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Search results for: AUTONOMOUS SYSTEMS
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High performance super-twisting sliding mode control for a maritime autonomous surface ship (MASS) using ADP-Based adaptive gains and time delay estimation
PublicationThis research addresses two kinds of problems related to optimal trajectory tracking of a Maritime Autonomous Surface Ship (MASS): those caused by the time-varying external disturbances including winds, waves and ocean currents as well as those resulting from inherent dynamical uncertainties. As the paper shows, an accurate and robust optimal controller can successfully deal with both issues. An improved Optimal Adaptive Super-Twisting...
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Modeling of Performance And Safety of a Multi-Task Unmanned Autonomous Maritime Vehicle / Modelowanie Ruchu i Bezpieczeństwa Wielozadaniowego Bezzałogowego Autonomicznego Pojazdu Wodnego
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Connected & Automated Urban Mobility, Zombie Cars and Kitchen Knives: Will Autonomous Automobiles, Self-Driving Car-Sharing and Ride-Hailing, and Driverless Shuttles Harm Cities?
PublicationThere is a deficiency of supportive evidence to verify thesis that cities are prepared for mobility revolution which already begun and will advance exponentially. Furthermore, present revisions mostly emphasize how emerging mobility solutions will alter transport efficiency or affect mass transit usage, rather than on urban morphology, metropolitan society, nor local communities. Author is thoroughly concerned that municipalities...
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Non-Salient Brushless Synchronous Generator Main Exciter Design for More Electric Aircraft
PublicationThis paper presents a prototype of high speed brushless synchronous generators (BSG) design for the application in autonomous electric power generation systems (e.g., airplane power grid). Commonly used salient pole field of the main generator part of BSG was replaced with a prototype non-salient pole field. The main objective of the research is an investigation into the advantages and disadvantages of a cylindrical field of the...
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Mobility Oriented Development (MOD): Public-Private Partnership in Urban Parking & Traffic Management with the Use of Autonomous Automobiles, Car-Sharing, Ridesharing Modes of Transport & Mobility as a Service (MaaS)
PublicationThe focus of the following research are relations between mobility technologies and metropolitan (urban and suburban) spatial structures. In this paper the author discusses various urban modes of transport (automobile, mass transit) in the context of emerging technical (autonomous vehicles, self-driving cars and driverless shuttles) and organizational (carpooling, ridesharing, car-sharing, on-demand mobility) solutions for " mobility...
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Michał Czubenko dr inż.
PeopleMichał Czubenko is a distinguished 2009 graduate of the Faculty of Electronics, Telecommunications, and Informatics at Gdańsk University of Technology, specializing in the discipline of automatic control and robotics. Currently, he serves as an adjunct in the Department of Robotics and Decision Systems at the same institution. In 2012, he embarked on a three-month internship at Kingston University London, broadening his horizons...
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I, Robot: between angel and evil
PublicationThe boosting of most digital innovations within recent technology progress by artificial intelligence (AI) constitutes a growing topic of interest. Besides its technical aspects, increasing research activity may be observed in the domain of security challenges, and therefore of responsibility related to the controlled or hypothetically uncontrolled or autonomous emergence of AI solutions. Consequently, responsibility and ethics...
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MARITIME LASER SCANNING AS THE SOURCE FOR SPATIAL DATA
PublicationThe rapid development of scanning technology, especially mobile scanning, gives the possibility to collect spatial data coming from maritime measurement platforms and autonomous manned or unmanned vehicles. Presented solution is derived from the mobile scanning. However we should keep in mind that the specificity of laser scanning at sea and processing collected data should be in the form acceptable in Geographical Information...
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Multibeam Echosounder and LiDAR in Process of 360-Degree Numerical Map Production for Restricted Waters with HydroDron
PublicationIn order to increase the safety of inland navigation and facilitate the monitoring of the coastal zone of restricted waters, a model of multi-sensory fusion of data from hydroacoustic and optoelectronic systems mounted on the autonomous survey vessel HydroDron will be developed. In the research will be used the LiDAR laser scanner and multibeam echosounder. To increase the visual quality and map accuracy, additionally side scan...
