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Wyniki wyszukiwania dla: autonomous sailboats
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EVOLUTIONARY MULTI–OBJECTIVE WEATHER ROUTING OF SAILBOATS
PublikacjaThe paper presents a multi-objective method, which optimises the route of a sailboat. The presented method makes use of an evolutionary multi-objective (EMO) algorithm, which performs the optimisation according to three objective functions: total passage time, a sum of all course alterations made during the voyage and the average angle of heel. The last two of the objective functions reflect the navigator’s and passenger’s comfort,...
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Collision Risk-Informed Weather Routing for Sailboats
PublikacjaSelected COLREG rules, good seamanship and sheer common sense indicate that it is in a sailboat's interest to follow collision-free routes without relying on large power-driven ships to give way. Until now, however, no method has integrated a sailboat's weather routing with collision risk monitoring and collision avoidance. Therefore, a new deterministic approach to combine the above features within one method is introduced here....
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Multi-objective weather routing of sailboats considering wave resistance
PublikacjaThe article presents a method to determine the route of a sailing vessel with the aid of deterministic algorithms. The method assumes that the area in which the route is to be determined is limited and the basic input data comprise the wind vector and the speed characteristic of the vessel. Compared to previous works of the authors, the present article additionally takes into account the effect of sea waves with the resultant resistance...
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AUTONOMOUS ROBOTS
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ROBOTICS AND AUTONOMOUS SYSTEMS
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Intelligent Autonomous Vehicles
PublikacjaAdvanced mobile vehicles and robots have long been one of the main issues in engineering. They have various applications in emergency, lifeguarding and entertainment as well as in various industrial, civil and military systems. Among them, you can distinguish robots that can move in an open environment or operate only in predetermined confined spaces. Open world robots are very demanding because they have...
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Safety assurance strategies for autonomous vehicles
PublikacjaAssuring safety of autonomous vehicles requires that the vehicle control system can perceive the situation in the environment and react to actions of other entities. One approach to vehicle safety assurance is based on the assumption that hazardous sequences of events should be identified during hazard analysis and then some means of hazard avoidance and mitigation, like barriers, should be designed and implemented. Another approach...
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Sensors and Sensor’s Fusion in Autonomous Vehicles
PublikacjaAutonomous vehicle 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, and deep learning are changing the quality of areas of applications, improving the sensors and systems used. New ideas such as 3D radar, 3D sonar, LiDAR, and others are based on autonomous vehicle revolutionary development. The Special...
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Trolleybuses with traction batteries for autonomous running
PublikacjaIn 2009 the transport company of city Gdynia (Poland) introducet in the operation trolleybuses fitted with traction batteries. This solution was designed for emergency situations, such as: damage of overhead lines or power loss. Transport company also considering the use of batteries in regular use. The article presents the operational experiences gained during the current operation. Furthermore, there are presented new trends...
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Trolleybus with traction batteries for autonomous running
PublikacjaIn 2009 the transport company of city Gdynia (Poland) introduced in the operation trolleybuses fitted with traction batteries. This solution was designed for emergency situations, such as: damage of overhead lines or power loss. Transport company also considering the use of batteries in regular use. The article presents the operational experiences gained during the current operation. Furthermore, there are presented new trends...
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Modeling Dynamics of Autonomous Underwater Vehicle.
PublikacjaArtykuł dotyczy budowy modelu autonomicznego pojazdu podwodnego do celów syntezy układu sterowania pojazdem. Rozważany pojazd ma długośc ok. 1 m i 30 cm średnicy. Wyposażony jest w 5 pędników, które pozwalają na sterowanie w pięciu stopniach swobody. Do badań wykorzystano model o 4 stopniach swobody. Dokonano identyfikacji parametrycznej modelu. Model zrealizowano w środowisku programowym Matlab/Simulink.
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Development of a Control System for an Autonomous Seaplane
PublikacjaSelf-driving vehicles, also branded as driverless vehicles, autonomous vehicles, or robotic vehicles, are transport systems that can operate with a reduced human impact or even with any human input at all. The content of the present paper is limited to three types of potential applications: Unmanned Surface Vehicles (USVs), Autonomous Underwater Vehicles (AUVs) and Unmanned Aerial Vehicles (UAV). We set our particular focus on...
