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Search results for: MOTION ANALYSIS
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3D Vision System for a Robotic Arm Based on Equal Baseline Camera Array
PublicationThis paper presents a lightweight 3D vision system called Equal Baseline Camera Array (EBCA). EBCA can work in different light conditions and it can be applied for measuring large range of distances. The system is a useful alternative to other known distance measuring devices such as structured-light 3D scanners, time-of-flight cameras, Light Detection and Ranging (LIDAR) devices and structure from motion techniques. EBCA can be...
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Radio Channel Measurements in Body-to-Body Communications in Different Scenarios
PublicationThis paper presents body-to-body radio channel measurements at the 2.45 GHz band, for different body motion scenarios and on-body antenna placements, and both indoor and outdoor environments. Measurement equipment, investigated scenarios and considered environments are described, an initial analysis of results being presented. The mean path loss and the standard deviation depend on the mutual location of transmitting and receiving...
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Radio Channel Measurements in Body-to-Body Communications in Different Scenarios
PublicationThis paper presents body-to-body radio channel measurements at the 2.45 GHz band, for different body motion scenarios and on-body antenna placements, and both indoor and outdoor environments. Measurement equipment, investigated scenarios and considered environments are described, an initial analysis of results being presented. The mean path loss and the standard deviation depend on the mutual location of transmitting and receiving...
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Reducing the Uncertainty of the Moving Object Location Measurement with the Method of Quasi-Multiple Measurement in GNSS Technology in Symmetrical Arrangement
PublicationThe article presents a solution to the problem of limited accuracy of dynamic measurements performed with GNSS receivers. The proposed measurement method is a response to the needs related to the assessment of the measurement uncertainty of the position of the track axis of the rail transport line. However, the problem of reducing the measurement uncertainty is universal for many different situations where high accuracy of positioning...
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On implementation of fibrous connective tissues’ damage in Abaqus software
PublicationConnective fibrous tissues, such as tendons and ligaments, in humans and animals exhibit hyperelastic behaviour. The constitution of the material of these tissues is anisotropic due to the presence of the collagen fibres, where one family of fibres is the typical case. Traumatic events and/or aging may sometimes lead to the damage of the tissue. The study of motion of affected joints or limbs is usually not permitted in vivo. This...
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Proportional-Derivative and Model-Based Controllers for Control of a Variable Mass Manipulator
PublicationIn the paper, numerical analysis of dynamics of a variable mass manipulator is presented. A revolute joints composed manipulator is considered. Payload of the gripper is considered as the only element characterized by unknown value of its mass (variable between subsequent operations). As in other cases of the revolute joints composed manipulators, its behaviour dependents significantly on the pose of the manipulator. When the manipulator...
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Effect of Overloaded Vehicles on Whole Life Cycle Cost of Flexible Pavements
PublicationThe phenomenon of vehicle overloading—illegal exceeding of maximum legal weight of vehicles, is a serious problem both in developing and developed countries around the world. Overloaded vehicles occur less frequently in comparison to properly loaded vehicles but due to their greater potential to cause damage they significantly contribute to distress of pavement structure. As studies show, the number of overloaded vehicles increases...
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Epoxy/Ionic Liquid-Modified Mica Nanocomposites: Network Formation–Network Degradation Correlation
PublicationWe synthesized pristine mica (Mica) and N-octadecyl-N’-octadecyl imidazolium iodide (IM) modified mica (Mica-IM), characterized it, and applied it at 0.1–5.0 wt.% loading to prepare epoxy nanocomposites. Dynamic differential scanning calorimetry (DSC) was carried out for the analysis of the cure potential and kinetics of epoxy/Mica and epoxy/Mica-IM curing reaction with amine curing agents at low loading of 0.1 wt.% to avoid particle...
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Consideration of dynamic loads in the determination of axle load spectra for pavement design
PublicationAxle load spectra constitute a crucial part of the data for pavement design and pavement distress analysis. Typically, axle load spectra represent static load from vehicles and do not include dynamic loads generated by vehicles in motion. While dynamic loads can significantly contribute to faster pavement distress, this fact is mostly omitted in pavement design methods. The paper presents a methodology for consideration of dynamic...
