Andrzej Maslowski

Real time 3D localization and mapping for USAR robotic application

Purpose – The purpose of this paper is to demonstrate a real time 3D localization and mapping approach for the USAR (Urban Search and Rescue) robotic application, focusing on the performance and the accuracy of the General‐purpose computing on graphics processing units (GPGPU)‐based iterative closest point (ICP) 3D data registration implemented using modern GPGPU with FERMI architecture.Design/methodology/approach – The authors put all the ICP computation into GPU, and performed the experiments with registration up to 106 data points. The main goal of the research was to provide a method for real‐time data registration performed by a mobile robot equipped with commercially available laser measurement system 3D. The main contribution of the paper is a new GPGPU based ICP implementation with regular grid decomposition. It guarantees high accuracy as equivalent CPU based ICP implementation with better performance.Findings – The authors have shown an empirical analysis of the tuning of GPUICP parameters for o...

Semantic Simulation Engine in Mobile Robot Operator Training Tool

In the paper the semantic simulation engine and its role in multi level mobile robot operator training tool is described. Semantic simulation engine provides tools to implement mobile robot simulation based on real data delivered by robot observations in INDOOR environment. It is important to emphasize that real and virtual part of the training system is integrated. The supervision of real objects such as robots is performed by association with its virtual representation in the simulation, therefore events such as object intersection, robot pitch roll are defined. Semantic simulation engine is composed of data registration modules, semantic entities identification modules (data segmentation) and semantic simulation module. The data registration modules delivers 3D point clouds aligned with ICP (Iterative Closest Point) algorithm accelerated by parallel computation to obtain on-line processing. Semantic entities identification modules provide implementation of methods for obtaining semantic entities from robot observations (already registered). Semantic simulation module executes rigid body simulation with predefined simulation events. It is implemented using NVIDIA PhysX engine. The simulation can be easy integrated with real part of the system with an assumption of robust localization of real entities, therefore Augmented Reality capabilities are available.

GPGPU implementation of On-Line point to plane 3D data registration

The paper concerns the result of the implementation of classic point to plane 3D data registration method with an improvement based on GPGPU parallel computation. 3D data is delivered by mobile robot equipped with 3D laser measurement system for INDOOR and OUTDOOR environments. Presented empirical analysis of the implementation shows the On-Line computation capability using modern graphic processor unit NVIDIA GF 580. The implementation is a part of a project “Semantic simulation engine” composed of following modules: data registration module, semantic entities identification module, semantic simulation. The goal of the project is to deliver software tools capable to create virtual model of the environment based on robot observations and perform semantic simulation, where all virtual entities correspond to real one. Possible practical application of the project are supervision and control of robotic system and mobile robot operator training using Augmented Reality techniques. Data registration module is composed of the implementation of point to point and point to plane classic methods improved by the usage of parallel computation. In this paper it has been shown that the implementation of GPGPU point to plane registration method is accurate in INDOOR structured environment but it has some difficulties in accurate alignment in OUTDOOR environment.

RISE mobile robot operator training design

In the paper the framework for RISE (risky intervention and environmental surveillance) mobile robot operator training design is presented. The basic idea of the framework is to provide advanced software tools to improve the performance of the mobile robot simulation design that are applicable for operator training. The simulator is the end product of the framework. To achieve realistic rigid body simulation and realistic rendering the NVIDIA PhysX engine and the OGRE engine are used. It has to be noticed that the compatibility between the framework software and CAD modeling tools such as Solid Works was essential, therefore virtual models are exchangeable via COLLADA files. The simulator can be integrated with control panel of the mobile robot. It is possible to simulate the behavior of several types of robots such as caterpillar or wheeled. It is important to emphasize that presented result is a new approach related to mobile robots applications and potentially can improve the process of advance mobile robot application design and professional training of the operators.

