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1
Content available remote

Real Time Visual Servoing of a 6-DOF Robotic Arm using Fuzzy-PID Controller

100%
Adar N., Egrisogut Tiryaki A., Kozan R.
Acta Physica Polonica A
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2015
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vol. 128
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issue 2B
B-348-B-351
EN
Vision based robot applications have taken a great deal of attention, with the development of electronic and computer technology. The visual feedback loop is very effective for improving the dexterity and flexibility. In this study, application of real time visual servoing approach is presented that enables a robot to robustly execute arm grasping and manipulation tasks. This task is decomposed on four stages a) finding object b) determining object's pose c) moving the robotic arm from an initial position towards the object d) grasping the object. The robot used in this work consists of an arm and head parts. The robotic arm has six degree of freedom, five degree of freedom are located at the arm while one degree of freedom is assigned to the gripper. Head has two degree of fredom which is pan-tilt platform. The image-based control strategy is designed using Fuzzy-PID controller. In this way, position error between target object and griper is minimized and the gripper can grasp the target object precisely. Real-time implementation of the proposed method is carried out using Matlab-Simulink. Experimental results show that, the developed design is valid to detect and grasp objects in real time.
2
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The Role of a Laser Photography Device Illuminator in Acquisition of Spatial Information

80%
Piszczek M., Kowalski M., Szustakowski M., Rutyna K., Ludwikowski K.
Acta Physica Polonica A
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2012
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vol. 122
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issue 5
862-865
EN
The paper is concerned with practical studies of illuminator role in the process of acquisition of spatial information with use of laser photography device. The laser photography device working according to the time-spatial framing method needs both acquisition and illumination process to happen in a very short-time. Fulfillment of both conditions is necessary for proper operation of this device. Using a specialized laser illuminator determines the growth of information potential of the laser photography device and allows reducing parasitic impact of daylight. The presented solution not only improves typical vision systems parameters but it introduces new quality for imaging devices.
3
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Laser Photography Device - Spatial Parameters of Imaging

80%
Piszczek M., Kowalski M., Karol M., Rutyna K., Zarzycki M., Szustakowski M., Ludwikowski K.
Acta Physica Polonica A
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2013
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vol. 124
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issue 3
550-553
EN
Laser photography device is an imaging device developed in the Institute of Optoelectronics, Military University of Technology and it is an example of modern image acquisition device. The laser photography device allows to define a 3D observation scene thanks to short-time scene illumination and image acquisition method. This device works according to time-spatial framing method. In the paper, basics of time-spatial framing method are explained. Special attention is given to time parameters of device and their influence to spatial parameters of registered images. In this paper the laser photography device and results of chosen experiments are presented and described. Experimental results presented in the paper show the potential and possibilities of using the laser photography device as a camera for observation and measurement applications.
4
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Laser Photography - Examples of Processing of Image Information

80%
Piszczek M.
Acta Physica Polonica A
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2013
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vol. 124
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issue 3
546-549
EN
Modern cameras working in various spectral bands can be successfully applied in many areas of our lives. Observational capabilities of modern cameras are widely utilized in the area of public security systems while measurement functionalities of cameras are the domain of Machine Vision Systems used mainly in industry applications. The development of vision techniques and data processing methods changed the perception of vision systems as a multifunction, observation and measurement systems. Laser photography device, developed in the Institute of Optoelectronics, Military University of Technology is an example of such imaging device. One of properties of time-spatial framing method is the ability to perform complex spatial analysis of observed scene thanks to proper control of acquisition parameters and metadata processing. This property can be very useful especially in real-time spatial and geographic information systems. The paper presents theoretical applications of time-spatial framing method and first experimental results.
5
Content available remote

Metadata in a LPS

80%
Piszczek M.
Acta Physica Polonica A
|
2012
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vol. 122
|
issue 5
858-861
EN
This paper is concerned with the use of metadata in a laser photography system. Metadata are all the data registered by additional sensors in the laser photography system. The paper is concerned with a problem of how to efficiently manage and use system metadata. The solution of using a general image metadata structure for every information unit is proposed. Various aspects of using additional data for proper image interpretation in the laser photography system are presented.
6
Content available remote

Palm Vein Authentication and Verification System

80%
Cömert M., Yildiz A.
Acta Physica Polonica A
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2016
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vol. 130
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issue 1
175-177
EN
In this work, both hardware and software of a palm vein capture system have been designed and a prototype is produced. By using this system, a genuine database was created with age and gender information of volunteered test subjects. Widely used pre-processing, acquisition of feature vectors, and classification methods were tested on the database and results are compared with speed versus accuracy. All the modules used in hardware and software were determined as open source. Python has been chosen as a software module programming on a single board computer with Linux kernel. As a result, an appropriately running system has been built with both secure software and hardware interfaces having maximum accuracy at 95.33% while specificity is at 100%.
7
Content available remote

Measurement Stand for TeraEYE Inspection

80%
Piszczek M., Kowalski M., Szustakowski M.
Acta Physica Polonica A
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2011
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vol. 120
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issue 4
720-724
EN
Image fusion can be used as one of imaging methods. Connection of images acquired using different acquisition methods can deliver information invisible for traditional one imaging technique. Visible and thermal images connected in one image give information about shapes and temperature map of objects seen by cameras. If we connect stereoscopic visible image and thermal image we will have three-dimensional object model covered with temperature map. Dividing three-dimensional objects on elementary surfaces we can model this object energetically. Energetic modeling of measurement scene allows verifying measurement data acquired from devices working in terahertz frequency range. This method requires many measurement scene parameters to be registered. Some of these parameters can be used in a hybrid modelling process.
8
Content available remote

