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1

A method for the interpretation of sonar data recorded during autonomous underwater vehicle missions

Zieja Mariusz, Wawrzyński Wojciech, Tomaszewska Justyna, Sigiel Norbert

Polish Maritime Research

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2022

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nr 3

176--186

EN

Image acquisition from autonomous underwater vehicles (AUVs) is useful for mapping objects on the seabed. However, there are few studies on the interpretation of data collected with side-scan sonar during autonomous underwater vehicle missions. By recording the seabed with 3D multibeam sonar, a large number of survey points can be obtained. The collected data are processed using applications based on remote sensing image processing. The data collected during AUV missions (or other sonar carriers) needs to be pre-processed to reach the proper effectiveness level. This process includes corrections of signal amplification (Time Varying Gain, or TVG) and geometric distortions of sonar images (Slant Range Corrections). It should be mentioned that, when carrying out the interpretation process for structures on the sea floor, sonar users need to understand the process of visualising seabed projections and depressions, as well as the resolution limitations of the sonar sensors.

2

Optimization of autonomous underwater vehicle mission planning process

Wawrzyński Wojciech, Zieja Mariusz, Żokowski Mariusz, Sigiel Norbert

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2022

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Vol. 70, nr 2

art. no. e140371

EN

This article presents the information concerning aspects of the autonomous underwater vehicle (AUV) mission planning process, emphasizing maritime security monitoring and surveillance, and using side-looking sonars as a primary data source. The paper describes characteristic mission plan phases and gives suggestions for the operators, mainly concerning the safety and effectiveness of the AUV mission. The article describes the coverage path planning algorithm, which could be used to create an effective AUV mission plan, considering AUV manoeuvrability, sonar characteristics, and environmental factors. The results of the algorithms have been verified during the real mission of the AUV vehicle.

3

Modeling and simulation of a control system of wheels of wheelset

Chudzikiewicz Andrzej, Gerlici Juraj, Sowińska Magdalena, Stelmach Anna, Wawrzyński Wojciech

Archives of Transport

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2020

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Vol. 55, iss. 3

73--83

EN

Modern light rail vehicles, such as a tram or rail bus, due to the need to provide mobility for the elderly or disabled people and the requirements of operators operating passenger rail transport or transport in urban areas must have a 100% low floor. Structurally, this is associated with the use of wheelset with independently rotating wheels (IRW) in such vehicles. It is also possible to use a bogie structure without the use of a wheelset axle by mounting the wheels directly in the side parts of the bogie frame. This construction is more complex and will not be discussed in this article. Bearing in mind the dynamic behavior of such vehicles during operation (lateral stability, profile wear) in various driving conditions (curve traffic, crossovers) and taking into account operating costs, it becomes necessary to install wheel rotation control systems to maintain center movement mass of the wheelset around the centerline of the track. The subject of the article will be considerations on modeling and simulation of rail vehicle bogie motion with IRW sets including the wheel control system. Nominal and mathematical models of the analyzed vehicle will be presented, as well as a controlled strategy based on the comparison of the angular velocities of the wheels of the wheelset A review of works on solutions of such systems will be presented, and a control concept will be proposed. The summary contains conclusions regarding the possibility of practical use of the proposed method of steering wheels of a wheelset in the case of independently rotating wheels.

4

Innovative solutions in the scope of railway rolling stock in research projects

Chudzikiewicz Andrzej, Stelmach Anna, Wawrzyński Wojciech

Pojazdy Szynowe

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2019

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Nr 4

1--10

EN

In Poland, the basic document introducing, in a formal way, the concept of innovation into the economic cycle was the Operational Program Innovative Economy 2007-2013 (OP IE) - a government document adopted by the Council of Ministers on 19 December 2006. This document described the state of the Polish economy and the state of Polish science in terms of innovation and competitiveness. As usual in such cases, the administrative structures were initially developed by introducing the concepts such as: Managing Institution, Intermediate Institutions and Implementing Institutions, and a large-scale information campaign was started as if the projects in Poland had not been implemented so far, which had not been completed with implementation in practice of a new or significantly improved product, service or process. The paper will present some projects carried out at the Faculty of Transport of the Warsaw University of Technology before 2007., that is before the OP IE, which projects can be included in the innovative projects according to the adopted definition.

PL

W Polsce podstawowym dokumentem wprowadzającym, w sposób formalny, pojęcie innowacyjności do obiegu gospodarczego był Program Operacyjny Innowacyjna Gospodarka 2007-2013 (PO IG) – rządowy dokument przyjęty przez Radę Ministrów 19 grudnia 2006 roku. Dokument ten opisywał stan polskiej gospodarki oraz stan polskiej nauki pod kątem innowacyjności i konkurencyjności. Jak zwykle w takich przypadkach, na początek rozwinięto struktury administracyjne wprowadzając takie pojęcia jak: Instytucja Zarządzająca, Instytucje pośredniczące i Instytucje Wdrażające oraz rozpoczęto szeroko zakrojoną kampanię informacyjną tak, jak gdyby do tej pory w Polsce nie realizowano projektów, które nie zostały zakończone wdrożeniem w praktyce gospodarczej nowego lub znacząco udoskonalonego produktu, usługi lub procesu. W referacie zostaną przedstawione niektóre projekty zrealizowane na Wydziale Transportu Politechniki Warszawskiej przed 2007 rokiem, czyli przed uruchomieniem PO IG, które to projekty zgodnie z przyjętą definicją zaliczyć można do projektów innowacyjnych.

5

Selection of signal registration points in the monitoring process and diagnosing the condition of the rail vehicle

Chudzikiewicz Andrzej, Stelmach Anna, Wawrzyński Wojciech

Journal of civil engineering and transport

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2019

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Vol. 1

7--13

EN

The article discusses the process of selecting points on a rail vehicle in which sensors recording signals will be located, with a view to their later use in the process of monitoring the condition of the vehicle and in particular elements of the first and second degree suspension system. The number of such points and their location is significant considering the complexity of the monitoring system and thus the costs of its construction and subsequent operation, as well as the possibility of using registered signals in the process of diagnosing the technical condition of the vehicle, bearing in mind the functioning of such a system in online mode.

PL

W artykule omówiony został proces wyboru punktów na pojeździe szynowym, w których ulokowane będą czujniki rejestrujące sygnały, mając na uwadze późniejsze ich wykorzystanie w procesie monitorowanie stanu pojazdu a w szczególności elementów układu podatnego I i II stopnia usprężynowania. Liczba takich punktów oraz ich rozmieszczenie ma istotne znaczenie biorąc pod uwagę złożoność systemu monitorowania a tym samym koszty jego budowy i późniejszej eksploatacji a także możliwość wykorzystania zarejestrowanych sygnałów w procesie diagnozowania stanu technicznego pojazdu mając na uwadze funkcjonowanie takiego systemu w trybie on-line.