arXiv subjects

Balint Varga

Publications and source records attributed to Balint Varga.

At least 37 records · Page 2Linked to original sources

arXiv2024

Bi-Level-Based Inverse Stochastic Optimal Control

In this paper, we propose a new algorithm to solve the Inverse Stochastic Optimal Control (ISOC) problem of the linear-quadratic sensorimotor (LQS) control model. The LQS model represents the current state-of-the-art in describing goal-directed human movements. The ISOC problem aims at determining the cost function and noise scaling matrices of the LQS model from measurement data since both parameter types influence the statistical moments predicted by the model and are unknown in practice. We prove global convergence for our new algorithm and at a numerical example, validate the theoretical assumptions of our method. By comprehensive simulations, the influence of the tuning parameters of our algorithm on convergence behavior and computation time is analyzed. The new algorithm computes ISOC solutions nearly 33 times faster than the single previously existing ISOC algorithm.

math.OC↗

arXiv2024

Toward Adaptive Cooperation: Model-Based Shared Control Using LQ-Differential Games

This paper introduces a novel model-based adaptive shared control to allow for the identification and design challenge for shared-control systems, in which humans and automation share control tasks. The main challenge is the adaptive behavior of the human in such shared control interactions. Consequently, merely identifying human behavior without considering automation is insufficient and often leads to inadequate automation design. Therefore, this paper proposes a novel solution involving online identification of the human and the adaptation of shared control using Linear-Quadratic differential games. The effectiveness of the proposed online adaptation is analyzed in simulations and compared with a non-adaptive shared control from the state of the art. Finally, the proposed approach is tested through human-in-the-loop experiments, highlighting its suitability for real-time applications.

eess.SY↗

arXiv2024

On the Upper Bound of Near Potential Differential Games

This letter presents an extended analysis and a novel upper bound of the subclass of Linear Quadratic Near Potential Differential Games (LQ NPDG). LQ NPDGs are a subclass of potential differential games, for which a distance between an LQ exact potential differential game and the LQ NPDG. LQ NPDGs exhibit a unique characteristic: the smaller the distance from an LQ exact potential differential game, the closer their dynamic trajectories. This letter introduces a novel upper bound for this distance. Moreover, a linear relation between this distance and the resulting trajectory errors is established, opening the possibility for further application of LQ NPDGs.

math.DS↗

arXiv2023

Shared Telemanipulation with VR controllers in an anti slosh scenario

Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited feedback to the human operator. Moreover, the high cost of haptic interfaces is a major limitation for the application of telemanipulation in various fields, including elder care, where our research is focused. To address these challenges, this paper proposes the usage of nonlinear model predictive control for telemanipulation using low-cost virtual reality controllers, including multiple control goals in the objective function. The framework utilizes models for human input prediction and taskrelated models of the robot and the environment. The proposed framework is validated on an UR5e robot arm in the scenario of handling liquid without spilling. Further extensions of the framework such as pouring assistance and collision avoidance can easily be included.

cs.RO↗

arXiv2023

Navigating Homogeneous Paths through Amyloidogenic and Non-Amyloidogenic Hexapeptides

Hexapeptides are increasingly applied as model systems for studying the amyloidogenecity properties of oligo- and polypeptides. It is possible to construct 64 million different hexapeptides from the twenty proteinogenic amino acid residues. Today's experimental amyloid databases contain only a fraction of these annotated hexapeptides. For labeling all the possible hexapeptides as "amyloidogenic" or "non-amyloidogenic" there exist several computational predictors with good accuracies. It may be of interest to define and study a simple graph structure on the 64 million hexapeptides as nodes when two hexapeptides are connected by an edge if they differ by only a single residue. For example, in this graph, HIKKLM is connected to AIKKLM, or HIKKNM, or HIKKLC, but it is not connected with an edge to VVKKLM or HIKNPM. In the present contribution, we consider our previously published artificial intelligence-based tool, the Budapest Amyloid Predictor (BAP for short), and demonstrate a spectacular property of this predictor in the graph defined above. We show that for any two hexapeptides predicted to be "amyloidogenic" by the BAP predictor, there exists an easily constructible path of length at most 6 that passes through neighboring hexapeptides all predicted to be "amyloidogenic" by BAP. For example, the predicted amyloidogenic ILVWIW and FWLCYL hexapeptides can be connected through the length-6 path ILVWIW-IWVWIW-IWVCIW-IWVCIL-FWVCIL-FWLCIL-FWLCYL in such a way that the neighbors differ in exactly one residue, and all hexapeptides on the path are predicted to be amyloidogenic by BAP. The symmetric statement also holds for non-amyloidogenic hexapeptides. It is noted that the mentioned property of the Budapest Amyloid Predictor \url{https://pitgroup.org/bap} is not proprietary; it is also true for any linear Support Vector Machine (SVM)-based predictors.

