Péter Galambos

26666702500

Publications - 13

Immersive VR user interaction design in MaxWhere XR

Péter Galambos György Persa Tamás Budai Dániel Mészáros Norbert Rajos Benedek Heilig Sára Puspán Gábor Peller Csaba Tóth

Publication Name: Cinti 2024 IEEE 24th International Symposium on Computational Intelligence and Informatics Proceedings

Publication Date: 2024-01-01

Volume: Unknown

Issue: Unknown

Page Range: 111-116

Description:

This paper presents a case study on transitioning user experience from desktop VR to immersive VR within the MaxWhere XR framework. It explores modifications to accommodate the shift to immersive virtual reality environments. Drawing from scientific research, the study focuses on user interaction design, including locomotion techniques, spatial UI elements, and hybrid interaction models. The paper details the technical implementations required to use MaxWhere XR on wide variety of VR devices. It presents the components form the foundation for designing and implementing the immersive user interactions, ensuring that they are intuitive and efficient in a virtual reality environment. Finally, the paper outlines the effects of these changes on user experience and suggests future development directions for further enhancement.

Open Access: Yes

DOI: 10.1109/CINTI63048.2024.10830883

Defining User Coordinate Systems for Industrial Robots in Mixed Reality

Péter Galambos Csaba Hajdu Károly Széll Zoltán Szilágyi Ákos Soós

Publication Name: Cando EPE 2024 Proceedings IEEE 7th International Conference and Workshop Obuda on Electrical and Power Engineering

Publication Date: 2024-01-01

Volume: Unknown

Issue: Unknown

Page Range: 225-230

Description:

This article presents a solution to support the identification of important user coordinate systems for creating an industrial robot work programme. The objective of this article is to provide a support tool for users for a task that may arise numerous times during the lifecycle of industrial robots. The solution described in the article offers a developable support tool that can be transferred from the industrial robotics environment to the collaborative robots' application environment, where the proportion of professionally trained and experienced users may be smaller compared to the previously mentioned area. By reducing the time required and improving the quality of task results, it can contribute to increasing the efficiency of robot systems.

Open Access: Yes

DOI: 10.1109/CANDO-EPE65072.2024.10772842

Sustainability Indicators in Industrial Robotic Systems

Péter Galambos Aádám Csapó Csaba Hajdu Károly Széll Zoltán Szilágyi

Publication Name: Chemical Engineering Transactions

Publication Date: 2023-01-01

Volume: 107

Issue: Unknown

Page Range: 79-84

Description:

Nowadays, the application of industrial robots in manufacturing is widespread to automatize tedious and repeatable precision-sensitive processes. Modern robotic cells compete with the human workforce and specialized industrial machines in general efficiency. Additionally, robotic cells can be typically reprogrammed for different tasks, thus providing flexible applications, especially compared to more traditional methods. Advanced autonomous and intelligent capabilities are widespread in modern robotic systems, supplying quantitative factors like higher availability, fault tolerance, precision, and system flexibility. Robotic systems typically work measurably more efficiently regarding resource usage, electrical power, and waste than other industrial production line systems. New intelligent and interconnected methods (e.g., cooperative robotics, big data analysis, cyber-physical systems) contribute further to the operation efficiency. Recently, sustainability has become a significant question in robotics: modern technical society faces problems such as decreasing availability of natural resources, workforce scarcity, and environmental challenges. This work focuses on industrial robotic systems as a primary pillar for sustainability efforts in numerous production sectors, such as metallurgy, assembly lines, and construction. This paper aims to review and analyze possible sustainability indicators of the industrial applications of robotics. Based on the analysis, the paper presents a manufacturing process model with industrial robots that considers sustainability indicators. This model highlights the relationship between industrial robotization and sustainability from a quantitative and qualitative perspective. The model indicates that energy efficiency and data interconnectivity play a crucial role in the sustainability of industrial processes. The aim of the model is to help identify indicators playing a role in the sustainability of industrial robot-based manufacturing lifecycle and maintenance.

