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International Conference on Intelligent Transportation

作者： Chang Liu Tamas Sziranyi Department of Networked Systems and Services Budapest University of Technology and Economics Müegyetem rkp. 3 H-1111 Budapest Hungary and Machine Perception Research Laboratory of Institute for Computer Science and Control (SZTAKI) Budapest Hungary Faculty of Transportation Engineering and Vehicle Engineering Machine Perception Research Laboratory of Institute for Computer Science and Control (SZTAKI) Budapest University of Technology and Economics (BME-KJK) Müegyetem rkp. 3 H-1111 Budapest Hungary Budapest Hungary

UAVs are playing an increasingly important role in the field of wilderness rescue by virtue of their flexibility. This paper proposes a fusion of UAV vision technology and satellite image analysis technology for active wildfires detection and road networks extraction of wildfire areas and real-time dynamic escape route planning for people in distress. Firstly, the fire source location and the segmentation of smoke and flames are targeted based on Sentinel 2 satellite imagery. Secondly, the road segmentation and the road condition assessment are performed by D-linkNet and NDVI values in the central area of the fire source by UAV. Finally, the dynamic optimal route planning for humans in real time is performed by the weighted A* algorithm in the road network with the dynamic fire spread model. Taking the Chongqing wildfire on August 24, 2022, as a case study, the results demonstrate that the dynamic escape route planning algorithm can provide an optimal real-time navigation path for humans in the presence of fire through the information fusion of UAVs and satellites.

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Modeling the Variety of Trip Opportunities in Recreational Route Networks

Frontiers in Artificial Intelligence and Applications

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Frontiers in Artificial Intelligence and Applications 2021年 343卷 264-268页

作者： Molnár, András J. SZTAKI Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary

ISBN: (纸本)9781643682426

In this paper, we deal with the question of how the variety of trip opportunities can be modeled in - possibly complex - recreational trail networks (such as hiking paths or cycling ways). In order to quantify the variety of possible loop trips starting from specific trailheads (starting nodes accessible from outside the network) and the variety of connecting trips between specific origin-destination pairs, two novel measures of Loop Trip Variety Index (LTVI) and Connecting Trip Variety Index (CTVI) are proposed preliminarily and informally in [12], respectively, in the frame of assessing the impacts of some recent trail network developments. This paper establishes the formal definitions of improved variants of these measures, shows their well-definedness, presents the algorithms of their computation, investigates on their properties and benefits, and gives reasons of how and to what extent they can be treated as models of trip variety. Possible uses, application areas and future improvements are sketched especially for visitor management planning and profile-based trip recommendation systems. © 2021 The authors and IOS Press.

关键词： Information management

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Integration of Robust control with Reinforcement Learning for Safe Autonomous Vehicle Motion

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IFAC-PapersOnLine 2023年第2期56卷 1101-1106页

作者： Attila Lelkó Balázs Németh Dániel Fényes Péter Gáspár Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) 13-17. Kende u. H-1111 Budapest Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics 2 Stoczek u. H-1111 Budapest Hungary

This paper presents a control design framework for the integration of robust control and reinforcement learning-based (RL) control agent. The proposed integration method is applied for motion control of autonomous road vehicles, providing safe motion. In the integrated motion control, longitudinal and lateral dynamics are incorporated. The high-performance motion of the vehicle, e.g., high-velocity motion, path following, and reduction of lateral acceleration, through the RL-based control agent is achieved. The training through Proximal Policy Optimization during episodes is performed. Safe motion with guaranteed performances, i.e., keeping limits on lateral error, through the robust control and the supervisor is achieved. The robust control is designed through the H ∞ method, and in the supervisor, a constrained quadratic programming task is performed. As a result, lateral and longitudinal control inputs of the vehicle are calculated by the integrated control system. The effectiveness of the proposed control method using simulation scenarios and test scenarios on a small-scaled test vehicle is illustrated.

