TY - CONF AU - Martinovich, Kristóf AU - Bachrathy, Dániel TI - Szimuláció alapú stabilitásvizsgálat állapotfüggő időkésésű modellekben T2 - OGÉT 2024 - XXXII. Nemzetközi Gépészeti Konferencia PB - Erdélyi Magyar Műszaki Tudományos Társaság (EMT) T3 - Nemzetközi Gépészeti Találkozó (OGÉT), ISSN 2068-1267 ; 32. PY - 2024 SP - 252 EP - 257 PG - 6 UR - https://m2.mtmt.hu/api/publication/34826924 ID - 34826924 LA - Hungarian DB - MTMT ER - TY - CHAP AU - Mihályi, Levente AU - Takács, Dénes ED - Lacarbonara, Walter TI - Reversing Along a Curved Path by an Autonomous Truck–Semitrailer Combination T2 - Proceedings of the Third International Nonlinear Dynamics Conference (NODYCON 2023) PB - Springer CY - Cham SN - 9783031506307 T3 - NODYCON Conference Proceedings Series, ISSN 2730-7689 PY - 2024 PG - 10 UR - https://m2.mtmt.hu/api/publication/34224098 ID - 34224098 LA - English DB - MTMT ER - TY - CONF AU - Vizi, Máté Benjámin AU - Orosz, Gábor AU - Takács, Dénes AU - Stépán, Gábor TI - Non-smooth Effects in Unicycle Dynamics T2 - EUROMECH Colloquium on Non-smooth Dynamical Systems (2023) - Book of Abstracts PY - 2023 SP - 24 UR - https://m2.mtmt.hu/api/publication/34512769 ID - 34512769 LA - English DB - MTMT ER - TY - CHAP AU - Mihályi, Levente AU - Takács, Dénes ED - Kossa, Attila TI - Small-Scale Experiments on Reversing Semitrailers T2 - Book of Abstracts. 39th Danubia-Adria Symposium on Advances in Experimental Mechanics. 2023 Hungary PB - Gépipari Tudományos Egyesület (GTE) CY - Siófok SN - 9789634219279 PY - 2023 SP - 38 EP - 39 PG - 2 UR - https://m2.mtmt.hu/api/publication/34175890 ID - 34175890 LA - English DB - MTMT ER - TY - CHAP AU - Mihályi, Levente AU - Takács, Dénes ED - Baksa, Attila ED - Bertóti, Edgár ED - Kiss, László Péter TI - Nyerges vontató pályakövető tolatása körív mentén T2 - XIV. Magyar Mechanikai Konferencia, Az előadások összefoglalói PB - Miskolci Egyetem, Gépészmérnöki és Informatikai Kar CY - Miskolc-Egyetemváros SN - 9789633583012 PY - 2023 SP - 1 PG - 1 UR - https://m2.mtmt.hu/api/publication/34123223 ID - 34123223 LA - Hungarian DB - MTMT ER - TY - JOUR AU - Mihályi, Levente AU - Takács, Dénes TI - Linear Stability of Reversing a Car-trailer Combination JF - PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING J2 - PERIOD POLYTECH MECH ENG VL - 67 PY - 2023 IS - 2 SP - 87 EP - 93 PG - 7 SN - 0324-6051 DO - 10.3311/PPme.18971 UR - https://m2.mtmt.hu/api/publication/33761882 ID - 33761882 N1 - Export Date: 26 May 2023 CODEN: PPMMB Correspondence Address: Mihályi, L.; Department of Applied Mechanics, Műegyetem rkp. 3, Hungary; email: mihalyi@mm.bme.hu AB - In this paper, we investigate the reverse motion of a car-trailer combination. The single track model of the vehicle is used with quasi-static tire model to design a simple linear feedback controller that can achieve stable reversing motion along a straight path. The linear stability of the closed-loop system is analyzed by constructing stability charts in the plane of the control gains. The effect of the reversing speed of the vehicle on the stability is also shown. In order to validate the theoretical results, laboratory experiments are carried out using a small-scale vehicle and a conveyor belt. LA - English DB - MTMT ER - TY - JOUR AU - Beregi, Sándor AU - Avedisov, Sergei S AU - He, Chaozhe R AU - Takács, Dénes AU - Orosz, Gábor TI - Connectivity-Based Delay-Tolerant Control of Automated Vehicles: Theory and Experiments JF - IEEE Transactions on Intelligent Vehicles J2 - IEEE Transactions on Intelligent Vehicles VL - 8 PY - 2023 IS - 1 SP - 275 EP - 289 PG - 15 SN - 2379-8858 DO - 10.1109/TIV.2021.3131957 UR - https://m2.mtmt.hu/api/publication/32653366 ID - 32653366 N1 - Budapest University of Technology and Economics, Department of Applied Mechanics, Budapest, H-1111, Hungary University of Bristol, Department of Engineering Mathematics, Bristol, BS8 1TW, United Kingdom University of Michigan, Department of Mechanical Engineering, Ann Arbor, MI 48109, United States Toyota Motor North America R&D - Infotech Labs, Mountain View, CA 94043, United States Plus.ai Inc., Cupertino, CA 95014, United States MTA-BME Research Group on Dynamics of Machines and Vehicles, Budapest, H-1111, Hungary University of Michigan, Department of Civil and Environmental Engineering, Ann Arbor, MI 48109, United States Correspondence Address: Takacs, D.; Budapest University of Technology and Economics, Hungary; email: takacs@mm.bme.hu AB - The concept of utilizing vehicle-to-everything (V2X) connectivity to improve the resilience of automated vehicles in an environment where optical sensors may not provide reliable data is investigated. Longitudinal and lateral controllers are designed to enable a connected automated vehicle (CAV) to utilize V2X information from nearby connected human-driven vehicles (CHVs). The linear stability of the controllers are investigated theoretically while taking into account the time delays in the feedback loops. Novel performance measures are introduced to quantify the plant and string stability properties of the longitudinal controller from experimental data. The stability of the lateral controller is also evaluated in