Open Access: Yes

DOI: 10.3303/CET23107014

VR as a Medium of Communication: From Memory Palaces to Comprehensive Memory Management

Péter Galambos Aádám Csapó Ildiko Horvath P. Baranyi

Publication Name: 9th IEEE International Conference on Cognitive Infocommunications Coginfocom 2018 Proceedings

Publication Date: 2018-07-02

Volume: Unknown

Issue: Unknown

Page Range: 389-394

Description:

This paper investigates the unique potential of VR environments to serve as a comprehensive tool for communication and memory management. The paper uncovers intricate - and in some sense holistic - links between certain kinds of VR spaces and existing frameworks for the design and analysis of conceptual mappings, and shows how VR spaces can do more than just provide appealing visual experiences, by capturing the psychology of how new memories are formed. The paper provides multiple examples from the MaxWhere VR platform to support its main arguments, and concludes with a discussion on what these arguments, if accepted as correct, will mean for AI-enhanced CogInfoCom systems in the future.

Open Access: Yes

DOI: 10.1109/CogInfoCom.2018.8639896

Unsupervised clustering for deep learning: A tutorial survey

Péter Galambos Artúr István Károly Robert Fullér

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2018-01-01

Volume: 15

Issue: 8

Page Range: 29-53

Description:

Unsupervised learning methods play an essential role in many deep learning approaches because the training of complex models with several parameters is an extremely data-hungry process. The execution of such a training process in a fully supervised manner requires numerous labeled examples. Since the labeling of the training samples is very time-consuming, learning approaches that require less or no labeled examples are sought. Unsupervised learning can be used to extract meaningful information on the structure and hierarchies in the data, relying only on the data samples without any ground truth provided. The extracted knowledge representation can be used as a basis for a deep model that requires less labeled examples, as it already has a good understanding of the hidden nature of the data and should be only fine-tuned for the specific task. The trend for deep learning applications most likely leads to substituting as much portion of supervised learning methods with unsupervised learning as possible. Regarding this consideration, our survey aims to give a brief description of the unsupervised clustering methods that can be leveraged in case of deep learning applications.

Open Access: Yes

DOI: 10.12700/APH.15.8.2018.8.2

Temporal dynamics of object location processing in allocentric reference frame

Péter Galambos György Persa Andrea Kóbor Ágoston Török Ferenc Honbolygó Valéria Csépe P. Baranyi

Publication Name: Psychophysiology

Publication Date: 2017-09-01

Volume: 54

Issue: 9

Page Range: 1346-1358

Description:

The spatial location of objects is processed in egocentric and allocentric reference frames, the early temporal dynamics of which have remained relatively unexplored. Previous experiments focused on ERP components related only to egocentric navigation. Thus, we designed a virtual reality experiment to see whether allocentric reference frame-related ERP modulations can also be registered. Participants collected reward objects at the end of the west and east alleys of a cross maze, and their ERPs to the feedback objects were measured. Participants made turn choices from either the south or the north alley randomly in each trial. In this way, we were able to discern place and response coding of object location. Behavioral results indicated a strong preference for using the allocentric reference frame and a preference for choosing the rewarded place in the next trial, suggesting that participants developed probabilistic expectations between places and rewards. We also found that the amplitude of the P1 was sensitive to the allocentric place of the reward object, independent of its value. We did not find evidence for egocentric response learning. These results show that early ERPs are sensitive to the location of objects during navigation in an allocentric reference frame.

Open Access: Yes

DOI: 10.1111/psyp.12886

Control Analysis and Synthesis through Polytopic Tensor Product Model: a General Concept

Péter Galambos Jozsef Kuti P. Baranyi

Publication Name: IFAC Papersonline

Publication Date: 2017-07-01

Volume: 50

Issue: 1

Page Range: 6558-6563

Description:

The paper revisits and renew the concept of Polytopic Tensor Product (TP) Model based control analysis and synthesis by generalizing the use of TP-structured variables in the definite conditions derived from the applied control criteria. For TP forms that can depend on multivariate parameter sets (optionally with two times or larger multiplicities), a compact TP formalism is proposed where the multiplicity vector describes the structure. By setting the multiplicities, the parameter dependencies can be neglected or considered with arbitrary high complexity in the variables of controller-candidate, Lyapunov-function candidate and slack variables as well. The paper points out that the definite conditions on the structures of these variables results in definite conditions on Polytopic TP forms enabling a recursive method to reformulate them into Linear Matrix Inequalities (LMIs), Bilinear Matrix Inequalities (BMIs), etc. according to the design method in consideration. The application of the novel concept is shown through H∞ state feedback design for Linear Parameter Varying (LPV) systems.

