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Deep Learning: A Case Study for Image Recognition Using Transfer Learning
PublikacjaDeep learning (DL) is a rising star of machine learning (ML) and artificial intelligence (AI) domains. Until 2006, many researchers had attempted to build deep neural networks (DNN), but most of them failed. In 2006, it was proven that deep neural networks are one of the most crucial inventions for the 21st century. Nowadays, DNN are being used as a key technology for many different domains: self-driven vehicles, smart cities,...
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Deep Learning
PublikacjaDeep learning (DL) is a rising star of machine learning (ML) and artificial intelligence (AI) domains. Until 2006, many researchers had attempted to build deep neural networks (DNN), but most of them failed. In 2006, it was proven that deep neural networks are one of the most crucial inventions for the 21st century. Nowadays, DNN are being used as a key technology for many different domains: self-driven vehicles, smart cities,...
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A modern approach to an unmanned vehicle navigation
PublikacjaA 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...
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Methodology for the Correction of the Spatial Orientation Angles of the Unmanned Aerial Vehicle Using Real Time GNSS, a Shoreline Image and an Electronic Navigational Chart
PublikacjaUndoubtedly, Low-Altitude Unmanned Aerial Vehicles (UAVs) are becoming more common in marine applications. Equipped with a Global Navigation Satellite System (GNSS) Real-Time Kinematic (RTK) receiver for highly accurate positioning, they perform camera and Light Detection and Ranging (LiDAR) measurements. Unfortunately, these measurements may still be subject to large errors-mainly due to the inaccuracy of measurement of the optical...
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Service-based Resilience for Embedded IoT Networks
PublikacjaEmbedded 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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TEMPERATURE INFLUENCE ON TIRE ROLLING RESISTANCE MEASUREMENTS QUALITY
PublikacjaGlobal warming makes it necessary to reduce energy consumption, which in the case of motor vehicles, is connected, among other things, with reduction of resistive forces acting on a vehicle during its motion. One of the most important components of those forces is rolling resistance, which is very difficult to measure, especially in road conditions. The article deals with issues related to the influence of the thermal state of...
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Visual Traffic Noise Monitoring in Urban Areas
PublikacjaThe 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...
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Estimating Traffic Intensity Employing Passive Acoustic Radar and Enhanced Microwave Doppler Radar Sensor
PublikacjaInnovative road signs that can autonomously display the speed limit in cases where the trac situation requires it are under development. The autonomous road sign contains many types of sensors, of which the subject of interest in this article is the Doppler sensor that we have improved and the constructed and calibrated acoustic probe. An algorithm for performing vehicle detection and tracking, as well as vehicle speed measurement,...
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A taxonomy of challenges to resilient message dissemination in VANETs
PublikacjaInter-vehicular communications is seen as a promising solution to a number of issues related with public road safety, road congestion management, and infotainment. However, Vehicular Ad-hoc NETworks (VANETs) characterized by high mobility of vehicles and facing a number of other issues related with high frequency wireless communications and network disconnections, encounter major challenges related with reliability of message delivery....
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Classifying type of vehicles on the basis of data extracted from audio signal characteristics
PublikacjaThe aim of this study is to find and optimize a feature vector for an automatic recognition of the type of vehicles, extracted form an audio signal. First, the influence of weather-based conditions of road surface on spectral characteristic of the audio signal recorded from a passing vehicle in close proximity to the road is discussed. Next, parameterization of the recorded audio signal is performed. For that purpose, the MIRtoolbox,...
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The Effect of Flexible Pavement Mechanics on the Accuracy of Axle Load Sensors in Vehicle Weigh-in-Motion Systems
PublikacjaWeigh-in-Motion systems are tools to prevent road pavements from the adverse phenomena of vehicle overloading. However, the effectiveness of these systems can be significantly increased by improving weighing accuracy, which is now insufficient for direct enforcement of overloaded vehicles. Field tests show that the accuracy of Weigh-in-Motion axle load sensors installed in the flexible (asphalt) pavements depends on pavement temperature...
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Reduction of Tire Rolling Resistance by Optimization of Road Surfaces and Tires
PublikacjaDuring interaction between tire and road surface three very important phenomena are always in effect. One of them (very desirable) is friction that is important for traction, braking and cornering. Two other phenomena are not desirable at all, that is rolling resistance and noise. This paper discusses relations between road surface and tire parameters versus tire rolling resistance. Road surface texture, porosity, impedance, strength...
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Detection of vehicles stopping in restricted zones in video from surveillance cameras
PublikacjaAn algorithm for detection of vehicles that stop in restricted areas, e.g. excluded by traffic rules, is proposed. Classic approaches based on object tracking are inefficient in high traffic scenes because of tracking errors caused by frequent object merging and splitting. The proposed algorithm uses the background subtraction results for detection of moving objects, then pixels belonging to moving objects are tested for stability....
