Search
Search results for: autonomous sailboats
-
Agent System for Managing Distributed Mobile Interactive Documents in Knowledge-Based Organizations
PublicationThe MIND architecture of distributed mobile interactive document is a new processing model defined to facilitate obtaining a proper solution in knowledge processes carried out by knowledge-based organizations. Such organizations have an established structure that defines document templates and knowledge process. The aim of the MIND architecture is to change the static document to mobile agents, which are designed to implement the...
-
A multi-agent method for periodicity detection in distributed events
PublicationMulti-agent systems working in constantly changing environments may be challenged by instantaneous unavailability of their autonomous agents caused e.g. by limited computing resources. A new method of self-organization of distributed service components is proposed, suitable for multi-agent systems. This method relies on particular agents carrying out separate analyzes of their individual processing loads or other specific events....
-
A modern approach to an unmanned vehicle navigation
PublicationA traditional approach to manned vehicles navigation uses a data combined form a variety of navigation sensors like satellite, inertial and time-of-flight. With support of operators perception, chart and sensor, data are analyzed and navigation decisions are made. An unmanned platforms navigation needs an operators support, who is supervising a platforms decision process, basing on navigation data obtained via variety of electronic...
-
Constructive Controllability for Incompressible Vector Fields
PublicationWe give a constructive proof of a global controllability result for an autonomous system of ODEs guided by bounded locally Lipschitz and divergence free (i.e. incompressible) vector field, when the phase space is the whole Euclidean space and the vector field satisfies so-called vanishing mean drift condition. For the case when the ODE is defined over some smooth compact connected Riemannian manifold, we significantly strengthen...
-
Case Study on the Use of Unmanned Aerial Vehicles for the Maintenance of Ocean Engineering Facilities
PublicationThe article presents the concept of using innovative unmanned aerial vehicles (UAVs), including autonomous UAV-I for inspection activities, auxiliary and transport works in the processes of servicing large-scale ocean engineering structures in the offshore part of the sea. The proposed areas of application of UAV-I devices and key technologies determining the possibility of using these vehicles in difficult operating conditions...
-
Toolchain Modeling: Comprehensive Engineering Plans for Industry 4.0
PublicationThe fourth industrial revolution (Industry 4.0) elevates the complexity and autonomy of industrial systems and engineering environments to levels not seen before. The novel challenges involve not only the software running on the partaking autonomous devices, but also architectural considerations and the technological infrastructure around the entire engineering process. In this paper, complementing the trends in industrial systems...
-
Inertial Sensors Applications in Underwater Measurements
PublicationOver the past decades microelectromechanical systems (MEMS) researchers have demonstrated a number of microsensors for almost every possible sensing modality, including attitudes. Current MEMS inertial measurement units (IMU) come in many shapes, sizes, and costs — depending on the application, and performance required. MEMS sensors have proved and demonstrated performance exceeding those of their macroscale counterpart sensors. In...
-
Modeling of performance of a AUV vehicle towards limiting the hydro-acoustic field.
PublicationSome results of research devoted to the modeling of a AUV-Stealth vehicle performance towards limiting its hydro-acoustic field are presented in the paper. At the beginning the AUV-Stealth autonomous underwater vehicle concept is described. Then the method of research is introduced. Next the key design drivers of the AUV-Stealth vehicle are presented. Between them are the AUV-Stealth hull form, arrangement of internal spaces,...
-
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...
-
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...
-
Karol Zdzisław Zalewski mgr inż.
People -
Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation
PublicationAutonomous navigation is an important task for unmanned vehicles operating both on the surface and underwater. A sophisticated solution for autonomous non-global navigational satellite system navigation is comparative (terrain reference) navigation. We present a method for fast processing of 3D multibeam sonar data to make depth area comparable with depth areas from bathymetric electronic navigational charts as source maps during...
-
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...
-
Visual Traffic Noise Monitoring in Urban Areas
PublicationThe paper presents an advanced system for railway and road traffic noise monitoring in metropolitan areas. This system is a functional part of a more complex solution designed for environmental monitoring in cities utilizing analyses of sound, vision and air pollution, based on a ubiquitous computing approach. The system consists of many autonomous, universal measuring units and a multimedia server, which gathers, processes and...
-
A proposition for integrating elements of game universe by means of behavioral trees
PublicationModern computer games often involve autonomous beings collaborating and competing with each other to reach their objectives in the game universe. It seems only natural to use agent-oriented approach in such cases. This article identifies the rules of building a game universe as an environment for executing agents. The paper also covers a method for decomposing compound behaviors into behavioral trees. Dividing complex behaviors...
-
Integration of brood units in game universe
PublicationAn access to a great number of various services allows for decomposition of complex problems Developing a game universe usually involves creation of various units which can be encountered by a player. Those can be lonely or organized in broods animals and monsters wandering around the game world. In order to provide natural gaming experience those units should behave variously depending on the world situation. Those behaviours...