Open Access: Yes

DOI: 10.1016/j.ifacol.2017.08.611

Generalization of Tensor Product Model Transformation for Control Design

Péter Galambos Jozsef Kuti P. Baranyi

Publication Name: IFAC Papersonline

Publication Date: 2017-07-01

Volume: 50

Issue: 1

Page Range: 5604-5609

Description:

The paper shows that the separated structure of parameter dependencies within the Polytopic Tensor-Product (TP) model can be exploited during the controller design by applying controller candidates that depend only on certain parameter sets. This approach combines the polytopic uncertainty and Parallel Distributed Compensation (PDC) concepts in such a way that they become special cases of the proposed formulation. Motivated by this recognition and the fact that the separation of parameter dependencies increases the complexity and computational cost, the definition of Polytopic TP representation for LPV/qLPV models is relaxed. The new definition allows for the use of arbitrarily chosen parameter sets in the model - according to the control goals - and the separation can be performed only for these sets. Through the derivation, an appropriate transformation algorithm and the unique Affine TP model is introduced discussing the related concepts of tensor algebra and affine geometry as well.

Open Access: Yes

DOI: 10.1016/j.ifacol.2017.08.1106

Non-simplex enclosing polytope generation concept for Tensor Product model transformation based controller design

Péter Galambos Jozsef Kuti P. Baranyi

Publication Name: 2016 IEEE International Conference on Systems Man and Cybernetics Smc 2016 Conference Proceedings

Publication Date: 2017-02-06

Volume: Unknown

Issue: Unknown

Page Range: 3368-3373

Description:

In polytopic model-based controller synthesis, the vertices of the model determine the achievable performance characteristics. This paper introduces a new concept, that allows for the sophisticated construction of non-simplex enclosing polytopes. The non-simplex structures in general, have much better descriptor properties than the simplex one that leads to less conservative synthesis. The paper demonstrates the workflow of controller design for a nonlinear system through the example of the TORA (Translational Oscillator with a Rotational Actuator) system. The numerical results clearly show that the proposed approach is capable of excluding non-stabilizable regions located between the exact convex hull and the enclosing simplex. The non-simplex polytope leads to an increased number of vertices but it practically does not influence the viability of Tensor-Product (TP) formalization and the feasibility of controller design while the achievable control performance can be improved significantly.

Open Access: Yes

DOI: 10.1109/SMC.2016.7844754

Minimal Volume Simplex (MVS) Polytopic Model Generation and Manipulation Methodology for TP Model Transformation

Péter Galambos Jozsef Kuti P. Baranyi

Publication Name: Asian Journal of Control

Publication Date: 2017-01-01

Volume: 19

Issue: 1

Page Range: 289-301

Description:

The vertices of a polytopic LPV/qLPV model determine the feasibility of any linear matrix inequality (LMI) based control design as well as the achievable control performance, since the polytope typically includes not only the actual system dynamics. This paper proposes a powerful method to determine suitable polytopic qLPV Tensor-Product model forms that allows for fine tuning through constraints on the locations of the vertices. The paper shows that these tuning methods are capable of effectively influencing the closed-loop control performance results from LMI-based multi-objective optimisation. The advantages of the proposed methods are their tractability, low computational complexity, as well as their determinism. The key idea behind the proposed methods is to determine vertices in each decoupled parameter-dimensions of the TP model in such a way that they form a minimal volume enclosing simplex fulfilling further fine tuning conditions on its shape. This is achieved based on the extension of the Minimal Volume Simplex Analysis (MVSA) method, where the volume of the enclosing simplex polytope is minimized by applying Sequential Quadratic Programming with majorization minimization strategy extended with a set of additional constraints influencing the location of certain vertices according to physically established considerations. Besides the comprehensive presentation of the proposed design methodology an expressive numerical example is provided to demonstrate its effectiveness and usability.

