Krzysztof Jaskot

Vision System for Group of Mobile Robots

A vision system for group of small mobile robots playing soccer is presented. The whole process of extracting vision information from input images is discussed in detail. The method for correcting radial distortion introduced to the image by camera’s lens is presented, then simple adaptive background subtraction algorithm is described. Next, classical flood fill algorithm is presented together with novel optimization giving better results and shorter calculation time. Later, novel method for calculating object’s orientation, based on the geometrical moments and special shape of color markers on top of each robot, is presented. Then, the color classifier based on the histogram intersection kernel is discussed. Design of the vision system as a central server providing vision information to many clients simultaneously is presented. Experimental results obtained with use of the algorithm presented are also provided.

A Distributed Control Group of Mobile Robots in a Limited Area with a Vision System

Digital remote manual control systems are no less complicated than automatic control. Engineers have to overcome number of unique problems. Mechanical parts have to respond to digital signals transferred through wireless connection. Digital control algorithms have to correctly translate the movement of controls at remote station to signals in a way that a operator has a proper feeling of control. The Master Control System presented connects the features of a Drive-By-Wire control system with wireless connection. Main focus is put on the Master controller and its algorithms of input - output translation, that give finer control for an operator. In addition, computer controlled intervention algorithms are proposed that can increase safety of the subject vehicle. All that is done on basis of a small two-wheeled robot and a closed environment of small playground with radio interface allowing wireless connection with the robot, and a vision interface equipped with a camera serving as a visual feedback. Is it a great environment for theoretical considerations, testing and implementation. Modular design of the environment additionally allows the control of whole Mobile Robot Group, not only one robot subject. Moreover sented results can be applied more widely in controllers for cars or other wheeled or tracked vehicles.

Recognition and Location of Objects in the Visual Field of a UAV Vision System

The aim of this methodology is a creation of a tool which would be able to construct a system for obtaining information about objects in the environment of the vision system. This task is often defined as a sub-task in the primary problem of the automatic task completion by the independent UAV unit using visual information. These researches concerned the construction of the algorithm that would allow the location of objects in the image, identification of these objects by classifying them into appropriate (previously declared) class, and then sending information about the sought-after object / objects to the actuator control module.

The Concept of Collision-Free Path Planning of UAV Objects

The paper presents the concept of path planning of unmanned flight the helicopter type of flying object. The presented method is based on probabilistic robot motion planning method called B-PPT.Method B-PPT is built upon the known methods of PRM (Probabilistic Roadmap) and RRT (Rapidly-exploring Random Trees). Using the method of B-PPT can plan the path of mobile robots and manipulation. Planning the path of a flying object was carried out in Cartesian space, taking into account only the position and altitude. The speed of the method depends on two input variables, ie the configuration space discretization step and set number of randomly generated configurations. Effect of size on the results obtained was presented in this work.

The Control System for Autonomous Mobile Platform

Autonomous mobile platform is a machine that can operate in a humanmade environment. The paper presents design of autonomous mobile platform based on the all terrain 1/8th scale four wheel drive radio control model. In this paper was considered problem of automatic control of mobile platform using information from GPS system, electronic compass and encoder. Themobile platform is equipped in two-stroke glow engine, heavy-duty drive train and wide-track suspension and controller based on ARM7 microcontroller and usingMaxStream XBee Pro 2.4GHz radio modem communicationmodule. The base station equipment is also described. Communication protocol between mobile platform and base station is presented. The paper presents also an application of electronic compass to measure azimuth of mobile platform. Problem of speed and distance control is described. Results of real application are also shown. Results of work on autonomous mobile platform that can operate in human environment are presented. The obtained properties of the system have been affected that it can be used for future research and autopilot design project.

Real-time detection and filtering of eye movement and blink related artifacts in EEG

Eye movement related artifacts are the most significant source of noise in EEG signals. Thus, a special approach to reduction of their influence is required. However, most of currently used methods of detecting and filtering eye movement related artifacts require either an additional recording of noise signal, or are not suitable for real time applications, such as Brain-Computer Interfaces. In this paper it was proven that it is possible to detect and filter those artifacts in real time, without the need of providing an additional recording of noise signal.

Real-Time Detection and Filtering of Eye Blink Related Artifacts for Brain-Computer Interface Applications

Artifacts related with eye movements are the most significant source of noise in EEG signals. Although there are many methods of their filtering available, most of them are not suitable for real-time applications, such as Brain-Computer Interfaces. In addition, most of those methods require an additional recording of noise signal to be provided. Applying filtering to the recorded EEG signal may unintentionally distort its uncontaminated segments. To reduce that effect filtering should be applied only to those parts of signal that were marked as artifacts. In this paper it was proven that it is possible to detect and filter those artifacts in real-time, without the need of providing an additional recording of noise signal.

Experimental Mobile Robot—Software

The paper presents the software part of the experimental mobile robot. Whole software for mobile robot was divided into functional blocks and each of them is described separately. For each, the corresponding part of schematic was presented and explained. The most important decisions on selected methods are discussed and justified.

The Prototype of an Unmanned Underwater Vehicle – Mechanical Construction, the Operator Panel

The paper presents design of Remotely Operated Vehicle - ROV prototype. To date, the operator has the ability to seamlessly move and maneuver both horizontal (geographic change in direction, moving from point to point) and vertical (change of depth of submerged position). Solid construction provides resistance to mechanical damage, and the ergonomically designed operator panel, offers a convenient and intuitive use of all modules.

Experimental Mobile Robot—Hardware

The chapter presents the hardware part of the mobile robot. Whole electronics circuit was divided into functional blocks and each of them is described separately. For each, the corresponding part of schematic was presented and explained. The most important decisions on selected parts or solutions are discussed and justified.