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Possibilities for Developing Electromobility by Using Autonomously Powered Trolleybuses Based on the Example of Gdynia
PublicationTrolleybus transport refers to contemporary challenges related to a reduction in emissions of greenhouse gases and CO2 into the atmosphere formulated by international institutions, such as the United Nations, the Organisation for Security and Co-operation in Europe, or the European Union. Departure from fossil fuels in urban transport is one of the key challenges for the coming years. Trolleybuses are an important tool in this...
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Electromagnetic Control and Dynamics of Generalized Burgers’ Nanoliquid Flow Containing Motile Microorganisms with Cattaneo–Christov Relations: Galerkin Finite Element Mechanism
PublicationIn our research work, we have developed a model describing the characteristics of the bio-convection and moving microorganisms in the flows of a magnetized generalized Burgers’ nanoliquid with Fourier’s and Fick’s laws in a stretchable sheet. Considerations have been made to Cattaneo–Christov mass and heat diffusion theory. According to the Cattaneo–Christov relation, the Buongiorno phenomenon for the motion of a nanoliquid in...
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Machine learning-based prediction of seismic limit-state capacity of steel moment-resisting frames considering soil-structure interaction
PublicationRegarding the unpredictable and complex nature of seismic excitations, there is a need for vulnerability assessment of newly constructed or existing structures. Predicting the seismic limit-state capacity of steel Moment-Resisting Frames (MRFs) can help designers to have a preliminary estimation and improve their views about the seismic performance of the designed structure. This study improved data-driven decision techniques in...
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Significant Production of Thermal Energy in Partially Ionized Hyperbolic Tangent Material Based on Ternary Hybrid Nanomaterials
PublicationNanoparticles are frequently used to enhance the thermal performance of numerous materials. This study has many practical applications for activities that have to minimize losses of energy due to several impacts. This study investigates the inclusion of ternary hybrid nanoparticles in a partially ionized hyperbolic tangent liquid passed over a stretched melting surface. The fluid motion equation is presented by considering the...
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“Shadow” vs. “Phase 3D” method within endoscopic examinations of marine engines
PublicationA visual investigation of surfaces creating internal, working spaces of marine combustion engines by means of specialized view-finders so called endoscopes is at present almost a basic method of technical diag-nostics. The surface structure of constructional material is visible during investigations like through the magnifying glass (usually with a precisely determined magnification), which makes possible a detection, recognition...
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Performance of Vector-valued Intensity Measures for Estimating Residual Drift of Steel MRFs with Viscous Dampers
PublicationViscous Dampers (VDs) are widely used as passive energy dissipation system for improving seismic performance levels especially in retrofitting of buildings. Residual Inter-story Drift Ratio (R-IDR) is another important factor that specifies the condition of building after earthquake. The values of R-IDR illustrates the possibility of retrofitting and repairing of a building. Therefore, this study aims to explore the vector-valued...
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WERYFIKACJA KONCEPCJI PRZEGUBÓW PLASTYCZNYCH PROJEKTOWANYCH NA ODZIAŁYWANIA SEJSMICZNE WIADUKTU V6 OBWODNICY ISTAMBUŁU
PublicationW pracy zawarto wyniki analiz betonowego wiaduktu V6 budowanego w ciągu obwodnicy Istambułu w Turcji realizowanego w ramach projektu Northern Marmara Highway. Przeprawę stanowią dwie niezależne nitki o skrzynkowym przekroju poprzecznym i szerokości 22,00 m. Schemat statyczny obiektu to belka dziewięcioprzęsłowa o długości całkowitej 446,86 m oparta na podporach słupowych o zmiennej sztywności (rys.1) i wysokościach zmieniających...
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SegSperm - a dataset of sperm images for blurry and small object segmentation
Open Research DataMany deep learning applications require figure-ground segmentation. The performance of segmentation models varies across modalities and acquisition settings.
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A Generalized Framework Towards Structural Mechanics of Three-layered Composite Structures
PublicationThree-layered composite structures find a broad application. Increasingly, composites are being used whose layer thicknesses and material properties diverge strongly. In the perspective of structural mechanics, classical approaches to analysis fail at such extraordinary composites. Therefore, emphasis of the present approach is on arbitrary transverse shear rigidities and structural thicknesses of the individual layers. Therewith...
