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Search results for: unmanned surface vehicle
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UAV Design and Construction for Real Time Photogrammetry and Visual Navigation
PublicationA unmanned aerial vehicles applications in photogrammetry have increased rapidly last years. A fast data gathering and processing in real time in some cases become crucial and desired in some application. In the paper, a real time solution is proposed. A real time photogrammetry from UAV is proposed, where image data are gathered and processed on board UAV and finally reconstructed 3D model and measurements are delivered. The paper...
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Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys
PublicationHydrographic surveys, in accordance with the International Hydrographic Organization (IHO) S-44 standard, can be carried out in the following five orders: Exclusive, Special, 1a, 1b and 2, for which minimum accuracy requirements for the applied positioning system have been set out. They are as follows, respectively: 1, 2, 5, 5 and 20 m, with a confidence level of 95% in twodimensional space. The Global Navigation Satellite System...
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An Innovative New Approach to Light Pollution Measurement by Drone
PublicationThe study of light pollution is a relatively new and specific field of measurement. The current literature is dominated by articles that describe the use of ground and satellite data as a source of information on light pollution. However, there is a need to study the phenomenon on a microscale, i.e., locally within small locations such as housing estates, parks, buildings, or even inside buildings. Therefore, there is an important...
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Karol Rudziński inż.
PeopleKarol Rudziński (born on August 18, 1979 in Inowrocław). After graduating from Shipbuilding Technical School in Gdańsk, he continued his studies at Faculty of Mechanical Engineering of Gdańsk University of Technology. He graduated in 2007 engineering studies in specialization: Mechanics and Machine Building, Machine Technology. In 2002, he started working at Faculty of Hydro and Environmental Engineering at Gdańsk University of...
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Identyfikacja parametrów detektora SIFT dla problemu georeferencjonowania zobrazowań z platformy UAV
PublicationW pracy porównano dokładność procesu georeferencjonowania zdjęć zarejestrowanych przy pomocy urządzenia mikro UAV (ang. Unmanned Aerial Vehicle) w zależności od konfiguracji detektora cech SIFT (ang. Scale-Invariant Feature Transform. Na potrzeby eksperymentów wykorzystano implementację detektora vlfeat, a porównanie przeprowadzono na zbiorze zobrazowań pochodzących z lotów, które odbyły się w lipcu 2011 r. w terenie słabo zurbanizowanym....
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Detection of ferromagnetic objects in local magnetic anomaly of the Baltic Sea
PublicationIn geological researches several kinds of methods are applied to discovering the natural resources. Planes, helicopters and UAVs (UnmAnned Vehicle) are used in researches in large areas. The gravity, electromagnetic and magnetic methods, which are used in geological researches, are presented in this paper. The special attention was paid to magnetic systems installed on mobile platforms. The magnetic field of the Earth obtained...
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Robust identification of quadrocopter model for control purposes
PublicationThe paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators). The model of the former is acquired based on a well-established dynamic equations of motion while the...
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Combination of terrestrial laser scanning and UAV photogrammetry for 3D modelling and degradation assessment of heritage building based on a lighting analysis: case study—St. Adalbert Church in Gdansk, Poland
PublicationThe construction of the St. Adalbert Church in Gdansk dates to 1310. It is a church of rich history and great historical value, and its care is challenging. In this study, the combination of unmanned aerial vehicle (UAV) photogrammetry and terrestrial laser scanning (TLS) was used to accurately build a 3D model of the church. Together with the collected historical inventory documentation, the historic building information model...
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Low cost real time UAV stereo photogrammetry modelling technique – accuracy considerations
PublicationThe paper presents accuracy considerations regarding three 3D modelling techniques. The tested new consumer type stereo camera (ZED 3D Stereolabs) has been implemented info an aerial mapping system, on board micro air vehicle MAV) and tested object has been mapped using a real-time photogrammetry with original real-time software application. The evaluated results has been compared with model gained with a state of art unmanned...
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Framework for extracting rails and setting-out railway line axis based on UAV photogrammetric measurements
PublicationTechnical diagnostics enables assessing the current technical condition of a railway line and adjacent infrastructure, and forecasting its changes over a specific time horizon. One of its elements is the periodic monitoring of rail position and their geometry. This article presents a new framework for the setting-out of a railway track axis. The process presented in the manuscript is based on the specific filtration and extraction...