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Service-based Resilience for Embedded IoT Networks
PublicationEmbedded IoT networks are the backbone of safety-critical systems like smart factories, autonomous vehicles, and airplanes. Therefore, resilience against failures and attacks should be a prior concern already in their design stage. In this study, we introduce a service-based network model as an MILP optimization problem for the efficient deployment of a service overlay to the embedded network by meeting QoS and resilience requirements....
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Hossein Nejatbakhsh Esfahani Dr.
PeopleMy research interests lie primarily in the area of Learning-based Safety-Critical Control Systems, for which I leverage the following concepts and tools:-Robust/Optimal Control-Reinforcement Learning-Model Predictive Control-Data-Driven Control-Control Barrier Function-Risk-Averse Controland with applications to:-Aerial and Marine robotics (fixed-wing UAVs, autonomous ships and underwater vehicles)-Multi-Robot and Networked Control...
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Vehicle detector training with labels derived from background subtraction algorithms in video surveillance
PublicationVehicle detection in video from a miniature station- ary closed-circuit television (CCTV) camera is discussed in the paper. The camera provides one of components of the intelligent road sign developed in the project concerning the traffic control with the use of autonomous devices being developed. Modern Convolutional Neural Network (CNN) based detectors need big data input, usually demanding their manual labeling. In the presented...
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FPGA-Based Implementation of Real Time Optical Flow Algorithm and Its Applications for Digital Image Stabilization
PublicationAn efficient simplification procedure of the optical flow (OF) algorithm as well as its hardware implementation using the field programmable gate array (FPGA) technology is presented. The modified algorithm is based on block matching of subsets of successive frames, and exploits one-dimensional representation of subsets as well as the adaptive adjustments of their sizes. Also, an l1-norm-based correlation function requiring no...
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Service-based Resilience via Shared Protection in Mission-critical Embedded Networks
PublicationMission-critical networks, which for example can be found in autonomous cars and avionics, are complex systems with a multitude of interconnected embedded nodes and various service demands. Their resilience against failures and attacks is a crucial property and has to be already considered in their design phase. In this paper, we introduce a novel approach for optimal joint service allocation and routing, leveraging virtualized...
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Zdzisław Kowalczuk prof. dr hab. inż.
PeopleZdzislaw Kowalczuk received his M.Sc. degree in 1978 and Ph.D. degree in 1986, both in Automatic Control from Technical University of Gdańsk (TUG), Gdańsk, Poland. In 1993 he received his D.Sc. degree (Dr Habilitus) in Automatic Control from Silesian Technical University, Gliwice, Poland, and the title of Professor from the President of Poland in 2003. Since 1978 he has been with Faculty of Electronics, Telecommunications and Informatics...
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Heat recovery from the hybrid photovoltaic tile – experimental studies with the solar light simulator
PublicationConsidering the current development of micro-cogeneration energy sources, supported by the national prosumer policy and the act on the renewable energy sources, there is a great demand for the effective solar technologies. In this area, the photovoltaic cells with a combined conversion of the solar radiation energy into the electrical and thermal energy (PV/T cells) seem to be attractive. They are already widely available and treated...
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Long-term comparative evaluation of an acoustic climate in selected schools before and after the acoustic treatment
PublicationThe results of long-term continuous noise measurements in two selected schools are presented in the paper. Noise characteristics were measured continuously there for approximately 16 months. Measurements started eight months prior to the acoustic treatment of the school corridors of both schools. An evaluation of the acoustic climates in both schools, before and after the acoustic treatment, was performed based on comparison of...
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A framework for risk matrix design: A case of MASS navigation risk
PublicationRisk matrix, a tool for visualizing risk assessment results, is essential to facilitate the risk communication and risk management in risk-based decision-making processes related to new and unexplored socio-technical systems. The use of an appropriate risk matrix is discussed in the literature, but it is overlooked for emerging technologies such as Maritime Autonomous Surface Ships (MASS). In this study, a comprehensive framework...
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Karol Zdzisław Zalewski mgr inż.
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Paweł Raczyński dr inż.
