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1

System sterowania autonomicznego pojazdu A-EVE

Długosz Marek, Roman Michał, Węgrzyn Paweł

Przegląd Elektrotechniczny

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2021

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R. 97, nr 8

42--47

PL

W artykule opisano koncepcję układu sterowania prototypowego autonomicznego pojazdu elektrycznego A-EVE. Opracowano koncepcję dwupoziomowego układu sterowania który składa się z układu sterowania niskopoziomowego i wysokopoziomowego. W pracy opisano kluczowe elementy autonomicznego pojazdu A-EVE takie jak sensory, układ sterowania, układy bezpieczenstwa. Przeanalizowano wpływ flagi kompilacji programu sterownika niskiego poziomu na czas wykonywania programu sterowania.

EN

The paper presented the concept of the control system of the prototype electric autonomous vehicle A-EVE. The proposed control system is a two-level of control system which contain a low level and a high level control system. The paper describes the key elements of the autonomous A-EVE vehicle, such as sensors, control system, and safety systems. Additionally, the impact of the program compilation flag for the low-level control program execution time was analyzed.

2

Fatigue tests and numerical analyses of the PAWO autonomous electric vehicle

Podkowski Krzysztof, Okruch Łukasz

Archiwum Motoryzacji

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2021

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Vol. 93, nr 3

39--58

EN

The following article presents fatigue testing and FEM numerical analysis of an autonomous electric vehicle, PAWO autonomous operational support platform. The purpose of the study, which was carried out in the ŁUKASIEWICZ – Automotive Industry Institute, was to verify the structure of the platform by forcing in three axes on the position: a table with six degrees of freedom "MAST", as well as conducting fatigue numerical analyses, allowing to determine places critical for fatigue endurance. This will be the starting point for the modification of the structure, and also will allow you to identify places that you need to pay attention to during tests and subsequent operation. The results of these tests allow us to determine critical places due to fatigue strength and possible intervention before starting field tests with a complete vehicle, as well as to detect places that should be noted during tests, inspections and tests, and in development versions of the vehicle.

3

Universal Autonomous Control and Management Sytem for multipurpose unmanned surface vessel

Stateczny Andrzej, Burdziakowski Paweł

Polish Maritime Research

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2019

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nr 1

30--39

EN

The paper presents design, structure and architecture of the Universal Autonomous Control and Management System (UACAMS) for multipurpose unmanned surface vessel. The system was designed, installed and implemented on the multipurpose platform - unmanned surface vessel named HydroDron. The platform is designed to execute hydrographic survey missions with multi-variant configuration of the survey system (payload? ) including multi-beam echo sounder, sonar, LiDAR, automotive radar, photographic and spectral camera systems. The UACAMS designed to provide flexibility that enables to operate on the different kind of surface platform and different type of functional payload. The full system configuration provides all four level of autonomy starting from remotely controlled to full autonomous mission. Each level can be implemented and run depending on user specific requirements. The paper explains the differences between autonomous and automatic mission and shows how the autonomy is implemented into the presented system. The full hardware structural design as well as the software architecture are described. In order to confirm initial assumptions the applied system was tested during four- week sea trials and tuned for a selected vessel to confirm assumptions. In the project, also the original shore control station was designed, produced and tested for the vessel, including specific user controls and radio communication system. Conclusions sum up all crucial points of the design and system implementation process.

4

Smart ships – autonomous or remote controlled?

Kobyliński L.

Zeszyty Naukowe Akademii Morskiej w Szczecinie

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2018

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nr 53 (125)

28--34

EN

Nowadays the time of the smart ship is at the door. This is the result of the new, Fourth Industrial Revolution that is fast approaching. The Fourth Industrial Revolution is the result of an enormous increase in information being acquired, stored, processed, and transmitted The effect of this has been smart domestic appliances, robots, telephones, production machines, and other objects, visible everywhere in everyday life. There are obviously many advantages to the introduction of smart vehicles and attempts to introduce smart cars into traffic are already in progress. Smart ships are also currently attracting much attention. RINA organized three international conferences on this subject in a short space of time. An attempt to send a fully autonomous experimental ship across the Atlantic is already in progress. Although technically it would be possible to already build smart ships, there are many practical problems to be solved before they could be put into operation. Apart from purely technical problems there are problems of the economy, safety, security, and environmental protection as well as legal and political problems. There are also important problems regarding employment, training, and human relations. Questions are now being asked as to whether smart ships would be fully autonomous, remote controlled, or manned with a skeleton crew, and who will ultimately be responsible for the ship in question and how smart ships will affect sea traffic. Some of these problems have been discussed in this paper.

5

Pojazdy autonomiczne a moralność sztucznej inteligencji

Klochowicz T.S.

Journal of TransLogistics

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2018

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Vol. 4, nr 1

205--112

PL

Branża logistyczna boryka się z niedoborem kierowców zawodowych. W artykule zaprezentowano czym jest sztuczna inteligencja oraz pojazdy autonomiczne. Opisany został problem moralny tworzenia takowych środków transportu opierający się na dylemacie wagonik. Czy technologia będzie musiała czekać na rozwikłanie problemu moralnego?

EN

The logistics industry is struggling with the shortage of professional drivers. The article presents what artificial intelligence and autonomous vehicles are. The moral problem of creating such means of transport based on the trolley problem has been described. Will technology have to wait for a solution to the moral problem?

6

Application of an autonomous/unmanned survey vessel (asv/usv) in bathymetric measurements

Specht C., Świtalski E., Specht M.

