Bálint Kiss - Profile on Academia.edu (original) (raw)

Papers by Bálint Kiss

Demand Response of Multiple Households with Coordinated distributed Energy Resources

The optimal energy consumption of aggregated smart households is presented in this paper. The hou... more The optimal energy consumption of aggregated smart households is presented in this paper. The households are assumed to be equipped with distributed energy resources (electric vehicle, energy storage system, photovoltaic panel) besides the grid. The model is established to shift major loads and to allow energy exchangeability among the households. The common objective is to minimize the total electricity costs by maximizing local energy usage at the household and neighborhood levels. A noncooperative game-theoretic model, combined with a mixed-integer-programming model, is developed to satisfy the neighbor-hood's economic and energetic needs. The neighborhood's total electricity costs are reduced using the proposed method, and it is verified through simulation results.

Event-based control method for variable feedback rate nonlinear systems

This paper presents an event-driven approach for handling variable rate sensor feedback. Such sys... more This paper presents an event-driven approach for handling variable rate sensor feedback. Such systems are challenging as most discrete-time modeling techniques are based on constant sampling rate. Existing methods include oversampling, which is rather resource-intensive and linearization or linearizing feedback, which requires calculations for each operating point of the system. As an alternative to these methods, an event-driven algorithm is investigated, which provides appropriate results with moderate computational cost. The test system depicts a common problem in control engineering, namely angular speed control of a rotating shaft. Angular velocity is measured by an encoder, a variable rate sensor, which deteriorates significantly the performance of controllers designed for constant sampling rates. Performance of the event-driven control algorithm is first designed and evaluated by simulation and finally tested as the motion controller of a mobile platform.

Periodica polytechnica. Electrical engineering and computer science /, Jun 5, 2023

Simultaneous localization and mapping (SLAM) is an essential task for autonomous rover navigation... more Simultaneous localization and mapping (SLAM) is an essential task for autonomous rover navigation in an unknown environment, especially if no absolute location information is available. This paper presents a computationally lightweight framework to enable agents with limited processing power to carry out the SLAM cooperatively and without absolute onboard localization sensors in a 2D environment. The proposed solution is built on a graph-based map representation, where nodes (resp. edges) represent landmarks (resp. odometry-based relative measurements), a measurement algebra with embedded uncertainty, and a compact database format that could be stored on a server in a centralized manner. The operations required by the agents to insert a new landmark in the graph, update landmark positions and combine measurements as a loop is closed in the graph are detailed. The resulting framework was tested in a laboratory environment and on a public dataset with encouraging results; hence our method can be used for costeffective indoor mobile agents with limited computational resources and onboard sensors to achieve a mapping while keeping track of the agent's position. The method can also be easily generalized for a 3D scenario.

2009 European Control Conference (ECC)

This paper presents some key components of a semi-autonomous parking assist system designed for a... more This paper presents some key components of a semi-autonomous parking assist system designed for a passenger car without any automatic gear. Four subsystems are detailed: the state estimation, the map construction, the path planning and the tracking controller modules. The tasks of these systems are addressed in this work, and the main steps of their algorithms are described. This parking assist system was implemented and tested on a Ford Focus type vehicle.

$Research paper thumbnail of Repeating the E\"otv\"os-Pek\'ar-Fekete equivalence principle measurements$

arXiv (Cornell University), May 29, 2022

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Kalman filter based cooperative landmark localization in indoor environment for mobile robots

Cost-effective localization in indoor environments is a critical task in numerous applications of... more Cost-effective localization in indoor environments is a critical task in numerous applications of mobile robots. Sensors on board of individual robots may have low accuracy, but the fact that they share the same environment may be exploited to design a cooperative localization technique. Our approach assumes that the mobile robots can share current and past measurements of their on-board sensors with each other thanks to some communication scheme and to a database of such measurements. The presented method is based on the Bayes theorem. By fusing the measurements of multiple agents, a higher accuracy can be achieved than any of the separate units might be able to reach considering the landmark locations. Simulation results in a testbed motion scenario show the advantages of the method presented.

