I. J. Rudas

7005779131

Publications - 15

Fuzzy control of self-balancing robots: A control laboratory project

Péter Odry Akos Odry I. J. Rudas Robert Fullér

Publication Name: Computer Applications in Engineering Education

Publication Date: 2020-05-01

Volume: 28

Issue: 3

Page Range: 512-535

Description:

This paper presents a novel control laboratory project that provides hands-on experience in feedback control concepts (embedded control systems) through dedicated assignments, with a particular focus on the design and implementation of fuzzy control. The project is structured around an inexpensive, portable self-balancing robot (SBR), whose embedded system is realized using commercially available breakout boards as the first assignment. For the stabilization of the plant, students are guided to execute the essential stages of control system design, from system modeling and parameter optimization, over basic or advanced control strategy design in the MATLAB/Simulink environment, to both implementation and validation of the closed loop on the real robot. To demonstrate and foster the application of fuzzy logic, the second part of the paper introduces a simple control strategy based on fuzzy logic controllers. Then, a lookup table-based implementation technique is described for the demonstration of manual interfacing and embedded coding of fuzzy control strategies. The proposed methods are clear and straightforward; they highly foster the understanding of feedback control techniques and allow students to gain vast knowledge in the practical implementations of control systems.

Open Access: Yes

DOI: 10.1002/cae.22219

Kalman filter for mobile-robot attitude estimation: Novel optimized and adaptive solutions

Péter Odry Akos Odry I. J. Rudas Robert Fullér

Publication Name: Mechanical Systems and Signal Processing

Publication Date: 2018-09-15

Volume: 110

Issue: Unknown

Page Range: 569-589

Description:

This paper proposes two novel approaches to estimate accurately mobile robot attitudes based on the fusion of low-cost accelerometers and gyroscopes. The first part of the paper demonstrates the use of a special test bench that both enables simulations of various dynamic behaviors of wheeled robots and measures their real attitude angles along with the raw sensor data. These measurements are applied in a simulation environment and we outline an offline optimization of Kalman filter parameters. The second part of the paper introduces a novel adaptive Kalman filter structure that modifies the noise covariance values according to the system dynamics. The instantaneous dynamics are characterized regarding the magnitudes of both the instantaneous vibration and the external acceleration. The proposed adaptive solution measures these magnitudes and utilizes fuzzy-logic to modify the filter parameters in real time. The results show that the adaptive filter improves the overall filter convergence by a remarkable 10.9% over using the optimized Kalman filter, thereby demonstrating its efficacy as an accurate and robust attitude filter. The proposed filter performances are also benchmarked against other common methods indicating that the flexibility of the developed adaptive filter allowed it to compete and even outperform the benchmark filters.

Open Access: Yes

DOI: 10.1016/j.ymssp.2018.03.053

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

Learning the optimal parameter of the Hamacher t-norm applied for fuzzy-rule-based model extraction

László Gál Rita Lovassy L. T. Koczy I. J. Rudas

Publication Name: Neural Computing and Applications

Publication Date: 2014-01-01

Volume: 24

Issue: 1

Page Range: 133-142

Description:

Mamdani-type inference systems with trapezoidal-shaped fuzzy membership functions play a crucial role in a wide variety of engineering systems, including real-time control, transportation and logistics, network management, etc. The automatic identification or construction of such fuzzy systems input output data is one of the key problems in modeling. In the past years, the authors have investigated several different fuzzy t-norms, among others, algebraic and trigonometric ones, and the Hamacher product by substituting the standard "min" t-norm operation, in order to achieve better model fitting. In the present paper, the focus is on examining the general parametric Hamacher t-norm, where the free parameter quite essentially influences the quality of modeling and the learning capability of the model identification system. Based on a wide scope of simulation experiments, a quasi-optimal interval for the value of the Hamacher operator is proposed. © 2013 Springer-Verlag London.

Open Access: Yes

DOI: 10.1007/s00521-013-1499-3

Historical origin of the fine structure constant: Part IV: Coronatio: Explicandi et applicandi subtilita(ti)s structurae constantis sephano rege

P. Várlaki I. J. Rudas

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2012-12-21

Volume: 9

Issue: 5

Page Range: 45-93

Description:

Part IV of our paper on the historical (archetypal) background of the "fine structure constant" deals with the general physical and psychic world views, concealing the dynamic isomorphic meaning systems, related to Saint Stephen (Sephanus Rex) found in works of 1000 years old. Following the comparison of the representations (pre-figurations of the dynamic models) of the demonstrated background languages, we present that the author devoted himself to create a common background language of different religious courses. We intend to show that the background language (considered in general as a mapping of primordial images for "system and control" problems), was centred on his assumed proto-Cabbala, the Book of Bahir and its concealed meaning system, in close relation with the numeric archetype of 137 and the 137-type of "fine structures" within the decimal sephirotic world "controlling system" of the pleroma (the hypothesised "transcendent cyber space").

