R. C. Pozna

22036026200

Publications - 68

An Improved IEHO Super-Twisting Sliding Mode Control Algorithm for Trajectory Tracking of a Mobile Robot

Mostafa MJAHED R. C. Pozna Ernö Horváth Abdeljalil EL KARI Nada EL GMILI Hassan AYAD Ahmed OULTILIGH

Publication Name: Studies in Informatics and Control

Publication Date: 2024-03-01

Volume: 33

Issue: 1

Page Range: 49-60

Description:

In recent years, trajectory tracking of a mobile robot has been one of the most addressed problems in the specilized literature, as a mobile robot must have the ability to follow a trajectory, while also compensating various external and internal disturbances. This paper proposes an IEHO-STSM controller based on the super-twisting sliding mode for the path tracking of a mobile robot. First, a new improved IEHO algorithm has been developed and introduced, based on the EHO (Elephant Herding Optimization) metaheuristic algorithm. The developed algorithm consisted in improving the performance of the basic EHO such as convergence speed, exploration and exploitation capabilities. Then, based on a dynamic model of the mobile robot, a super-twisting sliding mode (STSM) controller was designed to guide the robot to the desired trajectory. Finally, the improved IEHO algorithm was applied for adjusting the parameters of the super-twisting sliding mode (STSM) controller. The analysis of the proposed IEHO algorithm has been done by comparing it with EHO, PSO (Particle Swarm Optimization) and GWO (Grey Wolf Optimizer) algorithms, by employing it in tuning the STSM. The simulation results show that the proposed IEHO-STSM can reach both high precision and high speed capability, by overcoming external and internal disturbances.

Open Access: Yes

DOI: 10.24846/v33i1y202405

Towards Robust LIDAR Lane Clustering for Autonomous Vehicle Perception in ROS 2

R. C. Pozna Ernö Horváth Dániel Pup Miklos Unger

Publication Name: Proceedings 2024 IEEE International Conference on Mobility Operations Services and Technologies Most 2024

Publication Date: 2024-01-01

Volume: Unknown

Issue: Unknown

Page Range: 229-234

Description:

From LIDAR pointclouds traffic lanes, racetracks, parking lanes can be extracted with clustering algorithms. However, standard clustering algorithms like DBSCAN, K-means, and BIRCH may exhibit limited robustness in recognizing these specific geometric patterns. The current paper proposes a modification of the well-known DBSCAN algorithm which is designed for autonomous vehicle lane detection. The main idea of the proposed work is to add extra steps into the classic DBSCAN algorithm, thus regulate the cluster expansion. This modification introduces some challenges too, their subsequent resolution will be addressed in detail. To reproduce our work, both the dataset and the accompanying source code in python is shared publicly.

Open Access: Yes

DOI: 10.1109/MOST60774.2024.00031

Hamiltonian-Based Control Approach with Pendulum Application

R. C. Pozna Á Ballagi Radu Emil Precup

Publication Name: Saci 2024 18th IEEE International Symposium on Applied Computational Intelligence and Informatics Proceedings

Publication Date: 2024-01-01

Volume: Unknown

Issue: Unknown

Page Range: 593-598

Description:

The paper proposes a design method dedicated to control systems, which use a certain energy function (surface), called the Hamiltonian of the system. The plant requires, most of the time, the convergence at different fixed points and at the same time in different ways (different behaviors). This phenomenon is possible by modifying the initial energy surface. Modification of the energy surface can be achieved by external (generalized) forces. The formalism suggested in this paper allows the calculation of generalized forces and, finally, to obtain the mentioned changes.

Open Access: Yes

DOI: 10.1109/SACI60582.2024.10619844

Using Tensor-Type Formalism in Causal Networks

R. C. Pozna Á Ballagi Radu Emil Precup

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2024-01-01

Volume: 21

Issue: 10

Page Range: 75-91

Description:

The causal network is a possible description of complex phenomena, and several domains, for example, Machine Learning, Social Science, and Artificial Intelligence. Although a successful solution is referred to in this paper, the field inherently faces challenges. Among these, the work identified that the formalism used is time-consuming and difficult to understand. Consequently, the approach proposed in this paper consists in transcribing this formalism in a tensor form. This goal is accomplished in three steps: first common tensor formulas are proposed for direct and inverse models; second these formulas are adapted for the network primitives; in the end the primitive and consequently the formula composition is analysed. To facilitate the understanding of the proposed formalism, the paper describes several examples. This paper is dedicated to Prof. Imre J. Rudas, to celebrate his 75th anniversary.

Open Access: Yes

DOI: 10.12700/APH.21.10.2024.10.5

Simplified Routing Mechanism for Capsule Networks

R. C. Pozna Á Ballagi János Hollósi

Publication Name: Algorithms

Publication Date: 2023-07-01

Volume: 16

Issue: 7

Page Range: Unknown

Description:

Classifying digital images using neural networks is one of the most fundamental tasks within the field of artificial intelligence. For a long time, convolutional neural networks have proven to be the most efficient solution for processing visual data, such as classification, detection, or segmentation. The efficient operation of convolutional neural networks requires the use of data augmentation and a high number of feature maps to embed object transformations. Especially for large datasets, this approach is not very efficient. In 2017, Geoffrey Hinton and his research team introduced the theory of capsule networks. Capsule networks offer a solution to the problems of convolutional neural networks. In this approach, sufficient efficiency can be achieved without large-scale data augmentation. However, the training time for Hinton’s capsule network is much longer than for convolutional neural networks. We have examined the capsule networks and propose a modification in the routing mechanism to speed up the algorithm. This could reduce the training time of capsule networks by almost half in some cases. Moreover, our solution achieves performance improvements in the field of image classification.

Open Access: Yes

DOI: 10.3390/a16070336

Capsule-based Autoencoder Network for Pointcloud Reconstruction

R. C. Pozna Á Ballagi János Hollósi

Publication Name: 2023 IEEE 21st World Symposium on Applied Machine Intelligence and Informatics Sami 2023 Proceedings

Publication Date: 2023-01-01

Volume: Unknown

Issue: Unknown

Page Range: 121-126

Description:

The theory of capsule networks and the dynamic routing mechanism for capsules was introduced by Geoffrey Hinton and his research team. In this new approach, they tried to solve typical problems of classical convolutional neural networks. For example, that the efficiency of neural networks degrades when a geometric transformation is applied on the input image, or when the data is far away from the training dataset. It became clear early on that capsule networks are state-of-the-art solutions for visual data classification tasks. For other tasks their use is less common and in many cases difficult to apply. For example image segmentation or object detection and localization. The efficiency of the capsule networks theory in the field of pointcloud processing is also an open question. In this work we investigated the pointcloud reconstruction capability of capsule networks. In this approach, three different complexity autoencoder networks was selected. We created a decoder network based on capsules theory, which was fitted to the existing autoencoder networks. The efficiency of the networks was tested using four different datasets. As a result of our work, we show the effectiveness of capsule networks in the field of pointcloud reconstruction compared with the selected autoencoder networks.

Open Access: Yes

DOI: 10.1109/SAMI58000.2023.10044532

Capsule Network based 3D Object Orientation Estimation

R. C. Pozna Á Ballagi János Hollósi

Publication Name: International Conference on Electrical Computer Communications and Mechatronics Engineering Iceccme 2023

Publication Date: 2023-01-01

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

Convolutional neural networks have proven to be one of the most efficient methods for processing visual data. Due to the popularity of the field, there is a growing interest in the reliability of intelligent systems. It has been shown that convolutional neural networks can be fooled by extreme inputs or noisy inputs. To overcome the current problems of convolutional neural networks, the theory of capsule networks was introduced by Geoffrey Hinton and his research team. In this work we want to investigate the theory of capsule networks for orientation recognition of 3-dimensional objects. We consider the case when the data are noise loaded by various adversarial attacking methods. We compare our results with the efficiency of convolutional neural network based solutions, highlighting the difference between the two theories. We investigate the efficiency reduction that can be observed using different adversarial attacking methods. Our results will show how much more efficient the capsule network is compared to the neural networks.

