TY - JOUR AU - Farkas, Márton AU - Rózsa, Szabolcs AU - Vanek, Bálint TI - Multi‑sensor Attitude Estimation using Quaternion Constrained GNSS Ambiguity Resolution and Dynamics‑Based Observation Synchronization JF - ACTA GEODAETICA ET GEOPHYSICA J2 - ACTA GEOD GEOPHYS VL - 59 PY - 2024 IS - 1 SP - 51 EP - 71 PG - 21 SN - 2213-5812 DO - 10.1007/s40328-024-00441-2 UR - https://m2.mtmt.hu/api/publication/34832889 ID - 34832889 N1 - Institute for Computer Science and Control, Eötvös Lóránd Research Network, Kende u. 13-17, Budapest, 1111, Hungary Department of Geodesy and Surveying, Faculty of Civil Engineering, Budapest University of Technology and Economics, Műegyetem rkp. 3, Budapest, 1111, Hungary Export Date: 3 May 2024 Correspondence Address: Farkas, M.; Institute for Computer Science and Control, Kende u. 13-17, Hungary; email: mfarkas@sztaki.hu AB - Recently, high accuracy and low-cost navigation hardware is becoming increasingly available that can be efficiently used for the control of autonomous vehicles. We present a sensor fusion method providing tightly coupled integration of pseudorange, carrier phase, and Doppler satellite measurements taken at multiple vehicle-mounted GNSS antennas with onboard inertial sensor observations. The key of accurate GNSS position and orientation estimation is the successful integer ambiguity resolution. We propose a method that uses the quaternion states as constraints to improve ambiguity resolution and to increase the accuracy of the GNSS based attitude determination. Generally, the low-cost hardware neither allows a hardware-level time synchronization between the GNSS receivers due to a lack of a common external oscillator nor provides the clock steering function available in geodetic GNSS receivers. The lack of observation synchronization causes several degrees of error in attitude estimation. To eliminate this effect, a dynamics-based solution is presented that synchronizes the observations by taking the dynamics of the moving platform into account. Compared to common external oscillator based sensor setups, our solution allows to increase both the number of rover receivers on the platform and the baselines between them easily, thus it opens up new possibilities in the attitude determination of large vehicles. We validate our approach against a tactical grade inertial navigation system. The results show that our approach using low-cost sensors provides the ambiguity success rate of 100% for the moving baselines, and the positioning and attitude error reached the centimeter and half a degree level, respectively. © The Author(s) 2024. LA - English DB - MTMT ER - TY - BOOK AU - Vu, V T AU - Sename, O AU - Gáspár, Péter AU - Trong, T D TI - Active Anti-Roll Bar Control Design for Heavy Vehicles PB - Springer Nature Singapore CY - Singapore PY - 2024 SP - 405 SN - 9789819713592 DO - 10.1007/978-981-97-1359-2 UR - https://m2.mtmt.hu/api/publication/34794830 ID - 34794830 LA - English DB - MTMT ER - TY - JOUR AU - Tesone, Alessio AU - Tettamanti, Tamás AU - Varga, Balázs AU - Bifulco, Gennaro Nicola AU - Pariota, Luigi TI - Multiobjective Model Predictive Control Based on Urban and Emission Macroscopic Fundamental Diagrams JF - IEEE ACCESS J2 - IEEE ACCESS VL - 12 PY - 2024 SP - 52583 EP - 52602 PG - 20 SN - 2169-3536 DO - 10.1109/ACCESS.2024.3387664 UR - https://m2.mtmt.hu/api/publication/34788066 ID - 34788066 N1 - Funding Agency and Grant Number: Project Prin 2020 DigiT-CCAM-Digital Twins per la Mobilit a Cooperativa, Connessa e Automatizzata funded by the Italian Ministry of the University and the Research Funding text: No Statement Available AB - Increasing motorization represents a severe problem worldwide, also affecting the emission levels of the road network. Accordingly, congestion management has obtained growing importance because of its strong economic, social, and environmental implications. Macroscopic Fundamental Diagram (MFD) based traffic control is a popular and efficient approach in this scientific field. In our research work the urban network has been divided into homogeneous regions, each of them characterized by its own MFD, and they are regulated using a network-level control scheme. The proposed Multiobjective Model Predictive Control (M-MPC) takes into account the congestion and CO2 emission levels of the urban network, modelled by the emerging Emission Macroscopic Fundamental Diagram (e-MFD). The applied strategy has been demonstrated in a realistic traffic scenario (Luxembourg City) using validated microscopic traffic simulation. According to the introduced multiobjective approach, the control method can better exploit the road network capacity while efficiently reducing traffic-induced emissions. Authors LA - English DB - MTMT ER - TY - JOUR AU - Dózsa, Tamás AU - Jurdana, V AU - Segota, S B AU - Volk, János AU - Radó, János AU - Soumelidis, Alexandros AU - Kovács, Péter TI - Road Type Classification Using Time-Frequency Representations of Tire Sensor Signals JF - IEEE ACCESS J2 - IEEE ACCESS VL - 12 PY - 2024 SP - 53361 EP - 53372 PG - 12 SN - 2169-3536 DO - 10.1109/ACCESS.2024.3382931 UR - https://m2.mtmt.hu/api/publication/34786414 ID - 34786414 LA - English DB - MTMT ER - TY - JOUR AU - Liu, Y AU - Wang, P AU - Lee, C AU - Tóth, Roland TI - Attitude Takeover Control for Noncooperative Space Targets Based on Gaussian Processes with Online Model Learning JF - IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS J2 - IEEE T AERO ELEC SYS PY - 2024 SP - 1 EP - 17 PG - 17 SN - 0018-9251 DO - 10.1109/TAES.2024.3361886 UR - https://m2.mtmt.hu/api/publication/34779718 ID - 34779718 N1 - Control Systems Group, Department of Electrical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands Flight Dynamics and Control Laboratory, Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea Export Date: 9 April 2024 CODEN: IEARA LA - English DB - MTMT ER - TY - JOUR AU - Dózsa, Tamás AU - Őri, P AU - Szabari, M AU - Simonyi, Ernő AU - Soumelidis, Alexandros AU - Lakatos, István TI - Brake Disc Deformation Detection Using Intuitive Feature Extraction and Machine Learning JF - MACHINES J2 - MACHINES VL - 12 PY - 2024 IS - 4 PG - 21 SN - 2075-1702 DO - 10.3390/machines12040214 UR - https://m2.mtmt.hu/api/publication/34758553 ID - 34758553 AB - In this work we propose proof-of-concept methods to detect malfunctions of the braking system in passenger vehicles. In particular, we investigate the problem of detecting deformations of the brake disc based on data recorded by acceleration sensors mounted on the suspension of the vehicle. Our core hypothesis is that these signals contain vibrations caused by brake disc deformation. Since faults of this kind are typically monitored by the driver of the vehicle, the development of automatic fault-detection systems becomes more important with the rise of autonomous driving. In addition, the new brake boosters separate the brake pedal from the hydraulic system which results in less significant effects on the brake pedal force. Our paper offers two important contributions. Firstly, we provide a detailed description of our novel measurement scheme, the type and placement of the used sensors, signal acquisition and data characteristics. Then, in the second part of our paper we detail mathematically justified signal representations and different algorithms to distinguish between deformed and normal brake discs. For the proper understanding of the phenomenon, different brake discs were used with measured runout values. Since, in addition to brake disc deformation, the vibrations recorded by our accelerometers are nonlinearly dependent on a number of factors (such as the velocity, suspension, tire pressure, etc.), data-driven models are considered. Through experiments, we show that the proposed methods can be used to recognize faults in the braking