Open Access: Yes

DOI: DOI not available

On weighted possibilistic informational coefficient of correlation

István Harmati P. Várlaki I. J. Rudas Robert Fullér

Publication Name: International Journal of Mathematical Models and Methods in Applied Sciences

Publication Date: 2012-12-19

Volume: 6

Issue: 4

Page Range: 592-599

Description:

In their previous works Fullér et al. introduced the notions of weighted possibilistic correlation coefficient and correlation ratio as measures of dependence between possibility distributions (fuzzy numbers). In this paper we introduce a new measure of strength of dependence between marginal possibility distributions, which is based on the informational coefficient of correlation. We will show some examples that demonstrate some good properties of the proposed measure.

Open Access: Yes

DOI: DOI not available

Fuzzy Flip-Flop based Neural Networks as a novel implementation possibility of multilayer perceptrons

László Gál Rita Lovassy Árpád Tóth L. T. Koczy I. J. Rudas

Publication Name: 2012 IEEE I2mtc International Instrumentation and Measurement Technology Conference Proceedings

Publication Date: 2012-07-30

Volume: Unknown

Issue: Unknown

Page Range: 280-285

Description:

Fuzzy Flip-Flop based Neural Networks (FNN) constructed from fuzzy D flip-flops are studied as a novel technique to implement multilayer perceptrons. The starting point of this approach is the concept of fuzzy flip-flop (F 3), as the extension of the binary counterpart. Fuzzy D flip-flop based neurons are viewed, as sigmoid function generators. Their characteristic equations contain simple fuzzy operations, thus enabling easy implementability. FNNs have an interconnected fuzzy neuron structure composed from a large number of neurons acting in parallel which are capable of learning, and are suitable for function approximation. In this paper we propose the FPGA implementation of ukasiewicz operations, furthermore of fuzzy D flip-flop neurons based on Łukasiewicz norms. © 2012 IEEE.

Open Access: Yes

DOI: 10.1109/I2MTC.2012.6229326

Historical origin of the fine structure constant: Part III: Pauli with Jung Retro-Cognizes St. Stephen's crowning achievement

P. Várlaki L. T. Koczy I. J. Rudas

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2011-12-01

Volume: 8

Issue: 6

Page Range: 43-78

Description:

In Part II of the paper we discussed the central role of the number-archetype 137 in some great medieval works related to St Stephen's court. On the basis of the hermeneutical interpretation of certain of Pauli's famous dream series, we intend to show his hypothetical "synchronistic (unconscious) recognition" of the dominant representations and meanings of the medieval works discussed in the earlier parts of this paper, which can be related to his isomorphic mythological and "physical" dream patterns. We can also conclude that Pauli, collaborating with Jung, himself confirms in his consistent "dream-messages" the symbolic meaningful relationship and structural isomorphy between the basic quantum-physical model's features (e.g. the fine structure constant) and their hypothetical primordial images appearing even in the actual medieval works.

Open Access: Yes

DOI: DOI not available

Fuzzy neural networks stability in terms of the number of hidden layers

László Gál Rita Lovassy L. T. Koczy I. J. Rudas

Publication Name: 12th IEEE International Symposium on Computational Intelligence and Informatics Cinti 2011 Proceedings

Publication Date: 2011-12-01

Volume: Unknown

Issue: Unknown

Page Range: 323-328

Description:

This paper introduces an approach for studying the stability, and generalization capability of one and two hidden layer Fuzzy Flip-Flop based Neural Networks (FNNs) with various fuzzy operators. By employing fuzzy flip-flop neurons as sigmoid function generators, novel function approximators are established that also avoid overfitting in the case of test data containing noisy items in the form of outliers. It is shown, by comparing with existing standard tansig function based approaches that reducing the network complexity networks with comparable stability are obtained. Finally, examples are given to illustrate the effect of the hidden layer number of neural networks. © 2011 IEEE.

Open Access: Yes

DOI: 10.1109/CINTI.2011.6108523

Historical origin of the fine structure constant: Part II: Subtilis structurae constans inversae arboris dei

P. Várlaki L. T. Koczy I. J. Rudas

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2011-09-22

Volume: 8

Issue: 2

Page Range: 161-196

Description:

In this paper we intend to show in some great medieval works that are indeed or very likely linked to St Stephen's court the central role of the number-archetype 137 organizing "fine structures", together with quaternary and denary proto-Kabbalistic "systems", as a possible primordial image and "model" of the quantum-physical fine structure. This is associated with the four quantum-numbers and the fine structure constant (FSC) concept, in the sense that Jung and Pauli discussed similar problems upon the scientific and spiritual history of the Western Thought.

