Partner: Michał Pełka

Institute of Mathematical Machines (PL)

Recent publications
1.Będkowski J., Majek K., Majek P., Musialik P., Pełka M., Nüchter A., Intelligent Mobile System for Improving Spatial Design Support and Security Inside Buildings, Mobile Networks and Applications, ISSN: 1383-469X, DOI: 10.1007/s11036-015-0654-8, Vol.21, No.2, pp.313-326, 2016
Abstract:

This paper concerns the an intelligent mobile application for spatial design support and security domain. Mobility has two aspects in our research: The first one is the usage of mobile robots for 3D mapping of urban areas and for performing some specific tasks. The second mobility aspect is related with a novel Software as a Service system that allows access to robotic functionalities and data over the Ethernet, thus we demonstrate the use of the novel NVIDIA GRID technology allowing to virtualize the graphic processing unit. We introduce Complex Shape Histogram, a core component of our artificial intelligence engine, used for classifying 3D point clouds with a Support Vector Machine. We use Complex Shape Histograms also for loop closing detection in the simultaneous localization and mapping algorithm. Our intelligent mobile system is built on top of the Qualitative Spatio-Temporal Representation and Reasoning framework. This framework defines an ontology and a semantic model, which are used for building the intelligent mobile user interfaces. We show experiments demonstrating advantages of our approach. In addition, we test our prototypes in the field after the end-user case studies demonstrating a relevant contribution for future intelligent mobile systems that merge mobile robots with novel data centers.

Keywords:

Intelligent mobile system, 3D object recognition, Qualitative representation and reasoning, 3D mapping

Affiliations:
Będkowski J.-IPPT PAN
Majek K.-Institute of Mathematical Machines (PL)
Majek P.-Institute of Mathematical Machines (PL)
Musialik P.-Institute of Mathematical Machines (PL)
Pełka M.-Institute of Mathematical Machines (PL)
Nüchter A.-Julius-Maximilians-University Würzburg (DE)
2.Majek K., Pełka M., Będkowski J., Cader M., Masłowski A., Projekt autonomicznego robota inspekcyjnego, POMIARY - AUTOMATYKA - ROBOTYKA. PAR, ISSN: 1427-9126, Vol.2, pp.278-282, 2013
Abstract:

W artykule przedstawiono projekt autonomicznego robota inspekcyjnego. Ze względu na fakt, że komercyjne rozwiązania nie oferują satysfakcjonującej funkcjonalności w stosunkowo niskiej cenie zdecydowano się zaprojektować autonomicznego robota inspekcyjnego na bazie komercyjnej platformy wyposażonej w autorskie rozwiązanie laserowego systemu pomiarowego 3D. Projekt lasera 3D wykonano z wykorzystaniem technik szybkiego prototypowania metodą druku 3D. Autonomiczny robot mobilny nawigowany jest na podstawie systemu IMU (Inertial Measurement Unit) ze zintegrowanym GPS (Global Positioning System). Opracowane rozwiązanie dostarcza użytkownikowi danych w postaci map lokalnych 3D wraz z częściową analizą semantyczną (obliczanie wektorów normalnych dla chmury punktów metodą PCA Principal Component Analysis) w trybie on-line. Przeprowadzono eksperymenty weryfikujące poprawność działania systemu. W rezultacie powstało nowoczesne stanowisko badawcze, które może być wykorzystane do kolejnych badań z wykorzystaniem mobilnych systemów inspekcyjnych.

Keywords:

robot inspekcyjny, laserowy system pomiarowy 3D, PCA (Principal Component Analysis)

Affiliations:
Majek K.-Institute of Mathematical Machines (PL)
Pełka M.-Institute of Mathematical Machines (PL)
Będkowski J.-other affiliation
Cader M.-Industrial Research Institute for Automation and Measurements (PL)
Masłowski A.-other affiliation

Conference papers
1.Będkowski J., Pełka M., Musialik P., Masłowski A., Multi robot simulator for robot operator training in Tiramisu project, CLAWAR, 17th International Conference on Climbing and Walking Robots, 2014-07-21/07-23, Poznań (PL), pp.575-580, 2014
Abstract:

This article concerns current progress in the development of multi robot simulation for TIRAMISU project. This simulator is designed for training of UGV (Unmanned Ground Vehicles) operators in cooperative mission execution. The core components of the system are implemented using VORTEX physics simulation engine with OSG (Open Scene Graph) used for rendering. The engine provides an accurate physics simulation for robots working on a single stage. The main goal during development was to prepare a multi robot architecture for the simulation. The challenge was to integrate all simulation components into a common framework, therefore allowing the robots to interact with each other, without lose of simulation accuracy. Current version of the simulator has two types of robots: a) iRobot-PacBot b)LOCSTRA - a TIRAMISU robot for humanitarian demining. An example of multi robot scenario, transportation of UXO (UneXploded Ordnance), will be discussed.

Keywords:

Humanitarian demining, mobile robot simulation, operator training

Affiliations:
Będkowski J.-other affiliation
Pełka M.-Institute of Mathematical Machines (PL)
Musialik P.-Institute of Mathematical Machines (PL)
Masłowski A.-other affiliation