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

Papers by Bálint Kiss

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.

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

2009 European Control Conference (ECC)

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

arXiv (Cornell University), May 29, 2022

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.

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.

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.

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.

2007 Mediterranean Conference on Control & Automation, 2007

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...

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.

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.

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.