Michał Ciszewski

Vision Based Techniques of 3D Obstacle Reconfiguration for the Outdoor Drilling Mobile Robot

This work describes a set of techniques, based on the vision system, designed to supplement information about environment by adding three-dimensional objects representations. Described vision system plays a role of supplementary part of the SLAM technique for gathering information about surrounding environment by an autonomous robot. Algorithms are especially prepared for a mobile drilling robot. The main characteristics of the robot and its applications are defined in the first part of this paper. Then, the technical aspects and the execution steps of the algorithms utilized by the vision system are described. In the last part of this paper, the test case along with the results, presenting sample application of the vision system, is presented.

Robotic system for off-shore infrastructure monitoring

ABSTRACT In this paper, a novel modular reconfigurable mobile inspection robotic system is presented. The system consists of two underwater robotic platforms, including a tracked mobile robot for moving on rough terrain and a remotely operated vehicle robot for free underwater operation. Applications of the system include structural monitoring of off-shore infrastructure made of steel, concrete or other materials. The system is equipped with a 3D sonar, high-definition cameras and laser sensors to navigate underwater and locate structural defects. Mathematical models of the tracked robot are derived for operation underwater. Operation and verification of the ROV vision system is shown. The system sensing equipment is capable of performing simultaneous localisation and mapping tasks, thus an algorithm for navigation and localisation of defects based on sensor fusion is proposed and discussed.

Ultralight mobile drilling system - design and analyses of a robotic platform intended for terrestrial and space applications

In this paper the design of the ultralight mobile drilling system (UMDS) dedicated for environment difficult to explore is presented. The main goal of the system is to extract soil probes from hardly accessible places, thus appropriate mobility must be a significant feature of the system. A special design of a rover is described. The main objectives are related to weight reduction of particular components, preserving demanded durability. The rover features obstacle passing capabilities by an ultralight rocker design with four wheels and central differential mechanism. Additionally, the platform provides tilt angle compensation by adjustments of rocker arms height. Tests of the mobile platform are presented in actual operating conditions.

Mechatronic Approach in Inspection of Water Supply Networks

The paper describes design process of the two inspection robots. Both are able to work in water environment. There is provided problem statement which cause need of designing robots and solution for it. The paper presents exemplary usage of the robots and sample results of inspection tasks. The inspection process and equipment can be different for each robot. Common assumption in design of both robots was versatility of the construction. Tank inspection robot can be set in two different configuration with two different inspection equipment. Pipe inspection robot has configurable construction of tracks arms which enables work in different conditions.

Mobile Inspection Robot

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.