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Towards Precise Visual Navigation and Direct Georeferencing for MAV Using ORB-SLAM2
PublicationA low accuracy of positioning using Global Navigation Satellite System (GNSS) are not meet geodetic requirements for direct images georeferencing for Unmanned Aerial Vehicle (UAV) photogrammetry. A majority of UAVs are equipped with a monocular or stereo non-metric cameras for either visual data gathering or live video feed for operator. A cheap positioning techniques used on board commercial UAVs are not that precise as geodetic...
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Framework for Structural Health Monitoring of Steel Bridges by Computer Vision
PublicationThe monitoring of a structural condition of steel bridges is an important issue. Good condition of infrastructure facilities ensures the safety and economic well-being of society. At the same time, due to the continuous development, rising wealth of the society and socio-economic integration of countries, the number of infrastructural objects is growing. Therefore, there is a need to introduce an easy-to-use and relatively low-cost...
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Paweł Szymon Dąbrowski dr inż.
PeopleDr. Eng. Paweł Szymon Dąbrowski studied geodesy and cartography at the University of Warmia and Mazury in Olsztyn from 2004-2009, where he obtained the title of Master of Science in Engineering. In the years 2009-2016, he worked as a land surveyor in Iława and Gdańsk. He gained professional experience during the construction of the Pomeranian Metropolitan Railway, which helped him obtain a national surveying license in 2015. In...
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Analiza ruchu drogowego z wykorzystaniem analizy akustycznej
PublicationTematyka pracy porusza zagadnienia dotyczące pozyskiwania informacji o ruchu drogowym z wykorzystaniem monitoringu akustycznego. Przybliżono podstawowe techniki nadzoru nad ruchem drogowym. Przedstawiono założenia akustycznego detektora ruchu i zbadano jego skuteczność na trzech płaszczyznach działania – zliczania pojazdów, klasyfikacji rodzajowej i klasyfikacji warunków pogodowych panujących na nawierzchni
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Analiza stanu nawierzchni i klas pojazdów na podstawie parametrów ekstrahowanych z sygnału fonicznego
PublicationCelem badań jest poszukiwanie parametrów wektora cech ekstrahowanego z sygnału fonicznego w kontekście automatycznego rozpoznawania stanu nawierzchni jezdni oraz typu pojazdów. W pierwszej kolejności przedstawiono wpływ warunków pogodowych na charakterystykę widmową sygnału fonicznego rejestrowanego przy przejeżdżających pojazdach. Następnie, dokonano parametryzacji sygnału fonicznego oraz przeprowadzano analizę korelacyjną w celu...
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Precise Bathymetry as a Step Towards Producing Bathymetric Electronic Navigational Charts for Comparative (Terrain Reference) Navigation
PublicationBathymetric Electronic Navigational Charts (bENCs) contain only bathymetry data and can be used in applications such as underwater positioning, dredging and piloting. According to International Hydrographic Organization (IHO) standard S-57, Electronic Navigational Charts (ENCs) contain depth information with pure density of depth contours. Typical depth contours encoded by Hydrographic Offices are limited to 2, 5, 10 and 20 m....
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APPLIED SURFACE SCIENCE
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Accuracy of a low-cost autonomous hexacopter platforms navigation module for a photogrammetric and environmental measurements
PublicationA photogrammetry and environmental measurements from an unmanned aerial vehicle (UAV) are a low-cost alternative for a traditional aerial photogrammetry. A commercial off-the-shelf products (COTS) offers a variety of cheap components that a suitable to be used on board a UAV. In this paper a low-cost navigation module based on Ublox NEO-M8N GPS and Pixhawk flight controller have been described, as a main extrinsic parameters source...
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Akustyczna analiza natężenia ruchu drogowego dla systemów zarządzania ruchem
PublicationW pracy przybliżono wybrane zagadnienia z dziedziny zarządzania transportem drogowym w Polsce i na świecie. W tym kontekście pzredstawiono potrzeby rynkowe, wymagania jak i możliwości w zakresie pozyskiwania informacji o aktualnym stanie sieci drogowych. Zaproponowano akustyczną metodę nadzorowania ruchu drogowego i jej możliwości w kontekście systemów zarządzania ruchem. Przedstawiono schemat akwizycji sygnału wraz z danymi odniesienia....