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Final report on noise and rolling resistance
PublikacjaWork Package 6 deals with environmental impacts of PERS use, including noise and rolling resistance. This report covers preliminary noise tests performed in the laboratory and at the road test sites. The obtained results indicate that PERS material reduce noise considerably - up to 12 dB in comparison to SMA16 reference surface. Noise reduction properties are especially visible in the case of factory produced PERS slabs supplied...
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MARITIME LASER SCANNING AS THE SOURCE FOR SPATIAL DATA
PublikacjaThe 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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Determination of pseudocapacitance chan ges of nickel oxide NiO electrode with use of dynamic electrochemical impedancje spectroscopy
PublikacjaThe electrochemical capacitors (ECs) are attractive energy storage devices which can be applied in many electronic products (e.g., cameras, laptops, cell phones) or hybrid electric vehicles (HEV). The energy storage in ECs is based on capacitive (the electrical double layer charging/discharging) and pseudocapacitive (additional charge provided by faradic reaction) phenomena. Considering the electrodes exhibiting pseudocapacitance,...
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High Efficiency Dual-Active-Bridge Converter with Triple-Phase-Shift Control for Battery Charger of Electric Vehicles
PublikacjaAn optimal modulation scheme with triple-phase-shift (TPS) control could increase the efficiency in the entire load range for a dual-active-bridge (DAB) converter under wide output voltage range conditions. Therefore, this study proposes a convergent approach to TPS mode selection, coupled with an optimal modulation scheme, ensuring the circuit’s efficiency over the entire range in the realm of a high-power and high-efficiency...
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Assessment of Subsoil Subsidence Under the Railway Surface with the Use of Fuzzy Sets
PublikacjaThe cause of the subsidence of the railway track is the subsidence of the track bed itself and it is often related to the subsidence of the subsoil. Such settlement leads to: uneven longitudinal railways and track twist. These phenomena have a negative impact on the comfort and safety of driving, and in extreme cases lead to a train derailment. It has been shown that the magnitude of these settlements is determined by many parameters...
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An Overview of Bidirectional EV Chargers: Empowering Traction Grid-Powered Chargers
PublikacjaIn recent years, the number of electric vehicles has been at least doubling year after year. As a result, today electric vehicles already account for approximately 10% of the global automotive market, which positively affects environment in urbanized areas. However, to take full advantage of the EV integration it is necessary to use renewable sources for their charging; optimally place charging stations/terminals; optimally manage...
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Acoustic Detector of Road Vehicles Based on Sound Intensity
PublikacjaA method of detecting and counting road vehicles using an acoustic sensor placed by the road is presented. The sensor measures sound intensity in two directions: parallel and perpendicular to the road. The sound intensity analysis performs acoustic event detection. A normalized position of the sound source is tracked and used to determine if the detected event is related to a moving vehicle and to establish the direction of movement....
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Lighting requirements for pedestrian crossings - positive contrast
PublikacjaFor many years now in Poland there has been a large number of road accidents at pedestrian crossings during night periods [5, 11]. One of the technical solutions that can improve this condition is the use of proper lighting for pedestrian crossings. The designated pedestrian crossing should be visible in different weather conditions and at different times of the day. In case of night vision restrictions use artificial lighting...
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Frequency and time domain characteristics of digital control of electric vehicle in-wheel drives
PublikacjaIn-wheel electric drives are promising as actuators in active safety systems of electric and hybrid vehicles. This new function requires dedicated control algorithms, making it essential to deliver models that reflect better the wheel-torque control dynamics of electric drives. The timing of digital control events, whose importance is stressed in current research, still lacks an analytical description allowing for modeling its...
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The newly developed multipurpose ROV or an integrated mine hunting system
PublikacjaA modular mine hunting ROV concept is presented. The design is based on experience gained during 15 years of exploitation of the Ukwial ROV and development of Gluptak single shot mine hunting systems. The design goal was to multiply capabilities of the Ukwial without increasing weight and dimensional envelope. The vehicle is composed around powerful propulsion system that gives the system basic PVDS capability and mine disposal...
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UAV Design and Construction for Real Time Photogrammetry and Visual Navigation
PublikacjaA unmanned aerial vehicles applications in photogrammetry have increased rapidly last years. A fast data gathering and processing in real time in some cases become crucial and desired in some application. In the paper, a real time solution is proposed. A real time photogrammetry from UAV is proposed, where image data are gathered and processed on board UAV and finally reconstructed 3D model and measurements are delivered. The paper...