lane-keeping experiments. The robustness of the designed controllers against latency is demonstrated and the performance of the overall systems is showcased experimentally using real vehicles on a test track. LA - English DB - MTMT ER - TY - JOUR AU - Béri, Bence AU - Stépán, Gábor TI - Effect of axial force on the stability of milling: Local bifurcations around stable islands JF - JOURNAL OF VIBRATION AND CONTROL J2 - J VIB CONTROL VL - 29 PY - 2023 IS - 1-2 SP - 440 EP - 452 PG - 13 SN - 1077-5463 DO - 10.1177/10775463211048256 UR - https://m2.mtmt.hu/api/publication/32510579 ID - 32510579 N1 - Funding Agency and Grant Number: New National Excellence Program of the Ministry for Innovation and Technology from the national research, development and innovation fund [UNKP-20-3]; NRDI Fund (TKP2020 NC) of the Ministry for Innovation and TechnologyNational Research, Development & Innovation Office (NRDIO) - Hungary [BMENC]; Hungarian National Research, Development and Innovation OfficeNational Research, Development & Innovation Office (NRDIO) - Hungary [NKFI-K-132477, NKFI-KKP-133846] Funding text: The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This research was supported by the UNKP-20-3 New National Excellence Program of the Ministry for Innovation and Technology from the source of the national research, development and innovation fund, by the NRDI Fund (TKP2020 NC,Grant No. BMENC) based on the charter of bolster issued by the NRDI Office under the auspices of the Ministry for Innovation and Technology and by the Hungarian National Research, Development and Innovation Office (NKFI-K-132477 and NKFI-KKP-133846). AB - In this paper, the stability properties of milling processes are presented when the axial component of the cutting force is also taken into account as a compressive force acting on the cutting tool. The mechanism of the material removal operation is described by a one degree-of-freedom oscillator subjected to the so-called surface regeneration effect. This can be represented mathematically by a nonlinear, time-periodic, delay differential equation. The regenerative compression affects the natural frequency of the system, which is modelled through the lateral stiffness variation of the bearing support of the main spindle. This extension of the general milling model leads to the birth of stable islands within the originally unstable parameter domain. Since the exploitation of these regions may open new ways in practice for increasing the efficiency of machining, the domain of attraction is investigated qualitatively near the stability boundaries of the stable island by means of a semi-analytical method. LA - English DB - MTMT ER - TY - CONF AU - Vörös, Illés AU - Takács, Dénes ED - Conte, Giuseppe ED - Molnár, Tamás Gábor TI - Stability Analysis of a Hierarchical Lane-keeping Controller with Feedback Delay T2 - Proceedings of the 17th IFAC Workshop on Time Delay Systems T3 - IFAC-PapersOnLine, ISSN 2405-8963 ; 55 Issue 36. PY - 2022 SP - 300 EP - 305 PG - 6 DO - 10.1016/j.ifacol.2022.11.374 UR - https://m2.mtmt.hu/api/publication/33645172 ID - 33645172 N1 - Funding Agency and Grant Number: National Research, Development and Innovation Office [NKFI-128422, 2020-1.2.4-TET-IPARI-2021-00012]; Ministry for Innovation and Technology [BME-IE-MIFM, BME-NC] Funding text: The research reported in this paper and carried out at BME has been supported by the National Research, Development and Innovation Office under grant no. NKFI-128422 and under grant no. 2020-1.2.4-TET-IPARI-2021-00012, as well as by the NRDI Fund (TKP2020 IES, Grant No. BME-IE-MIFM and TKP2020 NC, Grant No. BME-NC) based on the charter of bolster issued by the NRDI Office under the auspices of the Ministry for Innovation and Technology. AB - A hierarchical lane-keeping controller of passenger cars is analyzed, with the consideration of feedback delay in the control loop. The higher-level controller generates the desired steering angle based on the delayed feedback of the lateral position and yaw angle of the vehicle. The feedback delay of the lateral position and the yaw angle are treated separately in the model, therefore more general sensor setups and estimation algorithms can be handled. A lower-level proportional-integral-derivative power steering controller ensures that the desired steering angle signal is followed properly. The linear stability analysis of the resulting closed-loop system is performed, with a focus on the controller parameters and the delay values. The optimal control gains, leading to the fastest decay of the solution are also investigated in detail. The results are showcased with the help of stability charts and numerical simulations. Copyright 2022 (c) The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/) LA - English DB - MTMT ER - TY - JOUR AU - Patkó, Dóra AU - Nagy, Ábel Mihály AU - Zelei, Ambrus TI - A futás és szökdelés tömeg-rugó modell dinamikai viselkedésének globális feltérképezése és paraméterhangolása JF - BIOMECHANICA HUNGARICA J2 - BIOMECH HUNG VL - 15 PY - 2022 IS - 1 SP - 39 EP - 50 PG - 12 SN - 2060-0305 UR - https://m2.mtmt.hu/api/publication/33548011 ID - 33548011 LA - Hungarian DB - MTMT ER -