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Advanced dynamic window based navigation approach using model predictive control

Advanced dynamic window based navigation approach using mode...

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International Conference on Methods and Models in automation and Robotics (MMAR)

作者： Domokos Kiss Gábor Tevesz Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

A well-known reactive motion planning technique, the dynamic window approach (DWA) provides an elegant way to navigate safely in the presence of obstacles, also taking the dynamic properties of the robot into account. Most of the DWA-based methods have the same limitation, namely they use an objective function consisting of weighted terms. Different situations require different weights, however, there is no algorithm for choosing them. This paper presents a global dynamic window-based navigation scheme using model predictive control and having no weighted objective function. Former DWA-based methods take dynamic limitations of the robot by acceleration constraints into account. In contrast with that, the proposed approach utilizes a dynamic motion model of the robot.

关键词： Robot kinematics Mobile robots Navigation Wheels Collision avoidance Shape

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The challenges of a model transformation language

The challenges of a model transformation language

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International Conference and Workshop on Engineering of Computer-Based Systems

作者： Peter Feher Laszlo Lengyel Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

With the increasing application of the Model-Driven Development, the model transformation approaches and tools have become an emerging researching field. An important aspect of model-driven approaches is the language that facilitates the definition of model transformations. In case of model transformation languages it is essential to investigate how expressive the language is, e.g. how self-explaining it is, what kind of language constructs it offers, and how effectively this transformation definition can be processed. In this paper we investigate the languages of some popular model transformation tools, particularly their main attributes and specificities. Using a case study, we examine how these aspects support both the effective definition and processing of model transformations. As a conclusion, we summarize the aspects that an expressive and effective model transformation language should address.

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Towards biofeedback-controlled self-rewarding learning with mobile devices

Towards biofeedback-controlled self-rewarding learning with ...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Luca Szegletes Bertalan Forstner Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

Over the past decades, reinforcement learning has been applied in several fields of computer science (especially in machine learning) as a learning algorithm. The same model can be used in cognitive neuroscience. In this case, neurotransmitters are providing the rewarding signal, and therefore in the background a similar learning process occurs as in reinforcement learning. According to previous studies, the same chemicals are produced through playing video games. In this paper, we aim to show a few methods and promising approaches to advance a biofeedback-controlled self-rewarding learning framework, which can be established in numerous applications. In recent times, mobile devices (phones and tablets as well) acquire more and more popularity among teenagers. Our objective is to develop a framework on these devices to measure and interpret neural activity and learning progress in general, so a related system can be developed to sustain attention and as a result, adaptive computer games may be developed in the near future.

关键词： Games Mobile handsets Electroencephalography Computers Monitoring Brain Testing

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Complexity of a Special Deobfuscation Problem

Complexity of a Special Deobfuscation Problem

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International Conference and Workshop on Engineering of Computer-Based Systems

作者： Dmitriy Dunaev L´szlo Lengyel Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

This paper considers process of obfuscation as adding additional (redundant) entities to the program at intermediate representation that would complicate the understanding of entangled code. The presented mathematical apparatus discusses introductory terms, definitions, and operations and formulates a theorem about NP-completeness of such deobfuscation problem. We show that the problem of determining the significance of the operational logic in the obfuscated routine is reduced to the Boolean satisfiability problem. The limits of applicability of the theorem are mentioned and an approach is offered that can significantly reduce the probability of creating a deobfuscator running in polynomial time.

关键词： Vectors Polynomials Software Algorithm design and analysis Complexity theory Reverse engineering

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Verified operational patterns with graph transformation

Verified operational patterns with graph transformation

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5th IEEE International Conference on Software Testing, Verification and Validation, ICST 2012

作者： Mészáros, Tamás Levendovszky, Tihamér Department of Automation and Applied Informatics Budapest University of Technology and Economics Magyar Tudósok krt.2 1117 Budapest Hungary Institute for Software Integrated Systems Vanderbilt University Nashville TN United States

ISBN: (纸本)9780769546704

Using object-oriented patterns such as design patterns, architectural patterns, and refactoring operations has considerably simplified the design process of software systems. With the proliferation of Domain-Specific Languages, the generalization of OO patterns is a natural demand. A straightforward idea is to adapt OO patterns with automated tool support to the practice of Domain-Specific Modeling as well. A possible solution for that is using graph transformations to formalize and realize such patterns. One may expect, however, that the patterns are realized in a way that they are correct and do exactly what we expect them to. In this paper, we present how one can precisely define the requirements for a domain-specific model pattern, and how to verify the requirements on the implemented patterns. The presented concept is motivated and illustrated with a case study from the state chart domain. © 2012 IEEE.

关键词： Object oriented programming

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Target Tracking and Surrounding with Swarm Robots

Target Tracking and Surrounding with Swarm Robots

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International Conference and Workshop on Engineering of Computer-Based Systems

作者： Laszlo Blazovics Kristof Csorba Bertalan Forstner Charaf Hassan Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

Nowadays the capabilities of autonomous robots have increased rapidly. However there are situations where one robot is not sufficient. In this paper we will introduce a completely distributed algorithm for tracing and surrounding moving objects or targets using homogenous, medium scaled swarm robots based on local sensing. Our new approach is based on the already known concept of basis behaviors as ubiquitous general building blocks for synthesizing artificial group behavior. Our goal was to generate an algorithm based on simple rules in order to protect a territory from a human intruder. In contrast with the common solution which is employing potential fields, we tried to keep our method as simple as possible by utilizing rule-based control mechanism. We will also present our virtual simulation environment and experimental results.