Open Access: Yes

DOI: 10.1109/ICECCME57830.2023.10252762

On the Use of Quaternions, in the Translated Reference Frame Formalism

R. C. Pozna Radu Emil Precup

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2023-01-01

Volume: 20

Issue: 6

Page Range: 195-214

Description:

The approaches dedicated to the geometric model of the object, in the object-oriented modeling framework, specific to robots, are focused on the computation of the position of the elements, relative to a global reference frame. One important problem, in this regard, is the direct geometry, which starts with the initial data represented by the generalized coordinates and parameters of each element (in its own reference frame) and calculates the configuration of the structure in the global reference frame. This paper extends the Authors’ geometrical modeling approach, referred to as the translated reference frame formalism, by changing the mathematical apparatus of homogeneous transformations with that specific to quaternions. This new approach has three main advantages over the state-of-the art, namely, it simplifies substantially the configuration modeling, the transformation parameters are intuitive, and the computation is substituted with the operation of choosing a suitable transformation that belongs to a set of six homogeneous transformations. The suggested approach is validated by the computation of the geometric models of two illustrative robotic examples. The source codes are available in a public repository.

Open Access: Yes

DOI: 10.12700/APH.20.6.2023.6.11

Hybrid Particle Filter-Particle Swarm Optimization Algorithm and Application to Fuzzy Controlled Servo Systems

R. C. Pozna E. M. Petriu Radu Emil Precup Ernö Horváth

Publication Name: IEEE Transactions on Fuzzy Systems

Publication Date: 2022-10-01

Volume: 30

Issue: 10

Page Range: 4286-4297

Description:

This article presents a hybrid metaheuristic optimization algorithm that combines particle filter (PF) and particle swarm optimization (PSO) algorithms. The new PF-PSO algorithm consists of two steps: the first generates randomly the particle population;and the second zooms the search domain. An application of this algorithm to the optimal tuning of proportional-integral-fuzzy controllers for the position control of a family of integral-type servo systems is then presented as a second contribution. The reduction in PF-PSO algorithm's cost function allows for reduced energy consumption of the fuzzy control system. A comparison with other metaheuristic algorithms on canonical test functions and experimental results are presented at the end of this article.

Open Access: Yes

DOI: 10.1109/TFUZZ.2022.3146986

Real‐time lidar‐based urban road and sidewalk detection for autonomous vehicles

R. C. Pozna Ernö Horváth Miklos Unger

Publication Name: Sensors

Publication Date: 2022-01-01

Volume: 22

Issue: 1

Page Range: Unknown

Description:

Road and sidewalk detection in urban scenarios is a challenging task because of the road imperfections and high sensor data bandwidth. Traditional free space and ground filter algorithms are not sensitive enough for small height differences. Camera‐based or sensor‐fusion solutions are widely used to classify drivable road from sidewalk or pavement. A LIDAR sensor contains all the necessary information from which the feature extraction can be done. Therefore, this paper focuses on LIDAR‐based feature extraction. For road and sidewalk detection, the current paper presents a real‐time (20 Hz+) solution. This solution can also be used for local path planning. Sidewalk edge detection is the combination of three algorithms working parallelly. To validate the result, the de facto standard benchmark dataset, KITTI, was used alongside our measurements. The data and the source code to reproduce the results are shared publicly on our GitHub repository.

Open Access: Yes

DOI: 10.3390/s22010194

Case study on the tactical level of an autonomous vehicle control

R. C. Pozna Csaba Antonya Ernö Horváth

Publication Name: International Conference on Electrical Computer Communications and Mechatronics Engineering Iceccme 2021

Publication Date: 2021-10-07

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

In this paper, a case study is presented on the tactical level of autonomous vehicle control. Inspired by the human driver behavior, vehicle control is structured in a hierarchy on three levels: the strategic, the tactical, and the operational level. These are connected by specific links, and based on prior information and models, are transforming the input data from the environment into actuator commands on the various degree of freedom of the vehicle. The case study is presenting a simulation of a scenario, detailing the vehicle models with sensors, the collection of behavior, and the behavior selector.

Open Access: Yes

DOI: 10.1109/ICECCME52200.2021.9590868

Proposal of an Autonomous Vehicle Control Architecture

R. C. Pozna Csaba Antonya

Publication Name: Ines 2021 IEEE 25th International Conference on Intelligent Engineering Systems Proceedings

Publication Date: 2021-07-07

Volume: Unknown

Issue: Unknown

Page Range: 37-42

Description:

In this paper, a control program architecture is proposed for autonomous vehicles. This set of programs is structured in a hierarchy and it is inspired by the human driver behavior. It contains three levels connected by specific links: the strategic, the tactical, and the operational level. Autonomous vehicles and human-driven vehicles will share the roads in future transportation systems. The human-like driving behavior will allow other participants to predict the autonomous vehicle's behavior.

Open Access: Yes

DOI: 10.1109/INES52918.2021.9512914

EDLRIS: A European Driving License for Robots and Intelligent Systems

R. C. Pozna Á Ballagi Imre Szalay Marlene Miglbauer Martin Kandlhofer Ronald Bieber Wilfried Baumann Istvan Alfoldi Manuel Menzinger Sandra Plomer Margit Ehardt-Schmiederer Inge Strobl-Zuchtriegl Gabor Miltenyi Thomas Winkler Julia Lassnig Gerald Steinbauer

Publication Name: Ki Kunstliche Intelligenz

Publication Date: 2021-06-01

Volume: 35

Issue: 2

Page Range: 221-232

Description:

This article presents a novel educational project aiming at the development and implementation of a professional, standardized, internationally accepted system for training and certifying teachers, school students and young people in Artificial Intelligence (AI) and Robotics. In recent years, AI and Robotics have become major topics with a huge impact not only on our everyday life but also on the working environment. Hence, sound knowledge about principles and concepts of AI and Robotics are key skills for this century. Nonetheless, hardly any systematic approaches exist that focus on teaching principles of intelligent systems at K-12 level, addressing students as well as teachers who act as multipliers. In order to meet this challenge, the European Driving License for Robots and Intelligent Systems—EDLRIS was developed. It is based on a number of previously implemented and evaluated projects and comprises teaching curricula and training modules for AI and Robotics, following a competency-based, blended learning approach. Additionally, a certification system proves peoples’ acquired competencies. After developing the training and certification system, the first 32 trainer and trainee courses with a total of 445 participants have been implemented and evaluated. By applying this innovative approach—a standardized and widely recognized training and certification system for AI and Robotics at K-12 level for both high school teachers and students—we envision to foster AI/Robotics literacy on a broad basis.

Open Access: Yes

DOI: 10.1007/s13218-021-00716-8

Clothoid-based Trajectory following Approach for Self-driving vehicles

R. C. Pozna Ernö Horváth

Publication Name: Sami 2021 IEEE 19th World Symposium on Applied Machine Intelligence and Informatics Proceedings

Publication Date: 2021-01-21

Volume: Unknown

Issue: Unknown

Page Range: 251-254

Description:

Lately self-driving navigation and control have obtained significant attention in many fields, such as mobile robotics or autonomous driving. Although sensing, perception, planning and following subtasks associated with autonomous vehicles persist with open challenges. In this paper the autonomous following subtask is targeted. The paper proposes trajectory following approach which is designed for self-driving vehicles.