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Searching for Critical Conditions During Lifeboat Launching – Simulations
PublicationThe article describes numerical simulations of the process of lifeboat launching at the ship’s side. The research is aimed at finding the values of ship motion parameters which appear to be most dangerous for people in the lowered lifeboat due to the generated accelerations. The simplified model of ship hull motion adopted at this research stage bases on a superposition of harmonic motions with given amplitudes and periods in six...
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HYGRO-MAGNETIC VIBRATION OF THE SINGLE-WALLED CARBON NANOTUBE WITH NONLINEAR TEMPERATURE DISTRIBUTION BASED ON A MODIFIED BEAM THEORY AND NONLOCAL STRAIN GRADIENT MODEL
PublicationIn this study, vibration analysis of single-walled carbon nanotube (SWCNT) has been carried out by using a refined beam theory, namely one variable shear deformation beam theory. This approach has one variable lesser than a contractual shear deformation theory such as first-order shear deformation theory (FSDT) and acts like classical beam approach but with considering shear deformations. The SWCNT has been placed in an axial or...
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Proportional-Derivative and Model-based Controllers used for a Serial Type Manipulator in case of a Variable Mass Payload
PublicationIn the paper, numerical analysis of dynamics of a variable mass system is considered. Its reference example is a serial-like manipulator composed of revolute joints and rigid bodies. Payload of its gripper is considered as its variable mass element (mass and inertia irregularly between subsequent payloads). For the rest of the system, inertia parameters are considered as known (precisely identified during the assembling process)....
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Research on Tool Temperature Dependence on Lapping Grains Size
PublicationCommonly used as a finishing operation, lapping has been used for achieving ultra-high finishes and close tolerances between mating pieces. Its carried out by applying loose abrasive grains between work and lap surfaces, and causing a relative motion between them resulting in a finish of multi-directional lay. The grains activity (sliding and rolling) in the working gap causes not only the material removal but also the temperature...
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Optimal control at energy performance index of the mobile robots following dynamically created trajectories
PublicationIn practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system’s performance. In case of autonomous application of the mobile robots all parts of its control...
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Fundamentals of classical and analytical mechanics
PublicationThe book is a monographic description of the present attempt to Newtonian and Lagrangian mechanics. But also, it could be found as a supplementary educational material useful for the graduate courses in mechanics taken by students majoring in mechanical engineering, physics or physical science. In the book you can find a brief introduction to concepts and principles of algebra of vectors; Kinematics of particles, mainly focused...
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Development of fragility curves in adjacent steel moment-resisting frames considering pounding effects through improved wavelet-based refined damage-sensitive feature
PublicationFragility curves present useful information related to earthquake-induced probability assessment of steel moment-resisting frames (MRFs) and determine the probability of the damage exceedance at different floor levels of MRFs. The review of the literature shows that most of the previous studies dealing with the fragility curves were based on conventional measures, such as spectral acceleration at the first mode period, peak...
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Utilization of fuzzy rules in computer character animation
PublicationThe chapter presents a method for automatic enhancement of computer character animation utilizing fuzzy inference. First the user designs a prototype version of animation, with keyframes only for important poses, roughly describing the action. Then animation is enriched with new motion phases calculated by the fuzzy inference system using descriptors given by the user. Various degrees of motion fluency and naturalness are possible...
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Control of mass concentration of reagents by sound in a gas with nonequilibrium chemical reactions
PublicationThe weakly nonlinear dynamics of a chemically reacting gas is studied. Nonlinear interaction of acoustic and nonacoustic types of motion are considered. We decompose the base equations using the relationships of the gas-dynamic perturbations specific for every type of motion. The governing equation for the mass fraction of a reagent influenced by dominating sound is derived and discussed. The conclusions concern the equilibrium...
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Optimal control of 2-wheeled mobile robot at energy performance index
PublicationThe paper presents the application of the optimal control method at the energy perfor- mance index towards motion control of the 2-wheeled mobile robot. With the use of the proposed method of control the 2-wheeled mobile robot can realise effectively the desired trajectory. The problem of motion control of mobile robots is usually neglected and thus performance of the realisation of the high level control tasks is limited.