q-bio.BM↗

arXiv2023

Cooperative Decision-Making in Shared Spaces: Making Urban Traffic Safer through Human-Machine Cooperation

In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important issue regarding their acceptance in our society. The most challenging scenarios arise at low driving speeds of these highly automated and autonomous vehicles, where interactions with vulnerable road users likely occur. Such interactions must be addressed by the automation of the vehicle. The novelties of this paper are the adaptation of a general cooperative and shared control framework to this novel use case and the application of an explicit prediction model of the pedestrian. An extensive comparison with state-of-the-art algorithms is provided in a simplified test environment. The results show the superiority of the proposed model-based algorithm compared to state-of-the-art solutions and its suitability for real-world applications due to its real-time capability.

eess.SY↗

arXiv2023

Intention-Aware Decision-Making for Mixed Intersection Scenarios

This paper presents a white-box intention-aware decision-making for the handling of interactions between a pedestrian and an automated vehicle (AV) in an unsignalized street crossing scenario. Moreover, a design framework has been developed, which enables automated parameterization of the decision-making. This decision-making is designed in such a manner that it can understand pedestrians in urban traffic and can react accordingly to their intentions. That way, a human-like response to the actions of the pedestrian is ensured, leading to a higher acceptance of AVs. The core notion of this paper is that the intention prediction of the pedestrian to cross the street and decision-making are divided into two subsystems. On the one hand, the intention detection is a data-driven, black-box model. Thus, it can model the complex behavior of the pedestrians. On the other hand, the decision-making is a white-box model to ensure traceability and to enable a rapid verification and validation of AVs. This white-box decision-making provides human-like behavior and a guaranteed prevention of deadlocks. An additional benefit is that the proposed decision-making requires low computational resources only enabling real world usage. The automated parameterization uses a particle swarm optimization and compares two different models of the pedestrian: The social force model and the Markov decision process model. Consequently, a rapid design of the decision-making is possible and different pedestrian behaviors can be taken into account. The results reinforce the applicability of the proposed intention-aware decision-making.

cs.AI↗

arXiv2022

Development of a Mobile Vehicle Manipulator Simulator for the Validation of Shared Control Concepts

This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source projects nor commercial products, which would be suitable for testing cooperative control concepts. First, we present the nonlinear simulation model of the vehicle and the manipulator. For the modeling MATLAB/Simulink is used, which also enables a code generation into standalone C++ ROS-Nodes (Robot Operating System Nodes). The emerging challenges of the code generation are also discussed. Then, the obtained standalone C++ ROS-Nodes integrated in the simulator framework which includes a graphical user interface, a steering wheel and a joystick. This simulator can provide the real-time calculation of the overall system's motion enabling the interaction of human and automation. Furthermore, a qualitative validation of the model is given. Finally, the functionalities of the simulator is demonstrated in tests with a human operators.

cs.RO↗

arXiv2022

Opening Amyloid-Windows to the Secondary Structure of Proteins: The Amyloidogenecity Increases Tenfold Inside Beta-Sheets