关键词： Trajectory Target tracking Robot sensing systems Robot kinematics Algorithm design and analysis

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Energy-efficient computation offloading model for mobile phone environment

Energy-efficient computation offloading model for mobile pho...

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IEEE International Conference on Cloud Networking (CLOUDNET)

作者： Krisztián Fekete Kristóf Csorba Bertalan Forstner Marcell Fehér Tamás Vajk Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

ISBN: (纸本)9781467327978

The popularity of smartphones is growing every day. Thanks to the more powerful hardware the applications can run more tasks and use broadband network connection, however there are several known issues. For example, under typical usage (messaging, browsing, and gaming) a smartphone can be discharged in one day. This makes the battery life one of the biggest problems of the mobile devices. That is a good motivation to find energy-efficient solutions. One of the possible methods is the “computation offloading” mechanism, which means that some of the tasks are uploaded to the cloud. In this paper we are going to present a new energy-efficient job scheduling model and a measurement infrastructure which is used to analyze the energy consumption of smartphones. Our results are going to be demonstrated through some scenarios where the goal is to save energy. The offloading task is based on LP and scheduling problems.

关键词： Energy consumption Smart phones Energy measurement Servers Power measurement Conferences

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DC components and subharmonics generated by naturally sampled PWM techniques

DC components and subharmonics generated by naturally sample...

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Annual Conference of Industrial Electronics Society

作者： Péter Stumpf Rafael K. Járdán István Nagy Department of Mechatronics Optics and Engineering Informatics Budapest University of Technology and Economics Budapest Hungary Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

One possible implementation form of Pulse Width Modulation is the naturally sampled one (NS-PWM). Its favourable properties are that no distortion or delayed response are introduced by it. The paper compares three different realizations of NS-PWM techniques by simulations and experimental measurements when the carrier over reference frequency ratio mf is small number as in inverters supplying ultrahigh speed induction motor (USIM). The three NS-PWM techniques are the Sinusoidal, Sinusoidal and third-harmonic reference injection and the Space Vector Modulation. The paper verifies both by simulation and laboratory results that the three techniques generate DC voltage component in the output voltage of the inverter contrary to many previous publications. In addition subharmonic currents and fluxes with considerable amplitudes are produced as well due to the small mf and very low subharmonic frequency even though the subharmonic voltage component is very small.

关键词： Induction motors Pulse width modulation

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Power management of intelligent buildings in Smart Grid

Power management of intelligent buildings in Smart Grid

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1st International Conference on Smart Grids and Green IT Systems, SMARTGREENS 2012

作者： Varga, Zoltan Szabo, Istvan Department of Automation and Applied Informatics Budapest University of Technology and Economics Magyar Tudósok krt. 2 Budapest Hungary Ecotech Zrt. College of Dunaujvaros Tancsics Mihaly u. 1 Dunaujvaros Hungary

ISBN: (纸本)9789898565099

The paper presents an intelligent building project, located in Dunaujvaros, Hungary, which is intended to be connected to a locally set-up experimental Smart Grid. The intelligent buildings are considered as cells in neural network where the different cells are connected to each other, establishing a real information and power grid. Here, a unique theoretical solution has been proposed.

关键词： Smart power grids

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Simulation and control for telerobots in space medicine

Simulation and control for telerobots in space medicine

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作者： Haidegger, Tamas Kovaacs, Levente Precup, Radu-Emil Benyo, Balaazs Benyo, Zoltan Preitl, Stefan Department of Control Engineering and Information Technology Budapest University of Technology and Economics Magyar tudosok krt. 2 H-1117 Budapest Hungary Department of Automation and Applied Informatics Politehnica University OfTimisoara Bd. V. Parvan 2 RO-300223 Timisoara Romania

Human space exploration is continuously advancing despite the current financial difficulties, and the new missions are targeting the Moon and the Mars with more effective human-robot collaborative systems. The continuous development of robotic technology should lead to the advancement of automated technology, including space medicine. Telesurgery has already proved its effectiveness through various telemedi-cine procedures on Earth, and it has the potential to provide medical assistance in space as well. Aeronautical agencies have already conducted numerous experiments and developed various setups to push the boundaries of teleoperation under extreme conditions. Different control schemes have been proposed and tested to facilitate and enhance telepresence and to ensure transparency, sufficient bandwidth and latency-tolerance. This paper focuses on the modeling of a generic telesurgery setup, supported by a cascade control approach. The minimalistic models were tested with linear and PID-fuzzy control options to provide a simple, universal and scalable solution for the challenges of telesurgery over large distances. In our simulations, the control structures were capable of providing good dynamic performance indices and robustness with respect to the gain in the human operator model. This is a promising result towards the support of future teleoperational missions. © 2012 Elsevier Ltd. All rights reserved.

关键词： Delay control systems

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