Jakub Kowaliński, Tomasz Krakówka, Rafał Więckowski, M. Zarzycki
The article concerns the most important issues of designing an unmanned vehicle for the implementation of observation tasks in the protection of the perimeter of the state border. An analysis of the terrain conditions necessary for the unmanned vehicle to overcome and a description of the key components of the HUNTeR vehicle responsible for the ability to work in such conditions was presented. Also included were tests verifying the basic assumptions of the project in the field of operation at the maximum speed of travel.
{"title":"Support for Perimeter Border Protection Using Unmanned Ground Vehicle UGV","authors":"Jakub Kowaliński, Tomasz Krakówka, Rafał Więckowski, M. Zarzycki","doi":"10.14313/par_243/55","DOIUrl":"https://doi.org/10.14313/par_243/55","url":null,"abstract":"The article concerns the most important issues of designing an unmanned vehicle for the implementation of observation tasks in the protection of the perimeter of the state border. An analysis of the terrain conditions necessary for the unmanned vehicle to overcome and a description of the key components of the HUNTeR vehicle responsible for the ability to work in such conditions was presented. Also included were tests verifying the basic assumptions of the project in the field of operation at the maximum speed of travel.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127092779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The exact identification of essential factors affecting the course of evasive manoeuvre, that has been computed to avoid a collision with moving obstacles, is necessary to ensure a safe passing by a moving obstacle. At the same time, during the evasive manoeuvre the pre-defined separation between the airplane and obstacles is required. The matter of presented work is defined as the analysis of influence of factors on execution of anti collision manoeuvre taking into account deformation of flight trajectory and changes of time histories of distance from the airplane to detected obstacles. Attention has been focused on internal interactions, resulting from the essential changes of the airplane’s behaviour. Discussion has been illustrated by selected results of computer simulations, executed for typical manoeuvres performed to avoid obstacles, while affected by adverse impacts of selected factors. The appropriate guidelines have been proposed, that should counteract these adverse effects on realisation of computed manoeuvre.
{"title":"The Influence of Airplane’s Dynamics and Its’ State of Flight on Safety of an Evasive Manoeuvre Performed to Avoid Moving Obstacles","authors":"J. Graffstein","doi":"10.14313/par_243/33","DOIUrl":"https://doi.org/10.14313/par_243/33","url":null,"abstract":"The exact identification of essential factors affecting the course of evasive manoeuvre, that has been computed to avoid a collision with moving obstacles, is necessary to ensure a safe passing by a moving obstacle. At the same time, during the evasive manoeuvre the pre-defined separation between the airplane and obstacles is required. The matter of presented work is defined as the analysis of influence of factors on execution of anti collision manoeuvre taking into account deformation of flight trajectory and changes of time histories of distance from the airplane to detected obstacles. Attention has been focused on internal interactions, resulting from the essential changes of the airplane’s behaviour. Discussion has been illustrated by selected results of computer simulations, executed for typical manoeuvres performed to avoid obstacles, while affected by adverse impacts of selected factors. The appropriate guidelines have been proposed, that should counteract these adverse effects on realisation of computed manoeuvre.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126259668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Marcin Hubacz, Bartosz Pawłowicz, Mateusz Salach, B. Trybus, Sebastian Kołcz
Modern Textronics RFID transponders open completely new possibilities for designers of household appliances. In particular, these applications can be seen in laundry technology, where the information contained in the RFID transponder sewn into the clothes can be used to select the best washing program for a given type of fabric or to select the appropriate washing program for different fabrics placed in the drum of the washing machine. The work included design and construction of a demonstration station for the demonstration of RFIDtex transponders in the washing machine. A management system for a model of a washing machine equipped with Read-Write Device (RWD) was prepared, which supports decision-making based on data provided by reading of RFIDtex tags integrated with clothes. The laundry device was integrated with cloud computing for garment management based on the unique identifier of the tags and also as an intermediary module for the virtual closet application. The work checked the effectiveness of the station using samples.