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Intelligent integration for autonomous manufacturing systems
PublikacjaW artykule zaproponowano inteligentną platformę integracyjną dla autonomicznych systemów produkcyjnych. Autonomie zdefiniowano w pracy jako samowystarczalne zamkniecie informacyjne. Inteligencje natomiast zdefiniowana jako umiejętność podejmowania właściwych decyzji w zmiennym otoczenie. Platformę integracyjną oparto na technice systemów ekspertowych.
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Model of human psychology for controlling autonomous robots
PublikacjaReferat przedstawia model umysłu, uzyskany w oparciu o wiedzę na temat ludzkiej psychologii, służący do sterowania systemami autonomicznych robotów. Systemy poznawczy i motywacyjny (emocje i potrzeby) stanowią jego główne części. System motywacyjny kontroluje reakcje robota w oparciu o zmienne stanu potrzeb. Z drugiej strony, emocje nadzorują i zmieniają/modyfikują zachowanie robota poprzez zmianę pewnych parametrów uwzględnianych...
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AUTONOMOUS PLATFORM TO PROTECT MARITIME INFRASTRUCTURE FACILITIES
PublikacjaProblems regarding the security of maritime infrastructure, especially harbours and offshore infrastructure, are currently a very hot topic. Due to these problems, there are some research projects in which the main goal is to decrease the gap and improve the methods of observation in the chosen area, for both in-air and underwater areas. The main goal of the paper is to show a new complex system for improving the security of the...
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A risk comparison framework for autonomous ships navigation
PublikacjaMaritime autonomous surface ships (MASS) may operate in three predefined operational modes (OM): manual, remote, or autonomous control. Determining the appropriate OM for MASS is important for operators and competent authorities that monitor and regulate maritime traffic in given areas. However, a science-based approach to this respect is currently unavailable. To assist the selection of the proper OM, this study presents a risk-based...
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The impact of the temperament model on the behavior of an autonomous driver
PublikacjaBecause it is generally believed that the personality and temperament of a human driver influence his/her behavior on the road, the article presents a computational model of the temperament of an autonomous agent - a driver. First, a short review of the four ideas of Galen’s temperament in psychology is presented. Temperament traits are grouped into four other sets, one of which is chosen for implementation in the project of integration...
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Knowledge processing methodologies in intelligent autonomous systems
PublikacjaPrzedstawiono najnowsze trendy oraz stan badań światowych w zakresie wspomagania procesów zarządzania wiedzą w inteligentnych systemach autonomicznych.
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Intelligent decision-making system for autonomous robots
PublikacjaAdaptacja może być oparta na różnych koncepcjach cybernetycznych (takich jak algorytmy genetyczne, rojowe, sieci neuronowe, itp.). Główna myśl opisywanej pracy opiera się na wykorzystaniu modeli psychologii żywych istot (człowieka) w konstrukcji systemów sterowania jednostek autonomicznych w celu adaptacji jednostki do zmiennego środowiska (kluczowe dla projektu jest traktowanie elementów motywacyjnych jako problemu osobowości)....
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The use of LiFePO4 technology in autonomous PV systems
PublikacjaBattery manufacturing based on the flow of lithium ions is currently the fastest growing and the most promising technology. It is used in many applications - from the smallest electronic devices to the large-scale energy trays. However, in the PV systems lead-acid batteries are still the most commonly used. As they are much cheaper they also come with a number of significant disadvantages. It is anticipated that they will be replaced...
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Emotions Embodied in the SVC of an Autonomous Driver System
PublikacjaA concept of embodied intelligence (EI) is considered. None of such implementations can be fully identified with artificial intelligence. Projects that dare to approach AI and EI should be based on both the AI concepts (symbolic and sub-symbolic), in solving real problems of perception and decision-making. Therefore, the EI, in this paper, is understood as a methodology that uses all available resources and algorithms from the...