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ROBOT TYPU QUADROCOPTER STEROWANY MIKROKONTROLERAMI O NIEWIELKIEJ MOCY OBLICZENIOWEJ
PublicationWspółczesna robotyka rozwija się bardzo dynamicznie. Coraz więcej osób prywatnych i inżynierów konstruuje różnego rodzaju pojazdy mobilne. Dlatego autorzy niniejszego referatu postawili sobie następującą tezę: możliwa jest budowa latającego robota mobilnego na bazie kontrolera o niskiej mocy obliczeniowej oraz prostego regulatora, i podjęli się jej udowodnienia.
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VEHICLE DYNAMICS (2024)
e-Learning Courses(W) Vehicle dynamics (W-Lecture) - DAPE - WIMiO The course entitled "Vehicle dynamcs" (VD) is conducted for the DAPE WIMiO Students. The VD course is to discuss the following problems: - major problems of vehicle dynamics from the application point of view, - definition of working environment, - types of vehicles, - parameters and characteristics of vehicles, - assessment of performance of vehicles towards design, -...
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Wpływ przechyłki na zjawisko postępowania zużycia bocznego szyn kolejowych w łukach poziomych
PublicationDegradacja elementów nawierzchni kolejowej jest zagadnieniem bardzo złożonym, w które uwikłane jest wiele czynników związanych między innymi z układem geometrycznym toru kolejowego, właściwościami trybologicznymi poszczególnych elementów nawierzchni, jak również z parametrami podłoża gruntowego, a także z właściwościami samych pojazdów szynowych. W artykule omówiono jeden z powyższych problemów, tj. wpływ ukształtowania toru kolejowego...
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Practical Trial for Low-Energy Effective Jamming on Private Networks With 5G-NR and NB-IoT Radio Interfaces
PublicationFourth-generation (4G) mobile networks are successively replaced by fifth-generation (5G) ones, based on the new releases of the 3rd Generation Partnership Project (3GPP) standard. 5G generation is dedicated to civilian users and the conducted analytical work shows that it has numerous technological gaps that prevent its direct implementation in military communications systems. However, the recent armed world conflicts showed that...
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Availability of UAV Fleet Evaluation Based on Multi-State System
PublicationUnmanned Aerial Vehicle (UAV) applications are extended extremely. Some applications need to use several UAVs for a general mission which can be considered a UAV fleet. One of the important characteristics for the evaluation of a UAV or UAV fleet is reliability. There are studies in which methods for analysis of their reliability are considered. Reliability analysis of UAV fleets is less frequently studied, although a single UAV...
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A New Adaptive Method for the Extraction of Steel Design Structures from an Integrated Point Cloud
PublicationThe continuous and intensive development of measurement technologies for reality modelling with appropriate data processing algorithms is currently being observed. The most popular methods include remote sensing techniques based on reflected-light digital cameras, and on active methods in which the device emits a beam. This research paper presents the process of data integration from terrestrial laser scanning (TLS) and image data...
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Hydrographic Multisensory Unmanned Watercraft
PublicationThis article describes the design of the unmanned surface vessel (USV) and the algorithms for planning the trajectories to be followed on measurement missions. The algorithms take account of the dynamically varying impacts of external forces (wind and surface current) on the vessel's motion. Feedback loops enable the counteraction of external factors that cause disturbance to the desired trajectory. The sensors installed on the...
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Surface Science - 2021/2022
e-Learning CoursesThe goal of the subject is the presentation of basic problems resulting from he existence of interfacebetween material objects and its surroundings. Discussion of the consequences arising from the existenceof surface energy. Analysis of possible applications of surface phenomena in technology. Understanding ofproblems and benefits resulting from decreasing dimensions of objects with the special emphasis on thesemiconductor band...
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Surface Science - 2023/2024
e-Learning CoursesThe course is not a full time lecture but on the consultation/handouts. The consulations are held every two weeks. The course is based on the Springer textbook: Surface Science An Introduction Downloadable at: https://link.springer.com/book/10.1007/978-3-662-05179-5 (PG network or vpn access) The goal of the subject is the presentation of basic problems resulting from he existence of interfacebetween material objects...
