How To Make A Border Patrol Autonomous

Transcription

1 Studies in Computational Intelligence 440 Editor-in-Chief Prof. Janusz Kacprzyk Systems Research Institute Polish Academy of Sciences ul. Newelska Warsaw Poland kacprzyk@ibspan.waw.pl For further volumes:

2 Aleksander Nawrat, Krzysztof Simek, and Andrzej Świerniak (Eds.) Advanced Technologies for Intelligent Systems of National Border Security ABC

3 Editors Prof. Aleksander Nawrat Institute of Automatic Control Silesian University of Technology Gliwice Poland Prof. Andrzej Świerniak Institute of Automatic Control Silesian University of Technology Gliwice Poland Dr. Krzysztof Simek Institute of Automatic Control Silesian University of Technology Gliwice Poland ISSN X e-issn ISBN e-isbn DOI / Springer Heidelberg New York Dordrecht London Library of Congress Control Number: c Springer-Verlag Berlin Heidelberg 2013 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (

4 "Although you can probably hear me, you are not listening..." To our friends

5 Preface The book was motivated by a great number of tasks and challenges placed upon the current administration and various types of uniformed services. A natural, obligatory task is to protect one s own borders from direct and indirect threats. Nowadays, in times of peace, direct threats subside with indirect threats like, for instance, illegal immigration and clandestine transportation of illegal substances and materials such as drugs, weapons and explosive materials. Up until now, conventional methods have been used for detection and thwarting such threats. However rapid progress of development of advanced sensory devices, significant increase of computing power and development of drones technology give almost unlimited possibilities to fight various types of pathologies affecting our society. The book shall address multiple issues on advanced innovative methods of multi-level control of both ground (UGVs) and aerial drones (UAVs). Those objects combined with innovative algorithms become autonomous objects capable of patrolling chosen borderland areas by themselves and automatically inform the operator of the system about potential place of detection of a specific incident. This is achieved by using sophisticated methods of generation of non-collision trajectory for those types of objects and enabling automatic integration of both ground and aerial unmanned vehicles. In order to allow detection of specific events innovative methods of image fusion of heterogeneous camera systems had been developed. Source video streams taken into consideration come from high quality visual light cameras, noctovision cameras and from thermovision cameras. Combining such equipment and previously mentioned algorithms allows to effectively detect threats regardless of the time of day and night, weather conditions or random events such as smoke during a fire. Practical examples of application of such systems shall be presented and described in the following chapters. Obviously, it is natural to propose innovative solutions in the field of mechanical constructions for elimination of the impact of vibrations and other undesirable factors affecting the quality of obtained information streams. The topics included in this book also cover presentation of complete information and communication technology (ICT) systems capable of control, observation and detection of various types of incidents and threats. This book is not only intended for officers and border services. It can be treated as a valuable source of information

6 VIII Preface for constructors and developers of such solutions for uniformed services. Scientists and researchers involved in computer vision, image processing, data fusion, control algorithms or IC can find many valuable suggestions and solutions. Multiple challenges for such systems are also presented. Moreover students of higher years of study in the fields of automation, computer science, robotics or mechanical engineering can benefit greatly. The authors encourage to actively explore the following chapters of the book and, in case of questions or concerns, invite you to an open and frank discussion of these matters. Gliwice May 2012 Aleksander Nawrat Krzysztof Simek Andrzej Świerniak

7 Acknowledgements The research presented in the book has been done within a framework of the project O R : "Design and implementation of innovative unmanned mobile platforms to monitor the state border" and have been supported by The Polish National Center for Research and Development funds in years

8 Contents Part I Design of Control Algorithms for UAV Objects Helicopter Control Algorithms from the Set Orientation to the Set Geographical Location... 3 Zygmunt Kuś, Sławomir Fraś The Control System for Autonomous Mobile Platform Artur Babiarz, Krzysztof Jaskot, Przemysław Koralewicz Lyapunov Exponents for Discrete Time-Varying Systems Adam Czornik, Aleksander Nawrat, Michał Niezabitowski Single DOF Powered Exoskeleton Control System, Algorithms and Signal Processing Michał A. Mikulski Part II Design and Construction of Trajectory Planer for UAVs Probabilistic Approach to Planning Collision Free Path of UAV Krzysztof Skrzypczyk, Adam Gałuszka, Marcin Pacholczyk, Krzysztof Daniec Multi-robot Task Planning Problem with Uncertainty in Game Theoretic Framework Krzysztof Skrzypczyk, Martin Mellado The Concept of Collision-Free Path Planning of UAV Objects Artur Babiarz, Krzysztof Jaskot Planning as Artificial Intelligence Problem Short Introduction and Overview Adam Gałuszka, Marcin Pacholczyk, Damian Bereska, Krzysztof Skrzypczyk

