Sylwester Błaszczyk

Variable-, Fractional-Order Dead-Beat Control of a Robot Arm

In the paper a synthesis method of the variable-, fractional – order dead – beat controller is proposed. It is applied to control of a robot arm described as a simple integrating element. The system structure is presented. The transient characteristic of a closed – loop system with the proposed controller are measured and compared with computer simulations performed for classical controllers.

Likewise - radar fractional-order edge detector

Abstract In this paper a new likewise – radar fractional order edge detector is presented. Proposed edge detector is compared with well-known edge detectors like Sobel operator, Robert cross and with method based on fractional-order derivatives. Based on fractional differentiation a mask for edge detection is created. The main idea of presented algorithm is it works in similar way to radars, namely mask is rotating through 180 degrees in each pixel of the image.

The Concept of Subsystem for Mobile Robot Management From the Operator Console

Abstract The authors in this publication present the concept of control system for the console operator to manage mobile robot platform and its components. Implemented functionality provides the ability to set the robot in different modes. The operator can control the state of robot using simple commands, and is also able to carry more complex tasks. The applied layered software architecture and Object-oriented programming (OOP) allows for easy management of software, maintenance, reusability and its further development.

The Concept of the Modularized Subsystem Performing Mobile Platform Navigation Tasks

Abstract Robotic vehicles autonomy is the subject of many researches performed by various institutions. There is growing tendency to conduct research in the field of autonomous mobile units, unmanned vehicles and robots moving without operator supervision. Authors of this article presents the concept of the modularized subsystem implementing the functionality of the mobile platform navigation in an unknown environment. The concept has been implemented in the real mobile robot.

Enhancement of Temperature Feature as a Result of Double Source Image Fusion

Abstract In this paper a double source images fusion algorithm is presented. Its task is to enhance temperature feature of objects located on the scene. Presented solution is design to be executed in real-time environment. It consists of three stages: in the first part the differences between acquired double source images are examined in order to determine their intersection. Then for each analysed image the contours of all objects located on the scene are determined. This operation is essential to solve disparition issue. In the last stage, based on determined contours and their match coefficient the images are fused. The enhanced temperature feature is displayed on one image acquired from day-light camera.