Open Access: Yes

DOI: 10.1109/SAMI50585.2021.9378664

Economical Mobile Robot Design Prototype and Simulation for Industry 4.0 Applications

R. C. Pozna Á Ballagi Csaba Hajdu János Hollósi Rudolf Krecht

Publication Name: Cando EPE 2020 Proceedings IEEE 3rd International Conference and Workshop in Obuda on Electrical and Power Engineering

Publication Date: 2020-11-18

Volume: Unknown

Issue: Unknown

Page Range: 155-160

Description:

Autonomous mobile robots received a rising research interest, with the appearance of complex cyber-physical system applications, like Industry 4.0. Related scenarios require not only some degree of autonomous capabilities of the control software but also tight interaction between humans as well. In this paper, a prototype autonomous mobile robot of such functionalities is presented with additionally aiming cost-effective construction. The robot is currently capable of performing basic tasks, like traversing to a goal configuration, mapping the environment, and detecting and avoiding obstacles. To allow the versatile extension with additional cyber-physical software, the control software interfaces the Robot Operating System (ROS), a popular framework in robotic research. During the development of software and hardware, simulation has been heavily utilized. This allowed an iterative development and the use of verification in the early development phases.

Open Access: Yes

DOI: 10.1109/CANDO-EPE51100.2020.9337786

Model-Free Control of Finger Dynamics in Prosthetic Hand Myoelectric-based Control Systems

R. C. Pozna E. M. Petriu Radu Emil Precup Teodor Adrian TEBAN Adriana ALBU Raul Cristian ROMAN

Publication Name: Studies in Informatics and Control

Publication Date: 2020-01-01

Volume: 29

Issue: 4

Page Range: 399-410

Description:

This paper proposes an approach to the tuning of model-free controllers for the midcarpal joint angles, which are important finger angles that ensure the desired finger dynamics in prosthetic hand myoelectric-based control systems. The process in these control systems is characterized by fuzzy models that operate with myoelectric signals obtained from eight myoelectric sensors and past inputs and/or outputs, where the controlled outputs are five finger angles. Since the fuzzy models exhibit very good performance as shown in authors’ recent papers that produced evolving fuzzy models, they are used to simulate the process behaviour. The Multi Input-Multi Output (MIMO) control system structure consists of five separate Single Input-Single Output control loops with the most simple model-free controllers represented by intelligent Proportional (iP) controllers, separately designed and tuned for each finger. Digital simulation results are included to suggestively illustrate the very good performance of the control systems with iP controllers. The MIMO control system performance is compared with that of the same system but with Proportional-Integral controllers, which are optimally tuned in a model-based manner by a metaheuristic Grey Wolf Optimizer (GWO) algorithm. The fair comparison is ensured by the optimal tuning of the free parameters of iP controllers in a model-based manner using GWO.

Open Access: Yes

DOI: 10.24846/V29I4Y202002

A Mobile Robot and Vehicle Occupancy Map Construction Model

R. C. Pozna Á Ballagi Ernö Horváth

Publication Name: Ines 2019 IEEE 23rd International Conference on Intelligent Engineering Systems Proceedings

Publication Date: 2019-04-01

Volume: Unknown

Issue: Unknown

Page Range: 59-64

Description:

Occupancy gird map is a popular way of representing the environment regarding robots and vehicles. It consists of discrete cells, where each occupancy grid cell is valued independently. Because the represented grid structure is rigid it requires priori known memory resource concerning the size of the environment to obtain. Since their introduction, occupancy grid maps are still researched intensively [1] [2] [3]. In the current paper we propose the mathematical description of the computational simplification via alternative methods for occupancy map.

Open Access: Yes

DOI: 10.1109/INES46365.2019.9109531

AIBA: An AI Model for Behavior Arbitration in Autonomous Driving

R. C. Pozna Sorin M. Grigorescu Bogdan Trăsnea

Publication Name: Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics

Publication Date: 2019-01-01

Volume: 11909 LNAI

Issue: Unknown

Page Range: 191-203

Description:

Driving in dynamically changing traffic is a highly challenging task for autonomous vehicles, especially in crowded urban roadways. The Artificial Intelligence (AI) system of a driverless car must be able to arbitrate between different driving strategies in order to properly plan the car’s path, based on an understandable traffic scene model. In this paper, an AI behavior arbitration algorithm for Autonomous Driving (AD) is proposed. The method, coined AIBA (AI Behavior Arbitration), has been developed in two stages: (i) human driving scene description and understanding and (ii) formal modelling. The description of the scene is achieved by mimicking a human cognition model, while the modelling part is based on a formal representation which approximates the human driver understanding process. The advantage of the formal representation is that the functional safety of the system can be analytically inferred. The performance of the algorithm has been evaluated in Virtual Test Drive (VTD), a comprehensive traffic simulator, and in GridSim, a vehicle kinematics engine for prototypes.

Open Access: Yes

DOI: 10.1007/978-3-030-33709-4_17

Evaluation of Neural Network-Based Sensing and Perception in Experimental Vehicles

R. C. Pozna Á Ballagi Ernö Horváth

Publication Name: Ines 2018 IEEE 22nd International Conference on Intelligent Engineering Systems Proceedings

Publication Date: 2018-11-05

Volume: Unknown

Issue: Unknown

Page Range: 000113-000118

Description:

As increasing use of neural networks (NN) and deep-learning (DL) can be observed in various fields, such as voice and image recognition, control, translation, data processing, function approximation, etc. These technologies can also be applied in a specific domain of experimental vehicles. This paper presents and summarizes our recent practical experiences gained during the usage of neural network as sensing and perception subsystem in an experimental vehicle. The paper does not targets general NN problems, only focuses on the narrow subdomain. The current paper also reviews and evaluates the available hyper parameter tunings, optimizers and neural network architectures and proposes tested solutions for enhanced performance. All of the used datasets, source codes and additional materials is available online.

Open Access: Yes

DOI: 10.1109/INES.2018.8523952

Improve the Accuracy of Neural Networks using Capsule Layers

R. C. Pozna János Hollósi

Publication Name: 18th IEEE International Symposium on Computational Intelligence and Informatics Cinti 2018 Proceedings

Publication Date: 2018-11-01

Volume: Unknown

Issue: Unknown

Page Range: 15-18

Description:

Neural networks are a powerful and widely used tools for various classification and segmentation tasks. Nowadays, in the field of computer vision the convolutional neural networks (CNNs) are the most popular solution for many problems. The CNNs performance is looks like exceptionally great when the test images are very close to the training dataset. However if the input images are transformed, such as rotating or tilting, the efficiency of the neural network may be greatly reduced. A new kind of neural network, is called capsule network, is trying to solve this problem. In this paper we examines the efficiency of the capsule network, by trying to increase the accuracy of different networks with capsule layers.

Open Access: Yes

DOI: 10.1109/CINTI.2018.8928194

Two-stage racetrack segmentation method using color feature filtering and superpixel-based convolutional neural network

R. C. Pozna Ernö Horváth János Hollósi

Publication Name: Saci 2018 IEEE 12th International Symposium on Applied Computational Intelligence and Informatics Proceedings

Publication Date: 2018-08-20

Volume: Unknown

Issue: Unknown

Page Range: 131-135

Description:

The Széchenyi István University race car team is an active and successful participant of the Shell Eco-marathon for long time ago. The Shell introduces the autonomous vehicle category on the Eco-marathon for 2018. Our long-term goal is to make the Szenergy racing team's vehicle suitable for the autonomous category. The first milestone is to make a reliable computer vision based intelligent detection system that understands the environment of the racing car. In this paper we will present a solution for racetrack detection i.e. a fusion of image processing and neural network systems. The two-stage recognition system is at the first phase an image processing algorithm which finds the red-white and blue-white striped edge of the road, and at the second phase, a pre-trained superpixel-based neural network which recognize the road on the filtered image.

Open Access: Yes

DOI: 10.1109/SACI.2018.8440968

Robot coverage path planning based on Iterative Structured Orientation

R. C. Pozna Radu Emil Precup Ernö Horváth

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2018-01-01

Volume: 15

Issue: 2

Page Range: 231-249

Description:

Coverage path planning for mobile robots aims to compute the shortest path that ensures the overlap of a given area, with applications in various domains. This paper proposes a coverage path planning strategy, referred to as Iterative Structured Orientation Coverage, which has two main advantages over the state-of-the-art, namely it is it versatile and it is capable to handle complex environments. The path planning strategy is expressed as three new approaches to coverage path planning. The suggested approaches are validated by simulation and experimental results. The source codes along with the test set are available in a public repository.