9 XII Contents Part III Sensoric and Vision Based Information for UAVs The Prototype of Gyro-Stabilized UAV Gimbal for Day-Night Surveillance Karol Jędrasiak, Damian Bereska, Aleksander Nawrat The Comparison of Capabilities of Low Light Camera, Thermal Imaging Camera and Depth Map Camera for Night Time Surveillance Applications Karol Jędrasiak, Aleksander Nawrat Object Detection Using IR Camera Aleksander Nawrat, Krzysztof Daniec, Tomasz Warmuz Characterization of Hokuyo UTM-30LX Laser Range Finder for an Autonomous Mobile Robot Piotr Demski, Michał Mikulski, Roman Koteras Direct Method of IMU Calibration Witold Ilewicz, Aleksander Nawrat Part IV Construction and Implementation of the Base Station and Software for Autonomous Objects Main Aims and Objectives of an IT System in the Implementation of the Project: Design and Implementation of Innovative Unmanned Mobile Platforms for the Needs of Monitoring State Borders Marcin Błaszczok, Arkadiusz Gwóźdź, Łukasz Hoppe, Krzysztof Skórka Architecture and Functional Division of an IT System GRANICE Marcin Śleziona Integration of IT Systems with the Use of Microsoft BizTalk Server Platform Tomasz Krawczyk Tools and Methods Used to Ensure Security of Processing and Storing Information in Databases and IT Systems and Their Impact on System Performance Łukasz Hoppe, Łukasz Wasek TGIS Application for Monitoring and Control of Unmanned Flying Platforms Marek Fischer Vision Object Access and Management with Usage of the In-Memory Databases Aleksandra Werner, Małgorzata Bach, Adam Duszeńko

10 Contents XIII SETh-Link the Distributed Management System for Unmanned Mobile Vehicles Karol Jędrasiak, Aleksander Nawrat, Katarzyna Wydmańska Delays Models of Measurement and Control Data Transmission Network Tadeusz Topór-Kamiński, Beata Krupanek, Jarosław Homa Author Index...281

11 List of Contributors Artur Babiarz Małgorzata Bach Silesian University of Technology, Institute of Computer Science, Akademicka 16, Damian Bereska Marcin Błaszczok Adam Czornik Krzysztof Daniec Piotr Demski

12 XVI List of Contributors Adam Duszeńko Silesian University of Technology, Institute of Computer Science, Akademicka 16, Marek Fischer Sławomir Fraś Adam Gałuszka Arkadiusz Gwóźdź Jarosław Homa Łukasz Hoppe Witold Ilewicz Krzysztof Jaskot Karol Jędrasiak Przemysław Koralewicz ABB Research Center, Starowiślna 13A, Krakow, Poland

13 List of Contributors XVII Roman Koteras Tomasz Krawczyk Beata Krupanek Silesian University of Technology, Institute of Measurement Science, Electronics and Control, Akademicka 10,, Zygmunt Kuś Martin Mellado Instituto de Automatica e Informatica Industrial, Universidad Politecnica de Valencia, Camino de Vera 14, Valencia, Espana martin@ai2.upv.es MichałA. Mikulski michal.mikulski@polsl.pl Aleksander Nawrat Aleksander.Nawrat@polsl.pl MichałNiezabitowski Michal.Niezabitowski@polsl.pl Marcin Pacholczyk marcin.pacholczyk@polsl.pl Krzysztof Skórka k.skorka@wasko.pl

14 XVIII List of Contributors Krzysztof Skrzypczyk Marcin Śleziona Tadeusz Topór-Kamiński Silesian University of Technology, Institute of Measurement Science, Electronics and Control, Akademicka 10, Tobiasz Warmuz Łukasz Wąsek Aleksandra Werner Silesian University of Technology, Institute of Computer Science, Akademicka 16, Katarzyna Wydmańska