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检索条件"机构=Department of Automatic Control and Robotics"

共 516 条记录，以下是121-130 订阅

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controlling and programming a robot using virtual reality

Controlling and programming a robot using virtual reality

引用

International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Maksymilian Gorzelak Tomasz Grzejszczak Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

The paper presents software that allows a user to control and program a robot using virtual reality. The user will be equipped with a Virtual Reality kit and will be able to use it to manipulate the robot arm as if they were physically interacting with it. One key feature of the software will be the ability to set the robot in a specific position, allowing the user to create and execute complex movement sequences for the robot to follow. The use of VR technology in this context offers a unique and immersive way for users to interact with and program the robot, making it an exciting and innovative approach to robotic control.

关键词： Visualization Solid modeling Service robots Robot control Virtual reality Programming Manipulators

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Graphical Human-Machine Interface for QB Systems

Graphical Human-Machine Interface for QB Systems

引用

2008 Conference on Human System Interactions (HSI 2008), vol.1

作者： Marcin Jasinski Aleksander Nawrat Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

Graphical human machine interface project is designed to provide algorithms and graphical interface to navigate autonomous objects due to simply creating its trajectory from list of waypoints defined in a "drag-and-drop" technology. Trajectory is generated dynamically during simulation and it consist of basic geometry - straight lines and arcs - which make this solution easy from mathematic point of view. As position of object is presented in Cartesian coordinate system this solution can be easy implemented when it is difficult to obtain GPS data or the data are not accurate.

关键词： Avionics Simulation Trajectory planning UAV

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Analysis of the effectiveness of object recognition algorithms using a thermal imaging camera

Analysis of the effectiveness of object recognition algorith...

引用

Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), International Conference on

作者： Jaroslaw Kozik Aleksander M. Nawrat Krzysztof Daniec Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

The work presents a comparison of the object recognition methods based on three algorithms (Eigenface, Fisherfaces, LBPH - Local Binary Patterns Histograms), which were extended to include thermal imaging. The aim of the work is to select the most effective analytical method in changing environmental conditions and implement it in the form of software for a technological project called OctoView. The system placed on a drone, combined with efficient processing units and Jetson NANO microcomputers in cooperation with a multi-vision system, will provide comprehensive analysis and image assessment of “threats” located in the observed area, recording field events, tactical risk analysis and reports, monitoring areas border areas, status and position and type of own resources in border (or other) sections. This project is dedicated to military, border, customs, fire brigade and police applications. The purpose of implementing the software is to increase security in border areas through continuous image observation and analysis [1]–[3], as well as monitoring threats and their dynamics.

关键词： Image recognition Heuristic algorithms Software algorithms Thermal engineering Cameras Software Thermal analysis Object recognition Security Monitoring

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Power-of- Two Quantized YOLO Network for Pedestrian Detection with Dynamic Vision Sensor

Power-of- Two Quantized YOLO Network for Pedestrian Detectio...

引用

Euromicro Symposium on Digital System Design

作者： Dominika Przewlocka-Rus Tomasz Kryjak Department of Automatic Control and Robotics AGH University of Krakow Krakow Poland

Pedestrian detection algorithms have a wide range of applications: from video surveillance, to driver assistance systems and autonomous vehicles. The performance of these systems must be as high as possible, with minimal response time and, due to the often battery-powered operation (like in electric vehicles), low energy consumption. When designing such solutions, we therefore face challenges typical for embedded vision systems: the problem of fitting algorithms of high memory and computational complexity into small low-power devices. In this paper, we propose a system based on a Dynamic Vision Sensor (DVS), which has low power requirements and operates well in conditions with variable illumination. It is these features that may make event cameras a preferential choice over frame cameras in some applications. To ensure high accuracy, for pedestrian detection we use the YOLO (You Only Look Once) deep network on event data representation. Due to the high complexity of the applied algorithm, we propose a low precision architecture: the weights of the convolution layers are quantized logarithmically to 4 bits powers-of-two values (PoT quantization). Such compression reduces not only the memory complexity by almost 8x, but also the computational complexity by replacing most multiplication operations with bit-shifting, due to use of powers-of-two weights. At the same time, the proposed system achieves the accuracy on par with the floating point baseline, of mAP0.5 0.708.

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Obstacle Detection and Avoidance System for Unmanned Multirotors

Obstacle Detection and Avoidance System for Unmanned Multiro...

引用

International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Adam Stulgis Leszek Ambroziak Miroslaw Kondratiuk Automatic Control and Robotics Department Bialystok University of Technology Bialystok Poland

The paper presents the simple method for obstacle detection and avoidance designed for small unmanned multi-rotors. The system is using laser scanner information and supports the pilot during the manual flights. The proposed obstacle avoidance algorithm was described in details. The main aim of the work were the in-flight test. The tests were divided into two stages - with static obstacle and with dynamic one. The results were presented in the UAV trajectories plot and PWM control signal time plots. Obtained results validate the effectiveness of the proposed collision avoidance method. Described approach helps to ensure collision free conditions for UAV operators. Also the proposed anti-collision system could be easily used in autonomous flight stages of UAVs.