{"title":"The Use of RFID Tags in Controlling Washing Devices","authors":"Marcin Hubacz, Bartosz Pawłowicz, Mateusz Salach, B. Trybus, Sebastian Kołcz","doi":"10.14313/par_243/17","DOIUrl":"https://doi.org/10.14313/par_243/17","url":null,"abstract":"Modern Textronics RFID transponders open completely new possibilities for designers of household appliances. In particular, these applications can be seen in laundry technology, where the information contained in the RFID transponder sewn into the clothes can be used to select the best washing program for a given type of fabric or to select the appropriate washing program for different fabrics placed in the drum of the washing machine. The work included design and construction of a demonstration station for the demonstration of RFIDtex transponders in the washing machine. A management system for a model of a washing machine equipped with Read-Write Device (RWD) was prepared, which supports decision-making based on data provided by reading of RFIDtex tags integrated with clothes. The laundry device was integrated with cloud computing for garment management based on the unique identifier of the tags and also as an intermediary module for the virtual closet application. The work checked the effectiveness of the station using samples.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127880615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The article presents summaries of works which have resulted in the presentation of a formula making it possible to determine an approximate transmittance of an IR window used in thermographic measurements of electric device temperatures. The equation was formulated after analysing components of the IR radiation reaching the camera lens in case when an IR window was not used and when an IR window was used. Conditions prevailing in course of the thermographic temperature measurement of electric devices contained in the switchgear were recreated in the performance of the works. The measurement system which was used in the experiment has been presented. Components of the IR radiation reaching the camera lens in case when the IR window was used and when the IR window was not used have been discussed. The obtained transmittance results of windows VPFR-75 FRK100-CL have been compared against data from literary sources.
{"title":"Determination of Transmittance of IR Windows made of CaF2 within Operational Temperatures of Electric Devices","authors":"K. Dziarski, A. Hulewicz","doi":"10.14313/par_242/25","DOIUrl":"https://doi.org/10.14313/par_242/25","url":null,"abstract":"The article presents summaries of works which have resulted in the presentation of a formula making it possible to determine an approximate transmittance of an IR window used in thermographic measurements of electric device temperatures. The equation was formulated after analysing components of the IR radiation reaching the camera lens in case when an IR window was not used and when an IR window was used. Conditions prevailing in course of the thermographic temperature measurement of electric devices contained in the switchgear were recreated in the performance of the works. The measurement system which was used in the experiment has been presented. Components of the IR radiation reaching the camera lens in case when the IR window was used and when the IR window was not used have been discussed. The obtained transmittance results of windows VPFR-75 FRK100-CL have been compared against data from literary sources.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125580554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The purpose of this work is a comparative study of three languages (environments) of optimization modeling: AMPL, Pyomo and JuMP. The comparison will be based on three implementations of an optimal discrete-time flood control problem formulated as a nonlinear programming problem. The codes for individual models and differences between them will be presented and discussed. Various aspects will be taken into account, e.g. simplicity and intuitiveness of implementation.
{"title":"Comparative Study of AMPL, Pyomo and JuMP Optimization Modeling Languages on a Flood Control Problem Example","authors":"A. Karbowski, Krzysztof Wyskiel","doi":"10.14313/par_242/19","DOIUrl":"https://doi.org/10.14313/par_242/19","url":null,"abstract":"The purpose of this work is a comparative study of three languages (environments) of optimization modeling: AMPL, Pyomo and JuMP. The comparison will be based on three implementations of an optimal discrete-time flood control problem formulated as a nonlinear programming problem. The codes for individual models and differences between them will be presented and discussed. Various aspects will be taken into account, e.g. simplicity and intuitiveness of implementation.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"355 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125642275","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper presents selected results of non-destructive testing of composite helmets with deliberately introduced defects. Ultrasound pulsed infrared thermography was used for the tests. In order to determine the initial possibilities of this method, artificial defects made of Teflon featuring different area sizes and designed to simulate delamination were placed between layers of the aramid composite from which the helmet was made. The obtained results confirmed the effectiveness of the NDT method used in these tests.
{"title":"Non-Destructive Evaluation of Composite Helmets Using IR Thermography and Ultrasonic Excitation","authors":"W. Świderski, M. Pracht","doi":"10.14313/par_242/89","DOIUrl":"https://doi.org/10.14313/par_242/89","url":null,"abstract":"The paper presents selected results of non-destructive testing of composite helmets with deliberately introduced defects. Ultrasound pulsed infrared thermography was used for the tests. In order to determine the initial possibilities of this method, artificial defects made of Teflon featuring different area sizes and designed to simulate delamination were placed between layers of the aramid composite from which the helmet was made. The obtained results confirmed the effectiveness of the NDT method used in these tests.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130932936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper describes an innovative design of a bionic robot for applications in felinotherapy supporting hospital and home psychotherapeutic treatment of bedridden children and adults. The project was engineered by biomimicrating a biological cat, reaching its robotic model. Particular attention in this process was devoted to capturing the essence of feline motorics behavior and the possibility of mapping them in a mechatronic model. The geometry, kinematics and kinetics of this model were analyzed, creating assumptions for its practical implementation in the real mechanism of cat skeleton movement. The used software used the topology of elements in Autodesk Fusion 360 Simulation workspace by performing the critical elements of the mechatronic model in print using SLS technology. The work was also supported by a graphical simulation in the PyBullet environment.
