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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Dániel Fényes Tamás Hegedűs Balázs Németh Vu Van Tan Péter Gáspár HUN-REN Institute for Computer Science and Control (SZTAKI) Budapest Hungary Department of Automotive Mechanical Engineering Faculty of Mechanical Engineering University of Transport and Communications Hanoi Vietnam

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The paper presents a novel observer design method for estimating the front and rear wheel slips of the vehicle. The proposed observer design technique consists of two parts: A simple linear observer algorithm, which uses a reformulated lateral vehicle model to estimate the tire slips. The second part is based on an ultra-local model. The main goal of the ultra-local model is to eliminate the nonlinear, unmodeled, uncertain dynamics of the lateral vehicle model. In this way, the performance level of the linear observer can be significantly increased especially under critical circumstances such as high lateral acceleration maneuvers or driving on a low µ surface. The proposed observer algorithm is implemented in MATLAB/Simulink environment connected to the high-fidelity simulation software, CarMaker. The operation and the effectiveness of the proposed observer are demonstrated through several simulation examples.

关键词： Heuristic algorithms Software algorithms Wheels Observers Mathematical models Tires Software Vehicle dynamics MATLAB Information technology

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Theoretical Evaluation of Asymmetric Shapley Values for Root-Cause Analysis

arXiv

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arXiv 2023年

作者： Kelen, Domokos M. Petreczky, Mihály Kersch, Péter Benczúr, András A. HUN-REN SZTAKI Hungarian Research Network Institute for Computer Science and Control Budapest Hungary CNRS University Lille Lille France Ericsson Hungary Budapest Hungary

In this work, we examine Asymmetric Shapley Values (ASV), a variant of the popular SHAP additive local explanation method. ASV proposes a way to improve model explanations incorporating known causal relations between variables, and is also considered as a way to test for unfair discrimination in model predictions. Unexplored in previous literature, relaxing symmetry in Shapley values can have counter-intuitive consequences for model explanation. To better understand the method, we first show how local contributions correspond to global contributions of variance reduction. Using variance, we demonstrate multiple cases where ASV yields counter-intuitive attributions, arguably producing incorrect results for root-cause analysis. Second, we identify generalized additive models (GAM) as a restricted class for which ASV exhibits desirable properties. We support our arguments by proving multiple theoretical results about the method. Finally, we demonstrate the use of asymmetric attributions on multiple real-world datasets, comparing the results with and without restricted model families using gradient boosting and deep learning models. Copyright © 2023, The Authors. All rights reserved.

关键词： Additives

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Theoretical Evaluation of Asymmetric Shapley Values for Root-Cause Analysis

Theoretical Evaluation of Asymmetric Shapley Values for Root...

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IEEE International Conference on Data Mining (ICDM)

作者： Domokos M. Kelen Mihàly Petreczky Péter Kersch Andràs A. Benczúr HUN-REN SZTAKI Hungarian Research Network Institute for Computer Science and Control Budapest Hungary CNRS University Lille Lille France Ericsson Hungary Budapest Hungary

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Enabling Technologies for Autonomous Robotic Systems in Manufacturing

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Transactions of Nanjing University of Aeronautics and Astronautics 2024年第4期41卷 403-431页

作者： ERDŐS Gábor ABAI Kristóf BEREGI Richárd CSEMPESZ János CSERTEG Tamás GODÓGábor HAJÓS Mátyás HÁY Borbála HORVÁTH Dániel HORVÁTH Gergely JUNIKIÁdám KEMÉNY Zsolt KOVÁCS András NACSA János PANITI Imre PEDONE Gianfranco TAKÁCS Emma TIPARY Bence ZAHORÁN László VÁNCZA József Institute for Computer Science and Control Hungarian Research Network(HUN-REN SZTAKI)BudapestHungary Department of Manufacturing Science and Technology Budapest University of Technology and Economics(BME)BudapestHungary EPIC InnoLabs Nonprofit Ltd. BudapestHungary Eötvös Loránd University(ELTE) BudapestHungary

Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the *** operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication *** enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by *** paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such *** case studies will be presented from recent practice at hun-ren SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and *** various solutions have in common that they use a generic digital twin concept as their *** making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.