Improvement of the Robotic System for Disaster and Hazardous Threat Management

Abstract Following paper shows an improvement of the robotic system (Maslowski, 2004 and 2006) for disaster and hazardous threat management. The system uses two types of robots for investigating the potential risks in unknown environment – teleoperated and fully autonomous mobile platform. The teleoperated robot equipped with video cameras and 5DOF arm is used for hazardous materials detection and neutralization. The improvement is based on the autonomous mobile robot development based on hybrid composition of 3D laser scanners providing 3D feedback to base station. The idea of real time 3D map building is shown. The new idea of the usage given map to the supervision module of the robotics system is presented.

On-line data registration in OUTDOOR environment

In the paper an algorithm of 3D data registration based on CUDA implementation is shown. The research is related to the problem of collecting 3D data with laser measurement system mounted on rotated head, to be used in mobile robot applications. Assumed performance of data registration algorithm is achieved, therefore it can used as On-line. The ICP (Iterative Closest Point) approach is chosen as registration method. Computation is based on massively parallel architecture of NVIDIA CUDA. The presented concept of 3D data matching is based on parallel computation used for fast nearest neighbor search. Nearest neighbor search procedure is using 3D space decomposition into cubic buckets, therefore the time of matching is deterministic.

The hierarchical knowledge representation for automated reasoning

In the paper the study of knowledge hierarchical representation for automated reasoning is presented. The hierarchical knowledge representation is proposed for predictive modeling purpose. It is improved an effective automated reasoning structure for data set analyzes and making decisions based on complex relations between this data. It is important to emphasize that it is not considered a — priori knowledge concerning data structure, therefore the approach automatically discovers particular constraints between data. It provides a technique of the verification the hierarchical knowledge representation building process that can be useful for the model justification. The presented numerical experiment shows an advantage of proposed approach. It is assumed that the presented automated reasoning can be used for classification purpose where there is a difficulty of proper classifier choice.

Training and Support system in the Cloud for improving the situational awareness in Search and Rescue (SAR) operations

In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is implemented as a command and control component that integrates different sources of spatial information, such as maps of the affected area, satellite images and sensor data coming from the unmanned robots, in order to provide a situation snapshot to the rescue team who will make the necessary decisions. Support issues will include planning of frequency resources needed for given areas, prediction of coverage conditions, location of fixed communication relays, etc. The training system is developed for the ICARUS operators controlling UGVs (Unmanned Ground Vehicles), UAVs (Unmanned Aerial Vehicles) and USVs (Unmanned Surface Vehicles) from a unified Remote Control Station (RC2). The Training and Support system is implemented in SaaS model (Software as a Service). Therefore, its functionality is available over the Ethernet. SAR ICARUS teams from different countries can be trained simultaneously on a shared virtual stage. In this paper we will show the multi-robot 3D mapping component (aerial vehicle and ground vehicles). We will demonstrate that these 3D maps can be used for Training purpose. Finally we demonstrate current approach for ICARUS Urban SAR (USAR) and Marine SAR (MSAR) operation training.

Great Rally on the Back of Electronic Turtles: An Educational Computer Game for Children Designed to Teach Them Safe Behavior in the Face of Explosive Remnants of War

This paper is a case study of an educational computer game for children. The game has been developed in collaboration with child psychologists and in accordance with international standards . The didactic aim of the game is to teach children safe behavior in the face of explosive remnants of war. This paper includes underlying assumptions; conceptual, graphical and technical solutions applied in the game; and results of game testing sessions in elementary schools in Poland and Croatia.

Analysis of WiFi Communication (Data Interchange) for Mobile Robot in Industrial Environment

Wireless network used in office is much cheaper than industrial-type devices. Using of office-type WiFi communication in industrial environment for exchange data between mobile platform (AGV) and base station is the core of this paper. The scope of research is data limitation flow in function of distance between system nodes and usability of office-type (low cost) equipment for establishes stable communication on industrial environment. Paper describes two experiments in two types of production environment. First one was realized in condition where several disturbance sources were active (like metal forming machine-tools, constant energy welding machines, electric overhead crane, high power electric motors, electronic inverters etc. All this machines contaminate radio environment around them and make serious obstacles for WiFi data exchange. Second experiment was executed in assembling hall of automobile production plant in which radio contamination is significantly lower.