Methods from artificial intelligence (AI), in general, and machine learning, in particular, have kept conquering new territories in numerous areas of science. Most of the applications of these techniques are restricted to the classification of large data sets, but new scientific knowledge can seldom be inferred from these tools. Here we show that an AI-based amyloidogenecity predictor can strongly differentiate the border- and the internal hexamers of $β$-pleated sheets when screening all the Protein Data Bank-deposited homology-filtered protein structures. Our main result shows that more than 30\% of internal hexamers of $β$ sheets are predicted to be amyloidogenic, while just outside the border regions, only 3\% are predicted as such. This result may elucidate a general protection mechanism of proteins against turning into amyloids: if the borders of $β$-sheets were amyloidogenic, then the whole $β$ sheet could turn more easily into an insoluble amyloid-structure, characterized by periodically repeated parallel $β$-sheets. We also present that no analogous phenomenon exists on the borders of $α$-helices or randomly chosen subsequences of the studied protein structures.

q-bio.BM↗

arXiv2022

Limited Information Shared Control: A Potential Game Approach

This paper presents a systematic method for the design of a limited information shared control (LISC). LISC is used in applications where not all system states or reference trajectories are measurable by the automation. Typical examples are partially human-controlled systems, in which some subsystems are fully controlled by automation while others are controlled by a human. The proposed systematic design method uses a novel class of games to model human-machine interaction: the near potential differential games (NPDG). We provide a necessary and sufficient condition for the existence of an NPDG and derive an algorithm for finding a NPDG that completely describes a given differential game. The proposed design method is applied to the control of a large vehicle-manipulator system, in which the manipulator is controlled by a human operator and the vehicle is fully automated. The suitability of the NPDG to model differential games is verified in simulations, leading to a faster and more accurate controller design compared to manual tuning. Furthermore, the overall design process is validated in a study with sixteen test subjects, indicating the applicability of the proposed concept in real applications.

eess.SY↗

arXiv2022

Succinct Amyloid and Non-Amyloid Patterns in Hexapeptides

Hexapeptides are widely applied as a model system for studying amyloid-forming properties of polypeptides, including proteins. Recently, large experimental databases have become publicly available with amyloidogenic labels. Using these datasets for training and testing purposes, one may build artificial intelligence (AI)-based classifiers for predicting the amyloid state of peptides. In our previous work (Biomolecules, 11(4) 500, (2021)) we described the Support Vector Machine (SVM)-based Budapest Amyloid Predictor (\url{https://pitgroup.org/bap}). Here we apply the Budapest Amyloid Predictor for discovering numerous amyloidogenic and non-amyloidogenic hexapeptide patterns with accuracy between 80\% and 84\%, as surprising and succinct novel rules for further understanding the amyloid state of peptides. For example, we have shown that for any independently mutated residue (position marked by ``x''), the patterns CxFLWx, FxFLFx, or xxIVIV are predicted to be amyloidogenic, while those of PxDxxx, xxKxEx, and xxPQxx non-amyloidogenic at all. We note that each amyloidogenic pattern with two x's (e.g.,CxFLWx) describes succinctly $20^2=400$ hexapeptides, while the non-amyloidogenic patterns comprising four point mutations (e.g.,PxDxxx) gives $20^4=160,000$ hexapeptides in total. To our knowledge, no similar applications of artificial intelligence tools or succinct amyloid patterns were described before the present work.

q-bio.BM↗

arXiv2021

Discovering Sex and Age Implicator Edges in the Human Connectome

Determining important vertices in large graphs (e.g., Google's PageRank in the case of the graph of the World Wide Web) facilitated the construction of excellent web search engines, returning the most important hits corresponding to the submitted user queries. Interestingly, finding important edges -- instead of vertices -- in large graphs has received much less attention until now. Here we examine the human structural braingraph (or connectome), identified by diffusion magnetic resonance imaging (dMRI) methods, with edges connecting cortical and subcortical gray matter areas and weighted by fiber strengths, measured by the number of the discovered fiber tracts along the edge. We identify several "single" important edges in these braingraphs, whose high or low weights imply the sex or the age of the subject observed. We call these edges implicator edges since solely from their weight, one can infer the sex of the subject with more than 67 \% accuracy or their age group with more than 62\% accuracy. We argue that these brain connections are the most important ones characterizing the sex or the age of the subjects. Surprisingly, the edges implying the male sex are mostly located in the anterior parts of the brain, while those implying the female sex are mostly in the posterior regions. Additionally, most of the inter-hemispheric implicator edges are male ones, while the intra-hemispheric ones are predominantly female edges. Our pioneering method for finding the sex- or age implicator edges can also be applied for characterizing other biological and medical properties, including neurodegenerative- and psychiatric diseases besides the sex or the age of the subject, if large and high-quality neuroimaging datasets become available.