关键词： industrial robotics autonomy digital twin enabling technology

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Beyond Bell sampling: stabilizer state learning and quantum pseudorandomness lower bounds on qudits

arXiv

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arXiv 2024年

作者： Allcock, Jonathan Doriguello, Joao F. Ivanyos, Gábor Santha, Miklos Tencent Quantum Laboratory Hong Kong HUN-REN Alfréd Rényi Institute of Mathematics Budapest Hungary HUN-REN Institute for Computer Science and Control Budapest Hungary Centre for Quantum Technologies National University of Singapore Singapore CNRS IRIF Université Paris Cité France

Bell sampling is a simple yet powerful measurement primitive that has recently attracted a lot of attention, and has proven to be a valuable tool in studying stabiliser states. Unfortunately, however, it is known that Bell sampling fails when used on qudits of dimension d ą 2. In this paper, we explore and quantify the limitations of Bell sampling on qudits, and propose new quantum algorithms to circumvent the use of Bell sampling in solving two important problems: learning stabiliser states and providing pseudorandomness lower bounds on qudits. More specifically, as our first result, we characterise the output distribution corresponding to Bell sampling on copies of a stabiliser state and show that the output can be uniformly random, and hence reveal no information. As our second result, for d "p prime we devise a quantum algorithm to identify an unknown stabiliser state in pCpqbn that uses Opnq copies of the input state and runs in time Opn4q. As our third result, we provide a quantum algorithm that efficiently distinguishes a Haar-random state from a state with non-negligible stabiliser fidelity. As a corollary, any Clifford circuit on qudits of dimension d using Oplog n{ log dq auxiliary non-Clifford single-qudit gates cannot prepare computationally pseudorandom quantum states. © 2024, CC0.

关键词： Bells

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Learning Nonlinear Models of Dynamic Systems

Learning Nonlinear Models of Dynamic Systems

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International Symposium on Intelligent Systems and Informatics (SISY)

作者： József Bokor Zoltán Szabó HUN-REN Institute for Computer Science and Control SZTAKI Budapest Hungary Research Center of Vehicle Industry (SZE-JKK) Széchenyi István University Gyor Hungary

ISBN: (数字)9798350385601

ISBN: (纸本)9798350385618

Modeling dynamic systems is an important part in analysing and control of various systems arising either in health sciences or in the engineering word. Recent approaches to learn models from data are the so-called kernel-based methods and SVMs. There are strong relations to the theory of reproducing kernel Hilbert space (RKHS), to principal component analysis and canonic correlation analysis known previously from statistics. In recent form their use was extended from statistics to obtain models for dynamic systems. First we summarise the basics for the reproducing kernel based Hilbert space (RKHS) and the support vector machine (SVM) approaches. Following this it will be shown how some frequently used nonlinear models can be obtained by using these concepts. In the last part we discuss the structure estimation problem, i.e. how to determine the (least) number of features (observables) to describe the nonlinear system with a sparse representation.

关键词： Support vector machines Analytical models Sparse approximation Statistical learning Data models Hilbert space Eigenvalues and eigenfunctions Kernel Dynamical systems Principal component analysis

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Estimation of cornering stiffness using ultra-local model and LPV-based observer

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IFAC-PapersOnLine 2024年第4期58卷 437-442页

作者： Dániel Fényes Tamás Hegedűs Péter Gáspár HUN-REN Institute for Computer Science and Control (SZTAKI) Kende u. 13-17 H-1111 Budapest Hungary Department for Control of Transportationand Vehicle Systems Budapest University of Technology and Economics Stoczek u 2. H-1111 Budapest Hungary

The paper presents an observer design method for estimating the slips and the cornering stiffness of autonomous road vehicles. As a first step, the dynamical one-wheeled bicycle model is reformulated to express directly the slips of the vehicle. In the second step, a polytopic model-based observer is designed which can deal with the variation of the scheduling parameters (longitudinal velocity, cornering stiffness). In order to eliminate the parameter uncertainty an ultra-local model is applied by which the cornering stiffness is estimated. The effectiveness and the operation of the proposed observer method are demonstrated through a complex scenario in the high-fidelity simulation software, CarMaker.

