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Autonomous person following with 3D LIDAR in outdoor environment

Bohlmann K., Beck-Greinwald A., Buck S., Marks H., Zell A.

Journal of Automation Mobile Robotics and Intelligent Systems

2013

Vol. 7, No. 2

24--29

The capability of a robot to follow autonomously a person highly enhances its usability when humans and robots collaborate. In this paper we present a system for autonomous following of a walking person in outdoor environments while avoiding static and dynamic obstacles. The principal sensor is a 3D LIDAR with a resolution of 59x29 points. We present a combination of 3D features, motion detection and tracking with a sampling Bayesian filter which results in reliable person detection for a lowresolu tion 3D-LIDAR. The method is implemented on an outdoor robot with car-like steering, which incorporates the target's path into its own path planning around local obstacles. Experiments in outdoor areas validate the approach.

Wpływ wilgotności na zużycie energii bezpośredniej w procesie rozdrabniania ziarna żyta i pszenżyta

Marks H.

Inżynieria Rolnicza

2010

R. 14, nr 7

125-130

Celem pracy była ocena energochłonności, czasu trwania i stopnia rozdrobnienia ziarna żyta i pszenżyta przy użyciu rozdrabniacza bijakowego. Wykazano istotny statystycznie wpływ wilgotności, gatunku i odmiany ziarna na wzrost nakładów energii i czasu (wydajność) oraz obniżenie stopnia rozdrabniania w procesie rozdrabniania udarowego ziarna zbóż.

The goal of this work was to estimate the energy consumption and duration of grinding as well as the fineness degree of rye and triticale after a beater grinder had been used. It was proved that humidity, species and variety of the grain have statistically relevant impact on the increase of energy and time expenditure (efficiency) as well as on the decrease of the fineness degree in the process of cereal grains impact grinding.