Open Access: Yes

DOI: 10.12700/APH.15.1.2018.2.12

An approach to the design of nonlinear state-space control systems

R. C. Pozna Radu Emil Precup

Publication Name: Studies in Informatics and Control

Publication Date: 2018-01-01

Volume: 27

Issue: 1

Page Range: 5-14

Description:

This paper proposes a cost-effective approach to the design of nonlinear state-space control systems. The approach is supported by a geometrical illustration of systems evolution in the state space, by the Lyapunov's direct method, the native behaviour of the controlled process, and the desired system matrix. The method is exemplified through the medium of a realworld process represented by the pendulum-cart system laboratory equipment.

Open Access: Yes

DOI: 10.24846/v27i1y201801

Mobility for the Internet of Things

R. C. Pozna Sorin Aurel Moraru Javier Vales Alonso Bartolomeo Montrucchio

Publication Name: Mobile Information Systems

Publication Date: 2018-01-01

Volume: 2018

Issue: Unknown

Page Range: Unknown

Description:

No description provided

Open Access: Yes

DOI: 10.1155/2018/2127383

On a translated frame-based approach to geometric modeling of robots

R. C. Pozna Radu Emil Precup

Publication Name: Robotics and Autonomous Systems

Publication Date: 2017-05-01

Volume: 91

Issue: Unknown

Page Range: 49-58

Description:

The geometric modeling gives the structure configuration and enables the derivation of the kinematic or dynamic models of robots, it involves a procedure for reference frames definition and a specific formalism that allows the poses transformations from a reference frame to another one. This paper proposes a new geometrical modeling approach, referred to as the translated frame-based approach, which has two main advantages over the state-of-the art, namely the reference frames definition is intuitive and it eliminates the computation of the transformation operators. The frames definitions are reduced to apparent translations of the base frame and the computation is replaced with choosing an operator from a collection of six operators that cover all transformation possibilities. The suggested approach is validated by the computation of the geometric models of a PUMA robot and a redundant robot.

Open Access: Yes

DOI: 10.1016/j.robot.2017.01.004

Probabilistic occupancy grid map building for Neobotix MP500 robot

R. C. Pozna Ernö Horváth

Publication Name: Proceedings of the 2016 13th Workshop on Positioning Navigation and Communication Wpnc 2016

Publication Date: 2017-01-17

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

In vehicle and robot navigation low-level tasks such as path planning, obstacle avoidance and autonomous operation are extensively studied nowadays. Most of these task require map building. In this paper a map representation is discussed with the focus for the singular domain of our Neobotix MP500 mobile robot. Among others the state of the art map building techniques will be introduced such as topological map, line map, landmark-based map and of course in more detail the occupancy grid based map. The probabilistic representation of the occupancy grid will be examined as a map building problem for the given mobile robot.

Open Access: Yes

DOI: 10.1109/WPNC.2016.7822843

A great potential for using mesh networks in indoor navigation

R. C. Pozna Laszlo Kajdocsi Janos Kovacs

Publication Name: Sisy 2016 IEEE 14th International Symposium on Intelligent Systems and Informatics Proceedings

Publication Date: 2016-10-19

Volume: Unknown

Issue: Unknown

Page Range: 187-192

Description:

Navigation has always been important to people. Thus, it is hard to succeed in navigation without Global Positioning System. Although, Global Positioning System can be efficiently used in outdoor environments the indoor navigation is still in its infancy. Nevertheless, the indoor navigation is one of many open challenges in the 21st century that affects to the major technological advances. However, several indoor positioning solutions have been built over the last decade, but they are still neither accurate enough nor inexpensive for consumer use. Therefore, this paper proposes a novel suggestion that should have a great potential for applying mesh technology in the indoor navigation systems in order to improve the accuracy and the computational capabilities of devices.

Open Access: Yes

DOI: 10.1109/SISY.2016.7601495

Issues about autonomous cars

R. C. Pozna Csaba Antonya

Publication Name: Saci 2016 11th IEEE International Symposium on Applied Computational Intelligence and Informatics Proceedings

Publication Date: 2016-07-07

Volume: Unknown

Issue: Unknown

Page Range: 13-18

Description:

The Autonomous car is a complex topic, different technical fields like: Automotive engineering, Control engineering, Informatics, Artificial Intelligence etc. are involved in solving the human driver replacement with an artificial (agent) driver. The problem is even more complicated because usually, nowadays, having and driving a car defines our lifestyle. This means that the mentioned (major) transformation is also a cultural issue. The paper will start with the mentioned cultural aspects related to a self-driving car and will continue with the big picture of the system.

Open Access: Yes

DOI: 10.1109/SACI.2016.7507360

A use case of the simulation-based approach to mobile robot algorithm development

R. C. Pozna Ernö Horváth János Hollósi Csaba Hajdu

Publication Name: Sami 2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics Proceedings

Publication Date: 2016-03-01

Volume: Unknown

Issue: Unknown

Page Range: 311-314

Description:

A complex algorithm development progress for mobile robot (MR) usually requires a priori simulation of the whole dynamic environment before it is applied on a real-world robot. In order to reduce the development time and avoid programming mistakes it is recommended to use the same language for both simulation and real-word testing. The paper presents a certain use case for the simulation-based approach. In this use case V-REP is used for simulation, ROS for the real-world robot application and MATLAB or C# for algorithm development. Note that the source code of the work is available on a public GitHub repository.

Open Access: Yes

DOI: 10.1109/SAMI.2016.7423026

The inverse kinematics problem, a heuristical approach

R. C. Pozna Ernö Horváth János Hollósi

Publication Name: Sami 2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics Proceedings

Publication Date: 2016-03-01

Volume: Unknown

Issue: Unknown

Page Range: 299-304

Description:

This paper presents a heuristic solution for the inverse kinematics problem. The heuristic consists on combining the distance between the actual position and the desired position of the gripper with the direction of the best manipulability of the robot. Theoretical results are validated by digital simulations resolute.

Open Access: Yes

DOI: 10.1109/SAMI.2016.7423024

Real-time representation of the human spine with absolute orientation sensors

R. C. Pozna Csaba Antonya Silviu Butnariu

Publication Name: 2016 14th International Conference on Control Automation Robotics and Vision Icarcv 2016

Publication Date: 2016-01-01

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

This paper presents a new algorithm for the real-time representation of a spine using a mobile device for recording and analyzing the human body posture. The measurements are based on inertial measuring units (IMU), which are providing the pitch angles of five points of a cord attached to the clothing (t-shirt or jacket). The algorithm developed for the real-time representation of the spine is based on quadratic Bézier curves defined in a reference frame attached to the first sensor from the head. The curve is obtained knowing the distances between the sensors and the measured pitch angles. The line of the spine is reconstructed with four segments of Bézier curves, meeting the requirement of continuity of the tangents. The obtained postures are compared with a normal one, identified by the medical specialist, by computing the average absolute distances between them. The recorded movement of the spine can be used for diagnosis purposes, and the real-time tracking for therapy by warning the user to correct his/her posture. The warning message is delivered with buzzers attached to the clothing by applying haptic stimuli on the back.

Open Access: Yes

DOI: 10.1109/ICARCV.2016.7838745

An abstraction of the Lidar measurements

R. C. Pozna Ernö Horváth Janos Kovacs

Publication Name: Saci 2015 10th Jubilee IEEE International Symposium on Applied Computational Intelligence and Informatics Proceedings

Publication Date: 2015-08-17

Volume: Unknown

Issue: Unknown

Page Range: 381-385

Description:

The laser scanner seems to be one of the favorite sensors used in mobile robots (autonomous car) localization. The Lidar is similar to the radar except radio signals are substituted with laser beams. Measurements are a collection of n lengths obtained for different firing angles. The paper presents an abstraction of this collection. The abstraction reduce the dimensions of data from n to 3 and can be used in obstacles avoiding or in localization. The paper presents the abstraction definition and a simulation scenario where the abstraction is used.

