Tomasz Buratowski

Recognition of two-dimensional representation of urban environment for autonomous flying agents

In this paper the problem of a vision system implementation for autonomous flying agents is considered in the context of industrial inspection tasks performed by unmanned aerial vehicles. A syntactic algorithm of a two-dimensional object vectorization and recognition is proposed. An algorithm of two-dimensional map recognition has been introduced as well. The algorithms have been tested by using both artificial data and real data - the satellite image. They have turned out to be effective.

Syntactic algorithm of two-dimensional scene analysis for unmanned flying vehicles

In this paper the approach to on-line object recognition for autonomous flying agent is considered. The method is divided into two parts. First the algorithm for scene objects vectorization is introduced. As the second step of the overall method we present the rotation and scale invariant algorithm for vectorized object identification based on syntactic language.

The mono-wheel robot with dynamic stabilisation

This article presents a design process of a mono-wheel robot which consists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem encountered in a mono-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection.

The Project of Tank Inspection Robot

The paper presents the project of tank inspection robot. In order to discuss the designing process, algorithm of design has been provided. There are four design stages: the analysis of the construction problem, the synthesis, testing/improving robots construction and finally testing it. First stage of project process is divided into constructive and imitative analysis. Constructive analysis means searching for still not existing solutions of robots and detection methods. In this paper we concentrate only on constructive analysis.

Three-Dimensional Urban-Type Scene Representation in Vision System of Unmanned Flying Vehicles

In this paper a vision system for autonomous flying agents is considered in the context of industrial inspection tasks performed by unmanned aerial vehicles. A syntactic algorithm of a three-dimensional scene representation is proposed. The algorithm of creating three-dimensional single object representation has been tested by using artificial data. It has turned out to be effective.

The Dynamics Influence of the Attached Manipulator on Unmanned Aerial Vehicle

The chapter describes the development and operation of Unmanned Aerial Vehicle (UAV) type flying robot with attached manipulator. The hardware, software architecture and mathematical description of the system used to control the robot is presented. The results of test rigs connected with flying the robot with attached manipulator have been presented and discussed.

The fuzzy logic application in rapid prototyping of mechatronic systems

This paper presents problems connected with the fuzzy logic application in identification of dynamic motion equations derived on the basis of Maggi equations for a 2-wheeled mobile robot. Online identification structure has been presented with the use of fuzzy logic algorithms.

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.

Manipulator Mounted on a Satellite versus Manipulator Mounted on UAV Helicopter - Comparative Study

The free-floating satellite performing autonomous rendezvous and docking maneuver (RVD) to the uncontrolled target satellite is a topic of discussion especially in context of the path planning optimization, control algorithm design as well as approach to the testing procedure. In this paper we investigate the possibility of using an unmanned helicopter as a test platform for examination of control algorithms which could be used on the satellitemanipulator system. We are presenting the typical RVD maneuver in which uncontrolled tumbling satellite is captured by manipulator arm. Then, to prove the correct development of the simulation tool as well as the controller of the space robots (6+6 DoF) during RVD maneuver, the comparison of the simulation and testing of the helicopter equipped with manipulator arm (6+2 DoF) is performed. Additionally, design of a special lightweight manipulator applicable to UAV is presented.

The Project of an Autonomous Robot Capable to Cooperate in a Group

One of the basic problems connected with wheeled mobile robots is the choice of the appropriate navigational method. This refers to individual robots and also, in particular, to groups of mobile robots. ‘Navigation’ can be defined as an issue connected with systems control, defining their position and orientation as well as choosing appropriate trajectory. The consisting elements of mobile robots navigation are: self-localization, path planning, and creating a map of the explored area. Each of the above enumerated elements is independent, however, the realization of the target navigation task of the mobile robot or the group of mobile robots depends on the correct construction of the particular elements.