Roman Koteras

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.

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.

Characterization of Hokuyo UTM-30LX Laser Range Finder for an Autonomous Mobile Robot

One of the most common problems of autonomous mobile robots is object avoidance in a dynamically changing environment. The effectiveness of algorithms responsible for trajectory planing is largely dependent on the correct sensory input. It is necessary to equip a mobile robot with the proper sensors to allow a correct functioning in unknown terrain. With the high degree of complexity standard point distance sensors are insufficient for high speed movement. The recent development of compact laser range finders allowed the minimization of robot dimensions. Hokuyo UTM-30LX is an example of such a sensor. For a precise understanding of the measurements, a characterization of a sensor is needed. This paper is summarizes the parameters of Hokuyo UTM-30LX laser range finder, in particular: drift effect, influence of target distance, surface brightness, color and material, and the sensor orientation. The parameters measured prove that the Hokuyo UTM-30LX can be used in a mobile robot system for complex object detection and avoidance.

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.

Application of Telemedical Technologies in Remote Evaluation of Soldiers’ Vital Signs during Training and in Combat Conditions

The article presents the potential use of computer systems for remote evaluation of soldiers’ vital signs and the transfer of results to the Command and Control Center or the Medical Support Centre. This article also suggests a number of possible solutions that can be successfully adopted both in training and in combat conditions. Furthermore, it indicates new sources of development to this rapidly progressing field of technology.

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.

The Dedicated Wireless Communication Device for Group of Unmanned Vehicles

This article describes communication system designed and implemented on Silesian University of Technology based on experience acquired in previews projects. Communication system was designed for micro UAVs. First part of this work describes physical layer and second part describes software layer such as data encryption, establishing and maintaining connection. Proposed devices was tested on group of UAVs and acquired results are very promising.