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Wyniki wyszukiwania dla: unmanned surface vehicle
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Low cost real time UAV stereo photogrammetry modelling technique – accuracy considerations
PublikacjaThe 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
PublikacjaTechnical 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
PublikacjaA 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
PublikacjaThe 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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Analiza ruchu drogowego z wykorzystaniem analizy akustycznej
PublikacjaTematyka 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
PublikacjaCelem 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
PublikacjaBathymetric 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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Accuracy of a low-cost autonomous hexacopter platforms navigation module for a photogrammetric and environmental measurements
PublikacjaA 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
PublikacjaW 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
PublikacjaWspółczesna 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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Wpływ przechyłki na zjawisko postępowania zużycia bocznego szyn kolejowych w łukach poziomych
PublikacjaDegradacja 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
PublikacjaFourth-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
PublikacjaUnmanned 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
PublikacjaThe 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
PublikacjaThis 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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Wizyjny system monitoringu stanu nakładek stykowych odbieraków prądu
PublikacjaEksploatowane 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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Towards the Development of a Risk Model for Unmanned Vessels Design and Operations
PublikacjaAn 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
PublikacjaThere 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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Design of radio communication systems for unmanned transport applications
PublikacjaIn 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.
PublikacjaObtaining 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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Contribution of dynamic vehicle loads to pavement failure
PublikacjaPavement 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
PublikacjaT 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
PublikacjaExperiments 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)
PublikacjaBathymetry 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
PublikacjaThe 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.
PublikacjaIn 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.
PublikacjaIn 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
PublikacjaThe 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
PublikacjaIn 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
PublikacjaDuring 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
PublikacjaOver 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
PublikacjaVehicle 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
PublikacjaA 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
PublikacjaThe article describes investigations on vehicle driving in nighttime conditions
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Very high altitude micro air vehicle deployment method
PublikacjaThe paper presents the original work and method for high altitude micro air vehicle deployment. The method is based on the scientific ballooning, and adapted for stratospheric flight of commercial off-the-shelf micro air vehicle in flying wing configuration. The High Altitude Micro Air Vehicle, built for this research, was deployed during a test experiment at the lower level of the stratosphere. The results of the experiment and...
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Four-state stochastic model of changes in the reliability states of a motor vehicle
PublikacjaThe properties of semi-Markov processes have been generally characterized and the applicability of the theory of such processes to the determining of the reliability of motor cars and other road vehicles has been explained. A formal description of the process of changes in the motor vehicle technical states considered as reliability states and a model of this process in the form of a one-dimensional stochastic process have been...
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Modeling of performance of a AUV vehicle towards limiting the hydro-acoustic field.
PublikacjaSome 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,...
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Design of Resilient Vehicle-to-Infrastructure Systems
PublikacjaVehicular ad hoc networks (VANETs) have recently gained noticeable attention due to advantages in improving road traffic safety, shaping the road traffic and providing infotainment opportunities to travellers. However, transmission characteristics following from the IEEE 802.11p standard and the high mobility of VANET nodes remarkably reduce the lifetime, reach and capacity of wireless links, and often lead to simultaneous disruptions...
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Economical methods for measuring road surface roughness
PublikacjaTwo low-cost methods of estimating the road surface condition are presented in the paper, the first one based on the use of accelerometers and the other on the analysis of images acquired from cameras installed in a vehicle. In the first method, miniature positioning and accelerometer sensors are used for evaluation of the road surface roughness. The device designed for installation in vehicles is composed of a GPS receiver and...
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COMPARISON OF NOISE EMISSION OF HCT AND CLASSIC VEHICLE COMBINATIONS FOR TIMBER TRANSPORTATION IN SWEDEN
PublikacjaBy means of a special simulation tool, the noise emission of a high-capacity heavy vehicle (11 axles) was compared to that of a classic heavy vehicle (a truck-dolly-semitrailer with 8 axles). The two cases are designated “Extended vehicle” versus “Classic vehicle” in this study, having total lengths of 34 and 25 m, respectively. The Classic vehicle represents the most common articulated heavy vehicle configuration for transport...