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Tyre rolling resistance and its influence on fuel consumption
PublikacjaRolling resistance of tyres is one of the major resistive forces acting on any wheeled vehicle. Unfortunately, it is also one of the forces very difficult to measure. It is estimated that in certain traffic conditions (like for example constant speed driving with slow or moderate speed) so called Rolling Resistance Impact Factor may be as high as 0.3. This means that reduction of rolling resistance by 50% would lead to 15% of energy...
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Interdependence between Power Grids and Communication Networks: A Resilience Perspective
PublikacjaPower network resilience is increasingly dependent on communication networks. Besides traditional generation, power networks need to accommodate increasingly high penetration levels of dispersed micro generation, mostly based on renewable sources, and increasing and challenging demand, such as electric vehicles. At the same time the deployment of enabling technologies throughout the power grid makes available new demand resources...
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Study on effective front region thickness of PCM in thermal energy storage using a novel semi-theoretical model
PublikacjaThermal energy storage in mobile applications, particularly battery of electric vehicles, is currently gaining a lot of importance. In this paper, a semi-theoretical time-dependent mathematical model of the phase change in a double shell thermal energy storage module has been developed where the inner tube is a heat exchange surface. An effective front region thickness for the melting and solidification process has been studied....
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Road Restraint Systems as a Basis for Roadside Safety Improvement
PublikacjaRoadside-related crashes occur when vehicles run off the road. The majority of the crashes have severe outcomes, especially when an object is hit (tree, pole, supports, front wall of a culvert, barrier). These accidents represent app. 19% of all of Poland's road deaths. Roadside crashes involve: hitting a tree, hitting a barrier, hitting a sign or utility pole, vehicle roll-over on the roadside, vehicle roll-over on a slope and...
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Distributed Framework for Visual Event Detection in Parking Lot Area
PublikacjaThe paper presents the framework for automatic detection of various events occurring in a parking lot basing on multiple camera video analysis. The framework is massively distributed, both in the logical and physical sense. It consists of several entities called node stations that use XMPP protocol for internal communication and SRTP protocol with Jingle extension for video streaming. Recognized events include detecting parking...
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Radar technique in application of interlayer identification connections
PublikacjaOne of important issues in pavement construction is to ensure that layers applied directly one on top of the other make up a continuous whole and form an integral construction complex. An appropriate interlayer connection plays here significant role ensuring proper transmission of distortions generated by wheels of vehicles to lower layers and preventing water penetration between the layers. In case of damaged pavements where lack...
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Estimation of Vehicle Energy Consumption at Intersections Using Microscopic Traffic Models
PublikacjaThis paper addresses issues related to modeling energy consumption and emissions using microscopic traffic simulations. This paper develops a method in which a traffic model is used to calculate the energy needed to travel through selected types of intersections. This paper focuses on energy consumption and derived values of calculated energy, which can be, for example, carbon dioxide emissions. The authors present a review of...
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Friction-Induced Oscillations of a Non-Asbestos Organic Pin Sliding on a Steel Disc
PublikacjaFriction-induced oscillations result in deterioration of performance of disc brakes and are generally undesired. We conduct experimental study of friction-induced oscillations in a non-asbestos organic material / steel pair used in disc brakes of motor vehicles. The tests are done by use of a pin-on-disc machine which has the pin sample supported on a deformable beam. The adjustable friction parameters are the disc velocity, contact...
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Low Noise Poroelastic Road Pavements Based On Bituminous Binder
PublikacjaTire/road noise is the dominant source of traffic noise. It depends both on the tire design and on the characteristics of road pavements as well as on the vehicles’ operating conditions. Due to the fact that conventional (pneumatic) car tires have almost reached the limits of their ability to further reduce their noisiness, it is widely believed that the additional reduction of tire noise will be possible mainly through modifications...
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Localization of sound sources with dual acoustic vector sensor
PublikacjaThe aim of the work is to estimate the position of sound sources. The proposed method uses a setup of two acoustic vector sensors (AVS). The intersection of azimuth rays from each AVS should indicate the position of a source. In practice, the result of position estimation using this method is an area rather than a point. This is a result of inaccuracy of the individual sensors, but more importantly, of the influence of a source...
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Hydrodron — New Step for Professional Hydrography for Restricted Waters
PublikacjaHydrographic 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...
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Dynamic GNSS Mission Planning Using DTM for Precise Navigation of Autonomous Vehicles
PublikacjaNowadays, the most widely used method for estimating location of autonomous vehicles in real time is the use of Global Navigation Satellite Systems (GNSS). However, positioning in urban environments using GNSS is hampered by poor satellite geometry due to signal obstruction created by both man-made and natural features of the urban environment. The presence of obstacles is the reason for the decreased number of observed satellites...