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Autonomous Robot for Efficient Indoor RF Measurements
PublikacjaIn this paper, we addresses the emergence of autonomous and semi-autonomous radio frequency (RF) measurements as a vital application for robots, particularly in indoor environments where traditional methods are labor-intensive and error-prone. We propose a method utilizing Autonomous Mobile Robots (AMRs) equipped with Light Detection and Ranging (LiDAR) and RGB-D cameras to conduct precise and repetitive RF signal measurements...
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Synthesis of autonomous underwater vehicle control system.
PublikacjaArtykuł dotyczy parametrycznej identyfikacji systemu sterowania autonomicznego pojazdu podwodnego.Badania opierają sie na modelu pojazdu o 4 stopniach swobody, zrealizowanym w środowisku programowym Matlab/Simulink. Zastosowano wielowymiarowy nieliniowy regulator PID. Przedstawiono wyniki symulacji zaprojektowanego układu sterowania.
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AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS
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IEEE Transactions on Autonomous Mental Development
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International Journal of Vehicle Autonomous Systems
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ACM Transactions on Autonomous and Adaptive Systems
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Review of Autonomous and Remotely Controlled Ships in Maritime Sector
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Dynamic risk assessment in autonomous vehicles motion planning
PublikacjaArguing that an autonomous mobile system is sufficiently safe to operate in presence of other vehicles and objects is an important element in development of such systems. Traditional approach to assure safety is to distinguish between safe and unsafe area and prevent the autonomous vehicle from entering the unsafe area. The paper presents a model of autonomous vehicle control system which uses risk assessment...
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UUV and AUV Vehicles as the autonomous systems for naval applications
PublikacjaThere is a growing pressure to investigate how to design and build the unmanned underwater vehicles of different types which are devoted towards performing many tasks under the water surface according to the data missions. During the recent years the Department of Ship Design and Subsea Robotics, Faculty of Ocean Engineering and Ship Technology, Gdansk University of Technology designed and built a few types of unmanned underwater...
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Marine autonomous surface ship - control system configuration
PublikacjaThis paper addresses the problem of marine autonomous surface ship (MASS) control. The contribution of the paper is the development of a control system configuration, done assuming fully autonomous MASS operation under distinct operational conditions. The overview of hardware and software selection is included.
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Autonomous Driver Based on an Intelligent System of Decision-Making
PublikacjaThe paper presents and discusses a system (xDriver) which uses an Intelligent System of Decision-making (ISD) for the task of car driving. The principal subject is the implementation, simulation and testing of the ISD system described earlier in our publications for the task of autonomous driving. The design of the whole ISD system is a result of a thorough modelling of human psychology based on an extensive literature study. Concepts...
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Autonomous Battery Drive in Trolleybuses: an Overview of Practical Examples
PublikacjaBattery electric buses are believed to be means of transportation of the future. However, despite the continuous development of electrochemical batteries technology and the multitude of electric buses on offer, it is still no proved solutions that can be widely used. Charging is the one of the weakness point of the electric buses. Trolleybuses are alternative for them. Especially, trolleybuses equipment with traction batteries...
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The concept of anti-collision system of autonomous surface vehicle
PublikacjaThe use of unmanned vehicles in various fields of science and the economy is becoming more common. An extremely important aspect of creating this type of solution is to provide autonomous vehicle navigation, which does not require interference of the human factor or in which it is limited to a minimum. This article discusses the concept of autonomous anti-collision system of unmanned surface vehicle. It proposed a sensor system...
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Autonomus hydroacoustics sound velocity profiler.
PublikacjaPraca zawiera opis bezpośredniej zasady pomiarowej i struktury wersji autonomicznego miernika pomiarów rozkładów prędkości dźwięku w akwenach przeznaczonych do stosowania na okrętach nawodnych, podwodnych i opuszczanych antenach sonarowych śmigłowców i okrętów nawodnych.