PeoplePaweł Raczyński received the M.Sc. degree in automatics and computer science from Gdańsk University of Technology, Gdańsk, Poland, in 1977. He has been with Electronics, Telecommunication and Informatics Faculty, Gdańsk University of Technology since 1977. In 1986 he received the Ph.D. degree from the same faculty. His research deals with the issues of construction of control systems and technical diagnostics, in particular diagnosis...
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Comments to the article by Ramos et al. ‘Collision avoidance on maritime autonomous surface ships: Operators’ tasks and human failure events’ (Safety Science Vol. 116, July 2019, pp. 33–44)
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Towards Designing an Innovative Industrial Fan: Developing Regression and Neural Models Based on Remote Mass Measurements
PublicationThis article presents the process of the construction and testing a remote, fully autonomous system for measuring the operational parameters of fans. The measurement results obtained made it possible to create and verify mathematical models using linear regression and neural networks. The process was implemented as part of the first stage of an innovative project. The article presents detailed steps of constructing a system to...
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Mathematical and numerical modelling,W,IDE-EMSS,IIst,sem.01,lato,2023/24 (PG_00057379)
e-Learning CoursesModelling of controlled mechanical systems by the mixed method of rigid and flexible finite elements: The finite element volume problems. Dynamics of multibody systems. Modelling of stationary closed loop systems. Modelling of systems whose configuration changes with time. Modelling of nonlinear controlled systems. Optimal control at energy performance index: Control of continuous nonstationary systems in domain of generalised...
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Mathematical and Numerical Modelling, L, IDE IInd, sem.01, summer, 2022/23(00057379)
e-Learning CoursesModelling of controlled mechanical systems by the mixed method of rigid and flexible finite elements: The finite element volume problems. Dynamics of multibody systems. Modelling of stationary closed loop systems. Modelling of systems whose configuration changes with time. Modelling of nonlinear controlled systems. Optimal control at energy performance index: Control of continuous nonstationary systems in domain of generalised...
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Urban scene semantic segmentation using the U-Net model
PublicationVision-based semantic segmentation of complex urban street scenes is a very important function during autonomous driving (AD), which will become an important technology in industrialized countries in the near future. Today, advanced driver assistance systems (ADAS) improve traffic safety thanks to the application of solutions that enable detecting objects, recognising road signs, segmenting the road, etc. The basis for these functionalities...
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Contextual Knowledge to Enhance Workplace Hazard Recognition and Interpretation in a Cognitive Vision Platform
PublicationThe combination of vision and sensor data together with the resulting necessity for formal representations builds a central component of an autonomous Cyber Physical System for detection and tracking of laborers in workplaces environments. This system must be adaptable and perceive the environment as automatically as possible, performing in a variety of plants and scenes without the necessity of recoding the application for each...
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Możliwości zastosowania zasobnikowych jednostek trakcyjnych na liniach kolejowych na przykładzie Pomorskiej Kolei Metropolitalnej
PublicationW artykule zwrócono uwagę, że zasobniki stosowane głównie do rekuperacji energii, mogą być również wykorzystane do zasilania pociągów na niezelektryfikowanych i zelektryfikowanych odcinkach linii kolejowych. Innowacyjność tego rozwiązania wykazano na podstawie dwóch aplikacji kolejowych elektrycznych zasobnikowych jednostek trakcyjnych: pierwszej funkcjonującej od 2014 roku na linii Utsunomiya – Karasuyama w Japonii oraz drugiej,...
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Design of control algorithms for mobile robots in an environment with static and dynamic obstacles
PublicationThis article proposes the construction of autonomous mobile robots and designing of obstacle avoidance algorithms for them. Nowadays, mobile robots are gaining more and more popularity on the customer as well as industrial market, for example as automatic vacuum cleaners or lawnmowers. Obstacle avoidance algorithms play an important role in performance of this types of robots. The proposed algorithms were designed for builds with...
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European Workshop on Modelling Autonomous Agents in a Multi-Agent World
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Trust Management Method for Wireless Sensor Networks
PublicationA Wireless Sensor Network (WSN) is a network of spatially distributed autonomous sensors to monitor physical or environmental conditions, such as temperature, sound, pressure, etc. and to cooperatively pass their data to the main location. The first wireless network that bore any real resemblance to a modern WSN is the Sound Surveillance System (SOSUS), developed by the United States Military in the 1950s to detect and track Soviet...