Open Access: Yes

DOI: DOI not available

HOSVD based image processing techniques

Szabolcs Sergyán András Rövid László Szeidl I. J. Rudas

Publication Name: Recent Researches in Artificial Intelligence Knowledge Engineering and Data Bases 10th Wseas International Conference on Artificial Intelligence Knowledge Engineering and Data Bases Aiked 11

Publication Date: 2011-06-17

Volume: Unknown

Issue: Unknown

Page Range: 297-302

Description:

In the framework of the paper an improved method for image resolution enhancement is introduced. The enhancement is performed through another representation domain, where the image function is expressed with the help of polylinear functions on higher order singular value decomposition (HOSVD) basis. The paper gives a detailed description on how to determine the polylinear functions corresponding to an image and how to process them in order to obtain a higher resolution image. Furthermore, the proposed approach and the Fourier-based approach will be compared from the point of view of their effectiveness.

Open Access: Yes

DOI: DOI not available

Historical origin of the fine structure constant subtilis structurae constan unit s1 part i. St. Stephen's crowning achievement

P. Várlaki L. T. Koczy I. J. Rudas

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2010-05-31

Volume: 7

Issue: 1

Page Range: 119-157

Description:

This paper deals with the historical origin of the primordial image of the fine structure constant (FSC) and the number 137 as the Self's own number archetype, which plays a central role in the poetic-hermeneutic system of the Holy Crown of Hungary. We intend to show that the allegorical and symbolical images which are observed as the manifestation of unconscious and interpreted and analyzed in the Pauli-Jung collaboration have a lengthy synchronistic relationship with the "archetypal model" of the FSC found in the marvellous enamel pictures of St. Stephen's Crown.

Open Access: Yes

DOI: DOI not available

Twin concept of fine structure constant as the 'self number-archetype' in perspective of the Pauli-Jung correspondence

P. Várlaki I. J. Rudas

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2009-12-01

Volume: 6

Issue: 2

Page Range: 77-108

Description:

The paper-similarly to our earlier publications since 1993 - is trying to 'synchronize' early quantum physics, the Kalmanian representation theory, Jungian analytic psychology, and certain aesthetical categories. The number '137', the so-called inverse Fine Structure Constant (IFSC), is placed at the centre of this heuristic and epistemological experiment, along with the scientific cooperation of Pauli and Jung. A new possibilistic twin concept of "controlling-observing equations" is proposed for the reinterpretation of the FSC and other Number Archetypes on the basis of the Hermeneutic and symbolic languages found in the W. Pauli and C. G. Jung " Correspondence". The first part of the paper deals in first line with the introduction of the possibilistic twin concept of FSC together with its interpretation according to the hermeneutical "tradition" of the Pauli-Jung collaboration.

Open Access: Yes

DOI: DOI not available

Twin Concept of fine structure constant as the 'self number-archetype' in perspective of the Pauli-Jung correspondence

P. Várlaki I. J. Rudas

Publication Name: Acta Polytechnica Hungarica

Publication Date: 2009-12-01

Volume: 6

Issue: 2

Page Range: 109-137

Description:

The paper - 'similarly to our earlier publications since 1993 - is trying to 'synchronize' early quantum physics, the Kalmanian representation theory, Jungian analytic psychology, and certain aesthetical categories. The number '137', the so-called inverse Fine Structure Constant (FSC), is placed at the centre of this heuristic and epistemological experiment, along with the scientific cooperation of Pauli and Jung. A new possibilistic twin concept of "controlling-observing equations" is proposed for the reinterpretation of the FSC and other Number Archetypes on the basis of the Hermeneutic and symbolic languages found in the W. Pauli and C. G. Jung " Correspondence". The second part of the paper deals with the new ways of cognition and imagination related to the "Background Control Theory" which can be identified mainly in the Pauli-Jung collaboration anticipating the new system and control approach of R E. Kalman Furthermore, we summarize this unusual attempt and give an extensive bibliography for further reading.

Open Access: Yes

DOI: DOI not available

"System identification" and hermeneutics for long run series of synchronicities in the Pauli-Jung relationship

P. Várlaki I. J. Rudas J. Bokor

Publication Name: Iccc 2009 IEEE 7th International Conference on Computational Cybernetics

Publication Date: 2009-12-01

Volume: Unknown

Issue: Unknown

Page Range: 129-140

Description:

The paper discusses some characteristic symbolic patterns which can be identified in the long run series of synchronicities in the Pauli-Jung cooperation concerning the long run dream series of Pauli. We try to show the paradigm of the modern system and control theory in the typical identifiable structures and symbolic patterns of dreams and synchronistic phenomena using the contemporary and old approaches of Hermeneutics. ©2009IEEE.

Open Access: Yes

DOI: 10.1109/ICCCYB.2009.5393949