions informatics

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A Novel Algorithm for Flattening Virtual Subsystems in Simulink Models

A Novel Algorithm for Flattening Virtual Subsystems in Simul...

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IEEE International Conference on System Science and Engineering

作者： Peter Feher Tamas Meszaros Laszlo Lengyel Pieter J. Mosterman Department of Automation and Applied Informatics Budapest University of Technology and Economics Research and Development MathWorks

ISBN: (纸本)9781479900084

Recently embedded systems are often modeled using Simulink to simulate their behavior. In order to perform the simulation, the modeling tool has to process the model. An important processing step is to determine the execution order of the elements in a model. This execution order is based on a sorted list of all semantically relevant model elements. Therefore, before simulation, Simulink removes all model elements that only have a syntactic implication. In Simulink, the virtual subsystems are composite elements with no semantic bearing. Thus, Simulink performs a flattening model transformation that eliminates virtual subsystems. The work presented in this paper provides a novel algorithm for flattening composite elements in hierarchical models. Moreover, an optimized algorithm is also presented for Simulink models. With the implementation of these algorithms the level of abstraction of the model transformation can be raised. In this manner, a reusable, platform independent solution can be achieved for flattening Simulink subsystems.

关键词： Algorithms Cyber-Physical Systems Embedded Systems Hierarchical Models Model-Based Design Simulink Sub-systems hierarchical models Embedded systems FLATTENING SUB-SYSTEM composite element Cyber-physical systems Virtual algorithms fundamental design

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A method of machine code translation to intermediate representation

A method of machine code translation to intermediate represe...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Dmitriy Dunaev Hassan Charaf László Lengyel Dept. of Automation and Applied Informatics Budapest University of Technology and Economics (BME) Budapest Hungary

Translation of machine code to intermediate representation is an essential part of a platform-independent obfuscator that deals with intermediate code. The paper discusses a method of assembly code analysis and its translation to three-address code. The focus is set on basic block splitting, alias analysis, value-sets analysis, and interprocedural analysis. The presented techniques are universal, and can be used apart from an obfuscator tool.

关键词： Registers Assembly Algorithm design and analysis Abstracts Optimization Data structures Software

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The RobonAUT robot construction contest in 2013

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IFAC Proceedings Volumes 2013年第17期46卷 186-191页

作者： Tamäs Gäbor KISS Läszló Csaba BURKODI Péter KARKUS Däniel VARGA Istvän VAJK Department of Automation and Applied Informatics Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar Tudósok körútja 2. 1117 Budapest Hungary

This paper presents the robot constructing contest called RobonAUT, where teams of three have to design and compete against each other using their robot. During the course of the contest students can learn how to do the mechanics, electronics and programming of an autonomous mobile robot. The event takes place on two fields. The first is a field where robots have to complete certain stager in less than five minutes to score. On the second field speed is essential and the units have to speed up to score. They have to detect different obstacles with sensor systems that teams connected to a certain type of robot kit. In 2013 the field got more difficult obstacles, like the finish, which was a horizontal surface, but now it is a slope where robots have to stop. Obstacle avoidance is the other obstacle where one side of the object is corded and the other is smooth, the robot have to detect the pattern on the wall.

关键词： Autonomous mobile robots Robotics Robot control Education Microcomputer based systems Autonomous control

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Team organization and participation in the Eurobot 2012 contest

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IFAC Proceedings Volumes 2013年第17期46卷 180-185页

作者： Läszló Csaba BURKODI Tamäs Gäbor KISS Péter KARKUS Däniel VARGA Istvän VAJK Department of Automation and Applied Informatics Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar Tudósok körútja 2. 1117 Budapest Hungary

Eurobot is an international competition where autonomous robots are competing against each other. This contest is organized in every year since 1998. This article introduces the electrical and mechanical designing steps of an autonomous robot, which was constructed for the contest. Additionally upgraded parts of the electrical system compared to previous years are also presented in this paper. We go into details about the positioning system, which includes absolute and relative positioning methods, and we analyze the development opportunities of them. The introduction of the hardware and software architecture, navigation algorithm are also part of this article. We focus on the designing experiences and development opportunities of the system.

关键词： Eurobot Autonomous mobile robots Mechanical engineering Positioning systems Robot control Robotics

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Fuzzy Situational Maps: A new approach in mobile robot cooperation

Fuzzy Situational Maps: A new approach in mobile robot coope...