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Application of Super-Resolution Algorithms for the Navigation of Autonomous Mobile Robots
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Moving object tracking algorithm evaluation in autonomous surveillance system
PublikacjaResults of evaluation of video object tracking algorithm being a part of an autonomous surveillance system are presented. The algorithm was investigated employing a set of benchmarks recorded locally. The precision of object detection, evaluated with such metrics as fragmentation, object area recall and object precision, is in focus. The experiments aimed at examining the detection quality using various object detection algorithm...
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Research Toward The Optical Equipment For An Autonomous Robot For TviV Environment
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Autonomous control of a mobile robot to explore areas with difficult terrain
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Autonomous Sensory Meridian Response (ASMR): The time perception approach
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Autonomous Energy Matching Control in an LLC Induction Heating Generator
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Intelligent Autonomous Robot Supporting Small Pets in Domestic Environment
PublikacjaIn this contribution, we present preliminary results of the student project aimed at the development of an intelligent autonomous robot supporting small pets in a domestic environment. The main task of this robot is to protect a freely moving small pets against accidental stepping on them by home residents. For this purpose, we have developed the mobile robot which follows a pet and makes an alarm signal when a human is approaching....
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A Point Set Connection Problem for Autonomous Mobile Robots in a Grid
PublikacjaConsider an orthogonal grid of streets and avenues in a Manhattan-like city populated by stationary sensor modules at some intersections and mobile robots that can serve as relays of information that the modules exchange, where both module-module and module-robot communication is limited to a straight line of sight within the grid. The robots are oblivious and move asynchronously. We present a distributed algorithm that, given...
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Autonomous, Ground Based, Self-Organizing Radiolocation Systems - AEGIR
PublikacjaThis article describes the construction and operation of autonomous ground-based radiolocation system that was developed as a technology demonstrator at the Technical University of Gdansk. Preliminary results and conclusions will be presented as well as analysis of its effectiveness. There will be also described the basic blocks of the system.
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Challenges associated with the design of a small unmanned autonomous maritime vehicle
PublikacjaThe paper contains the preliminary results of the research connected with development of a small unmanned autonomous maritime vehicle. First of all a general description of research is introduced. Next, a concept of a vehicle is presented. Then, a brief description of a research method is given. Next, the current research problems under way are introduced. They concern the ballasting, motion and precise position stabilization system...
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Constructing autonomous agents using the cognitive-emotional architecture of the mind
PublikacjaThe article discusses an important issue regarding the humanoid aspects of modern science related to the autonomy of systems and robotization. Particular attention is paid to the basic aspects of cognitive architecture. After a short introduction, the Intelligent Decision Making System, developed at the ETI Faculty of the Gdańsk University of Technology, is described.
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Intelligent Autonomous Vehicles Cup 2018
WydarzeniaPierwsza edycja zawodów bezzałogowych, autonomicznych pojazdów latających i jeżdżących.
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Performance evaulation of video object tracking algorithm in autonomous surveillance system
PublikacjaResults of performance evaluation of a video object tracking algorithm are presented. The method of moving objects detection and tracking is based on background modelling with mixtures of Gaussians and Kalman filters. An emphasis is put on algorithm's efficiency with regards to its settings. Utilized methods of performance evaluation based on comparison of algorithm output to manually prepared reference data are introduced. The...
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Performance evaluation of video object tracking algorithm in autonomous surveillance system
PublikacjaResults of performance evaluation of a video object tracking algorithm are presented. The method of moving objects detection and tracking is based on background modelling with mixtures of Gaussians and Kalman filters. An emphasis is put on algorithm's efficiency with regards to its settings. Utilized methods of performance evaluation based on comparison of algorithm output to manually prepared reference data are introduced. The...
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Polyarmonic model of synchronous generator for analysis of autonomous power generation systems
PublikacjaAbstract: This paper presents the polyharmonic modelling of synchronous generator (SG) in machine variables. The simple geometry and windings physical layout has been used for inductance calculations of a salient-pole SG. The main advantage of this model is the ease of describing an autonomous power generation system (APGS) in terms of its topology and thus providing effective analysis at the static and dynamic states, both for...