{"title":"An Innovative Project of a Bionic Robot for Social Applications in Felinotherapy","authors":"Sonia Litwin, K. Woźniak, M. Olszewski","doi":"10.14313/par_242/5","DOIUrl":"https://doi.org/10.14313/par_242/5","url":null,"abstract":"The paper describes an innovative design of a bionic robot for applications in felinotherapy supporting hospital and home psychotherapeutic treatment of bedridden children and adults. The project was engineered by biomimicrating a biological cat, reaching its robotic model. Particular attention in this process was devoted to capturing the essence of feline motorics behavior and the possibility of mapping them in a mechatronic model. The geometry, kinematics and kinetics of this model were analyzed, creating assumptions for its practical implementation in the real mechanism of cat skeleton movement. The used software used the topology of elements in Autodesk Fusion 360 Simulation workspace by performing the critical elements of the mechatronic model in print using SLS technology. The work was also supported by a graphical simulation in the PyBullet environment.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"60 231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125957930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article describes a practical approach to the issue which is currently an integral part of the development of modern advanced and complex information systems – ICT threat modelling. The article presents the practical validity and process of threat modelling and then describes one of the most popular methods of threat identification and analysis – the so-called STRIDE model.
{"title":"Practical Modelling of Threats to ICT Systems Using the STRIDE Model","authors":"T. Kruk","doi":"10.14313/par_242/93","DOIUrl":"https://doi.org/10.14313/par_242/93","url":null,"abstract":"This article describes a practical approach to the issue which is currently an integral part of the development of modern advanced and complex information systems – ICT threat modelling. The article presents the practical validity and process of threat modelling and then describes one of the most popular methods of threat identification and analysis – the so-called STRIDE model.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134553943","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
G. Bieszczad, T. Sosnowski, K. Sawicki, S. Gogler, A. Ligienza, Mariusz Mścichowski
This paper presents a concept and implementation of an infrared imaging sensor network for object localization and tracking. The sensor network uses multiple low-resolution (80× 80 pixels) microbolometric thermal cameras to detect, track and locate an object within the area of observation. The network uses information simultaneously acquired from multiple sensors to detect and extract additional information about object’s location. The use of thermal-imaging systems responsive to objects’ natural infrared radiation, makes the system resistant to external illumination and environmental conditions. At the same time, the use of infrared sensor requires application of specially designed, dedicated image processing techniques appropriate for this kind of sensor. The paper describes: image processing techniques, means of object localization, accuracy measurements, comparison to other known solutions and final conclusions.
{"title":"A Network of Miniature Thermal Imaging Sensors for Object Detection and Tracking","authors":"G. Bieszczad, T. Sosnowski, K. Sawicki, S. Gogler, A. Ligienza, Mariusz Mścichowski","doi":"10.14313/par_242/57","DOIUrl":"https://doi.org/10.14313/par_242/57","url":null,"abstract":"This paper presents a concept and implementation of an infrared imaging sensor network for object localization and tracking. The sensor network uses multiple low-resolution (80× 80 pixels) microbolometric thermal cameras to detect, track and locate an object within the area of observation. The network uses information simultaneously acquired from multiple sensors to detect and extract additional information about object’s location. The use of thermal-imaging systems responsive to objects’ natural infrared radiation, makes the system resistant to external illumination and environmental conditions. At the same time, the use of infrared sensor requires application of specially designed, dedicated image processing techniques appropriate for this kind of sensor. The paper describes: image processing techniques, means of object localization, accuracy measurements, comparison to other known solutions and final conclusions.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"37 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123180933","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The article presents the concept of using VNA (Vector Network Analyzer) to measure the temperature of the MOS transistor junction. The method assumes that the scattering parameters of the network consisting of the transistor depend on the temperature. The tests confirmed the influence of temperature on the S11 parameter and the input network capacity during ambient temperature changes in the range of 35–70 °C. Measurements were made for the gate-source (G-S) input of the system. The measurements were carried-out with the transistor in the ON/OFF states. In order to validate the measurements, the temperature of the tested element was recorded with the MWIR Cedip-Titanium thermal imaging camera.
{"title":"Vector Analysis of Electrical Networks for Temperature Measurement of MOS Power Transistors","authors":"B. Torzyk, B. Więcek","doi":"10.14313/par_242/83","DOIUrl":"https://doi.org/10.14313/par_242/83","url":null,"abstract":"The article presents the concept of using VNA (Vector Network Analyzer) to measure the temperature of the MOS transistor junction. The method assumes that the scattering parameters of the network consisting of the transistor depend on the temperature. The tests confirmed the influence of temperature on the S11 parameter and the input network capacity during ambient temperature changes in the range of 35–70 °C. Measurements were made for the gate-source (G-S) input of the system. The measurements were carried-out with the transistor in the ON/OFF states. In order to validate the measurements, the temperature of the tested element was recorded with the MWIR Cedip-Titanium thermal imaging camera.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133122275","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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