Lightweight SLAM with automatic orientation correction using 2D LiDAR scans

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR), 2020

Simultaneous localization and mapping (SLAM) is about consistent maps in the long run. Loop closi... more Simultaneous localization and mapping (SLAM) is about consistent maps in the long run. Loop closing is the most popular way for ensure long-term consistency in presence of multiple measurements by the same or multiple robots. Loop closure can be executed using raw odometrical data, but a more sophisticated, yet still light-weight method is presented in this paper: a landmark descriptor-based relative displacement calculation method for diminishing unwanted orientation errors that otherwise often lead to map inconsistency. Landmark descriptors are created using light detection and ranging (LiDAR) scans and the relation is calculated using scan-matching. The novelty of this research is a method providing long-term orientation and position correction without additional overhead between landmark detections, thus enabling simple agents to do the SLAM in a cooperative way.

IEEE Access, 2021

Most of the advanced nonlinear control strategies reported in the literature for underactuated me... more Most of the advanced nonlinear control strategies reported in the literature for underactuated mechanisms, such as overhead cranes, require the knowledge of all state variables. For cranes, the state vector includes variables related to the load sway and its velocity. The flatness property of crane-like systems can be exploited to solve both motion planning and tracking problems, so that the load (whose coordinates are included in the set of the flat outputs) exponentially follows a rapid reference trajectory. However, unmodeled friction phenomena and limitations on the direct measurement of sway-related state variables usually impede the practical implementation of flatness-based control laws. This paper proposes the use of an adaptive unscented Kalman filter to estimate friction forces and unmeasured state variables. The convergence of the filter is improved using a novel technique, called condition-based selective scaling. The performance of the suggested scheme is verified through a set of computer simulations on a 2D overhead crane system. INDEX TERMS Overhead crane, feedback linearization, flatness based control, adaptive unscented Kalman filter, condition-based selective scaling.

2007 European Control Conference (ECC), 2007

This paper reports a low-cost online fault detection approach for supervisory controllers in the ... more This paper reports a low-cost online fault detection approach for supervisory controllers in the framework of Supervisory Control Theory (SCT). For the cases when sensors dedicated to fault detection increase significantly the cost of controllers, or failure events are even impossible to detect by a direct way, methods based on the well-known watchdog structures are proposed. To successfully integrate watchdogs in the SCT framework, their discrete-event model is defined, and fault-detection techniques proposed in this paper are based on the extension of controller models previously designed using conventional supervisory synthesis methods. Fault-detection strategies are presented for centralized and distributed supervisory control environments, in the latter case providing solutions for avoiding problems according to fault propagation. Proposed techniques give full authority to the system designer in defining failure handling procedures and are proved not to influence the operation ...

Hungarian Journal of Industrial Chemistry, 2014

This paper focuses on the development of state estimation methods for mechanical systems with unc... more This paper focuses on the development of state estimation methods for mechanical systems with uncertain frictional parameters. The goal of the study is to provide reliable angle estimation for state-feedback-based crane control solutions, designed to reduce load sway. Cranes are underactuated systems, usually unequipped with the sensors necessary to measure the swinging angle, therefore the damping of their oscillatory behaviour is a challenging task. Two estimators are proposed for the calculation of the unmeasured states. One is based on an ’unknown input Kalman filter’ (UIKF), the other applies the ’unscented Kalman filter’ (UKF) with load prediction. Simulation results are provided to demonstrate the accuracy of the algorithms.

Control list generation to reveal fraudulent customers for electricity provider companies

2012 20th Mediterranean Conference on Control & Automation (MED), 2012

ABSTRACT This paper presents a procedure that generates control lists for electricity provider co... more ABSTRACT This paper presents a procedure that generates control lists for electricity provider companies to reveal fraudulent customers with the highest possible efficiency. Based on the database of Customer Registration System, essential features are selected and other secondary (derived) properties are introduced to build up an abstract space for the algorithm of control list generation. Control list generation algorithm uses training data from the Customer Registration System to set up a fuzzy system with subtractive clustering. The algorithm has been validated at Hungarian Electricity Provider ELMU-ÉMÁSZ Company Group.

Increased air traffic has also caused major rise of passenger flow at airport terminals. In order... more Increased air traffic has also caused major rise of passenger flow at airport terminals. In order to provide efficient and comfortable service at airports, passenger flow has to be improved, which has to be based on analysis of simulation results. This paper presents an evaluation of two methods for simulating passenger flow of an airport terminal. The terminal is decomposed to several zones, referred to as cells, each having its own behavior. Passenger flow between these cells is defined as a directed graph. The paper presents the difference equation based store-and-forward model and a Petri net based model for the simulation of passenger flow. Principles of passenger flow modeling by the two methods are presented, and detailed description of typical cell models are given for both approaches. The methods are evaluated on the simulation of a smallscale example. Based on the results, comparison on the two methods is given and a conclusion is drawn.