Open Access: Yes

DOI: 10.1109/SACI.2015.7208234

A novel pose estimation algorithm for robotic navigation

R. C. Pozna P. Földesi Radu Emil Precup

Publication Name: Robotics and Autonomous Systems

Publication Date: 2015-01-01

Volume: 63

Issue: P1

Page Range: 10-21

Description:

This paper proposes a new pose estimation algorithm in the framework of robotic navigation problems. The algorithm gives the mobile robot (MR) pose on the basis of the difference between the MR desired pose and the MR current pose. In this regard the MR sensor readings and the readings of a virtual sensor are employed. The algorithm is advantageous in comparison with other pose estimation algorithms including those based on classical filter approaches because of the small computation time. Simulation and real-world experimental results are included to illustrate the effectiveness of the pose estimation algorithm and its potential for integration in MR control structures and algorithms.

Open Access: Yes

DOI: 10.1016/j.robot.2014.09.034

Review of the most successfully used cognitive architectures in robotics and a proposal for a new model of knowledge acquisition

R. C. Pozna Laszlo Kajdocsi

Publication Name: Sisy 2014 IEEE 12th International Symposium on Intelligent Systems and Informatics Proceedings

Publication Date: 2014-10-14

Volume: Unknown

Issue: Unknown

Page Range: 239-244

Description:

This paper describes the current state-of-the-art in Cognitive Architectures, which could assist in the development of the agent-based robotic systems, and gives a proposition for a possibly new model. Agent-based cognitive systems would be the key-factor of the future autonomous mobile robots.

Open Access: Yes

DOI: 10.1109/SISY.2014.6923593

Developing rapid prototype-capable applications for industrial mobile robot platforms

R. C. Pozna Ernö Horváth Janos Kovacs

Publication Name: Ines 2014 IEEE 18th International Conference on Intelligent Engineering Systems Proceedings

Publication Date: 2014-09-24

Volume: Unknown

Issue: Unknown

Page Range: 203-207

Description:

The paper summarizes our ideas and solutions in the subject of developing a rapid prototype-capable robot platform. Constructing a robotic platform for scientific researches means to find a robust electrical and mechanical system which is connected to a high computational device and it is easily programmable. Usually the first two features can be funded in industrial robots which unfortunately do not possess the last two. The presented solution refers to a mobile robot (Neobotix MP500) tuned with an extra computer and programmed with LabVIEW.

Open Access: Yes

DOI: 10.1109/INES.2014.6909369

A new fuzzy graph and signature based approach to describe fuzzy situational maps

R. C. Pozna Á Ballagi L. T. Koczy

Publication Name: IEEE International Conference on Fuzzy Systems

Publication Date: 2014-09-04

Volume: Unknown

Issue: Unknown

Page Range: 1340-1345

Description:

Computational tasks involving intelligent agents often need to process complex structured information. The way of describing this information greatly influences the performance of the agent. Therefore, a big issue is how the complex data describing that valuable information is not lose while it can also be processed in tractable time. Fuzzy signatures and their multidimensional geometric extension, fuzzy situational maps, are used to describe such complex structured data. These problems are examined in the context of a cooperative mobile robot task and a new method is developed for the simplified describing and processing of the complex inner relations in fuzzy situational maps. This paper mainly deals with the fundamentals of this method.

Open Access: Yes

DOI: 10.1109/FUZZ-IEEE.2014.6891862

On the development of signatures for Artificial Intelligence applications

R. C. Pozna P. Földesi Radu Emil Precup L. T. Koczy

Publication Name: IEEE International Conference on Fuzzy Systems

Publication Date: 2014-09-04

Volume: Unknown

Issue: Unknown

Page Range: 1304-1310

Description:

This paper illustrates developments of signatures for Artificial Intelligence (AI) applications. Since the signatures are data structures with efficient results in modeling of fuzzy inference systems and of uncertain expert systems, the paper starts with the analysis of the data structures used in AI applications from the knowledge representation and manipulation point of view. An overview on the signatures, on the operators on signatures and on classes of signatures is next given. Using the proto fuzzy inference system, these operators are applied in a new application of fuzzy inference system modeled by means of signatures and of classes of signatures.

Open Access: Yes

DOI: 10.1109/FUZZ-IEEE.2014.6891636

Intelligent robot cooperation with fuzzy communication

R. C. Pozna Á Ballagi L. T. Koczy

Publication Name: Studies in Computational Intelligence

Publication Date: 2014-02-03

Volume: 530

Issue: Unknown

Page Range: 185-197

Description:

Designing the decision-making engine of a robot which works in a collaborative team is a challenging task. This is not only due to the complexity of the environment uncertainty, dynamism and imprecision, but also because of the coordination of the team has to be included in this design. The robots must be aware of other robots' actions in order to cooperate and to successfully achieve their common goal. In addition, decisions must be made in real-time and using limited computational resources. In this chapter we propose some novel algorithms for action selection in ambiguous tasks where the communication opportunities among the robots are very limited. © Springer International Publishing Switzerland 2014.

Open Access: Yes

DOI: 10.1007/978-3-319-03206-1_14

Parameter computation of the hand model in virtual grasping

R. C. Pozna Csaba Antonya Silviu Butnariu

Publication Name: 5th IEEE International Conference on Cognitive Infocommunications Coginfocom 2014 Proceedings

Publication Date: 2014-01-23

Volume: Unknown

Issue: Unknown

Page Range: 173-177

Description:

The aim of this paper is to identify the number of parameters of a hand model which can be computed during virtual grasping. The fingers of the user are tracked with various methods (position sensors and bending sensors) and the measured data is used to estimate the unknown parameter of the hand. An articulated hand model is constructed based on the assumption that the measured data is corrupted by noise and some of the hand's physical parameters are known. Virtual grasping and the parametric hand model are important, especially for force rendering in haptic feedback computation and to produce visually realistic results in hand-artifact interaction.

Open Access: Yes

DOI: 10.1109/CogInfoCom.2014.7020440

Applications of signatures to expert systems modelling

R. C. Pozna Radu Emil Precup

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2014-01-01

Volume: 11

Issue: 2

Page Range: 21-39

Description:

This paper offers a new approach that applies the signatures to expert systems modelling. Signatures and their operators, viewed as a generalization of fuzzy signatures, represent a convenient framework for the symbolic representation of data. The models are derived by a three-step algorithm that maps the signatures onto expert systems. An expert systems modelling algorithm is given. Our algorithm has two inputs, the knowledge base, i.e., the rules, and the data base, i.e., the facts, and it constructs the signatures which represent models of expert systems. The algorithm is advantageous because of its systematic and general formulation allowing for the modelling of uncertain expert systems. The theoretical results are exemplified by a case study which produces models of a Bayesian expert system with mechatronics applications.

Open Access: Yes

DOI: DOI not available

Fuzzy Situational Maps: A new approach in mobile robot cooperation

R. C. Pozna Á Ballagi P. Földesi L. T. Koczy

Publication Name: Ines 2013 IEEE 17th International Conference on Intelligent Engineering Systems Proceedings

Publication Date: 2013-12-12

Volume: Unknown

Issue: Unknown

Page Range: 287-292

Description:

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.