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Wizyjny system monitoringu stanu nakładek stykowych odbieraków prądu
PublicationEksploatowane do niedawna w Polsce nakładki pantografów kolejowych były wykonywane w postaci styków miedzianych. Na początku 2011 r. przeprowadzono kompleksową zmianę typu nakładek stykowych, stosowanych przez operatorów korzystających z infrastruktury PKP PLK S.A., z miedzianych na metalizowane węglowe. Wraz z wprowadzeniem nakładek węglowych istnieje potrzeba opracowania nowych metod diagnostyki tego istotnego elementu toru zasilania...
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Unmanned Systems
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Towards the Development of a Risk Model for Unmanned Vessels Design and Operations
PublicationAn unmanned merchant vessel seems to be escaping from the stage of idea exploration. Once the concept proofs its safety, it may become a part of maritime reality. Although the safety aspect of such a ship has been addressed by a handful of scholars, the problem remains open. This is mainly due to lack of knowledge regarding actual operational circumstances and design of unmanned ships, which are yet to be developed. In the...
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Comparative Analysis of Unmanned Aerial Vehicles Used in Photogrammetric Surveys
PublicationThere are many manufacturers on the market offering various types of Unmanned Aerial Vehicles (UAV). The multitude of drones available on the market means that the choice of a UAV for a specific application appears to be a decision problem to be solved. The aim of this article is a comparative analysis of drones used in photogrammetric surveys. The criteria for evaluating the UAVs were: availability and product support, payload...
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SURFACE & COATINGS TECHNOLOGY
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Design of radio communication systems for unmanned transport applications
PublicationIn the paper the principle of OFDMA-based radio communication systems design for unmanned transport applications is presented. The concept of system radio interface is analysed and its basic parameters proposal are considered. In the last part of the paper some air interface characteristics useful for optimization of throughput and system capacity are considered.
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Old-timer Vehicle - Braking Efficiency Measurement at Vehicle Inspection Stations and Roadworthiness Validity Certificate.
PublicationObtaining the Roadworthiness Validity Certificate for an old-timer vehicle involves an appropriate test performance, namely, "Old-timer Vehicle Technical Specification Compliance Test". It seems obvious that this kind of test should include a considerable checklist, however, the current legal regulations connected with this test are not specific enough. One of the certificates issued on this test results is "Old-timer Vehicle Technical...
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A study of nighttime vehicle detection algorithms
Open Research DataThis dataset is from my master's thesis "A study of nighttime vehicle detection algorithms". It contains both raw data and preprocessed dataset ready to use. In the pictures below you can see how images were annotated.
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Contribution of dynamic vehicle loads to pavement failure
PublicationPavement surfaces are not ideally even, which causes dynamic loads of vehicle axles. Distribution of dynamic loads of a given axle is similar to normal distribution and can be described by static load and dynamic load coefficient. The dynamic load coefficient depends on road profile, vehicle speed, properties of suspensions and static load of axle. While for a given road section road profile remains constant, vehicle speed and...
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EVALUATION OF EFFECTIVENESS OF WATERJET PROPULSOR FOR A SMALL UNDERWATER VEHICLE
PublicationT he goal of the project described is to replace the existing propulsion system of a small underwater vehicle with a solution less prone to mechanical damage and ensuring a lower risk of the entanglement of fibrous objects suspended in the body of water. Four typical marine screws are utilised in the current design of the vehicle. One possible solution of the problem is the application of waterjet propulsors located...
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Vehicle classification based on soft computing algorithms
PublicationExperiments and results regarding vehicle type classification are presented. Three classes of vehicles are recognized: sedans, vans and trucks. The system uses a non-calibrated traffic camera, therefore no direct vehicle dimensions are used. Various vehicle descriptors are tested, including those based on vehicle mask only and those based on vehicle images. The latter ones employ Speeded Up Robust Features (SURF) and gradient images...
