Krzysztof Daniec

A Prototype of Unmanned Aerial Vehicle for Image Acquisition

We present the prototype of unmanned aerial vehicle (UAV) as a platform for multispectral acquisition. We are connecting the real-world simulation environment and control software to perform flight tests in SIL simulation. The full control system is based on the cascade of PI controllers with Anti-Windup mechanism, which stabilize the aircraft in the virtual reality. Stabilization of angular speed reduces problems connected with video disruptions. In this article we are presenting all implemented autonomous algorithms, which are based on ENU coordinate system (commonly used in aviation). Simulations are performed in Prepar3D® from Lockheed Martin which also allows to perform visual and thermal images processing. The prototype successfully completed all the test flights and is ready for various applications.

The low cost micro inertial measurement unit

Measuring the orientation of the mobile objects is essential for autonomous navigation. In order to construct low cost, miniature aerial vehicles a miniature inertial measurement unit was designed and constructed by the research team from Silesian University of Technology. Presented device can be distinguished by many times smaller volume than the solutions currently available at the market. It is worth mentioning with smaller size comes no degradation of the quality of measurements. Therefore it is possible to the presented sensor for real life applications.

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.

Embedded Micro Inertial Navigation System

This paper presents Embedded Inertial Navigation System designed and manufactured by the Department of Automatic Control and Robotics in Silesian University of Technology, Gliwice, Poland. Designed system is currently one of the smallest in the world. Within it there is implemented INS-GPS loosely coupled data fusion algorithm and point-to-point navigation algorithm. Both the algorithms and the constructed hardware were tested using two unmanned ground vehicles varying in size. Acquired results of those successful tests are presented.

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.

Prototyping the Autonomous Flight Algorithms Using the Prepar3D® Simulator

This article concerns prototyping of the control algorithms for unmanned flying objects using the virtual reality. More specifically, there is discussed an integration between simulation environment and unmanned aerial vehicle (UAV) control software. This integration is based on software in the loop simulation. The control software uses PI controllers cascade, which stabilize the aircraft in the simulated air. Used simulator is Prepar3D® from Lockheed Martin corporation. Implemented algorithms that are used to control the UAV in simulation environment can be used to future prototype of vision based algorithms. All implemented algorithms are presented along with the developed software, which we are using to navigate the flying object on real map.

Camera Calibration for Tracked Vehicles Augmented Reality Applications

The article presents a method for camera calibration for tracked vehicles augmented reality applications. The method does not require any additional optical markers or symbols placed within the observed scene. The approach can be used regardless the quality of placement of optical markers, which could be disturbed due to object’s damage or contamination. The presented method can be applied to every object of known dimensions and is immune to light conditions, objects contamination and known deformations due to e.g. age or damage. Moreover it can be used both in real-time as well as in post-processing using object’s schematics. It allows implementation of Augmented Reality applications and systems in various places like tracked vehicles that previously were thought to be challenging or impossible. Therefore, the presented approach can be used to improve the quality of usage, diagnostics and repairs of tracked vehicles. In the article there are presented algorithms and their quality evaluation and an examples of applications.

A prototype device for concealed weapon detection using IR and CMOS cameras fast image fusion

Concealed weapon detection (CWD) is an important part of everyday law enforcement. There are numerous facilities that are endangered of an terrorist or an fanatic individual attack. Commercially used weapon detection gates are very expensive and sometimes impossible to install into already existing security infrastructures. Here we present a miniature prototype device for concealed weapon detection using two cameras: IR and visual. The prototype consists of two printed circuit boards (PCB). First PCB is responsible for analog to digital and digital to analog conversions of the video stream. The second board is the main processing unit realizing the presented fast image fusion algorithm. The relative size of the prototype can be assumed as a miniature in comparison to the current used solutions. Such miniature device could be mounted under the ceiling or inside 3 DOF gimbals for wider view angle. Presented device can be considered as an alternative to already existing man-sized gates traditionally used for CWD.

Scalable, Wearable, Unobtrusive Sensor Network for Multimodal Human Monitoring with Distributed Control

We present the concept and implementation of unobtrusive wearable network of sensors and distributed control system for integrated monitoring - acquisition, processing, analysis of human motion and other physiological modalities. The entire system, hardware and software are scalable and compliant with the Wireless Body Area Network model. The wearable system modules can work independently and continuously indoor and outdoor. Each of the tracking and controlled subjects is wearing a Body Acquisition System (BAS). BAS is a human acquisition system for monitoring human motion and multiple physiological signals. It is built into a wearable unobtrusive smart clothing and enables to create wireless sensor network using WIFI for external communication, local hub for local data acquisition, processing and transfer. The central hub for global data processing and data exchange has been developed as Cloud Based Human Multimodal Database (CBHMD). A software application, Multimodal Data Environment (MMDE) has been built to visualize and control the acquisition and monitoring process. MMDE allows domain experts such as physicians, physiotherapists, film producers, to work with connected BASs control and react in real time. MMDE enables remote communication, data acquisition directly from BASs, diagnostics, management and maintenance of medical devices in BASs, as well as data processing using customized processes and algorithms.

Inertial Navigation Systems and Its Practical Applications

Main intention of autonomous devices’ designers is to develop tools used for implementation tasks, such as unknown territory exploration or performing tasks in strong radiation fields which are dangerous for human health and life. Unmanned flying objects used for military, mobile robots, space ships, exoskeletons or intelligent clothing monitoring body signals. These are only a few examples of useful devices that are being developed at the moment.