Open Access: Yes

DOI: 10.1002/asjc.1375

A Hands-On Demonstration of Control Performance Optimization Using Tensor Product Model Transformation and Convex Hull Manipulation

Péter Galambos P. Várlaki Jozsef Kuti P. Baranyi

Publication Name: Proceedings 2015 IEEE International Conference on Systems Man and Cybernetics Smc 2015

Publication Date: 2016-01-12

Volume: Unknown

Issue: Unknown

Page Range: 2609-2614

Description:

In polytopic model based controller synthesis, the vertices of the model determine the achievable performance. This paper demonstrates a complete and tractable design process exposing the polytopic qLPV model generation and a polytopeshaping technique through the example of the TORA (Translational Oscillator with a Rotational Actuator) system. The demonstrated apparatus allows for systematically improving the control performance through the manipulation of the polytopic structure based on the MVSA (Minimal Volume Simplex Analysis) algorithm. The proposed approach fits to the framework of TP Model Transformation.

Open Access: Yes

DOI: 10.1109/SMC.2015.456

Design, programming and orchestration of heterogeneous manufacturing systems through VR-powered remote collaboration

Tamás Haidegger Péter Galambos Aádám Csapó Istvan Marcell Fulop Péter Zentay I. J. Rudas P. Baranyi

Publication Name: Robotics and Computer Integrated Manufacturing

Publication Date: 2015-01-01

Volume: 33

Issue: Unknown

Page Range: 68-77

Description:

Modern manufacturing systems are often composed of a variety of highly customized units and specifically designed manufacturing cells. Optimization of assembly and training of staff requires a series of demo installations and excessive use of costly operational resources. In some cases, components are located at different sites, making the orchestration of the whole system even more difficult. Virtual Reality (VR) collaboration environments offer a solution by enabling high fidelity testing and training of complex manufacturing systems. On the other hand, such platforms are difficult to implement in an engineering perspective, as they are required to provide reliable, standard interfaces towards both robotic components and human operators. The VirCA (Virtual Collaboration Arena) platform is a software framework that supports various means of collaboration through the use of 3D augmented/virtual reality as a communication medium. VirCA offers functions for the high-level interoperability of heterogeneous components in a wide range of domains, spanning from research & development, through remote education to orchestration and management of industrial processes in manufacturing applications. This paper provides an overview of the industrial requirements behind high-fidelity virtual collaboration and demonstrates how the VirCA platform meets these requirements. Use cases are provided to illustrate the usability of the platform.

Open Access: Yes

DOI: 10.1016/j.rcim.2014.08.012

Stabilization and synchronization of dynamicons through CogInfoCom channels

Péter Galambos Aádám Csapó P. Várlaki P. Baranyi

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

Publication Date: 2012-12-01

Volume: Unknown

Issue: Unknown

Page Range: 33-36

Description:

Research on CogInfoCom channels has thus far focused on channels in which syntactics and semantics have a static relationship, and in which information is communicated through the transmission of discrete CogInfoCom messages between two communicational endpoints. In this paper, we make a first attempt to extend the concept of CogInfoCom channels to incorporate dynamicons, which are forms of communication in which two or more communicational endpoints are bound to the same dynamic processes. Information, then, is the transmitted dynamics itself, instead of being represented by a set of messages which are external to the process of communication. After a short introduction to what we mean by the concept of dynamicons, we present a reference model to this problem which is suitable for Internet-based communication characterized by unpredictable time delays. We discuss how the generalization of the reference model can lead to interesting and novel applications in CogInfoCom. © 2012 IEEE.

Open Access: Yes

DOI: 10.1109/CogInfoCom.2012.6422012