Open Access: Yes

DOI: 10.1109/INES.2013.6632828

Advanced learning of fuzzy cognitive maps of waste management by bacterial algorithm

F. Hatwágner R. C. Pozna A. Buruzs L. T. Koczy

Publication Name: Proceedings of the 2013 Joint Ifsa World Congress and NAFIPS Annual Meeting Ifsa NAFIPS 2013

Publication Date: 2013-10-31

Volume: Unknown

Issue: Unknown

Page Range: 890-895

Description:

Fuzzy cognitive maps (FCMs) are a very convenient and simple tool for modeling complex systems. They are popular due to their simplicity and user friendliness. However, according to [1], human experts are subjective and can handle only relatively simple networks therefore there is an urgent need to develop methods for automated generation of FCM models. The present research deals with the methodology of FCMs in combination with the Bacterial Evolutionary Algorithm (BEA). The method of FCMs using BEA seems to be suitable to model such complex mechanisms as integrated municipal waste management (IMWM) systems. This paper is an attempt to assess the sustainability of the IMWM system by investigating the FCM methodology based on the BEA with a holistic approach. As a result, the best scenario to an IMWM system can be assigned. © 2013 IEEE.

Open Access: Yes

DOI: 10.1109/IFSA-NAFIPS.2013.6608518

Stability analysis and design of a class of MIMO fuzzy control systems

R. C. Pozna Marius L. Tomescu E. M. Petriu Radu Emil Precup Stefan Preitl János Fodor

Publication Name: Journal of Intelligent and Fuzzy Systems

Publication Date: 2013-07-18

Volume: 25

Issue: 1

Page Range: 145-155

Description:

This paper presents a new stability analysis method dedicated to a class of fuzzy control systems (FCSs) controlling multi input-multi output (MIMO) nonlinear processes by means of Takagi-Sugeno-Kang fuzzy logic controllers (FLCs). The stability analysis of the FCSs is carried out using LaSalle's global invariant set theorem by the separate stability analysis of each fuzzy rule in MIMO fuzzy control systems. Therefore the complexity of the stability analysis is reduced and the adding of new fuzzy rules can be conducted easily; this modification of FLC structure requires the fulfillment of only one of the conditions of the stability analysis theorem suggested in this paper. Another advantage of the stability analysis approach proposed in this paper is that the derivative of the Lyapunov function candidate must be only negative semi-definite in comparison with Lyapunov's stability theorem where it must be negative definite. The conservativeness of stability conditions is thus reduced, and this enables the convenient design of FLCs. The applicability and efficiency of the theoretical results are illustrated by numerical simulations for a representative MIMO process which deals with the level control in a three spherical tank system. © 2013-IOS Press and the authors. All rights reserved.

Open Access: Yes

DOI: 10.3233/IFS-2012-0621

Towards a stable robotic object manipulation through 2D-3D features tracking: Regular paper

R. C. Pozna Sorin M. Grigorescu

Publication Name: International Journal of Advanced Robotic Systems

Publication Date: 2013-06-12

Volume: 10

Issue: Unknown

Page Range: Unknown

Description:

In this paper, a new object tracking system is proposed to improve the object manipulation capabilities of service robots. The goal is to continuously track the state of the visualized environment in order to send visual information in real time to the path planning and decision modules of the robot; that is, to adapt the movement of the robotic system according to the state variations appearing in the imaged scene. The tracking approach is based on a probabilistic collaborative tracking framework developed around a 2D patch-based tracking system and a 2D-3D point features tracker. The real-time visual information is composed of RGB-D data streams acquired from state-of-the-art structured light sensors. For performance evaluation, the accuracy of the developed tracker is compared to a traditional marker-based tracking system which delivers 3D information with respect to the position of the marker. © 2013 Licensee InTech.

Open Access: Yes

DOI: 10.5772/55952

The Personal Assistant application, problem definition

R. C. Pozna P. Földesi Janos Kovacs

Publication Name: 4th IEEE International Conference on Cognitive Infocommunications Coginfocom 2013 Proceedings

Publication Date: 2013-01-01

Volume: Unknown

Issue: Unknown

Page Range: 851-856

Description:

The subject of the paper is a personal assistant design. The goal of personal assistant is a daily activities list planning. The personal assistant will assist the costumer (human operator) for planning an optimum succession of desired activities. The solution is based on objective and subjective information. The paper focus on problem definition, mathematical structure of the concepts which are involved and a first solution analyze. © 2013 IEEE.

Open Access: Yes

DOI: 10.1109/CogInfoCom.2013.6719215

Developing fuzzy cognitive maps for modeling regional waste management systems

R. C. Pozna A. Buruzs L. T. Koczy

Publication Name: Civil Comp Proceedings

Publication Date: 2013-01-01

Volume: 103

Issue: Unknown

Page Range: Unknown

Description:

Sustainable waste management systems necessarily include environmental, economic, social, institutional, legal and technical aspects. As a result of the incompleteness and multiple uncertainties occurring in sustainable waste management systems, we propose the use of fuzzy cognitive maps (FCM) to support the planning and decision making process. It is obvious that uncertainties involved with waste management represent vagueness rather than probability. Fuzzy sets and fuzzy logic are suitable to construct a formal description and a mathematically manageable model of systems and processes with such uncertainties. In the research described in this paper the FCM model of the Gyor RWMS is established and implemented in such a structure that its parameters and weights were flexibly variable. By observation of the model and its time dependent behaviour we determined under what conditions the long-term sustainability of a regional waste management system could be ensured. In this paper, the interpretation of the results obtained by the FCM model for the actual waste management system are presented. ©Civil-Comp Press, 2013.

Open Access: Yes

DOI: DOI not available

A refinement of Sándor-Tóth's inequality

R. C. Pozna Nicuşor Minculete Radu Emil Precup

Publication Name: Journal of Inequalities and Applications

Publication Date: 2012-12-10

Volume: 2012

Issue: Unknown

Page Range: Unknown

Description:

The objective of this article is to show a refinement of Sándor-Tóth's inequality related to the arithmetic functions which use unitary divisors. A new estimate of the average order of the arithmetic function given by Sándor-Tóth's inequality is suggested. © 2012 Minculete et al.

Open Access: Yes

DOI: 10.1186/1029-242X-2012-4

A general formulation of abduction algorithms

R. C. Pozna Radu Emil Precup

Publication Name: 3rd IEEE International Conference on Cognitive Infocommunications Coginfocom 2012 Proceedings

Publication Date: 2012-12-01

Volume: Unknown

Issue: Unknown

Page Range: 573-578

Description:

The paper offers a general formulation of abduction algorithms, referred to as minimum length solution algorithms, which are based on all observable states. The algorithms compute the necessary evidence to derive the correct hypothesis in minimum steps. A first version of algorithms is proposed such that to deal with situations when not all states are observable. The development of fuzzy inference systems is presented in order to apply the minimum length solution algorithms to sets of imprecise observations. © 2012 IEEE.

Open Access: Yes

DOI: 10.1109/CogInfoCom.2012.6421956

Experimental results of evolving Takagi - Sugeno fuzzy models for a nonlinear benchmark

R. C. Pozna Mircea Bogdan Rǎdac Claudia Adina Dragos Horatiu Ioan Filip Radu Emil Precup Stefan Preitl

Publication Name: 3rd IEEE International Conference on Cognitive Infocommunications Coginfocom 2012 Proceedings

Publication Date: 2012-12-01

Volume: Unknown

Issue: Unknown

Page Range: 567-572

Description:

The paper offers evolving Takagi-Sugeno (T-S) fuzzy models for a nonlinear benchmark represented by the pendulum-crane system and focused on the dynamics of pendulum angular position behavior. The rule bases and parameters of T-S fuzzy models are continuously evolved by an online identification algorithm in terms of computing the potentials of new data points. Accepting the pendulum angle as model output, two T-S fuzzy models are derived, viz. with a single input and with three inputs. The experimental results are obtained for a pendulum-crane laboratory equipment system and they show the performance of the proposed evolving T-S fuzzy models. © 2012 IEEE.