2007 Mediterranean Conference on Control & Automation, 2007

This paper reports a time-scaling scheme to realize a tracking controller for the non-differentia... more This paper reports a time-scaling scheme to realize a tracking controller for the non-differentially flat model of the kinematic car with one input which is the steering angle or the angular velocity of the steering angle. The longitudinal velocity of the car is a measurable external signal and cannot be influenced by the controller. Using an on-line time-scaling, driven by the longitudinal velocity of the car, by a scaling output of the tracking controller, and by their time derivatives up to the second order, one can achieve exponential tracking of any sufficiently smooth reference trajectory, similar to the differentially flat case with two control inputs. The price to pay is the modification of the finite traveling time of the reference trajectory according to the time-scaling.

Demand Side Electric Energy Consumption Optimization in a Smart Household Using Scheduling and Model Predictive Temperature Control

Journal of Dynamic Systems, Measurement, and Control

Utility companies seek to increase energy efficiency and productivity and try to reduce peak load... more Utility companies seek to increase energy efficiency and productivity and try to reduce peak loads. This often involves consumer-side demand management in residential areas using dynamic time-of-use (ToU) tariff. Such strategies work if the consumer-side response is at least partly automated using some real-time optimization strategy. Our paper proposes a consumer-side optimization and control framework for scheduling the electric appliances in a smart household and preserving a thermal comfort level through an electric heating system. Our framework consists of two optimization components interacting with each other. The first optimization component schedules the home appliances based on a mixed integer programming approach. An electric vehicle (EV) is considered as a special home appliance with an energy storage capability. The second optimization component is the model predictive control (MPC) strategy for the electric heating system, such that the input constraints are defined by...

Eliminating residual sway of crane loads based on laser slot sensor information

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)

The paper addresses the problem of the elimination of residual sway of a special class of weight ... more The paper addresses the problem of the elimination of residual sway of a special class of weight handling equipment, namely cranes. Oscillatory behavior of such devices makes them ideal underactuated benchmark systems to develop new control algorithms and sensing strategies. Direct and continuous sensing of the sway angle of the crane load is usually hindered by harsh outdoor conditions which make difficult to use camera-based solutions or to apply devices which are attached or entering into contact with the ropes. Instead, we propose contactless laser slot sensors to detect a limited number of sway angle values around the vertical rope position. Laser slot sensors are robust and reliable binary detectors which provide a logical one output if the laser beam in the slot is interrupted by an obstacle, being the rope in our case. In our setup, a configuration of a pair of such sensors are suggested for the planar case. Based on the sensor data, a trajectory is planned so that the sway is eliminated by the end of its execution. The trajectory planning algorithm is based on the differential flatness property of the crane sway dynamics, actuated by the suspension point acceleration. Simulations show the usefulness of the proposed method.

Rehabilitation Support Robot for Self-Standing-Up Training of Hemiplegic Stroke Patients - Design of Counterbalance Mechanism

2019 19th International Conference on Control, Automation and Systems (ICCAS), 2019

The objective of the study involved developing a rehabilitation support robot for self-standing-u... more The objective of the study involved developing a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. Based on our previous analysis of the therapist's guiding movements in standing-up training of patients, a passive-type robot was adopted. However, the link weight of the robot acts as a load at the patient's waist. In this work, we designed a counterbalance mechanism for the robot in order to reduce the load at the patient's waist and determined the optimal parameters for the mechanism. We confirmed by simulation that the specifications of the forces acting on the end-effectors of the robots were satisfied, and thus the proposed counterbalance mechanism was effective.

Velocity obstacles for Dubins-like mobile robots

2017 25th Mediterranean Conference on Control and Automation (MED), 2017

The paper deals with the motion planning problem for Dubins-like mobile robots in dynamic environ... more The paper deals with the motion planning problem for Dubins-like mobile robots in dynamic environment. Velocity obstacles (VO) method and its non-linear version (NLVO) can be applied for planning a collision-free trajectory for a robot moving among static and dynamic obstacles, whose positions and velocity vectors are supposed to be known. VO and NLVO algorithms determine a velocity vector for the robot which corresponds not necessarily to the orientation of the robot, hence a Dubins-like mobile robot cannot apply it exactly. In this paper we present a method similar to NLVO, but it results motions feasible for Dubins-like robots. Longitudinal velocities and radii of turning circles are calculated, which ensure collision-free motion if the movement of the obstacles are known for some time-horizon.