Damian Bereska

Gyro-Stabilized Platform for Multispectral Image Acquisition

This article presents design and implementation of a gyro-stabilized platform for visible light and infrared image acquisition. The process of selection of appropriate vision sensors and their calibration is presented. Additionally there are presented results of conceptual work, design and construction of the working prototype of the device.

System for Multi-axial Mechanical Stabilization of Digital Camera

The article presents designed and implemented system for multi-axial mechanical stabilization. The quality of stabilization using closed-loop control, open-loop control and open-loop control with prediction was experimentally measured. Acquired results are presented and discussed.

The Prototype of Gyro-Stabilized UAV Gimbal for Day-Night Surveillance

This paper presents a designed and created prototype of stabilized UAV gimbal for day-night surveillance. There is a need for UAV gimbals capable of stable target detection and tracking, regardless the time of the day. The prototype gimbal is capable of pan and tilt rotations in range of full 360 degrees with 10 bit turning resolution. Full turn takes approximately 1.2s. The gimbal itself and possible future external devices are able to communicate via extended VISCA protocol and RS-232C standard. Performed tests and evaluations have shown promising results regardless the time of the day. The presented gimbal shows a great potential for target detection and tracking using UAVs and developing more sophisticated algorithms for stabilization.

Planning as Artificial Intelligence Problem - Short Introduction and Overview

Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, production planning, logistics and agentics. Over the decades planning techniques were improved and now they are able to capable real environment problems in the presence of uncertain and incomplete information. This article introduces the notion of so called classical planning, indicating connected with this computational complexity problems and possible ways of treating uncertainty.

Influence of temperature on measurements of 3-axial accelerometers and gyroscopes: Embedded into inertial measurement unit

This paper presents the results of the study of influence of ambient temperature on the measurements of 3-axis linear acceleration sensors and gyroscopes used in IMU modules. The study was conducted using a climatic chamber, in which the six IMU modules were tested. Conducted tests covered a range of temperatures from -10 C to +60 C. The effect of ambient temperature on the values of zeros and gains of tested sensors was examined.

A New Method of the Analysis of Comet Assay Images 1

Abstract The single cell gel electrophoresis, called “comet assay” is a very sensitive method of detecting the DNA strand breaks at the level of single cell. Alkaline version of the comet assay detects predominantly single-strand breaks and alkalilabile damage and is widely used for the measurement of the DNA damage induced by ionising radiation at the clinically used doses. This method allows the measurement of the rate of initial DNA breaks and rejoining and indicates the repair capacity of cells. Our interest is the application of the comet assay as a predictive method of evaluating the individual radiosensitivity of cancer patients. In this paper we describe the commonly used parameters describing the comet and introduce a quite new method of the extraction of the comet tail. To our knowledge it is the first technique capable of determining the comet tail shape in form of a binary image, which allows not only the calculations of all relevant comet parameters, but also enables the description of the comet shape and its textural structure.

Advanced Ballistic Model and Its Experimental Evaluation for Professional Simulation Systems

Training of officers, soldiers, guards and security personnel as representatives of the state security system responsible for ensuring public safety is a complex and multifaceted process, especially in terms of use of firearms. This process should be conducted at each level of tasks, which include the level of intervention, tactic and strategic while taking into account practical experience gained during domestic and abroad operations. For the purposes of this study the models of ballistic simulation systems will refer only to the most important areas from the point of view of the realism of the training process conducted on the basis of simulation systems designed to support the training of officers and soldiers. Multimedia shooting ranges are simulation systems allowing firearms training. Each of the multimedia shooting systems consists of two parts: the real part and the virtual part. The real part consists of the shooter, firearm or replica firearm, the vision system which allows detection of bullet hits, a computer and a screen for projection of shooting targets. Virtual part consists of a generated by computer simulated virtual world with shooting targets. Virtual world generated by the computer is displayed on the screen by the projector. In the article the results of implementation of the ballistics equations in the physical engine is presented. The Implementation reproduces projectile motion in the atmosphere in a manner consistent with the data from the ballistic charts from ammunition manufacturers. In the article the mathematical model of projectile motion has been extended to a mathematical model of the atmosphere, in order to simulate the atmosphere parameters like temperature, density and pressure at the given time of flight of the projectile. The use of ballistics equations implemented in the physics engine of the multimedia shooting range will increase the realism of the shooting training. The implemented ballistic model will allow to conduct training on longer distances than allowed by a traditional indoor shooting range, due to a faithful reproduction of projectile’s behavior in the atmosphere. Traditional indoor shooting ranges can be converted into a multimedia shooting ranges, which increase training opportunities through the use of modern computer graphics.

The Concept of RFID-Based Positioning System for Operational Use

In this chapter the concept of the system to locate objects in real time based on RFID tags was presented. RFID is a radio frequency identification technology (Radio Frequency IDentification). The technology is based on the use of radio waves of different frequencies to read coded information from the RFID tag to identify the object. The chapter presents the concepts of the system software and the use of sensors. Certain assumptions have been experimentally verified in a lab environment. The obtained promising results encourage to further develop the technology. As the development direction, the use of the RFID system to monitor moving objects in the building, was determined.

Temperature Correction of Measurements Results of 3-Axis Accelerometers in IMU Modules

During temperature tests of 18 acceleration sensors in 6 IMU modules, conducted in a climate chamber at a temperature range from −10 to +60 °C, temperature characteristics of zeros and gains of tested sensors were obtained. An algorithm is presented for compensation of the sensor readings using temperature characteristics. We also report results of the effectiveness studies of temperature characteristics approximation by polynomials of various degrees.

Manual Calibration of System of the Image Projection Based on DLP Projectors

Correct conducting of the geometric and photometric calibration of the image projection system provides the seamless and uniform visualization. In this publication an author’s method was introduced to the manual calibration enabling the calibration of the any number of DLP projectors, on-screen consisting of many planar surfaces. Based on tests the factors distorting the initial visualisation were distinguished, so as the black offset, brighter areas of the projection, where areas of lighting neighbouring projectors are overlapping each other and methods, which let get the homogeneous visualisation were developed. As a result of developing the method a software arose facilitating conducting the geometrical and colourful calibration, one by one. The software was subjected to qualitative as well as quantitative tests what allowed to collect conclusions needed for follow-up works, of which an automation of the process is a purpose.