László Nagy

Obuda University

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Kalman Babković

University of Novi Sad

Damir Krklješ

University of Novi Sad

Jelena Radić

University of Novi Sad

Mirjana Videnović-Mišić

Silicon Austria Labs (Austria)

Alena Djugova

University of Novi Sad

Branislav Borovać

University of Novi Sad

Mirjana Damnjanović

University of Novi Sad

Snezana Djuric

University of Novi Sad

Péter Berki

University of Szeged

Bálint Borsos

Sapientia Hungarian University of Transylvania

Cooperative Institutions

University of Novi Sad

Sapientia Hungarian University of Transylvania

Pokrajinski Sekretarijat za Nauku i Tehnološki Razvoj

University of Szeged

Budapest University of Technology and Economics

Institut Sains dan Teknologi Al-Kamal

Technical College of Applied Sciences

Univerzitet Union Nikola Tesla

University of Nis

Obuda University

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Experiment platform for development of humanoid robot foot control

Kalman Babković László Nagy Damir Krklješ Milan P. Nikolić Branislav Borovać

There is a growing interest towards humanoid robots. Our intention is to build and explore as much as possible, relatively simple elements of humanoid robots in order to gain a better understanding of their characteristics and possibilities of control. In this paper, an experiment platform of a sensored robot foot is presented. Our goal is to explore the control possibilities of this system, especially in compensating for sudden ground reaction force changes, ex. small obstacles in the ground plane or jump. In this paper, the results obtained by simulation are presented.

Foot (prosody)

Ground reaction force

10.1109/icmel.2008.4559321

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Citations (2)

Determination of the acting point of contact force in a foot of humanoid robot using inductive displacement sensor

Snezana Djuric László Nagy Mirjana Damnjanović

A planar inductive displacement sensor is implemented in a foot of humanoid robot. The sensor, which is composed of two sensor elements, is used to measure normal and tangential component of reaction force onto robot foot. The goal of this paper is to determine absolute error of acting point of contact force detection. The error is caused due to sensor element error introduced by assembling uncertainties and measuring nonlinearities of the sensor elements used for indirect measuring of the normal component of the force.

Contact force

Normal force

Component (thermodynamics)

10.1109/sisy.2009.5291120

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Citations (2)

Force-dependent contact area excitation of FSR force sensor utilizing dome-shaped rubber element

Damir Krklješ László Nagy Kalman Babković

This paper further investigates the novel way of exciting FSR sensors. The method introduces a force-dependent contact area excitation in which the engaged sensor area depends on the applied force. The deformation of the dome-shaped rubber element is used to introduce force-dependent contact area excitation. The assumption that the pressure distribution underneath the pressed dome-shaped rubber element is uniform is verified by the experiments.

Dome (geology)

Contact force

Contact area

10.1109/miel.2012.6222828

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Citations (4)

Elastic foot contact force sensor system — Pendulum application example

László Nagy Kaiman Babkovic Damir Krklješ Branislav Borovać

Measuring the contact force between a robotic foot and the ground can play an important role in the implementation of biped motion. In this paper, one possible implementation of a contact force measurement system is given. The possibilities of this system are simulated on a motor-powered pendulum. Experiment results are also given.

Contact force

Pendulum

10.1109/epepemc.2010.5606651

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Inverter-based low-noise amplifier topologies for ultra-wideband applications

Alena Djugova Jelena Radić Mirjana Videnović-Mišić László Nagy

In this paper two ultra-wideband (UWB) low noise amplifier (LNA) configurations in UMC 0.18μm CMOS technology are presented. Both amplifiers are based on a shunt-feedback inverter-configuration with inductive peaking. In first LNA topology inductor is placed at the input node of the inverter cell. In the frequency range from 3.1 GHz - 10.6 GHz, this amplifier achieves power gain (S ₂₁ ) of 12.23 dB, noise figure of 5.62 dB and input/output return loss of -8 dB/-11 dB, while consuming 9.61 mA from 1.8 V supply. In second LNA peaking inductor is applied at the gate of NMOS transistor in inverter stage. With this technique the -3 dB roll-off frequency is increased from 9 GHz, obtained with previous technique, to 11.11 GHz, without additional power consumption. Achieved power gain from 3.1 GHz - 10.6 GHz is 12.64 dB, noise figure is 4.04 dB and input/output return loss is -7 dB/-10 dB. This amplifier consumes 9.48 mA from the 1.8 V supply.