关键词： Adaptive and robust control of automotive systems Autonomous vehicles

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Generalised system level approach

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IFAC-PapersOnLine 2021年第8期54卷 45-50页

作者： Zoltán Szabó József Bokor Péter Gáspár Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) Budapest Hungary

Recently, system level approach has been proposed as a novel design tool for large-scale cyber physical systems in the discrete time LTI framework. The main idea of the new paradigm is a shift from constructing and parametrizing the desired optimal controller to the parametrization of the achievable closed loop behaviours (closed loop shape). Then, the controller is synthesised from the system level data in a way that keep the imposed structural constraints intact. In this paper we lift the main idea of the system level parametrization to a general level, that also includes the class of LPV systems. We also provide a general scheme for the realization related to different Möbius transforms which are formulated in terms of the original data and also keep intact the structural information.

关键词： system level approach Youla parametrization decentralized controller

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Hamiltonian representation of generalized ribosome flow models

Hamiltonian representation of generalized ribosome flow mode...

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European control Conference (ECC)

作者： Mihá ly A. Vá ghy Gá bor Szederké nyi Faculty of Information Technology and Bionics P&#x00E1 zmany P&#x00E9 ter Catholic University Budapest Hungary Systems and Control Laboratory of ELKH Institute for Computer Science and Control (SZTAKI) Budapest Hungary

ISBN: (数字)9783907144077

ISBN: (纸本)9781665497336

In this paper we study a class of compartmental models with bounded capacities, called generalized ribosome flow models and show that they are formally kinetic, i.e. we can assign a chemical reaction network (CRN) to the system based on the compartmental structure which realizes the nonlinear dynamics. We decompose the model into two dual subsystems both having positive linear first integrals representing conservation. Based on the dynamics of the reaction network we construct a port-Hamiltonian representation of the system in the original and also in the reduced state spaces with clear connection between the structure matrices and the compartmental graph topology. We finally demonstrate that the system is non-expansive in the -norm both in the original and in the reduced state spaces. The generality of our approach ensures that the results are valid for a wide class of reaction rate functions used in the CRN representation.

关键词： Network topology Europe Aerospace electronics Chemical reactions Topology Nonlinear dynamical systems Kinetic theory

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Business model development concept for SMEs in the era of twin transition

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Procedia computer science 2024年 232卷 523-532页

作者： Viola Gallina Arko Steinwender Elisabeth Zudor Davy Preuveneers Sebastian Schlund Fraunhofer Austria Research GmbH Theresianumgasse 7 Vienna 1040 Austria Institute for Computer Science and Control (SZTAKI) Kende str. 13-17 Budapest 1111 Hungary imec-DistriNet KU Leuven Celestijnenlaan 200A - bus 2402 B-3001 Heverlee Belgium TU Wien Theresianumgasse 27 A-1040 Wien Austria

The urgent need to act against climate change is emphasized in many initiatives, such as the Sustainable Development Goals, the European Green Deal, and the Circular Economy Action Plan. The role of the industrial sector is crucial. Companies, however, have to operate in a very complex environment driven by digitization and are supposed to be more sustainable. This paper explores how companies can implement the ecological transformation, with a focus on the role of digital technologies and data in enabling the twin transition. This paper proposes an approach to support SMEs in the twin transition through a combination of digital and sustainable business model development. The concept includes an interdisciplinary methodology that combines qualitative and quantitative approaches, focusing on the latter. The suggested method collection includes adaptations of the business model canvas, value proposition analysis, data-driven decision-making, and the integration of environmental and economic considerations using the system of environmental-economic accounting. In particular, approaches to define the quantification of economic as well as ecological value will be key levers for sustainable implementation. By leveraging these approaches, SMEs can navigate the challenges of digital transformation and sustainability and contribute to a more sustainable future.

关键词： quantitative approach value creation business model digitization sustainability

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Robust control design using ultra-local model-based approach for vehicle-oriented control problems

Robust control design using ultra-local model-based approach...

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European control Conference (ECC)

作者： Dá niel Fé nyes Tamá s Hegedű s Balá zs Né meth Zoltá n Szabó Pé ter Gá spá r Institute for Computer Science and Control (SZTAKI) E&#x00F6 tv&#x00F6 s Lor&#x00E1 nd Research Network (ELKH) Budapest Hungary Department for Control of Transportation and Vehicle Systems Budapest University of Technology and Economics Budapest Hungary

ISBN: (数字)9783907144077

ISBN: (纸本)9781665497336

Model Free control (MFC) with ultra-local model is novel design method to provide high performance control for systems with nonlinear dynamics. The basic concept of this approach is to compute an ultra-local model, which is valid for a short period of time. Although the concept has already been successfully applied for various vehicle control problems, there are some open issues regarding the robustness and the stability of the closed-loop controlled system. This paper presents a method for designing a robust control based on $\mathcal{H}_{\infty}$ synthesis, with which a solution on these issues can be found. In the proposed MFC strategy the ultra-local model-based control is in the inner loop of the control structure. Moreover, a robust $\mathcal{H}_{\infty}$ control for the outer loop is designed, in whose control-oriented model the control of the inner loop is incorporated. The control strategy is implemented in high-fidelity vehicle dynamic environment and its efficiency and operation are demonstrated through a complex simulation example.