Data Fusion in Application of Image Information

80%
Piszczek M.
Acta Physica Polonica A
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2011
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vol. 120
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issue 4
716-719
EN
This paper presents a new look at meaning of metadata in applications using image information. Information potential of images is closely associated with the access to such data as internal and external orientation. It is also essential that advanced vision systems are characterized by individual sets of metadata like e.g. range-gated imaging technology. Linking data mentioned above offers synergetic effects. The camera range-gated imaging is getting functionalities characteristic of the radar and scanner 3D. Technology of augmented reality in connecting with the database offers the functionality of the autonomous guide to real world. Possible functionalities are of course a lot and they depend on the equipment configuration of applied sensor sets. Expressed deliberations about data fusion in vision information systems are based on research activity. Expressed issues concerning modeling, equipment configurations and model results of examinations, point on the great information potential available in advanced vision systems.
9
Content available remote

Elements of Augmented Reality for Vision Systems

80%
Piszczek M., Zarzycki M., Szustakowski M.
Acta Physica Polonica A
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2012
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vol. 122
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issue 5
950-953
EN
The purpose of this article is a discussion about the ongoing research at the Institute of Optoelectronics, Military University of Technology. The aim of the research is obtaining the introduction augmented reality elements in vision systems. Technology of augmented reality in connecting with applied sensor sets can strengthen and expand our sensory modalities. The process of data acquisition and processing can be implemented using variable technologies, appropriate for application. At the conclusion we briefly presented two applications currently under tests.
10
Content available remote

A Quantum Key as the Fiber Optic Security Sensor

80%
Życzkowski M., Kowalski M.
Acta Physica Polonica A
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2013
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vol. 124
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issue 3
606-609
EN
The paper describes the methodology of identifying an interference in the optical fiber. The paper presents the technology widely known as quantum key distribution. The quantum key distribution is based on the technique of constant comparison of quantum characteristics of the input light source and its characteristics at the end of the fiber optic. Methodology of presented work includes the evaluation of the functional objectives through the constructive assumptions for the laboratory models development. This paper presents the model of a system based on the comparison of polarization states of light quanta using two asymmetric Mach-Zender interferometers as transmitting and receiving systems to enable compensation of polarization state changes at the input and output of the fiber optics sensing cable. Continuous monitoring of the state of the reference signal, the specific changes of natural or ambient effects on the fiber will attempt to identify interference in the optical waveguide as a change of the polarization of the quantum states of the light. The authors indicate the possibility of using such fiber optic sensor as a security sensor to protect the extensive critical infrastructure facilities. In this article the future research conception of using compressed sensing algorithms for data compression in quantum key distribution systems is presented.
11
Content available remote

An Infrared Sensor for Eye Tracking in a Harsh Car Environment

80%
Różanowski K., Murawski K.
Acta Physica Polonica A
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2012
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vol. 122
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issue 5
874-879
EN
The paper presents the optical sensor which is built for EyeTracker operating in car harsh environment. The sensor is based on USB high speed video infrared camera. Additional hardware was designed for control and emission of infrared light as well. The designed hardware and software of the sensor are described in the paper. Some results of work, including video processing, are also presented.
12
Content available remote

Hidden Object Detection System Based on Fusion of THz and VIS Images

80%
Kowalski M., Palka N., Piszczek M., Szustakowski M.
Acta Physica Polonica A
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2013
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vol. 124
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issue 3
490-493
EN
Terahertz imaging makes it possible to acquire images of objects concealed underneath clothing by measuring the radiometric temperatures of different objects on a human subject. Finding objects hidden under clothes is one of key issues of public places security. A possible solution of this problem is a multispectral, terahertz-based screening system with implemented image fusion algorithm. The result of the fusion is a new image which gives more information and is more suitable for human perception. An imaging system is usually composed of various subsystems. Many of the imaging systems use imaging devices working in various spectral ranges. The aim of our studies is to detect and visualize objects hidden under clothing. Detection of potentially dangerous objects is important, but without proper visualization, can be difficult to utilize. Our goal is to build a system harmless to humans for screening and detection of hidden objects using a THz and VIS cameras. The presented system draws attention not only on the properties offered by a single camera but also on the potential of synergetic effects of the system by using the fusion of data registered by different sensor units. In this paper we present the multispectral passive imaging system for hidden threats visualization based on THz and VIS cameras.
13
Content available remote

Path Planning for Multiple Mobile Robots Using A* Algorithm

61%
Batik Garip Z., Karayel D., Ozkan S., Atali G.
Acta Physica Polonica A
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2017
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vol. 132
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issue 3
685-688
EN
One of the main problems in path planning for multiple mobile robots is to find the optimal path between two points so that robots can follow the shortest path and consume the least energy. Also, motion planning is important to avoid collisions if multiple mobile robots are running together within environments with obstacles. In this study, motion planning for multiple robots has been proposed. It is desired that robots could move in coordination with each other from the starting point to the destination point on a plane. The coordinates of the objects and mobile robots have been acquired using image processing with a single ceiling camera. The path planning for the shortest distance has been performed using A* algorithm in dynamic frame between robot-object and object-target point, respectively. A graphical user interface has been developed based on MATLAB GUI. It is hoped that the developed system will have a wide area of applications in industry and will make important contributions for the improvement of manufacturing, assembly, transportation and storage technologies.
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