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1
Content available State estimation in a decentralized discrete time LQG control for a multisensor system
Duda Z.
Archives of Control Sciences
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2017
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Vol. 27, no. 1
29--39
EN
In the paper a state filtration in a decentralized discrete time Linear Quadratic Gaussian problem formulated for a multisensor system is considered. Local optimal control laws depend on global state estimates and are calculated by each node. In a classical centralized information pattern the global state estimators use measurements data from all nodes. In a decentralized system the global state estimates are computed at each node using local state estimates based on local measurements and values of previous controls, from other nodes. In the paper, contrary to this, the controls are not transmitted between nodes. It leads to nonconventional filtration because the controls from other nodes are treated as random variables for each node. The cost for the additional reduced transmission is an increased filter computation at each node.
2
Content available Fusion Kalman filtration with k-step delay sharing pattern
Duda Z.
Archives of Control Sciences
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2015
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Vol. 25, no. 3
307--318
EN
A fusion hierarchical state filtration with k−step delay sharing pattern for a multisensor system is considered. A global state estimate depends on local state estimates determined by local nodes using local information. Local available information consists of local measurements and k−step delay global information - global estimate sent from a central node. Local estimates are transmitted to the central node to be fused. The synthesis of local and global filters is presented. It is shown that a fusion filtration with k−step delay sharing pattern is equivalent to the optimal centralized classical Kalman filtration when local measurements are transmitted to the center node and used to determine a global state estimate. It is proved that the k−step delay sharing pattern can reduce covariances of local state errors.
3
Content available Fusion Kalman filtration for distributed multisensor systems
Duda Z.
Archives of Control Sciences
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2014
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Vol. 24, no. 1
53--65
EN
In the paper, fusion state hierarchical filtration for a multisensor system is considered. An optimal global Kalman filter is realized by a central node in the information form. The state estimate depends on local information that should be sent by local nodes. Two information structures are considered in the paper. In the first case local estimates are based on the local measurement information. It leads to distributed Kalman filter fusion that is well known in a literature. In the second case local node has additionally global information of the system with one step delay. A synthesis of local filters is presented. An advantage of this structure is discussed.
4
Content available Fusion filtration in LQG control for multisensor systems
Duda Z.
Control and Cybernetics
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2013
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Vol. 42, no. 4
743--754
EN
In the paper, state filtration in a LQG problem formulated for a multisensor system is considered. Control is determined by a central node as a linear form of a state estimate. It is assumed that control values are not available to local nodes. Because of the drawbacks of centralized filtration an optimal fusion of decentralized local Kalman filters is proposed. When control values are not available to local nodes, then control should be treated as a random variable in the synthesis of local state estimates. This leads to a non-classical estimation. It is shown that the proposed filter is equivalent to the centralized one.
5
Content available remote Bezzałogowe pojazdy do wykrywania min i IED
Świderski W.
Autobusy : technika, eksploatacja, systemy transportowe
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2013
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R. 14, nr 3
1159-1169
PL
W artykule omówiona została problematyka wykrywania min i IED z wykorzystaniem bezzałogowych pojazdów. Przedstawiono zarówno światowe rozwiązania jak i prace prowadzone w Wojskowym Instytucie Technicznym Uzbrojenia w ramach projektu badawczo-rozwojowego dotyczącego wykrywania min i IED za pomocą systemu wieloczujnikowego.
EN
Paper discussed the problem of detection of mines and IED’s by using unmanned vehicles. Some world solutions and results of work carried out in the Military Institute of Armamnet Technology under the framework of a research-development project relating to detection of mines and IED’s by using multi-sensor system are presented.
6
Content available Metoda przetwarzania obrazu termowizyjnego i obrazu wizyjnego we wspólnym systemie cyfrowym
Krupiński M., Madura H., Sosnowski T., Bieszczad G.
Pomiary Automatyka Kontrola
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2012
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R. 58, nr 7
575-577
PL
W systemach obserwacyjnych coraz częściej stosuje się zespół kamery termowizyjnej i kamery wideo. Znaczna różnica w standardzie rejestrowanych obrazów sprawia, że ich jednoczesne przetwarzanie jest zadaniem złożonym. W artykule przedstawiono metodę pozwalającą na przetwarzanie obrazu termowizyjnego i obrazu wideo we wspólnym systemie cyfrowym. Zaprezentowane rozwiązanie pozwala na wyświetlanie rejestrowanego obrazu jednocześnie w dwóch różnych standardach wideo. Opracowana metoda została przetestowana i zaimplementowana w sprzęcie.