system caused by brake disc deformation. LA - English DB - MTMT ER - TY - CHAP AU - Dózsa, Tamás AU - Fridli, Sándor AU - Kovács, Péter ED - Nicolai, Spicher ED - Theresa, Bender ED - Philip, Hempel TI - Modeling CT images in the presence of beam hardening​ T2 - Proceedings of the Workshop Biosignal 2024 PB - University of Göttingen CY - Göttingen PY - 2024 SP - 1 EP - 5 PG - 5 UR - https://m2.mtmt.hu/api/publication/34754671 ID - 34754671 LA - English DB - MTMT ER - TY - JOUR AU - Fazekas, Zoltán AU - Obaid, Mohammed AU - Gáspár, Péter TI - Choosing Routes in Urban Areas that are Robust Against Minor Nonrecurring Traffic Incidents JF - PERIODICA POLYTECHNICA TRANSPORTATION ENGINEERING J2 - PERIOD POLYTECH TRANSP ENG VL - 52 PY - 2024 IS - 2 SP - 173 EP - 180 PG - 8 SN - 0303-7800 DO - 10.3311/PPtr.23792 UR - https://m2.mtmt.hu/api/publication/34687431 ID - 34687431 N1 - Export Date: 22 March 2024 CODEN: PPTED Correspondence Address: Fazekas, Z.; Institute for Computer Science and Control (HUN-REN SZTAKI), Kende u. 13–17., Hungary; email: fazekas.zoltan@sztaki.hun-ren.hu AB - The paper looks at certain vehicle-level re-routing issues within urban road networks, and related network-level traffic management issues. These arise mostly when the traffic along a route of significance is hindered, slowed down, or even blocked because of some – possibly minor – unexpected, nonrecurring traffic incident at a sensitive road location, or road section. Considerations for planning routes in urban areas – routes that are in some sense robust against such incidents – are presented herein. Also, the on–the–spot detection of traffic queues by an ego-vehicle – relying on data streams from on-board visual line-of-sight (LoS) exteroceptive sensors watching, scanning and monitoring the ego-vehicle's road environment, and by some on-board dedicated real-time detection systems processing and analyzing the incoming data streams – is touched upon. However, this traffic congestion avoidance and mitigating approach – effectuated either by individual autonomous vehicles, or by human drivers – presumes availability of alternative routes, which is not the case for a good portion of the route considered. A route planning approach that could be used for routes with such critical sections is proposed and motivated through an example of an urban route of significance. LA - English DB - MTMT ER - TY - JOUR AU - Fazekas, Zoltán AU - Obaid, Mohammed AU - Karim, L AU - Gáspár, Péter TI - Urban Traffic Congestion Alleviation Relying on the Vehicles’ On-board Traffic Congestion Detection Capabilities JF - ACTA POLYTECHNICA HUNGARICA J2 - ACTA POLYTECH HUNG VL - 21 PY - 2024 IS - 6 SP - 7 EP - 31 PG - 25 SN - 1785-8860 DO - 10.12700/APH.21.6.2024.6.1 UR - https://m2.mtmt.hu/api/publication/34588733 ID - 34588733 N1 - Funding Agency and Grant Number: European Union within the framework of the National Laboratory for Autonomous Systems [RRF-2.3.1-21-2022-00002]; NRDI Office, Budapest, Hungary; [2018-2.1.10-TETMC-2018-00009] Funding text: This research was supported by the European Union within the framework of the National Laboratory for Autonomous Systems (grant: RRF-2.3.1-21-2022-00002) . It was also supported by the NRDI Office, Budapest, Hungary (grant: 2018-2.1.10-TETMC-2018-00009) . LA - English DB - MTMT ER - TY - JOUR AU - Iacob, L C AU - Tóth, Roland AU - Schoukens, M TI - Koopman form of nonlinear systems with inputs JF - AUTOMATICA J2 - AUTOMATICA VL - 162 PY - 2024 PG - 10 SN - 0005-1098 DO - 10.1016/j.automatica.2024.111525 UR - https://m2.mtmt.hu/api/publication/34557894 ID - 34557894 N1 - Control Systems Group, Eindhoven University of Technology, Eindhoven, Netherlands HUN-REN Institute for Computer Science and Control, Budapest, Hungary Export Date: 5 February 2024 CODEN: ATCAA Correspondence Address: Iacob, L.C.; Control Systems Group, Netherlands; email: l.c.iacob@tue.nl LA - English DB - MTMT ER -