Justyna Orwat

Surface monitoring of water basins based on use of autonomous flying robots

In this paper we address the problem of water basins surface measurements. This problem is important in regions where coal extraction took place because of it significant impact on the landscape. We propose method based on usage of quadrotor equipped with non-metrical camera. Presented concept include discussion about quadrotor path planning, image tracing, quadrotor state estimation and altitude stabilization.

Approximation of average course of measured curvatures of mining area with reference to their forecast values by Bialek’s formulas

The mean square approximation of average course of mining area subsidence with the use of a flat spline as a approximating function was conducted to determine an approximate course of curvatures observed on a measuring line set over exploitation run by “Chwalowice” coalmine. The assumed minimising criterion of loss function was referred to the forecast values of vertical ground displacements calculated via Knothe’s formulas. The average courses of inclinations and curvatures of mining area were obtained via the calculation of their values by means of empirical formulas taking into consideration the obtained approximate values of measured subsidence.

Approximation of average course of measured subsidences of mining area by smooth splines

The article presents the way of determining an average course of subsidences of mining area measured after the termination of the subsequent mining stages run in the south of Poland by “Chwalowice” coalmine. The mean square approximation was conducted via smooth spline with the use of R – project programme. The problem of ambiguity of parameter value of smoothing of approximation function spar (in case when the function illustrating dependence among parameter values of smoothing and values obtained by generalised cross validation reaches its minimum value in a certain range of its values) was solved with the use of mean square minimalisation criterion of loss function between approximated and forecast subsidence values of Bialek’s formulas and the Budryk-Knothe theory. The efficiency of both forecasts was verified as well as their accuracy was estimated based on average course of measured subsidences.The article presents the way of determining an average course of subsidences of mining area measured after the termination of the subsequent mining stages run in the south of Poland by “Chwalowice” coalmine. The mean square approximation was conducted via smooth spline with the use of R – project programme. The problem of ambiguity of parameter value of smoothing of approximation function spar (in case when the function illustrating dependence among parameter values of smoothing and values obtained by generalised cross validation reaches its minimum value in a certain range of its values) was solved with the use of mean square minimalisation criterion of loss function between approximated and forecast subsidence values of Bialek’s formulas and the Budryk-Knothe theory. The efficiency of both forecasts was verified as well as their accuracy was estimated based on average course of measured subsidences.

The forecast effectiveness of mining exploitation effects on the exploited area conducted with the use of Bialek`s formulas

The article presents the results of numerical calculations conducted with the use of a computer programme EDN – OPN for forecasting permanent deformations of a mining area being the result of the underground exploitation of coal deposits. The theoretical values of basic deformation indicators (decreases, inclinations, curvatures, displacements and horizontal strains) were determined with the use of Bialek`s formulas. They were subsequently juxtaposed with the practical values obtained thanks to the geodetic measurements conducted in the years 2001-2011 on the established observation line. The evaluation of the effectiveness of the conducted forecast of effects of the mining exploitation was carried out on this basis.

The comparison of measured deformation indicators of mining area with theoretical values calculated using Knothe’s formulas

The article demonstrates the comparison of prognosed values of deformation indicators with their values obtained from geodetic measurements. The value of correlation coefficient R between its theoretical and practical values was calculated for each indicator. Following the measured values as basic ones, the evaluation of efficiency of prognosis via the use of Knothe`s theory (a mathematical model, in which lowering of point is calculated as a double integral from Gauss error function with adequate parameters).

The graph representation of the problem of pairing points from two sets

The validation procedure of hand detection algorithms required the creation of scoring method for a set of detected points according to set of ground truth points. In this paper a method of finding all points pairs with a smallest mutual distance is described. The problem of finding pairs is represented in graph form and solved with use of Dijkstra’s algorithm. The problem is also described with use of an example.

Smoothing parameter as shape parameter of function approximating the average course of terrain surface subsidence

In this article have been presented the approximation results of average course of mining area subsidence measured at observational line and caused by hard coal exploitation, which was conducted by some hard coal mine in Poland. An approximation has been done with the use of smoothed spline function with value change of smoothing parameter of approximating function. The right value of smoothing parameter has been chosen by the use of least squares method, what means the minimization of differences sum between the measured terrain subsidence and their average values.

Planning and heuristics of assistant manipulator

The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.