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Concept of an Innovative Autonomous Unmanned System for Bathymetric Monitoring of Shallow Waterbodies (INNOBAT System)
PublicationBathymetry is a subset of hydrography, aimed at measuring the depth of waterbodies and waterways. Measurements are taken inter alia to detect natural obstacles or other navigational obstacles that endanger the safety of navigation, to examine the navigability conditions, anchorages, waterways and other commercial waterbodies, and to determine the parameters of the safe depth of waterbodies in the vicinity of ports, etc. Therefore,...
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Spatial Visualization Based on Geodata Fusion Using an Autonomous Unmanned Vessel
PublicationThe visualization of riverbeds and surface facilities on the banks is crucial for systems that analyze conditions, safety, and changes in this environment. Hence, in this paper, we propose collecting, and processing data from a variety of sensors—sonar, LiDAR, multibeam echosounder (MBES), and camera—to create a visualization for further analysis. For this purpose, we took measurements from sensors installed on an autonomous, unmanned...
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Modelling of performance of an AUV stealth vehicle. Design for operation.
PublicationIn the paper some results of research connected with modelling of performance and risk assessment of an AUV stealth vehicle are presented. A general approach to design of the stealth AUV autonomous underwater vehicle under consideration is introduced. The basic stealth characteristics of the AUV stealth vehicle are briefly described. The method of research is introduced. The AUV stealth vehicle concept is presented including the...
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Modeling of performance of an AUV stealth vehicle. Design for operation.
PublicationIn the paper some results of research connected with modelling of performance and risk assessment of an AUV stealth vehicle are presented. A general approach to design of the stealth AUV autonomous underwater vehicle under consideration is introduced. The basic stealth characteristics of the AUV stealth vehicle are briefly described. The method of research is introduced. The AUV stealth vehicle concept is presented including the...
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Influence of IED Explosion on Lateral Dynamics of a Vehicle
PublicationThe paper describes field test results of heavy vehicle tire blow-outs. Both civilian and military vehicles are subjected to sudden loss of inflation pressure in one or more wheels, often accompanied by serious tire damage. Selected results related to the lateral dynamic of vehicle during and just after explosive tire destruction are reported
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Modeling of Combined Phenomena Affecting an AUV Stealth Vehicle
PublicationIn the paper some results of research connected with modelling the basic stealth characteristics of an AUV vehicle are presented. First of all a general approach to design of the stealth AUV autonomous underwater vehicle under consideration is introduced. Then, the AUV stealth vehicle concept is briefly described. Next a method of modelling of the stealth characteristics is briefly described as well. As an example of the stealth...
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CFD and FEM model of an underwater vehicle propeller
PublicationDuring the project execution of design and optimization the Remotely Operated Vehicle (ROV) research on its propulsion has been carried out. The entire project was supported by CFD and FEM calculations, which taking into account the characteristics of underwater vehicle. One of the tasks was to optimize the semi-open duct for horizontal propellers, which provided propulsion and controllability in horizontal plane. In order to...
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Clonal selection algorithm for vehicle routing
PublicationOver the years several successful computing techniques have been inspired by biological mechanisms. Studies of the mechanisms that allow the immune systems of vertebratesto adapt and learn have resulted in a class of algorithms called artificial immune systems. Clonal selection is a process that allows lymphocytes to launch a quick response to known pathogens and to adapt to new, previously unencountered ones. This paper presents...
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A Triplet-Learnt Coarse-to-Fine Reranking for Vehicle Re-identification
PublicationVehicle re-identification refers to the task of matching the same query vehicle across non-overlapping cameras and diverse viewpoints. Research interest on the field emerged with intelligent transportation systems and the necessity for public security maintenance. Compared to person, vehicle re-identification is more intricate, facing the challenges of lower intra-class and higher inter-class similarities. Motivated by deep...
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STUDY ON THE RELATIONSHIP BETWEEN VEHICLE MAINTENANCE AND FUEL CONSUMPTION
PublicationA contemporary road vehicle (RV) is a rather complex system, consisting of a large number of subsystems, assemblies, units, and elements (parts). While operating, an RV interacts with the environment, and its elements interact with each other. Consequently, the properties (parameters) of these elements change in the process - hardness, roughness, size, relative position, gapping, etc. A partial solution to the presented problems...
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Investigations on the the dynamics of motor vehicle driving in nighttime conditions
PublicationThe article describes investigations on vehicle driving in nighttime conditions