Polish Maritime Research

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2017

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nr 3

36--44

EN

The accuracy of bathymetric maps, especially in the coastal zone, is very important from the point of view of safety of navigation and transport. Due to the continuous change in shape of the seabed, these maps are fast becoming outdated for precise navigation. Therefore, it is necessary to perform periodical bathymetric measurements to keep them updated on a current basis. At present, none of the institutions in Poland (maritime offices, Hydrographic Office of the Polish Navy) which are responsible for implementation of this type of measurements has at their disposal a hydrographic vessel capable of carrying out measurements for shallow waters (at depths below 1 m). This results in emergence of large areas for which no measurement data have been obtained and, consequently, the maps in the coastal zones are rather unreliable. The article presents the concept of bathymetric measurements for shallow waters with the use of an autonomous, unmanned survey vessel (ASV/USV). For this purpose, the authors modernized a typical ASV/USV unit with standard radio remote control system to the fully autonomous mode. As part of the modernization, the route planning software was created. The developed software works based on, alternatively, GNSS measurements of the coastline, or satellite images. The system was supplemented by an own autopilot (adapted for flying drones). Moreover, the method of controlling electric motors was changed thanks to the use of own electronic circuit. The modernized ASV/USV measuring system was verified by performing bathymetric measurements of the retention reservoir in Gdansk, Poland. Then, the obtained measurement data were used to create a digital bottom model and a bathymetric map of the reservoir.

7

Autonomous Knowledge-oriented Clustering Using Decision-Theoretic Rough Set Theory

Yu H., Chu S., Yang D.

Fundamenta Informaticae

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2012

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Vol. 115, nr 2/3

141-156

EN

In many applications, clusters tend to have vague or imprecise boundaries. It is desirable that clustering techniques should consider such an issue. The decision-theoretic rough set (DTRS) model is a typical probabilistic rough set model, which has the ability to deal with imprecise, uncertain, and vague information. This paper proposes an autonomous clustering method using the decision-theoretic rough set model based on a knowledge-oriented clustering framework. In order to get the initial knowledge-oriented clustering, the threshold values are produced autonomously based on semantics of clustering without human intervention. Furthermore, this paper estimates the risk of a clustering scheme based on the decision-theoretic rough set by considering various loss functions, which can process the different granular overlapping boundary. An autonomous clustering algorithm is proposed, which is not only experimented with the synthetic data and the standard data but also applied in the web search results clustering. The results of experiments show that the proposed method is effective and efficient.

8

Java simulator for an autonomous mobile robot operating in the presence of sensor faults

Srebro A.

Challenges of Modern Technology

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2010

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Vol. 1, no. 1

56--60

EN

This paper presents two-dimensional mobile robot simulator written in Java. Robot performs autonomous navigation based on infrared sensors. Sensing range and angle can be adjusted in real-time. Obstacle detection an avoidance algorithm was implemented. In this paper, the wall-following problem for mobile robot in the presence of sensors faults is considered in detail. Time related method of robot orientation relative to the wall is shown. A few experimental tests are reported to discuss the robustness of control algorithm and verify simulations results.

9

Control system for UAV application based on inspection robot

Chmaj G., Uhl T.

Problemy Eksploatacji

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2008

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nr 3

7-18

EN

This paper describes the design, development, and operation of the Inspection Robot, a UAV system that has been developed at the Department of Robotics and Mechatronics at AGH - University of Science and Technology. The hardware and software architecture used for controlling the Inspection Robot is presented. The architecture of a pan, tilt, and roll camera control system on-board the Inspection Robot is also presented. The camera is mounted in a light gimbal driven by three servos. The controller has currently three operation modes available. The first mode keeps the camera at a fixed position. The second mode drives the gimbal servos using signals received from an IMU system mounted on video glasses. Data provided by three sensors (a three axis accelerometer, a three axis gyroscope, and a three axis magnetic compass) from the IMU unit are integrated using a sensor fusion algorithm in order to obtain the best estimate for the system's dynamic state. The Kalman filter is very attractive for low-cost applications, where acceptable performance and reliability is desired, given a limited set of inexpensive sensors. Manual control, using conventional RC radio, is also possible.

PL

W artykule przedstawiono projekt, wykonanie oraz pierwsze testy Inspekcyjnego Robota Latającego rozwijanego w Katedrze Robotyki i Mechatroniki na uczelni AGH w Krakowie. W pracy przedstawiono system kontroli lotu pracujący na Inspekcyjnym Robocie Latającym oraz funkcjonalność oprogramowania naziemnej stacji bazowej stanowiącej łącze komunikacyjne z robotem. W artykule przedstawiono również projekt żyroskopowej platformy wideo pracującej na pokładzie Inspekcyjnego Robota Latającego, stanowiącej sprzężenie wizyjne z naziemnym operatorem. Platforma posiada trzy stopnie swobody i napędzana jest trzema serwomechanizmami. Istnieją trzy tryby pracy umożliwiające wykorzystanie platformy w różnych zadaniach. Pierwszy tryb pracy umożliwia zablokowanie wszystkich serwomechanizmów w ostatnim położeniu pracy. Drugi tryb pracy steruje aktuatory platformy na podstawie sygnałów odebranych z układu IMU zamontowanego na wirtualnych okularach wideo. Sygnały pochodzące z trzech czujników układu IMU (trzy przyśpieszenia, trzy prędkości kątowe oraz trzy kierunki pola magnetycznego ziemi) poddawane są fuzji przy użyciu 6-stanowego filtru Kalmana. Zadaniem filtru Kalmana jest estymacja zmiennych stanu, gdzie część z nich w postaci kątów roll, pitch i yaw jest przesyłana na wejście układu sterowania aktuatorami platformy. Trzeci tryb pracy to manualna kontrola aktuatorów platformy w oparciu o sygnały pochodzące z aparatury RC.