Autor: Łabęcki, P. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Sensory system calibration method for a walking robot
Autorzy:: Łabęcki, P.
Belter, D.
Powiązania:: https://bibliotekanauki.pl/articles/950915.pdf
Data publikacji:: 2013
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: extrinsic calibration
laser scanner
stereo
camera
walking robot
Opis:: In this paper, a method for calibrating the sensory system of a walking robot is proposed. The robot is equipped with two exteroceptive sensors: a 2D laser scanner and a stereo camera. When using the CAD model of the robot, the positions of both sensors defined in the robot's body reference frame can only be determined with limited precision. Our goal is to create a method which allows the robot to find the position of the mounted sensors without the need for human input. The presented results show that the method is not only fast but also more precise than calibration using the CAD model.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 2; 39-45
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Aktywny pokładowy system wizyjny dla robota autonomicznego
An active vision system for a walking robot
Autorzy:: Łabęcki, P.
Kasiński, A.
Powiązania:: https://bibliotekanauki.pl/articles/154863.pdf
Data publikacji:: 2009
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:: system wizyjny
geometria sceny robota
vision system
robot scene geometry
Opis:: Przedmiotem artykułu jest zbadanie możliwości zastosowania systemu wizyjnego wykorzystującego punktowy oświetlacz laserowy jako pokładowego sensora robota kroczącego. Zaproponowano model matematyczny określający zależności geometryczne w układzie kamera/laser/obiekt, wykorzystywany w algorytmach przetwarzania danych oraz procedurę jego kalibracji. Opracowano algorytm wyodrębniania śladu lasera z obrazu. Badania eksperymentalne pozytywnie zweryfikowały możliwość zastosowania rozważanego systemu jako dalmierza oraz do uzyskiwania informacji o geometrii sceny trójwymiarowej. Błędy względne metody pomiarowej nie przekroczyły 5%.
This paper demonstrates the feasibility of a vision system, made of a camera and a laser-beam projector, as a on-board sensor for the walking robot. A mathematical model of the camera/laser/ object relationship used in data processing algorithms is proposed, with a procedure of its calibration. An algorithm for the extraction of the beam-pattern from the image was proposed. Real images acquired during an experiment were analyzed. As examples two scenes were tested. The object shapes were imaged properly. The system can be used as a rangefinder and 3D scene geometry explorer. Errors of the measurement method were below 5%. Than the system can be used for the collecting 3D information concerning the space directly ahead of the robot. Its advantage is low cost.
Źródło:: Pomiary Automatyka Kontrola; 2009, R. 55, nr 9, 9; 731-736
0032-4140
Pojawia się w:: Pomiary Automatyka Kontrola
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Characterization of a compact laser scanner as a sensor for legged mobile robots
Autorzy:: Łabęcki, P.
Nowicki, M.
Skrzypczyński, P.
Powiązania:: https://bibliotekanauki.pl/articles/407415.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: mobile robot
walking robot
navigation
sensor
laser scanner
measurement errors
Opis:: This article considers selected operational characteristics and measurement errors of the 2D laser scanner URG-04LX, which is a compact sensor suitable for walking robots. Quantitative errors in range measurement are evaluated considering the intensity output available from the sensor. The obtained intensity values help to correct the range measurements with regard to the optical characteristics of the observed surfaces. Moreover, mixed measurements are characterized and compared to the mixed measurements characteristics in the popular Sick LMS 200 laser scanner. Finally, it is shown how taking into account the error characteristics of the URG-04LX scanner improves its performance as the main exteroceptive sensor of a small walking robot.
Źródło:: Management and Production Engineering Review; 2012, 3, 3; 45-52
2080-8208
2082-1344
Pojawia się w:: Management and Production Engineering Review
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Terrain map building for a walking robot equipped with an active 2D range sensor
Autorzy:: Łabęcki, P.
Rosiński, D.
Skrzypczyński, P.