q-bio.NC↗

arXiv2020

The Budapest Amyloid Predictor and its Applications

The amyloid state of proteins is widely studied with relevancy in neurology, biochemistry, and biotechnology. In contrast with amorphous aggregation, the amyloid state has a well-defined structure, consisting of parallel and anti-parallel $β$-sheets in a periodically repeated formation. The understanding of the amyloid state is growing with the development of novel molecular imaging tools, like cryogenic electron microscopy. Sequence-based amyloid predictors were developed by using mostly artificial neural networks (ANNs) as the underlying computational techniques. From a good neural network-based predictor, it is a very difficult task to identify those attributes of the input amino acid sequence, which implied the decision of the network. Here we present a Support Vector Machine (SVM)-based predictor for hexapeptides with correctness higher than 84\%, i.e., it is at least as good as the published ANN-based tools. Unlike the artificial neural networks, the decision of the SVMs are much easier to analyze, and from a good predictor, we can infer rich biochemical knowledge. Availability and Implementation: The Budapest Amyloid Predictor webserver is freely available at https://pitgroup.org/bap.

q-bio.BM↗

arXiv2020

Introducing and Applying Newtonian Blurring: An Augmented Dataset of 126,000 Human Connectomes at braingraph.org

Gaussian blurring is a well-established method for image data augmentation: it may generate a large set of images from a small set of pictures for training and testing purposes for Artificial Intelligence (AI) applications. When we apply AI for non-imagelike biological data, hardly any related method exists. Here we introduce the "Newtonian blurring" in human braingraph (or connectome) augmentation: Started from a dataset of 1053 subjects, we first repeat a probabilistic weighted braingraph construction algorithm 10 times for describing the connections of distinct cerebral areas, then take 7 repetitions in every possible way, delete the lower and upper extremes, and average the remaining 7-2=5 edge-weights for the data of each subject. This way we augment the 1053 graph-set to 120 x 1053 = 126,360 graphs. In augmentation techniques, it is an important requirement that no artificial additions should be introduced into the dataset. Gaussian blurring and also this Newtonian blurring satisfy this goal. The resulting dataset of 126,360 graphs, each in 5 resolutions (i.e., 631,800 graphs in total), is freely available at the site https://braingraph.org/cms/download-pit-group-connectomes/. Augmenting with Newtonian blurring may also be applicable in other non-image related fields, where probabilistic processing and data averaging are implemented.

q-bio.NC↗

arXiv2020

The braingraph.org Database with more than 1000 Robust Human Structural Connectomes in Five Resolutions

The human brain is the most complex object of study we encounter today. Mapping the neuronal-level connections between the more than 80 billion neurons in the brain is a hopeless task for science. By the recent advancement of magnetic resonance imaging (MRI), we are able to map the macroscopic connections between about 1000 brain areas. The MRI data acquisition and the subsequent algorithmic workflow contain several complex steps, where errors can occur. In the present contribution, we describe and publish 1064 human connectomes, computed from the public release of the Human Connectome Project. Each connectome is available in 5 resolutions, with 83, 129, 234, 463, and 1015 anatomically labeled nodes. For error correction, we follow an averaging and extreme value deleting strategy for each edge and for each connectome. The resulting 5320 braingraphs can be downloaded from the \url{https://braingraph.org} site. This dataset makes possible the access to these graphs for scientists unfamiliar with neuroimaging- and connectome-related tools: mathematicians, physicists, and engineers can use their expertize and ideas in the analysis of the connections of the human brain. Brain scientists also have a robust and large, multi-resolution set for connectomical studies.

