Peter Korondi - Academia.edu (original) (raw)

Papers by Peter Korondi

Academic and Applied Research in Military and Public Management Science, 2016

This paper presents a parametrized stability control method for special slow motion field mobile ... more This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flexible and universal control algorithm for transformable and hybrid drive mobile robots, where every parameter can be changed and recalculated for different applications or even in discrete time steps during the motion at a 3D path. The velocity reference, the angular velocity reference and the optimization parameter (for example gravity compensation) of the robot can be prescribed. The model was implemented in MATLAB and can be compiled to C for measurements and validation with ...

2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2021

Human-Robot Interaction (HRI) evaluation is rapidly gaining more interest as the field of social ... more Human-Robot Interaction (HRI) evaluation is rapidly gaining more interest as the field of social robotics advances, but determining the effectiveness of the various HRI models can be a challenging task. Recently, ethology has been successfully incorporated in HRI models, and has been suggested to be used in HRI evaluation methods also. In ethological experiments, trained observers manually identify and record the exhibited behaviours of the participating subjects, a procedure called as coding. However, precise observation and coding of the behaviour of subjects is a resource demanding process and prone to human mistakes. Therefore, the goal of the paper is twofold. First, to introduce automatical coding as a possible method to provide accurate, unbiased, objective evaluation of HRI experiments. Second, to abolish the need for manual human work in the coding process. Accordingly, we propose a possible method which is able to automatically code simple behaviour elements in HRI experiments. The task of the proposed system is to automatically evaluate the behaviour of a mobile robot by distinguishing the cardinal behaviour elements without any information on the inner states of the model controlling the mobile robot, based solely on data gathered from the environment of the interaction. Various test scenarios were evaluated, while the mobile robot agent was exhibiting pre-programmed behaviours, where the proposed system could properly recognize and code the behaviour elements shown by the mobile robot.

2017 IEEE/SICE International Symposium on System Integration (SII), 2017

Planning and monitoring the manufacturing of high quality one-of-a-kind products are challenging ... more Planning and monitoring the manufacturing of high quality one-of-a-kind products are challenging tasks. In the implementation of an industrial system, the commissioning phase is typically comprised of a programming phase and an optimization phase. Most of the resources are commonly invested in the optimization of the process. The time and cost of the implementation can be reduced if the monitoring system is not embedded in the industrial process, but kept instead as a decoupled task. In this paper we present a framework to simulate and execute the monitoring task of an industrial process in Unity3D, without interfering with the original system. The monitoring system is made of external additional equipment and is decoupled from the industrial task. The monitoring robot's path is subject to multiple constraints to track the original process without affecting its execution. Moreover, the framework is flexible thanks to the Unity-ROS communication so that the monitoring task can be carried on by any ROS-compatible device. The monitoring system has been applied to a robotic system for heavy, multi-pass TIG welding of voluminous work-pieces. The results of the implementation show that the constraints for monitoring were satisfactory in the 3D environment and capable for real robot application.

Expert Systems with Applications, 2021

This is a PDF file of an article that has undergone enhancements after acceptance, such as the ad... more This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.

2017 IEEE 26th International Symposium on Industrial Electronics (ISIE), Jun 1, 2017

This paper investigates intuitiveness in human robot interactions with focus on remote operation ... more This paper investigates intuitiveness in human robot interactions with focus on remote operation and assistance. The increasing number of robot applications in small volume production requires new techniques to ease the use of these sophisticated systems. A vibrotactile device was used for experiments. Vibration patterns are developed to represent a cognitive information channel for the remote operator. Most of the patterns are based on natural sensations, e.g. the feedback of gripping an object is slight vibration on the index finger and the thumb. Usability test results are presented. Intuitiveness of the vibrotactile feedback is confirmed in remote operation but the solution can be used in shop floor situations as well.

Sensors, 2019

This paper deals with sensor fusion of magnetic, angular rate and gravity sensor (MARG). The main... more This paper deals with sensor fusion of magnetic, angular rate and gravity sensor (MARG). The main contribution of this paper is the sensor fusion performed by supervised learning, which means parallel processing of the different kinds of measured data and estimating the position in periodic and non-periodic cases. During the learning phase, the position estimated by sensor fusion is compared with position data of a motion capture system. The main challenge is avoiding the error caused by the implicit integral calculation of MARG. There are several filter based signal processing methods for disturbance and noise estimation, which are calculated for each sensor separately. These classical methods can be used for disturbance and noise reduction and extracting hidden information from it as well. This paper examines the different types of noises and proposes a machine learning-based method for calculation of position and orientation directly from nine separate sensors. This method includ...

Frontiers in Psychology, 2017

Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights ... more Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights from disciplines that govern relevant human behaviors: ecology and ethology. We show how the paradox of the so called "uncanny valley hypothesis" can be solved by applying the "niche" concept to social robots, and relying on the natural behavior of humans. Instead of striving to build human-like social robots, engineers should construct robots that are able to maximize their performance in their niche (being optimal for some specific functions), and if they are endowed with appropriate form of social competence then humans will eventually interact with them independent of their embodiment. This new discipline, which we call ethorobotics, could change social robotics, giving a boost to new technical approaches and applications.