-
Qualia: About Personal Emotions Representing Temporal Form of Impressions - Implementation Hypothesis and Application Example
PublicationThe aim of this article is to present the new extension of the xEmotion system as a computerized emotional system, part of an Intelligent System of Decision making (ISD) that combines the theories of affective psychology and philosophy of mind. At the same time, the authors try to find a practical impulse or evidence for a general reflection on the treatment of emotions as transitional states, which at some point may lead to the...
-
Intelligent Audio Signal Processing − Do We Still Need Annotated Datasets?
PublicationIn this paper, intelligent audio signal processing examples are shortly described. The focus is, however, on the machine learning approach and datasets needed, especially for deep learning models. Years of intense research produced many important results in this area; however, the goal of fully intelligent signal processing, characterized by its autonomous acting, is not yet achieved. Therefore, a review of state-of-the-art concerning...
-
Onboard Energy Storage and Power Management Systems forAll-Electric Cargo Vessel Concept
PublicationThis paper presents an innovative approach to the design of a forthcoming, fully electric-powered cargo vessel. This work begins by defining problems that need to be solved when designingvessels of this kind. Using available literature and market research, a solution for the design of apower management system and a battery management system for a cargo vessel of up to 1504 TEUcapacity was developed. The proposed solution contains...
-
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...
-
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....
-
Marek Chodnicki dr inż.
People -
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,...
-
Synchronous generator model taking into account the non-uniform saturation of the pole shoes
PublicationFor the evaluation of modern electric power systems with regard to their behavior, weight, and reliability a novel modeling and simulation tools have been developed. The paper presents circuit model of synchronous generator taking into account both the non-sinusoidal distribution of the stator and rotor winding, and non-uniform saturation of the pole shoes. This model is suitable for simulation of both salient and no-salient pole...
-
Design and Performance Evaluation of the Energy Subsystem of a Hybrid Light andWave Energy Harvester
PublicationThe paper presents the design and performance of an energy subsystem (ES) dedicated to hybrid energy harvesters (HEHs): wave energy converters (WECs) combined with photovoltaic panels (PVPs). The considered ES is intended for compact HEHs powering autonomous end-node devices in distributed IoT networks. The designed ES was tested experimentally and evaluated in relation to the mobile and wireless distributed communication use case....
-
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...
-
Supporting development of the smart ship technology by CFD simulation of ship behavior in close to real operational conditions
PublicationThe shipping industry is at the milestone of technological development – autonomous ships. Involving smart technologies accelerates development of green and safe shipping. Also IMO regulations, especially EEDI en-hanced application of new technologies. Meeting economic and ecological requirements future ships need to be designed with respect to increased reliability and operational performance. Design process of ships may be improved...
-
Positive Management of Universities: A Model of Motivation to Strive for Scientific Excellence
PublicationObjective: The aim of the article is to conceptualise a model of work motivation in the management of universities striving for scientific excellence. Research Design & Methods: The most relevant for our aim is the self-determina tion theory that is applied to the work and organisational domain. We used a nar rative literature review. Findings: The proposed model is derived from the self-determination theory. It includes three...
-
Smart Embedded Systems with Decisional DNA Knowledge Representation
PublicationEmbedded systems have been in use since the 1970s. For most of their history embedded systems were seen simply as small computers designed to accomplish one or a few dedicated functions; and they were usually working under limited resources i.e. limited computing power, limited memories, and limited energy sources. As such, embedded systems have not drawn much attention from researchers, especially from those in the artificial...
-
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...
-
Trust-Based Model for the Assessment of the Uncertainty of Measurements in Hybrid IoT Networks
PublicationThe aim of this paper is to introduce a NUT model (NUT: network-uncertainty-trust) that aids the decrease of the uncertainty of measurements in autonomous hybrid Internet of Things sensor networks. The problem of uncertainty in such networks is a consequence of various operating conditions and varied quality of measurement nodes, making statistical approach less successful. This paper presents a model for decreasing the uncertainty...
-
Review of Shoreline Extraction Methods from Aerial Laser Scanning
PublicationAutonomous technologies are increasingly used in various areas of science. The use of unmanned vehicles for hydrographic surveys in shallow coastal areas requires accurate estimation of shoreline position. This is a nontrivial task, which can be performed using a wide range of sensors and methods. The aim of the publication is to review shoreline extraction methods based solely on data from aerial laser scanning (ALS). This narrative...
-
Hydrodron — New Step for Professional Hydrography for Restricted Waters
PublicationHydrographic surveys in restricted areas are becoming increasingly important, but often impossible to carry out with conventional hydrographic vessels. Presumably in this case an employment of unmanned vehicles is the only reasonable solution. As restricted water areas include, among others: harbours, roadsteads, rivers or lakes. The HydroDron platform, due to its mobility, can operate in the above-mentioned areas. It is adapted...
-
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...
-
JamesBot - an intelligent agent playing StarCraft II
PublicationThe most popular method for optimizing a certain strategy based on a reward is Reinforcement Learning (RL). Lately, a big challenge for this technique are computer games such as StarCraft II which is a real-time strategy game, created by Blizzard. The main idea of this game is to fight between agents and control objects on the battlefield in order to defeat the enemy. This work concerns creating an autonomous bot using reinforced...