Return loss

Wideband

Common gate

10.1109/meco.2013.6601354

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Analysis of a sensor-equipped pendulum in an electronic circuit simulator

Kalman Babković Damir Krklješ László Nagy

Pendulums are often used in the analysis of biped motion. In the system presented in this paper the pendulum is mounted on the equivalent of a robot foot. The bottom of the foot is equipped with contact force sensors. This system is analyzed in simulation which is conducted in an electronic circuit simulation software. The possibilities of this approach are examined and compared to other simulation methods.

Pendulum

Motion analysis

Electronic circuit simulation

Simulation software

10.1109/sisy.2010.5647172

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Automatic detection of hard and soft exudates from retinal fundus images

Acta Universitatis Sapientiae Informatica (2019)

Bálint Borsos László Nagy Dávid Iclănzan László Szilágyi

Abstract According to WHO estimates, 400 million people suffer from diabetes, and this number is likely to double by year 2030. Unfortunately, diabetes can have severe complications like glaucoma or retinopathy, which both can cause blindness. The main goal of our research is to provide an automated procedure that can detect retinopathy-related lesions of the retina from fundus images. This paper focuses on the segmentation of so-called white lesions of the retina that include hard and soft exudates. The established procedure consists of three main phases. The preprocessing step compensates the various luminosity patterns found in retinal images, using background and foreground pixel extraction and a data normalization operator similar to Z-transform. This is followed by a modified SLIC algorithm that provides homogeneous superpixels in the image. The final step is an ANN-based classification of pixels using fifteen features extracted from the neighborhood of the pixels taken from the equalized images and from the properties of the superpixel where the pixel belongs. The proposed methodology was tested using high-resolution fundus images originating from the IDRiD database. Pixelwise accuracy is characterized by a 54% Dice score in average, but the presence of exudates is detected with 94% precision.

Fundus (uterus)

Normalization

10.2478/ausi-2019-0005

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Citations (15)

Force sensor with enhanced contact detection capability

Kalman Babković László Nagy Damir Krklješ

In many fields precise contact force measurement is required, especially in robotic manipulation tasks. The measurement range varies depending on the application. If the mesaured range is rather large, contact detection can represent a problem since the sensor will not be able to detect the contact before too large force is applied. In this paper a sensor is presented which is able to measure both small and large forces using a single sensor structure. It is based on elastic elements and a single optoelectronic component.

Contact force

Tactile sensor

10.1109/epepemc.2012.6397237

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Citations (1)

Comparison of Feedback Influence on Ring Oscillator Performance for IR-UWB Pulse Generator in 0.13 μm and 0.18 μm CMOS Technologies

IFIP advances in information and communication technology (2013)

Jelena Radić Alena Djugova László Nagy Mirjana Videnović-Mišić Ljiljana Živanov

Ring oscillator

Digitally controlled oscillator

Pierce oscillator

Colpitts oscillator

Clock generator

10.1007/978-3-642-37291-9_65

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A tunable OOK IR-UWB pulse generator in 0.18 µm technology

Jelena Radić Alena Djugova László Nagy Mirjana Videnović-Mišić

A new energy-efficient, tunable impulse radio ultra-wideband (IR-UWB) pulse generator is investigated in the paper. The low complexity architecture is composed of a data and clock synchronization block, a glitch generator, an impulses combiner, and a pulse shaping filter. It is designed and simulated in low-cost 0.18 μm UMC CMOS technology. The simulation results showed spectrum that covers whole UWB band and fully complies with the corresponding FCC spectral mask. The pulse duration is around 0.8 ns, and the peak-to-peak amplitude is 488 mV on 50 O output load. It has low power consumption of 1.1 mW corresponding to energy consumption of 11 pJ per pulse for 100 MHz pulse repetition frequency (PRF).

Pulse duration

10.1109/meco.2013.6601353

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