Journal of Advanced Computational Intelligence and Intelligent Informatics, 2006

The Tensor Product (TP) model transformation is a recently proposed technique for transforming gi... more The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter Varying (LPV) models into polytopic model form, namely, to parameter varying convex combination of Linear Time Invariant (LTI) models. The main advantage of the TP model transformation is that the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting polytopic models to yield controllers with tractable and guaranteed performance. The effectiveness of the LMI design depends on the type of the convex combination in the polytopic model. Therefore, the main objective of this paper is to study how the TP model transformation is capable of determining different types of convex hulls of the LTI models. The study is conducted trough the example of the prototypical aeroelastic wing section.

Journal of Power Electronics, 2010

Studies in Systems, Decision and Control, 2015

The main contribution of this paper is to examine, via experimental investigations of a Type 2 se... more The main contribution of this paper is to examine, via experimental investigations of a Type 2 servomechanism, the engineering feasibility of a sliding mode based control design, in which a discontinuous estimator is used in feedback compensation of uncertainties and exogenous disturbances. Experimental results of a transputer controlled single-degreeof-freedom motion control system are presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft.

It is difficult for most of us to imagine, but many who are deaf rely on sign language as their p... more It is difficult for most of us to imagine, but many who are deaf rely on sign language as their primary means of communication. They, in essence, hear and talk through their hands. This paper proposes a system which is able to recognize the signs using a video camera system.The recognized signs are reconstructed by the 3D visualization system as

PloS one, 2014

In the last few years there was an increasing interest in building companion robots that interact... more In the last few years there was an increasing interest in building companion robots that interact in a socially acceptable way with humans. In order to interact in a meaningful way a robot has to convey intentionality and emotions of some sort in order to increase believability. We suggest that human-robot interaction should be considered as a specific form of inter-specific interaction and that human-animal interaction can provide a useful biological model for designing social robots. Dogs can provide a promising biological model since during the domestication process dogs were able to adapt to the human environment and to participate in complex social interactions. In this observational study we propose to design emotionally expressive behaviour of robots using the behaviour of dogs as inspiration and to test these dog-inspired robots with humans in inter-specific context. In two experiments (wizard-of-oz scenarios) we examined humans' ability to recognize two basic and a seco...

Modeling, Identification and Control: A Norwegian Research Bulletin, 2013

In this paper a novel concept of human-robot interaction (HRI) modeling is proposed. Including fa... more In this paper a novel concept of human-robot interaction (HRI) modeling is proposed. Including factors like trust in automation, situational awareness, expertise and expectations a new user experience framework is formed for industrial robots. Service Oriented Robot Operation, proposed in a previous paper, creates an abstract level in HRI and it is also included in the framework. This concept is evaluated with exhaustive tests. Results prove that significant improvement in task execution may be achieved and the new system is more usable for operators with less experience with robotics; personnel specific for small and medium enterprises (SMEs).

Asian Journal of Control, 2008

A comprehensive analysis of aeroelastic systems has shown that these systems exhibit a broad clas... more A comprehensive analysis of aeroelastic systems has shown that these systems exhibit a broad class of pathological response regimes when certain types of non-linearities are included. In this paper, we propose a design method of a state-dependent non-linear controller for aeroelastic systems that includes polynomial structural non-linearities. The proposed method is based on recent numerical techniques such as the Tensor Product (TP) model transformation and the Linear Matrix Inequality (LMI) control design methods within the Parallel Distributed Compensation (PDC) frameworks. In order to link the TP model transformation and the LMI's in the proposed design method, we extend the TP model transformation with a further transformation. As an example, a controller is derived that ensures the global asymptotic stability of the prototypical aeroelastic wing section via one control surface, in contrast with previous approaches which have achieved local stability or applied additional control actuator on the purpose of achieving global stability. Numerical simulations are used to provide empirical validation of the control results. The effectiveness of the controller design is compared with a former approach.

This paper presents a neurobiology and cognitive psychology inspired model, implemented using a n... more This paper presents a neurobiology and cognitive psychology inspired model, implemented using a neural-network-like parallel computational strategy. The goal of the model is to show how a visual cortex inspired system can control camera alignment using a given camera hardware setup, in a similar way to the brain's controlling eye movements. The system (computational model and camera hardware) are integrated into an experimental environment, the Intelligent Space, a room of ubiquitous computing. The intelligent space is based on several Distributed Intelligent Network Devices (DIND). A DIND has a sensor input, integrated intelligence and a communication interface. The model presented in this paper serves as the integrated intelligence component of a particular DIND. The proposed model implemented in a parallel hardware performs real time operation.

6th International Symposium …, 2005