关键词： Collision avoidance Pulse width modulation Laser radar Unmanned aerial vehicles Lasers Classification algorithms Manuals

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Memory-Efficient Graph Convolutional Networks for Object Classification and Detection with Event Cameras 26

Memory-Efficient Graph Convolutional Networks for Object Cla...

引用

26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Jeziorek, Kamil Pinna, Andrea Kryjak, Tomasz AGH University of Krakow Embedded Vision Systems Group Department of Automatic Control and Robotics Krakow Poland Sorbonne Universite CNRS LIP6 ParisF-75005 France

ISBN: (纸本)9798350304985

Recent advances in event camera research emphasize processing data in its original sparse form, which allows the use of its unique features such as high temporal resolution, high dynamic range, low latency, and resistance to image blur. One promising approach for analyzing event data is through graph convolutional networks (GCNs). However, current research in this domain primarily focuses on optimizing computational costs, neglecting the associated memory costs. In this paper, we consider both factors together in order to achieve satisfying results and relatively low model complexity. For this purpose, we performed a comparative analysis of different graph convolution operations, considering factors such as execution time, the number of trainable model parameters, data format requirements, and training outcomes. Our results show a 450-fold reduction in the number of parameters for the feature extraction module and a 4.5-fold reduction in the size of the data representation while maintaining a classification accuracy of 52.3%, which is 6.3% higher compared to the operation used in state-of-the-art approaches. To further evaluate performance, we implemented the object detection architecture and evaluated its performance on the N-Caltech101 dataset. The results showed an accuracy of 53.7% mAP@0.5 and reached an execution rate of 82 graphs per second. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Cameras

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The low cost micro inertial measurement unit

The low cost micro inertial measurement unit

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Karol Jędrasiak Krzysztof Daniec Aleksander Nawrat Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

Measuring the orientation of the mobile objects is essential for autonomous navigation. In order to construct low cost, miniature aerial vehicles a miniature inertial measurement unit was designed and constructed by the research team from Silesian University of Technology. Presented device can be distinguished by many times smaller volume than the solutions currently available at the market. It is worth mentioning with smaller size comes no degradation of the quality of measurements. Therefore it is possible to the presented sensor for real life applications.

关键词： Robot sensing systems Temperature measurement Measurement units Gyroscopes Acceleration Accelerometers Temperature sensors

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Simple Human Walking Modelling

Simple Human Walking Modelling

引用

BIOMDLORE International Conference

作者： Aneta Łukowska Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

The stability of human while walking or running is the ability to maintain the upright posture during locomotion. The behavior of the inverted pendulum is very similar to maintaining a balance by a human being. Inverted pendulums are mostly used to analyze modern control algorithms. This system is one of most known problems in control theory and dynamics. It is a physical pendulum with a center of mass above the suspension point. The inverted position is gained by using a control system which is monitoring the angle of the rod and balancing the pendulum. The purpose of presented work was to explained fundamental dynamic of walking on an enhanced version of the linear inverted pendulum.

关键词： Legged locomotion Mathematical model Hip Foot Biological system modeling Dynamics

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The Concept of a Spectrophotometer for Soil Sample Testing

The Concept of a Spectrophotometer for Soil Sample Testing

引用

BIOMDLORE International Conference

作者： Barbara Kuc Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538623978

The objective is to present conception of creation a spectrophotometer used by students during different competitions to test a soil samples collected by Mars rover. In the first paragraph, there is information about the application of spectrophotometry and about the aim of this work. In the second paragraph includes a description of basics information about the spectrophotometer and its principle of operation. The third paragraph described elements of electronics and wiring, mechanical part needed to correct action and measurements values. This paper also describes necessary steps in measurement method and requirements that device must fulfil. In order to verify the operation of the device, it will be compared with the operation of a specialized spectrophotometer which is written in the paragraph called “Requirement”.

关键词： Diffraction Diffraction gratings Pollution measurement Soil Absorption Soil measurements Wavelength measurement

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PointPillars Backbone Type Selection for Fast and Accurate LiDAR Object Detection

PointPillars Backbone Type Selection for Fast and Accurate L...

引用

International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Lis, Konrad Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031220241

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network on detection accuracy and computation speed. We chose the PointPillars network, which is characterised by a simple architecture, high speed, and modularity that allows for easy expansion. During the experiments, we paid particular attention to the change in detection efficiency (measured by the mAP metric) and the total number of multiply-addition operations needed to process one point cloud. We tested 10 different convolutional neural network architectures that are widely used in image-based detection problems. For a backbone like MobilenetV1, we obtained an almost 4x speedup at the cost of a 1.13% decrease in mAP. On the other hand, for CSPDarknet we got an acceleration of more than 1.5x at an increase in mAP of 0.33%. We have thus demonstrated that it is possible to significantly speed up a 3D object detector in LiDAR point clouds with a small decrease in detection efficiency. This result can be used when PointPillars or similar algorithms are implemented in embedded systems, including SoC FPGAs. The code is available at https://***/vision-agh/pointpillars-backbone. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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