Powiązania:: https://bibliotekanauki.pl/articles/384806.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: walking robot
laser scanner
structured light
sensor model
map building
Opis:: This paper deals with problems of rough terrain perception and mapping for walking robots equipped with inexpensive optical range sensors providing 2D data only. Two different sensing modalities are considered: the structured light sensor, and the Hokuyo URG-04LX laser scanner. Measurement uncertainty in both sensors is taken into account, and different geometric configurations of these sensors on the walking robot are analysed, yielding the configurations that are best for the task of terrain perception. Then, application of the acquired range data in local terrain mapping is presented. The mapping algorithm as well as novel methods for removing map artifacts that result from qualitative errors in range measurements are detailed. Experimental results are provided.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 67-78
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: RGB-D terrain perception and dense mapping for legged robots
Autorzy:: Belter, D.
Łabecki, P
Fankhauser, P.
Siegwart, R.
Powiązania:: https://bibliotekanauki.pl/articles/330144.pdf
Data publikacji:: 2016
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: RGB-D perception
elevation mapping
uncertainty
legged robots
RGB-D
niepewność
robot nożny
Opis:: This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map. The model for the uncertainty of the stereo vision camera is based on uncertainty propagation from calibration, through undistortion and rectification algorithms, allowing calculation of the uncertainty of measured 3D point coordinates. The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors. We provide experimental verification of the proposed mapping method, and a comparison with another recently published terrain mapping method for walking robots.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 81-97
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Generating Graphical User Interfaces from Precise Domain Specifications
Autorzy:: Rybinski, K
Jarzebowski, N
Smiałek, M
Nowakowski, W.
Skrzypek, L.
Łabecki, P
Powiązania:: https://bibliotekanauki.pl/articles/384184.pdf
Data publikacji:: 2014
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:: Precise Domain Specifications
generating code
working systems
user interface elements
Opis:: Turning requirements into working systems is the essence of software engineering. This paper proposes automation of one of the aspects of this vast problem: generating user interfaces directly from requirements models. It presents syntax and semantics of a comprehensible yet precise domain specification language. For this language, the paper presents the process of generating code for the user interface elements. This includes model transformation procedures to generate window initiation code and event handlers associated with these windows. The process is illustrated with an example based on an actual system developed using the presented approach.
Źródło:: e-Informatica Software Engineering Journal; 2014, 8, 1; 39-52
1897-7979
Pojawia się w:: e-Informatica Software Engineering Journal
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: User-centered design of brain-computer interfaces: OpenBCI.pl and BCI Appliance
Autorzy:: Durka, P.
Kuś, R.
Żygierewicz, J.
Michalska, M.
Milanowski, P.
Łabęcki, M.
Sputek, T.
Laszuk, D.
Duszyk, A.
Kruszyński, M.
Powiązania:: https://bibliotekanauki.pl/articles/201581.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: brain-computer interface
BCI
steady-state visual evoked potentials
SSVEP
eyetracker
assistive technologies
Opis:: Brain-Computer Interface (BCI) allows for non-muscular communication with external world, which may be the only way of communication for patients in a locked-in state. This paper presents a complete software framework for BCI, a novel hardware solution for stimuli rendering in BCIs based on Steady State Visual Evoked Potentials (SSVEP), and a univariate algorithm for detection of SSVEP in the EEG time series. OpenBCI is a complete software framework for brain-computer interfaces. Owing to an open license and modular architecture, it allows for flexible implementations of different communication channels in the serial or parallel hybrid mode, minimization of costs and improvements of stability and efficiency. Complete software is freely available from http://openbci.pl. BCI Appliance is a hardware solution that allows for dynamic control of menus with stable generation of stimuli for the SSVEP paradigm. The novelty consists of a design, whereby the LCD screen is illuminated from behind using an array of LEDs. Design pioneers also proposed a new line of thought about the user-centered design of BCI systems: a simple box with one on/off button, minimum embedded software, wireless connections to domotic and EEG acquisition devices, and user-controlled mode switching in a hybrid BCI.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 427-431
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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