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Algorithmic Human Resources Management - Perspectives and Challenges
PublicationTheoretical background: Technology – most notably processes of digitalisation, the use of artificial intelligence, machine learning, big data and prevalence of remote work due to pandemic – changes the way organizations manage human resources. One of the increasing trends is the use of so-called “algorithmic management”. It is notably different than previous e-HRM or HRIS (human resources information systems) applications, as it...
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Evaluating Industry 4.0 Implementation Challenges Using Interpretive Structural Modeling and Fuzzy Analytic Hierarchy Process
PublicationThe fourth industrial revolution known as Industry 4.0 is reshaping and evolving the way industries produce products and individuals live and work therefore, gaining massive attraction from academia, business and politics. The manufacturing industries are optimistic regarding the opportunities Industry 4.0 may offer such as, improved efficiency, productivity and customization. The present research contributes to the Industry 4.0...
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Regulacje prawne odnoszące się do testowania samochodów autonomicznych na drogach publicznych w Polsce i w Kalifornii
PublicationThe current level of technological advancement allows for predicting that in the near future autonomous technology may be successfully used for the production of self-driving cars. Many companies (not necessarily related to the automotive sector) have spotted the chance of future profits and thus started working on testing and development of autonomous vehicles. The initiation of work has indicated the lack of possibility to test...
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Computer controlled systems - 2022/2023
e-Learning Coursesmateriały wspierające wykład na studiach II stopnia na kierunku ACR pod tytułem komputerowe systemy automatyki 1. Computer system – controlled plant interfacing technique; simple interfacing and with both side acknowledgement; ideas, algorithms, acknowledge passing. 2. Methods of acknowledgement passing: software checking and passing, using interrupt techniques, using readiness checking (ready – wait lines). The best solution...
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CCS-lecture-2023-2024
e-Learning Coursesmateriały wspierające wykład na studiach II stopnia na kierunku ACR pod tytułem komputerowe systemy automatyki 1. Computer system – controlled plant interfacing technique; simple interfacing and with both side acknowledgement; ideas, algorithms, acknowledge passing. 2. Methods of acknowledgement passing: software checking and passing, using interrupt techniques, using readiness checking (ready – wait lines). The best solution optimization...
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Robust and Efficient Machine Learning Algorithms for Visual Recognition
PublicationIn visual recognition, the task is to identify and localize all objects of interest in the input image. With the ubiquitous presence of visual data in modern days, the role of object recognition algorithms is becoming more significant than ever and ranges from autonomous driving to computer-aided diagnosis in medicine. Current models for visual recognition are dominated by models based on Convolutional Neural Networks (CNNs), which...
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Distributed infrastructure of self-organizing service servers
PublicationThis paper presents an idea of creating distributed system consisting of autonomous self-organizing service providers. It shows a real implemented system allowing for dynamic service search without interaction with client based on the inter-servers communication. Moreover presented system can be easily enriched with new elements without the need for restarting already existing servers.
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Towards a method for detecting large roll motions suitable for oceangoing ships
PublicationThe concept of autonomous merchant ships is quite recent. The increasing interest in autonomous vessels is nowadays calling for smart technologies that are supposed to replace the human actions on board. This involves troublesome issues related to ship safety. In the future, decision-making processes that are conventionally performed by human beings on board ship will be moved ashore to the control centre and maybe even completely...
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On reliability assessment of ship machinery system in different autonomy degree; A Bayesian-based approach
PublicationAnalyzing the reliability of autonomous ships has recently attracted attention mainly due to epistemic uncertainty (lack of knowledge) integrated with automatic operations in the maritime sector. The advent of new random failures with unrecognized failure patterns in autonomous ship operations requires a comprehensive reliability assessment specifically aiming at estimating the time in which the ship can be trusted to be left unattended....
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Civil liability for artificial intelligence products versus the sustainable development of CEECs: which institutions matter?