Open Access: Yes

DOI: 10.1109/CogInfoCom.2012.6422044

Novel design of cognitive system strategies

R. C. Pozna Radu Emil Precup

Publication Name: Lindi 2012 4th IEEE International Symposium on Logistics and Industrial Informatics Proceedings

Publication Date: 2012-11-06

Volume: Unknown

Issue: Unknown

Page Range: 205-214

Description:

This paper presents results related to a new design approach dedicated to cognitive system strategies. The scenario concerning a robot integrated in a cognitive system is described. The paper focuses on the development of a pattern of human knowledge and on a new data structure which are able to organize and manipulate the involved information. The definitions of signatures and of signature classes are given as one of the first steps in an alternative modeling approach to the observation process. The paper ends with an example that deals with using the signatures in the observation. © 2012 IEEE.

Open Access: Yes

DOI: 10.1109/LINDI.2012.6319489

Signatures: Definitions, operators and applications to fuzzy modelling

R. C. Pozna Á Ballagi Nicuşor Minculete Radu Emil Precup L. T. Koczy

Publication Name: Fuzzy Sets and Systems

Publication Date: 2012-08-16

Volume: 201

Issue: Unknown

Page Range: 86-104

Description:

This paper presents a new framework for the symbolic representation of data which is referred to as signatures. The definitions of signatures and of signature trees are first given. Original operators on signatures are next presented, i.e., contraction, extension, pruning, addition, multiplication, and grafting. Attractive applications of signatures related to the modelling of fuzzy inference systems are suggested and discussed. An example is included to accompany the theoretical results. © 2012 Elsevier B.V. All rights reserved.

Open Access: Yes

DOI: 10.1016/j.fss.2011.12.016

Aspects concerning the observation process modelling in the framework of cognition processes

R. C. Pozna Radu Emil Precup

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2012-04-17

Volume: 9

Issue: 1

Page Range: 203-223

Description:

This paper presents results concerning the observation process modelling in the framework of cognition processes which belong to a new pattern of human knowledge. The cultural origin of the patterns is analyzed in terms of philosophical, psychological and linguistic points of view. A scenario concerning a robot integrated in a cognitive system is given in order to test the theoretical approaches. The definitions of signatures and of signature classes are given as one of the first steps in an alternative modelling approach to the observation process. An example that deals with the observation process modelling is offered.

Open Access: Yes

DOI: DOI not available

A cooperation scenario for multiagent systems

R. C. Pozna Á Ballagi Nicuşor Minculete Radu Emil Precup L. T. Koczy

Publication Name: IEEE AFRICON Conference

Publication Date: 2011-12-12

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

This paper gives aspects related to a cooperation scenario in the framework of multiagent systems. The presentation is focused on a trivial multiagent system that consists of two agents, the Master and the Apprentice. The theoretical basis of the cooperation scenario is the definition of the most probable process, and two algorithms are used with this regard. The formulation of the cooperation scenario is exemplified for a case study that builds an architecture of successively placed bricks in the workspace. © 2011 IEEE.

Open Access: Yes

DOI: 10.1109/AFRCON.2011.6071961

Cooperation in multiagent systems

R. C. Pozna P. Földesi Radu Emil Precup Janos Kovacs

Publication Name: Sisy 2011 9th International Symposium on Intelligent Systems and Informatics Proceedings

Publication Date: 2011-10-26

Volume: Unknown

Issue: Unknown

Page Range: 195-200

Description:

This paper gives aspects related to a cooperation scenario in the framework of multiagent systems. The presentation is focused on a multiagent system that consists of two agents, the Master and the Apprentice. The theoretical basis of the cooperation scenario is the definition of the most probable process, and two algorithms are used with this regard. The formulation of the cooperation scenario is exemplified for a case study that builds an architecture of successively placed bricks in the workspace. © 2011 IEEE.

Open Access: Yes

DOI: 10.1109/SISY.2011.6034321

Enhanced slip control performance using nonlinear passive suspension system

Jimoh O. Pedro R. C. Pozna Samuel John

Publication Name: IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM

Publication Date: 2011-10-17

Volume: Unknown

Issue: Unknown

Page Range: 277-282

Description:

Antilock Brake System (ABS) controller maintains or controls the slip between tyre and road to maximize the braking torque to achieve a shorter braking distance and control of the steering wheel. This paper presents a PID slip controller performance that incorporates nonlinear passive suspension dynamics. Three scenarios were compared The first scenario is the performance of the controller in a vehicle model without any suspension dynamics, the second scenario incorporates linear passive vehicle suspension system (LPVSS) and the third scenario incorporates nonlinear passive vehicle suspension system (NLPVSS). The incorporation of the passive suspension dynamics enhanced the ABS performance. © 2011 IEEE.

Open Access: Yes

DOI: 10.1109/AIM.2011.6027054

Results concerning a new pattern of human knowledge

R. C. Pozna Radu Emil Precup

Publication Name: 2011 2nd International Conference on Cognitive Infocommunications Coginfocom 2011

Publication Date: 2011-09-23

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

This chapter presents results concerning a new pattern of human knowledge. The new pattern is based on the experimentation of the causal relations. The cultural origin of the patterns is analyzed in terms of philosophical, psychological and linguistic aspects. The scenario concerning a robot integrated in a cognitive system is described. The definitions of signatures and of signature classes are given as one of the first steps in an alternative modeling approach to the observation process. © 2011 Scientific Assoc Infocomm.

Open Access: Yes

DOI: DOI not available

Nonlinear systems controller design as a result of uninorm tuning

R. C. Pozna Márta Takács Á Ballagi L. T. Koczy

Publication Name: 2011 2nd International Conference on Cognitive Infocommunications Coginfocom 2011

Publication Date: 2011-09-23

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

The quality of a Fuzzy Logic Controller (FLC) for control nonlinear systems highly depends on the used operators. Using the uninorm operators in these processes the FLC components can be adapted to achieve better results. The program language environment, applied by simulation, supports the choosing of suitable fuzzy operators and their parameters. The simulation results are analyzed, depending on the efficiency of the operator choice in approximate reasoning model. © 2011 Scientific Assoc Infocomm.

Open Access: Yes

DOI: DOI not available

Speed and position control of BLDC servo systems with low inertia

R. C. Pozna Mircea Bogdan Rǎdac Claudia Adina Dragos Alexandra Iulia Stînean Radu Emil Precup Stefan Preitl

Publication Name: 2011 2nd International Conference on Cognitive Infocommunications Coginfocom 2011

Publication Date: 2011-09-22

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

The paper deals with applicative aspects concerning the control of speed and position of a BLDC servo system with low but Variable in a given range Moment of Inertia (VMI). Detailed models of various applications, some control solutions are discussed and developed and part of them tested on the basis of the specific features of the plants with VMI. The adopted control solutions PI(D) control (as reference solution) and fuzzy control with homogenous and non-homogenous dynamics are briefly presented and some approaches regarding the methods are highlighted. Due to the applicability of the methods in the field of mechatronics applications with VMI (speed and positioning control of rapid plants), the presented aspects are of permanent actuality, and they offer directions of future research. © 2011 Scientific Assoc Infocomm.

Open Access: Yes

DOI: DOI not available

New results in abduction process modeling

R. C. Pozna Radu Emil Precup

Publication Name: Ines 2011 15th International Conference on Intelligent Engineering Systems Proceedings

Publication Date: 2011-08-22

Volume: Unknown

Issue: Unknown

Page Range: 203-208

Description:

The paper gives new results related to the abduction process modeling. The results are based on a strategy that ensures, in minimum steps, the evidence necessary to deduce the correct hypothesis. An example that deals with two agents (robots), the Master and the Apprentice, that build a configuration of bricks, is inserted to exemplify the minimum length solution algorithm. The process of problem definition in this example involves both agents, and the cooperation between the agents is formalized in terms of decision trees. © 2011 IEEE.

Open Access: Yes

DOI: 10.1109/INES.2011.5954745

A kantian pattern of knowledge, the observation representation

R. C. Pozna Á Ballagi Radu Emil Precup L. T. Koczy

Publication Name: Siisy 2010 8th IEEE International Symposium on Intelligent Systems and Informatics

Publication Date: 2010-12-30

Volume: Unknown

Issue: Unknown

Page Range: 405-412

Description:

This paper suggests a new pattern of human knowledge. Its execution represents an important stage in the general framework of aiming the building of an artificial cognitive system. First the general presentation of the artificial cognitive system, its objective, main principles and implementation phases are highlighted. The known patterns, which have a cultural (philosophical, psychological and linguistic) origin are then analyzed. Finally the details concerning the proposed pattern are pointed out. ©2010 IEEE.

