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Visual simultaneous localisation and map-building supported by structured landmarks

100%

Bączyk R. , Kasiński A.

2010

tom Vol. 20, no 2

281-293

Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy of the robot camera and to reduce the size of the Kalman-filter state-vector with respect to the vector size involving point-wise environment features only. Structured landmarks reduce the drift of the camera pose estimate and improve the reliability of the map which is built on-line. Results of simulation experiments are described, proving advantages of such an approach.

The use of a vision system for supervision of a manipulator with electrohydraulic servodrives

80%

Milecki A. , Owczarek M. , Bączyk R.

tom Vol. 17, no. 3

917-930

The article describes a system for supervising a hydraulic manipulator and allowing its work in the event of failure of the primary measuring system. A monitoring system based on a digital camera observes the manipulator and its environment. In the case of failure of one of the encoders, the control of the manipulator movement is made by taking a feedback signal provided by the vision system. This allows continuation of the work of the manipulator even in the presence of the encoder errors. Additionally, the system is protected against abnormal movements which may lead to hitting of elements allocated in the manipulator working area. A comparison of the system accuracy equipped with two different feedback sensors is also presented.

System tworzenia mieszanek węglowych ładowanych na samochody w KWK Staszic

80%

Bączyk R. , Kryca M. , Sikora T.

tom R. 45, nr 6

32-39

W artykule przedstawiono nowe podejście i rozwiązanie układu oraz systemu sterowania tworzeniem mieszanek węglowych ładowanych na samochody. W opracowanym i wdrożonym systemie wykorzystano m.in. dotychczasowe doświadczenia w dziedzinie stosowania bezizotopowej metody pomiaru zawartości popiołu w węglu. Opisano budowę i zasadę działania systemu oraz przedstawiono uzyskane wyniki.

A new approach to a system for creation and control of coal mixtures to be trucked has been presented in the paper. In the system which has been developed and implemented there have been used e.g. the previous experiences within applications of non-isotope method of measurement of ash content in coal. A construction and a principle of operation of the system have been described and the achieved results have been shown.