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17th IEEE International Conference on Intelligent Engineering Systems, INES 2013

作者： Ballagi, A. Pozna, C. Foldesi, P. Koczy, L.T. Department of Automation Széchenyi István University Gyor Hungary Department of Informatics Széchenyi István University Gyor Hungary Department of Logistics and Forwarding Széchenyi István University Gyor Hungary Department of Telecommunications and Media Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781479908288

Intelligent robot cooperation tasks have very complex decision-making and computational processes. Collecting and calculating with a high amount of data is one of the weakest point of such system. In addition all of these it is necessary to process in real-time with limited computational capacity. In this paper we propose some novel algorithms for coping with these problems and give some information about the Fuzzy Situational Maps as a special case of the Fuzzy Signatures. An example takes to the field of warehouse logistics, managing and arranging boxes will be presented. © 2013 IEEE.

关键词： Intelligent robots

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Analysis of mobile BitTorrent client behavior

Analysis of mobile BitTorrent client behavior

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Kristóf Csorba Péter Ekler András Bori Hassan Charaf Department of Automation and Applied Informatics Budapest University of Technology Hungary

In this paper we analyze the anonymous reports provided by our Android based BitTorrent client called DrTorrent. This application is available for free and is a full featured torrent client. The reports allow us to analyze the usage patterns typical for mobile torrent clients. As the mobile devices have some special properties like processing power, energy, and bandwidth limitations, the behavior differs from the traditional desktop clients. Beside the several statistics on for instance the sizes of accessed torrents and download times, we present parametric estimation models for the number of peers for a given torrent, and for the rate of peers which can be successfully connected to. This research can be considered as a pioneer work in the field of analyzing large peer-to-peer networks in modern mobile environments. The described measurement results enable to understand the mobile BitTorrent behavior in details and the proposed models can be used also as a base model for designing other mobile peer-to-peer services.

关键词： Histograms Approximation methods Protocols Mobile communication Smart phones Peer-to-peer computing

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Network bandwidth aggregation based mobile resource management

Network bandwidth aggregation based mobile resource manageme...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Krisztián Pándi Hassan Charaf Krisztián Fekete Department of Automation and Applied Informatics Budapest University of Technology Hungary

Mobile computer technology has greatly evolved in recent years. Cloud computing is recognized to be a new area for solving performance issues. Mobile terminals can take advantage from cloud computing. To cope with these new resources and fulfil new quality and performance requirements more sophisticated architecture and resource management are necessary. A mobile resource management architecture that uses cloud computing resources strongly relies on network bandwidth. Unfortunately wireless communication currently offers less bandwidth with more latency. To overcome this possible bottleneck parallel usage of network interfaces are feasible. In this paper mobile resource management using network aggregation technique is presented.

关键词： Mobile communication Resource management Bandwidth Network interfaces Mobile computing Computer architecture Cloud computing

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On the benefits of cognitive infocommunication for mobile communication nodes using cooperative concepts

On the benefits of cognitive infocommunication for mobile co...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： László Blázovics Bertalan Forstner Hassan Charaf Frank H. P. Fitzek Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Department of Electronic Systems University of Aalborg Aalborg Denmark

The distributed coordination of a group of mobile robots became a widely studied area in the last decades however the communication aided solutions became also popular research. In this paper we present the concept of cognitive swarm which enables to design faster and reliable cooperative groups by the use of cognitive infocommunication. We demonstrate the benefits of our new concept by a scenario in which a swarm of mobile robots had to guard a given area by intercepting eventual intruders. Therefore we introduce the area surveillance problem and we give both a baseline and a cognitive infocommuncation aided solution for that by the use of the basic behaviour set as fundamental. We show through simulation results that the proposed cognitive scheme can reduce the surrounding time by the factor of two leading to faster interception.

关键词： Robot sensing systems Robot kinematics Dispersion Conferences Surveillance

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Network Coding Over The 232 - 5 Prime Field

Network Coding Over The 232 - 5 Prime Field

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IEEE International Conference on Communications

作者： Morten Videbaek Pedersen Janus Heide Peter Vingelmann Frank H. P. Fitzekt Department of Electronic Systems Aalborg University Denmark Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

Creating efficient finite field implementations has been an active research topic for several decades. Many applications in areas such as cryptography, signal processing, erasure coding and now also network coding depend on this research to deliver satisfactory performance. In this paper we investigate the use of prime fields with a field size of 232 - 5, as this allows implementations which combines high field sizes and low complexity. First we introduce the algorithms needed to apply prime field arithmetics to arbitrary binary data. After this we present the initial throughput measurements from a benchmark application written in C++. These results are finally compared to different binary and binary extension field implementations. The results show that the prime field implementation offers a large field size while maintaining a very good performance. We believe that using prime fields will be useful in many network coding applications where large field sizes are required.

关键词： Encoding Memory management Benchmark testing Upper bound Equations Network coding Decoding

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