q-bio.NC↗

arXiv2019

Identifying Super-Feminine, Super-Masculine and Sex-Defining Connections in the Human Braingraph

For more than a decade now, we can discover and study thousands of cerebral connections with the application of diffusion magnetic resonance imaging (dMRI) techniques and the accompanying algorithmic workflow. While numerous connectomical results were published enlightening the relation between the braingraph and certain biological, medical, and psychological properties, it is still a great challenge to identify a small number of brain connections, closely related to those conditions. In the present contribution, by applying the 1200 Subjects Release of the Human Connectome Project (HCP), we identify just 102 connections out of the total number of 1950 connections in the 83-vertex graphs of 1065 subjects, which -- by a simple linear test -- precisely, without any error determine the sex of the subject. Very surprisingly, we were able to identify two graph edges out of these 102, if, whose weights, measured in fiber numbers, are all high, then the connectome always belongs to a female subject, independently of the other edges. Similarly, we have identified 3 edges from these 102, whose weights, if two of them are high and one is low, imply that the graph belongs to a male subject -- again, independently of the other edges. We call the former 2 edges superfeminine and the first two of the 3 edges supermasculine edges of the human connectome. Even more interestingly, one of the edges, connecting the right Pars Triangularis and the right Superior Parietal areas, is one of the 2 superfeminine edges, and it is also the third edge, accompanying the two supermasculine connections, if its weight is low; therefore it is also a "switching" connection.

q-bio.NC↗

arXiv2019

Good Neighbors, Bad Neighbors: The Frequent Network Neighborhood Mapping of the Hippocampus Enlightens Several Structural Factors of the Human Intelligence on a 414-Subject Cohort

The human connectome has become the very frequent subject of study of brain-scientists, psychologists, and imaging experts in the last decade. With diffusion magnetic resonance imaging techniques, unified with advanced data processing algorithms, today we are able to compute braingraphs with several hundred, anatomically identified nodes and thousands of edges, corresponding to the anatomical connections of the brain. The analysis of these graphs without refined mathematical tools is hopeless. These tools need to address the high error rate of the MRI processing workflow, and need to find structural causes or at least correlations of psychological properties and cerebral connections. Until now, structural connectomics was only rarely able identifying such causes or correlations. In the present work, we study the frequent neighbor sets of the most deeply investigated brain area, the hippocampus. By applying the Frequent Network Neighborhood mapping method, we identified frequent neighbor-sets of the hippocampus, which may influence numerous psychological parameters, including intelligence-related ones. We have found neighbor sets, which have significantly higher frequency in subjects with high-scored Penn Matrix tests, and with low-scored Penn Word Memory tests. Our study utilizes the braingraphs, computed from the imaging data of the Human Connectome Project's 414 subjects, each with 463 anatomically identified nodes.

q-bio.NC↗

arXiv2019

The Frequent Complete Subgraphs in the Human Connectome

While it is still not possible to describe the neural-level connections of the human brain, we can map the human connectome with several hundred vertices, by the application of diffusion-MRI based techniques. In these graphs, the nodes correspond to anatomically identified gray matter areas of the brain, while the edges correspond to the axonal fibers, connecting these areas. In our previous contributions, we have described numerous graph-theoretical phenomena of the human connectomes. Here we map the frequent complete subgraphs of the human brain networks: in these subgraphs, every pair of vertices is connected by an edge. We also examine sex differences in the results. The mapping of the frequent subgraphs gives robust substructures in the graph: if a subgraph is present in the 80% of the graphs, then, most probably, it could not be an artifact of the measurement or the data processing workflow. We list here the frequent complete subgraphs of the human braingraphs of 414 subjects, each with 463 nodes, with a frequency threshold of 80%, and identify 812 complete subgraphs, which are more frequent in male and 224 complete subgraphs, which are more frequent in female connectomes.

q-bio.NC↗