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AeroSense Measurements: Wind Tunnel EPFL
Open Research DataData from wind tunnel tests of Aerosesne measurement system installed on NACA63418 at EPFL wind tunnel.
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Applications of Immersive 3D Visualization Lab
PublicationThe paper presents Immersive 3D Visualization Lab (at the Faculty of Electronics, Telecommunications and Informatics at Gdańsk University of Technology in Poland) and its applications prepared after its launch in December 2014. The main device of the lab is a virtual reality cubic cave with six screen-walls, where a person can navigate in virtual space using different controllers. The most sophisticated controller is a freely rotating...
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Testing of Software for the Planning of a Linear Object GNSS Measurement Campaign under Simulated Conditions
PublicationThe precision of a linear object measurement using satellite techniques is determined by the number and the relative position of the visible satellites by the receiver. The status of the visible constellation is described by DOP. The obtained geometric coefficient values are dependent on many variables. When determining these values, field obstacles at the receiver location and satellite positions changing with time must be taken...
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On Nonlinear Dynamic Theory of Thin Plates with Surface Stresses
PublicationWe discuss the modelling of dynamics of thin plates considering surface stresses according to Gurtin–Murdoch surface elasticity. Taking into account the surface mass density we derive the two-dimensional (2D) equations of motion. For the reduction of the three-dimensional (3D) motion equations to the 2D ones we use the trough-the-thickness integration procedure. As a result, the 2D dynamic parameters of the plate depend not only...
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Analytical Study of Sliding Instability due to Velocity- and Temperature-Dependent Friction
PublicationThe instability of sliding causes deterioration of performance characteristics of tribosystems and is undesired. To predict its occurrence, the motion of a body of a one-degree-of-freedom system with friction is investigated about the steady sliding equilibrium position. The motion equation is formulated with the friction coefficient dependent on the sliding velocity and contact temperature changing due to transient heat conduction...
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Variations of Ship’s Deck Elevation Due to Stochastic Process of Containers Loading
PublicationThe stochastic process of container loading is described in the paper with special emphasis to ship motion when she is lying at a quay. The 3 DOF system was applied to describe rolling, pitching and heaving of a vessel which may cause a significant variations of momentary deck elevation. The realistic range of such variations are assessed for a variety of cargo locations on-board and a phase shift between two independent gantries...
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Vertical motions damping model test of a lifeboat lowered onto a flat sea surface
PublicationThe article presents the experiment’s results of the lifeboat model lowered with an initial speed and then released to fall onto a flat water surface. The purpose of the research is to determine the trajectory of the vertical boat motion and describe it with a mathematical model. This is closely related to determining the damping factor since the vertical motion is damped and the lifeboat gets balanced and stops moving after some...
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Comparison of safety levels required by adequate regulations for cargo ships of different types
PublicationDuring the currently ongoing development of methods for assessing the safety of ships, it is imperative that a compromise between the accuracy of the results and the accessibility of obtaining results is reached. This paper shows the calculations of a theoretical hull against damage stability regulations as included in SOLAS 2020, ICLL 66/88 as amended in 2003 and MARPOL 78. The rules included in the currently valid regulations require...
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Acoustic journal bearing – Performance under various load and speed conditions speed conditions
PublicationThe paper presents results of experimental testing aiming at finding out what effect system of piezo-electric actuators (PZTs)attached to an aerodynamic journal bearing has on the magnitude of shaft's motion within the bearing operating at specified speed and load. The results clearly demonstrate effectiveness of PZTs in mitigating the shaft's motion thus contributing to the increased stability of the bearing. This stabilizing...
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Simplified Method of Modelling Behaviour of Ship in Waves with Partially Flooded Compartments
PublicationThis paper contains a description of a numerical model for calculating behaviour of ships in waves. There are many models available, but the one described here can be characterised with a set of parameters that have a decisive impact on the final values of roll motion amplitude and frequency. In this paper, it is shown how a fitting of a standard-shape hull characterised by certain readily available parameters affects...