关键词： ultra-local model observer lateral dynamics cornering stiffness

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A production scheduling and control system for CAR T cell manufacturing

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Procedia CIRP 2024年 125卷 36-41页

作者： Tamás Kis Simon Hort Péter Györgyi Evelin Szögi Robert H. Schmitt HUN-REN Institute for Computer Science and Control Kende str 13-17 Budapest 1111 Hungary Fraunhofer Institute for Production Technology IPT Aachen Germany Laboratory for Machine Tools and Production Engineering (WZL) of RWTH Aachen University Aachen Germany

This paper addresses some of the new challenges posed by scheduling and controlling the production of chimeric antigen receptor (CAR) T cells for personalized therapies. In this therapy, the patient’s T cells are genetically modified by adding a gene for a receptor to help T cells attach to the cancer cell antigens. Then, the modified cells are grown and multiplied (called cell expansion) and finally returned to the patient. The production takes place in a manufacturing system that comprises several devices, which are capable of processing cells from multiple patients at the same time. The efficient operation of such a complex system requires a sophisticated control system accompanied by a scheduler to optimize the production of CAR T cells for several patients simultaneously. We propose a scheduling algorithm, which can handle the uncertain duration of cell expansion, and the maximum time lags between consecutive processes simultaneously, a combination hardly studied in the literature. We also describe the main features of an adaptive control system including service-oriented device connections as well as centralized control and monitoring. Finally, we describe how the overall system works, including a JSON based communication between scheduler and control system.

关键词： Scheduling Production control CAR T cell manufacturing

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Active Anti-Roll Bar control Design for Heavy Vehicles 1

引用

1000年

作者： Vu Van Tan Olivier Sename Peter Gaspar Trong Tu Do

ISBN: (数字)9789819713592

ISBN: (纸本)9789819713585;9789819713615

This book provides a comprehensive overview of active anti-roll bar systems on heavy vehicles as one of the most effective solutions for improving the roll stability of these vehicles. Due to the characteristics of these vehicles with heavy loads and high center of gravity, the possibility of roll instability occurs frequently and causes serious consequences for human life, vehicles, and traffic infrastructure. The book gives readers an in-depth survey of the roll instability characteristics of heavy vehicles such as single-unit trucks with rigid and flexible frames, and tractor semi-trailers. It then introduces an active anti-roll bar system, the electro-hydraulic actuators which use control methods such as LQR optimal and H∞ robust controller design. This work introduces a new control method, which is a combination of robust control with the linear parameter varying system (H∞/LPV). The validation of the new hybrid method is carried out using the nonlinear truck model from the TruckSim® software to assess the roll stability of heavy vehicles in order to limit the rollover accident. A number of examples are provided to illustrate the research results, which helps the readers have a practical and easy approach that can be applied to other active anti-roll bar systems for most forms of transport vehicles in general. This book caters to academics and practitioners who are interested in active anti-roll bar systems for the typical heavy vehicle available worldwide.

关键词： Mechanical Engineering control and Systems Theory Complexity

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Quotient-convergence of Submodular Setfunctions

arXiv

引用

arXiv 2024年

作者： Bérczi, Kristóf Borbényi, Márton Lovász, László Tóth, László Márton MTA-ELTE Matroid Optimization Research Group HUN-REN-ELTE Egerváry Research Group Department of Operations Research Eötvös Loránd University HUN-REN Alfréd Rényi Institute of Mathematics Budapest Hungary Department of Computer Science Eötvös Loránd University HUN-REN Alfréd Rényi Institute of Mathematics Budapest Hungary HUN-REN Alfréd Rényi Institute of Mathematics Budapest Hungary

We introduce the concept of quotient-convergence for sequences of submodular set functions, providing, among others, a new framework for the study of convergence of matroids through their rank functions. Extending the limit theory of bounded degree graphs, which analyzes graph sequences via neighborhood sampling, we address the challenge posed by the absence of a neighborhood concept in matroids. We show that any bounded set function can be approximated by a sequence of finite set functions that quotient-converges to it. In addition, we explicitly construct such sequences for increasing, submodular, and upper continuous set functions, and prove the completeness of the space under quotient-convergence. © 2024, CC BY.

关键词： Set theory

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