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A Model of Thermal Energy Storage According to the Convention of Bond Graphs (BG) and State Equations (SE)
PublikacjaThe main advantage of the use of the Bond Graphs method and State Equations for modeling energy systems with a complex structure (marine power plants, hybrid vehicles, etc.) is the ability to model the system components of different physical nature using identical theoretical basis. The paper presents a method of modeling thermal energy storage, which is in line with basic BG theory. Critical comments have been put forward concerning...
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Development of the New Polish Method for Capacity Analysis of Motorways and Expressways
PublikacjaThe paper presents development of the new Polish method for performing capacity analysis of basic segments of dual carriageway roads (motorways and expressways). The method is based on field traffic surveys conducted at 30 motorway and expressway sites (class A and S roads) in Poland. Traffic flows, composition and travel times were observed in 15-min intervals at each site using ANPR filming method. These data were used to calibrate...
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Review of Shoreline Extraction Methods from Aerial Laser Scanning
PublikacjaAutonomous 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...
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Detection of Water on Road Surface with Acoustic Vector Sensor
PublikacjaThis paper presents a new approach to detecting the presence of water on a road surface, employing an acoustic vector sensor. The proposed method is based on sound intensity analysis in the frequency domain. Acoustic events, representing road vehicles, are detected in the sound intensity signals. The direction of the incoming sound is calculated for the individual spectral components of the intensity signal, and the components...
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Methodology for Performing Bathymetric Measurements of Shallow Waterbodies Using an UAV, and their Processing Based on the SVR Algorithm
PublikacjaState-of-art methods of bathymetric measurements for shallow waterbodies use Global Navigation Satellite System (GNSS) receiver, bathymetric Light Detection and Ranging (LiDAR) sensor or satellite imagery. Currently, photogrammetric methods with the application of Unmanned Aerial Vehicles (UAV) are gathering great importance. This publication aims to present step-by-step methodology for carrying out the bathymetric measurements...
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Polymodal Method of Improving the Quality of Photogrammetric Images and Models
PublikacjaPhotogrammetry using unmanned aerial vehicles has become very popular and is already commonly used. The most frequent photogrammetry products are an orthoimage, digital terrain model and a 3D object model. When executing measurement flights, it may happen that there are unsuitable lighting conditions, and the flight itself is fast and not very stable. As a result, noise and blur appear on the images, and the images themselves can...
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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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Analysis of Impulse Responses Measured in Motion in a Towing Tank
PublikacjaThe 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...
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Sensors and System for Vehicle Navigation
PublikacjaIn recent years, vehicle navigation, in particular autonomous navigation, has been at the center of several major developments, both in civilian and defense applications. New technologies, such as multisensory data fusion, big data processing, or deep learning, are changing the quality of areas of applications, improving the sensors and systems used. Recently, the influence of artificial intelligence on sensor data processing and...
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Automatic labeling of traffic sound recordings using autoencoder-derived features
PublikacjaAn approach to detection of events occurring in road traffic using autoencoders is presented. Extensions of existing algorithms of acoustic road events detection employing Mel Frequency Cepstral Coefficients combined with classifiers based on k nearest neighbors, Support Vector Machines, and random forests are used. In our research, the acoustic signal gathered from the microphone placed near the road is split into frames and converted...
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Searching for road deformations using mobile laser scanning
PublikacjaMillions of people use roads every day all over the world. Roads, like many other structures, have an estimated durability. In Poland a lot of the roads were built at the turn of the 20th and 21st c., especially for light cars. Many of these roads carry traffic and heavy goods vehicles which were not predicted when the traffic was first estimated. It creates a lot of problems with technical conditions and the infrastructure must...
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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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Temperature influence on tire/road noise evaluated by the drum method
PublikacjaAmbient air and road surface temperatures substantially affect the road vehicle noise emission. The temperature influence on tire/road noise depends mainly on tire-road combination. It is different for dense and porous pavements, for bituminous and cement ones. It differs also depending on tires. The correction procedures for temperature effect are still under consideration and preparation. Laboratory experiment was prepared to...
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Assessment of the Steering Precision of a Hydrographic Unmanned Surface Vessel (USV) along Sounding Profiles Using a Low-Cost Multi-Global Navigation Satellite System (GNSS) Receiver Supported Autopilot
Publikacjahe performance of bathymetric measurements by traditional methods (using manned vessels) in ultra-shallow waters, i.e., lakes, rivers, and sea beaches with a depth of less than 1 m, is often difficult or, in many cases, impossible due to problems related to safe vessel maneuvering. For this reason, the use of shallow draft hydrographic Unmanned Surface Vessels (USV) appears to provide a promising alternative method for performing...