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Case Study on the Use of Unmanned Aerial Vehicles for the Maintenance of Ocean Engineering Facilities
PublikacjaThe 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...
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Separability Assessment of Selected Types of Vehicle-Associated Noise
PublikacjaMusic Information Retrieval (MIR) area as well as development of speech and environmental information recognition techniques brought various tools in-tended for recognizing low-level features of acoustic signals based on a set of calculated parameters. In this study, the MIRtoolbox MATLAB tool, designed for music parameter extraction, is used to obtain a vector of parameters to check whether they are suitable for separation of...
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Traffic Noise Analysis Applied to Automatic Vehicle Counting and Classification
PublikacjaProblems related to determining traffic noise characteristics are discussed in the context of automatic dynamic noise analysis based on noise level measurements and traffic prediction models. The obtained analytical results provide the second goal of the study, namely automatic vehicle counting and classification. Several traffic prediction models are presented and compared to the results of in-situ noise level measurements. Synchronized...
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Examining the Impact of Distance Between VSL Road Signs on Vehicle Speed Variance
PublikacjaVariable speed limit (VSL) is an intelligent transportation system (ITS) solution for traffic management. The speed limits can be changed dynamically to adapt to traffic conditions such as visibility and traffic volume, curvature, and grip coefficient of the road surface. The VSL traffic sign location problem and attempts to solve it using computer simulation are presented in this paper. Experiments on a selected road segment,...
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Analysis of the process of water entry of an amphibious vehicle
PublikacjaThe paper presents a method of computational and experimental analysis of the process of water entry of an amphibious vehicle. The computational method is based on the Reynolds Averaged Navier-Stokes Equations (RANSE) solver and the xperiment was carried out in the towing tank at Ship Design and Research Centre S.A. with the use of a scale model. The analysis was focused on the safety of water entry, i.e. the maximum pitch and...
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Toward Intelligent Vehicle Intrusion Detection Using the Neural Knowledge DNA
PublikacjaIn this paper, we propose a novel intrusion detection approach using past driving experience and the neural knowledge DNA for in-vehicle information system security. The neural knowledge DNA is a novel knowledge representation method designed to support discovering, storing, reusing, improving, and sharing knowledge among machines and computing systems. We examine our approach for classifying malicious vehicle control commands...
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Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle
PublikacjaThe article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with a stationary obstacle. The control of the collision avoidance process is presented as a synthesis of fuzzy proportional-differential controllers for the control of distance and orientation concerning the detected stationary obstacle. The control of the submergence...
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Evaluation of the energy efficiency of electric vehicle drivetrains under urban operating conditions
PublikacjaIn electric vehicles, as in hybrids vehicles, a very important factor affecting the energy efficiency of the powertrain is the ability to use the regenerative braking energy. Depending on the settings available in electric vehicles, the driver can choose different modes of operation: switch off the regenerative braking mode altogether, select the intensity of regenerative braking, or leave the control system in automatic mode....
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Analytical modeling of electric drives for vehicle traction control systems
PublikacjaWheel-torque control bandwidth in vehicle dynamics model is crucial in evaluating optimal tracking ability of tire slip and in analysis of control system stability. Electric drives’ control dynamics are influenced by timing of digital control events, e.g. by sampling instant of motor currents. Reflecting this timing in drive analytical models is therefore important for analysis of vehicle traction systems. The paper considers five...
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Autonomous Vehicle Navigation in Dense Urban Area in Global Positioning Context
PublikacjaAutonoumous vehicle services are likely to be adopted in dense urban area. Some research prove that autonomous transport might be capable of improving the transport needs of few times and as a consequence sustainability, congestion and safety may be improved. The world, hopefully is close to a transport revolution age. These studies are perhaps exaggerated, over-optimistic and far fro fully operational. The paper takes into account...