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Vident-synth: a synthetic intra-oral video dataset for optical flow estimation
Open Research DataWe introduce Vident-synth, a large dataset of synthetic dental videos with corresponding ground truth forward and backward optical flows and occlusion masks. It can be used for:
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Numerical Estimation of Hull Hydrodynamic Derivatives in Ship Maneuvering Prediction
PublicationPrediction of the maneuvering characteristics of the ship at the design stage can be done by means of model tests, computational simulations or a combination of both. The model tests can be realized as direct simulation of the standard maneuvers with the free running model, which gives the most accurate results, but is also the least affordable as it requires very large tank or natural lake, as well as complex equipment of the...
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Application of Pierson-Moskowitz wave spectrum to solution differential equations of multihull vessel
PublicationMotion of a dynamic system can be generated by different external or internal factors. At mathematical modelling external excitation factors of the most significant effect on the system, are selected. Such external factors are usually called excitations. Response of the system to given excitations is mathematically characterized by a definite transformation called operator of a system. For a broad class of dynamic systems the...
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Personalized avatar animation for virtual reality
PublicationThe paper presents a method for creating a personalized animation of avatar for virtual reality application such as multiplayer on-line games. Animation is stored in a simplified version, containing only keyframes for important avatar poses. This version defines key movements, i.e. roughly describes the avatar's action. Animation is enriched by the user with new motion phases utilizing fuzzy descriptors.Various degrees of motion...
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Enhancement of computer character animation utilizing fuzzy rules
PublicationRozdział przedstawia nową metodę przetwarzania komputerowych animacji postaci. Wykorzystuje ona wnioskowanie rozmyte, oparte na regułach i funkcjach przynależności uzyskanych w procesie analizy wyników testów subiektywnej oceny jakości animacji. W trakcie przetwarzania do animacji automatycznie dodawane są nowe fazy ruchu, co skutkuje poprawą jakości wizualnej oraz zmianą płynności i stylizacji ruchu w sposób zamierzony. W referacie...
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Hierarchical Estimation of Human Upper Body Based on 2D Observation Utilizing Evolutionary Programming and 'Genetic Memory'
PublicationNew method of the human body pose estimation based on single camera 2D observation is presented. It employs 3D model of the human body, and genetic algorithm combined with annealed particle filter for searching the global optimum of model state, best matching the object's 2D observation. Additionally, motion cost metric is employed, considering current pose and history of the body movement, favouring the estimates with the lowest...
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Image projection in Immersive 3D Visualization Laboratory
PublicationIn recent years, many centers in the world attempted to build a virtual reality laboratory. The main idea of such laboratory is to allow the user to “immerse” into and move in a computer-generated virtual world. In the paper, the underlying principles of the system of virtual reality (VR) are described. The selected implementations constructed by the research centers of the world are also presented. The cave automatic virtual environment...
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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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A Target Information Display for Visualising Collision Avoidance Manoeuvres in Various Visibility Conditions
PublicationThe paper introduces a new approach to displaying information on targets. The proposed display visualises three types of information: targets’ motion parameters (typical for target tracking), combinations of own course and speed which collide with those targets (typical for Collision Threat Parameters Area display by Lenart (1983)) and combinations of own course and speed which are not compliant with COLREGS in this case (based...
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The Magnetic Fluid Seals Research Results vs. Kelvin-Helmholtz (K-H) instability and Preliminary Conclusions
PublicationIn the article a magnetic-fluid seals durability research and the tests results are presented. The tests were made with three magnetic fluids using various magnets quantity in magnetic assemblies. If values obtained in the repeated test deviated by more than 10 % from results of the first test an additional control test was made for final characteristics. The characteristics are: critical pressure, critical motion velocity and...
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On the Possibility of Increasing Ship Energy Efficiency Through Improved Propulsion Control System
PublicationThis paper summarizes the analyses conducted to assess the impact of the ship's propulsion control system on energy efficiency in calm, manoeuvre, and sea wave conditions, where the goal of the investigation is to develop new strategies for controlling the ship's motion while considering the interactions between the hull, engine, and propeller.
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Extended Newmark method to assess stability of slope under bidirectional seismic loading
PublicationThe paper concerns the dynamic behavior of a simple slope model subjected to simultaneous horizontal and vertical excitations. The proposed method is based on Newmark’s sliding block concept, however, four new features are introduced. The most important assumption is that the normal component of dynamic excitations affects the resisting force both before and after the initiation of the relative slope motion, making it time-dependent....