Open Access: Yes

DOI: 10.1109/SISY.2010.5647371

Context recognition in mobile robots cooperation using fuzzy signature

R. C. Pozna Á Ballagi L. T. Koczy

Publication Name: International Conference on Theoretical and Mathematical Foundations of Computer Science 2010 Tmfcs 2010

Publication Date: 2010-12-01

Volume: Unknown

Issue: Unknown

Page Range: 110-115

Description:

Robots cooperation means also to define the commune task. In order to understand their cooperation the robots must have complete knowledge about all possible states of the work or to understand the context by extract useful information from observation. Present paper focus on the second possibility. We propose a strategy of information extraction and context understanding based on an original data structure, the fuzzy signature and on a priori knowledge, the robot codebook. The paper starts by presenting the concept of the fuzzy signature and exemplify the idea of cooperation by context understanding.

Open Access: Yes

DOI: DOI not available

Man-machine cooperation without explicit communication

R. C. Pozna Á Ballagi L. T. Koczy

Publication Name: 2010 World Automation Congress Wac 2010

Publication Date: 2010-12-01

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

This paper presents a novel method for control cooperation between human and robots without any explicit communication line. We have proposed a fuzzy communication philosophy and implementation technique, where the code books are built up by fuzzy signatures. Fuzzy signatures are used as complex state description method for intention guessing and action selection. Robots cooperation means also to define the commune task. In order to understand their cooperation the robots must have complete knowledge about all possible states of the work or to understand the context by extract useful information from observation. Present paper focus on the second possibility. We propose a strategy of information extraction and context understanding based on an original data structure, the fuzzy signature and on a priori knowledge, the robot codebook. The paper starts by presenting the concept of the fuzzy signature and exemplify the idea of cooperation by context understanding. © 2010 TSI Press.

Open Access: Yes

DOI: DOI not available

Fuzzy signature based fuzzy communication of mobile robots

R. C. Pozna Á Ballagi L. T. Koczy

Publication Name: 2010 IEEE Rivf International Conference on Computing and Communication Technologies Research Innovation and Vision for the Future Rivf 2010

Publication Date: 2010-12-01

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

This paper presents a novel method for control cooperating robots where the explicit communication line is substituted with fuzzy communication algorithms. Fuzzy signatures are used in a context dependent codebook, as complex state description method for intention guessing and action selection. Finally a possible cooperative robot application on a realistic example with missing data components will be shown. ©2010 IEEE.

Open Access: Yes

DOI: 10.1109/RIVF.2010.5633066

Modeling of a vehicle with continuously variable transmission

R. C. Pozna Claudia Adina Dragos C. S. Nes E. M. Petriu D. Pirlea Radu Emil Precup Stefan Preitl

Publication Name: 19th International Workshop on Robotics in Alpe Adria Danube Region Raad 2010 Proceedings

Publication Date: 2010-09-01

Volume: Unknown

Issue: Unknown

Page Range: 441-446

Description:

The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results: acceleration, overtaking maneuver, ramp encounter and engine brake. © 2010 IEEE.

Open Access: Yes

DOI: 10.1109/RAAD.2010.5524546

NDSP: A platform for audiophile software audio processing

R. C. Pozna Adrian Sebastian Paul Radu Codrut David Radu Emil Precup

Publication Name: Iccc Conti 2010 IEEE International Joint Conferences on Computational Cybernetics and Technical Informatics Proceedings

Publication Date: 2010-08-06

Volume: Unknown

Issue: Unknown

Page Range: 431-436

Description:

This paper proposes a platform referred to as nDSP to interconnect different software audio signal processing effects which are modularized. The new platform is focused on having all processing done by the system CPU at higher quality than that achieved using hardware DSPs. The software representation of the module inside the platform is defined such that its state can be externally controlled, therefore the design of self-tuning filters is allowed. The design aims the further use of software audio signal processing in low-cost audiophile loudspeaker systems taking full advantage of the new personal computer hardware products. © 2010 IEEE.

Open Access: Yes

DOI: 10.1109/ICCCYB.2010.5491235

Takagi-Sugeno fuzzy controller for a magnetic levitation system laboratory equipment

R. C. Pozna Claudia Adina Dragos Jozsef K. Tar Raul Gherasim Bulzan Radu Emil Precup Stefan Preitl

Publication Name: Iccc Conti 2010 IEEE International Joint Conferences on Computational Cybernetics and Technical Informatics Proceedings

Publication Date: 2010-08-06

Volume: Unknown

Issue: Unknown

Page Range: 55-60

Description:

This paper presents the design and the implementation of two control solutions applied to a magnetic levitation system laboratory equipment. The first solution deals with a state feedback control structure to stabilize the controlled plant which is the inner control loop for the cascade control system structure proposed as the second solution. The second solution is based on a TakagiSugeno fuzzy controller in the outer control loop to ensure the zero steady-state control errors. Simulation and real time experimental results are included to illustrate the performance of the control systems and to validate the two control solutions in regulation and tracking. © 2010 IEEE.

Open Access: Yes

DOI: 10.1109/ICCCYB.2010.5491219

Developing fuzzy cognitive maps for modeling regional waste management systems

R. C. Pozna A. Buruzs L. T. Koczy

Publication Name: Civil Comp Proceedings

Publication Date: 2009-01-01

Volume: 92

Issue: Unknown

Page Range: Unknown

Description:

Sustainable waste management systems necessarily include environmental, economic, social, institutional, legal and technical aspects. As a result of the incompleteness and multiple uncertainties occurring in sustainable waste management systems, we propose the use of fuzzy cognitive maps (FCM) to support the planning and decision making process. It is obvious that uncertainties involved with waste management represent vagueness rather than probability. Fuzzy sets and fuzzy logic are suitable to construct a formal description and a mathematically manageable model of systems and processes with such uncertainties. In the research described in this paper the FCM model of the Gyor RWMS is established and implemented in such a structure that its parameters and weights were flexibly variable. By observation of the model and its time dependent behaviour we determined under what conditions the long-term sustainability of a regional waste management system could be ensured. In this paper, the interpretation of the results obtained by the FCM model for the actual waste management system are presented. © Civil-Comp Press, 2013.

Open Access: Yes

DOI: DOI not available

Iterative Feedback Tuning of Anti-Windup PI Fuzzy Control of Tower Crane System Payload Position

R. C. Pozna Radu Emil Precup Miruna Maria Damian Raul Cristian ROMAN

Publication Name: IEEE International Conference on Fuzzy Systems

Publication Date: 2025-01-01

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

This paper proposes the data-driven tuning of low-cost Proportional-Integral (PI) fuzzy control of the payload position of tower crane systems using Iterative Feedback Tuning (IFT). A back-calculation and tracking anti-windup diagram is included to prohibit integrator windup and compensate for the process's dead-zone and saturation nonlinearity. A two-stage tuning strategy is proposed. In the first stage, the parameters of the fuzzy logic part of the PI fuzzy controller and the anti-windup tracking gain are optimally tuned in a model-based manner using an original version of the hybrid Particle Filter-Particle Swarm Optimization algorithm, improved by adding an information feedback model. In the second stage, the parameters of the linear part of the PI fuzzy controller are tuned in a data-driven manner using IFT, and then mapped to the remaining PI fuzzy controller parameters using the modal equivalence principle. The efficacy of the new data-driven fuzzy control strategy is demonstrated through experimental results, and the comparison shows the performance improvement over other strategies designed using competing optimization algorithms.

Open Access: Yes

DOI: 10.1109/FUZZ62266.2025.11152023