-
Using wavelet techniques for multibeam sonar bathymetry data compression
PublicationMultibeam sonars are widely used in applications like high resolution bathymetry measurements or underwater object imaging. One of the significant problems in multibeam sensing of the marine environment is large amount of data which must be transmitted from the sonar processing unit to an operator station using a limited bit rate channel. For instance, such a situation would be in the case when the multibeam sonar was mounted on...
-
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...
-
On the compression of multibeam sonar raw bathymetry data
PublicationMultibeam sonars are widely used in applications like high resolution bathymetry measurements or underwater object imaging. One of the significant problems in multibeam sensing of the marine environment is large amount of data which must be transmitted from the sonar processing unit to an operator station using a limited bit rate channel. For instance, such a situation would be in the case when the multibeam sonar was mounted on...
-
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...
-
Analysis of Impulse Responses Measured in Motion in a Towing Tank
PublicationThe growing interest in developing autonomous underwater vehicles (AUVs) and creating underwater sensor networks (USNs) has led to a need for communication tools in underwater environments. For obvious reasons, wireless means of communication are the most desirable. However, conducting research in real conditions is troublesome and costly. Moreover, as hydroacoustic propagation conditions change very significantly, even during...
-
Analysis of Impulse Responses Measured in Motion in a Towing Tank
PublicationThe growing interest in developing autonomous underwater vehicles (AUVs) and creating underwater sensor networks (USNs) has led to a need for communication tools in underwater environments. For obvious reasons, wireless means of communication are the most desirable. However, conducting research in real conditions is troublesome and costly. Moreover, as hydroacoustic propagation conditions change very significantly, even during...
-
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...
-
How high-tech solutions support the fight against IUU and ghost fishing: a review of innovative approaches, methods, and trends
PublicationIllegal, Unreported, and Unregulated fishing is a major threat to human food supply and marine ecosystem health. Not only is it a cause of significant economic loss but also its effects have serious long-term environmental implications, such as overfishing and ocean pollution. The beginning of the fight against this problem dates since the early 2000s. From that time, a number of approaches and methods have been developed and reported....
-
Robustness in Compressed Neural Networks for Object Detection
PublicationModel compression techniques allow to significantly reduce the computational cost associated with data processing by deep neural networks with only a minor decrease in average accuracy. Simultaneously, reducing the model size may have a large effect on noisy cases or objects belonging to less frequent classes. It is a crucial problem from the perspective of the models' safety, especially for object detection in the autonomous driving...
-
Comparing traffic intensity estimates employing passive acoustic radar and microwave Doppler radar sensor
PublicationThe purpose of our applied research project is to develop an autonomous road sign with built-in radar devices of our design. In this paper, we show that it is possible to calibrate the acoustic vector sensor so that it can be used to measure traffic volume and count the vehicles involved in the traffic through the analysis of the noise emitted by them. Signals obtained from a Doppler radar are used as a reference source. Although...
-
CONTEMPORARY APPROACH TOWARDS RESPONSIVE ARCHITECTURE
PublicationConstantly changing environment pressures every living for a change, and response becomes a basic reaction of any living form. Change is a natural reaction that enables survivor of all the species. However, in architecture, the responsive structure did not take important role until the twentieth century. During that time many concepts and building introduced kinematics into the discipline. In the late 50 and 60 of XX century, visionary...
-
Model otwartej architektury rozproszonych dokumentów elektronicznych wspierającej proces podejmowania decyzji w trybie obliczeń zespołowych
PublicationModel otwartej architektury mobilnych dokumentów interaktywnych MIND, został opracowany w celu efektywnego zarządzania informacją w procesach podejmowanych przez organizacje oparte na wiedzy. Architektura ta stanowi całościowy opis struktury i funkcjonalności dokumentu, zaprojektowanego w celu realizacji rozproszonego przetwarzania zespołowego i pracy grupowej. Umożliwia automatyczne przejście od statycznej postaci dokumentów...
-
Analiza pokrycia powierzchni terenu przez działanie robota mobilnego w otoczeniu przeszkód ruchomych
PublicationW artykule została opisana metodyka rozwiązania problemu całkowitego pokrycia nieznanej powierzchni przez autonomicznego robota mobilnego podczas jednoczesnego unikania kolizji z przeszkodami ruchomymi. Przedstawiono sformułowanie oraz dokonano szczegółowej analizy obu problemów, ze zwróceniem szczególnej uwagi na występujące ograniczenia. Zaprezentowano behawioralne podejście do sterowania robotem mobilnym wzorowane na reakcjach...
-
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...
-
A multiparameter simulation-driven analysis of ship turning trajectory concerning a required number of irregular wave realizations
PublicationIn times of progressive automation of the marine industry, accurate modeling of ship maneuvers is of utmost importance to all parties involved in maritime transportation. Despite the existence of modern collisionavoidance algorithms using 6DOF motion models to predict ship trajectories in waves, the impact of stochastic realization of irregular waves is usually neglected and remains under-investigated. Therefore, herein, this phenomenon...