EN
Multisensory systems are often used in security systems for border surveillance and protection as well as in various military systems like fire control systems. In security systems combined infrared and vision cameras are used to increase effectiveness and detection efficiency. The reason for wide use of infrared cameras in many surveillance and industrial areas is registration of an image in the infrared waveband, which provides new information about the observed process. A traditional vision camera works in the visible spectrum and is applied in security systems for face recognition and identification providing evidence to incidents in the monitored area. A system consisting of infrared and visible cameras allows observing the scene in two wavebands merging advantages of both technologies. The image digital processing system must be designed with consideration about differences between infrared and vision images. Images from different cameras, besides different information in the picture, can also have different resolution, frame rate and data width. The paper presents an approach to integrating a video channel with infrared channel despite of different pixel clock frequencies and different resolutions of the cameras. A method for integration of two different image data streams from visual and infrared cameras in a single digital system is presented. Furthermore, a method for providing display functionality on monitors working in two different video standards is proposed. The presented system has been tested and
7
Content available Hierarchical filtration for distributed linear multisensor systems
Duda Z.
Archives of Control Sciences
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2012
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Vol. 22, no. 4
507-518
EN
In the paper two filtration algorithms for distributed multisensor system are presented. The first one is derived for a linear dynamical system composed of local subsystems described by local state equations. Local estimates are sent to a central station to be fused and formed an optimal global estimate. The second algorithm is derived for a system observed by local nodes that determine estimates of the whole system using local information and periodically aggregated information from other nodes. Periodically local estimates are sent to the central station to be fused. Owing to this a reduced communication can be achieved.
8
Content available Synteza danych w wieloczujnikowym systemie ochrony perymetrycznej obiektów
Dulski R., Życzkowski M., Bieszczad G., Kastek M., Szustakowski M., Ciurapiński W.
Biuletyn Wojskowej Akademii Technicznej
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2011
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Vol. 60, nr 2
205-219
PL
Zastosowanie wieloczujnikowych urządzeń detekcyjnych zdecydowanie poprawia skuteczność wykrywania intruza, zmniejszając jednocześnie prawdopodobieństwo fałszywego alarmu. W artykule zaprezentowano koncepcję syntezy danych w systemie ochrony zbudowanym w oparciu o radar, kamerę wizyjną oraz kamerę termowizyjną. Opisywany system pracuje pod kontrolą oprogramowania dającego możliwość konstrukcji rozbudowanych systemów ochrony dzięki możliwości podłączania różnorodnych czujników w jeden centralnie sterowany system wieloczujnikowy. Graficzny interfejs operatora daje możliwość kontroli czujników, wizualizacji rezultatów procesu syntezy danych z czujników poprzez sieć TCP/IP, a w konsekwencji przekazuje szczegółowe dane o wykrytych intruzach. Zastosowanie czujników pracujących w różnych kanałach informacyjnych powoduje, że system pracuje skutecznie zarówno w dzień jak i w nocy, niezależnie od warunków pogodowych.
EN
Application of multisensor detecting devices significantly improves the effectiveness of intruder detection and also reduces the false alarm rate. The paper presents the concept of data fusion in a security system comprising of radar and daylight and thermal cameras. The applied control software makes it possible to create advanced multisensor security system, to which different sensor types can be connected using TCP/IP network. The sensor operation can be easily managed by means of graphic user interface, which also visualizes data fusion results and intruder alerts. The integration of sensors working in different information channels assures day/night system operation regardless of weather conditions.
9
Wieloczujnkowy system do badania sygnału fotopletyzmograficznego
Prokop D.
Elektronika : konstrukcje, technologie, zastosowania
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2009
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Vol. 50, nr 5
98-102
PL
W pracy zaprezentowano wieloczujnikowy układ do badania sygnału fotopletyzmograficznego (PPG). Dokonano analizy zjawisk fizycznych towarzyszących pozyskiwaniu sygnałów optycznych z obiektów biologicznych. Zaprojektowano i wykonano odbiciowe czujniki optoelektroniczne oraz układ kondycjonowania i akwizycji sygnałów PPG. Zaprezentowano przebiegi czasowe otrzymanych sygnałów.
EN
The subject matter of the paper refers to a multisensor system for examination of a photoplethysmographic signal (PPG). Biophysical phenomena connected with acquiring the optical signals from a human subject are analyzed. A reflectance variant of the optoelectronic sensors as well as conditioning system have been designed. Some selected examples of the PPG waveform obtained and analysis of their parameters are shown.
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