关键词： Robust control control design Computational modeling Design methodology Process control Stability analysis Software

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Coordinated control design for steering and torque-vectoring in Model-Free control structure*

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IFAC-PapersOnLine 2022年第6期55卷 496-501页

作者： Tamás Hegedűs Dániel Fényes Balázs Németh Zoltán Szabó Péter Gáspár Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) Budapest Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2 H-1111 Budapest Hungary

Model-Free control (MFC) approach is a novel technique to handle nonlinearities and uncertainties in control systems in order to provide enhanced performance level. The design of MFC is based on an ultra-local model, which is an approximation of the dynamics of the controlled system for a short period of time. This structure also involves a model-based robust control, which guarantees the accurate tracking performance of the closed-loop system. In this paper, a novel technique is proposed for designing the robust control for taking into account the varying characteristics of the ultra-local model. A novel modeling method is presented, which combines the original plant of the controlled system and the ultra-local model. Then, a robust control design is proposed, by which the tracking performance and the robustness of the closed-loop system can be guaranteed. The design steps and effectiveness of the proposed control strategy is demonstrated through a vehicle-oriented control problem using the high-fidelity simulation software, CarMaker.

关键词： model-free control torque vectoring automated vehicles robust control

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Collaborative Visual-Inertial Localization of Teams With Floorplan Extraction

Collaborative Visual-Inertial Localization of Teams With Flo...

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Acoustics, Speech, and Signal Processing Workshops (ICASSPW), IEEE International Conference on

作者： Sándor Gazdag Dániel Pasztornicky Zsolt Jankó Tamás Szirányi András L. Majdik Institute for Computer Science and Control (SZTAKI) Machine Perception Research Laboratory Budapest Kende u. 13.-17 Department of Material Handling and Logistics Systems Budapest University of Technology and Economics Budapest Bertalan Lajos u. 7

This paper showcases a real-world example of a system that achieves collaborative localization and mapping of multiple agents within a building. The proposed system processes the odometry and 3D point cloud data collected by the agents moving around the building to automatically generate the building’s floorplan on which the agent trajectories are overlaid. The wearable hardware consists of a low-cost passive integrated sensor that includes both a camera and an IMU (Inertial Measurement Unit) and an embedded compute unit. The system’s capabilities are shown through real-world experiments.

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control of Continuous, High Purity Distillation Column Using Nonlinear Adaptive control Based on Robust Fixed Point Transformation Phenomena

Control of Continuous, High Purity Distillation Column Using...

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International Conference on Computational Cybernetics (ICCC)

作者： Marianna Dimitrova Kucarov Miklos Kozlovszky Doctoral School of Applied Informatics and Applied Mathematics BioTech Óbuda University Budapest Hungary John von Neumann Faculty of Informatics Óbuda University Bp Hun Medical Device Research Group LPDS Institute for Computer Science and Control (SZTAKI) Hungarian Research Network (HUN-REN)

ISBN: (数字)9798350350159

ISBN: (纸本)9798350350166

A nonlinear feedback control scheme for continuous, binary, tray, multiple-product, and high-purity distillation columns has been proposed. Vapor-liquid equilibrium curve of raw material is presented. Physical properties, kinematics, and dynamics of the distillation column are also calculated. Automatic process control technique is designed for the composition of product in order to follow a desired trajectory. controlling is solved with a novel nonlinear, adaptive approach, called Robust Fixed Point Transformation (RFPT) as well as with the classical, linear PID controller so as to compare their performance. RFPT provides a remedy to disturbances that occur at linear process control.

关键词： Deformable models Trajectory tracking Distillation equipment Simulation Process control Kinematics Mathematical models

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