PublicationThe aim of this paper is to conduct a meta-analysis of the EU and CEECs civil liability institutions in order to find out if they are ready for the Artificial Intelligence (AI) race. Particular focus is placed on ascertaining whether civil liability institutions such as the Product Liability Directive (EU) or civil codes (CEECs) will protect consumers and entrepreneurs, as well as ensure undistorted competition. In line with the...
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INDIRECT CONTROL OVER SUBORDINATE UNITS
PublicationDeveloping a game universe usually involves creation of various units which can be both, encountered by a player or controlled by him. There is a number of works considering autonomous behaviors of units wandering around the game world. When it comes to the units controlled by the player, they are often deprived of autonomy and are strictly controlled by the player. This paper presents a concept of units behavior depending on their...
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Indirect control over subordinate units
PublicationDeveloping a game universe usually involves creation of various units which can be both, encountered by a player or controlled by him. There is a number of works considering autonomous behaviours of units wandering around the game world. When it comes to the units controlled by the player, they often are lack of autonomy and are strictly controlled by the player. This paper presents a concept of units behaviour depending on their...
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Study of prototype multi-pole non-salient field winding for high speed brushless synchronous generator
PublicationIn this paper a non-salient field winding for a brushless synchronous generator working with high speed in an autonomous energy generation system (e.g. airplane power grid) has been presented. A conception of a six-pole cylindrical-rotor with distributed field winding has been proposed. Comparison study of salient and prototype non-salient field winding has been carried out. Chosen simulation and measurement results of the generator...
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Proposal of a method for effective tasks distribution in the execution of compolex problems
PublicationAn access to a great number of various services allows for decomposition of complex problems into smaller and less complex tasks. Those tasks can be presented in a form of a dependency graph. This paper shows an idea of executing such a problem using cooperating autonomous agents. Main focus of this work is cooperation covering effective tasks distribution among executors. This paper presents an algorithm for dynamic executor selection...
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The Proposal to “Snapshot” Raim Method for Gnss Vessel Receivers Working in Poor Space Segment Geometry
PublicationNowadays, we can observe an increase in research on the use of small unmanned autonomous vessel (SUAV) to patrol and guiding critical areas including harbours. The proposal to “snapshot” RAIM (Receiver Autonomous Integrity Monitoring) method for GNSS receivers mounted on SUAV operating in poor space segment geometry is presented in the paper. Existing “snapshot” RAIM methods and algorithms which are used in practical applications...
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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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Know your safety indicator – A determination of merchant vessels Bow Crossing Range based on big data analytics
PublicationEven in the era of automatization maritime safety constantly needs improvements. Regardless of the presence of crew members on board, both manned and autonomous ships should follow clear guidelines (no matter as bridge procedures or algorithms). To date, many safety indicators, especially in collision avoidance have been proposed. One of such parameters commonly used in day-to-day navigation but usually omitted by researchers is...
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Testing the Effect of Bathymetric Data Reduction on the Shape of the Digital Bottom Model
PublicationDepth data and the digital bottom model created from it are very important in the inland and coastal water zones studies and research. The paper undertakes the subject of bathymetric data processing using reduction methods and examines the impact of data reduction according to the resulting representations of the bottom surface in the form of numerical bottom models. Data reduction is an approach that is meant to reduce the size...
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The Physiological Effects of ASMR on Anxiety
PublicationPurpose: Autonomous Sensory Meridian Response is a novel phenomenon that is very popular these days on Youtube and Reddit to its anti-anxiety effects. As the name suggests, ASMR is a relaxing warm sensation that begins on the scalp and spreads throughout the body. This technique is also known as "brain massage," and it relies on soothing sights and sounds, like whispers and slow movements. Investigating these videos is primarily motivated...
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Theoretical analysis of the cable-stayed bridge over brda river in Bydgoszcz
PublicationThe topic of this article is the numerical analysis carried out for the cable-stayed tram (road) bridge over Brda river in Bydgoszcz. The goal of numerical studies was the verification of project assumptions and construction solutions elaborated by the autonomous team. The bridge calculations were conducted on three independent FEM models The internal forces and the elements effort under different loading schemes were examined....