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Ostrowski I.,Institute of Mathematical Machines
XXI IMEKO World Congress "Measurement in Research and Industry" | Year: 2015

The AGV (AGV-automated guided vehicle) platforms make simply transport tasks which can be easy automated and give big benefits on human work in production environment. One of problems in AGV evolution is the easy and efficient communication with base station. Such a link is most often built by WLAN using 802.11 standard [1]. This is very important for AGV to keep communication with base station (supervising computer) on some minimal quality level because of needing continuous stream of control data. It is the crucial when the cloud computing is established and permanent synchronization is realized [2] In our opinion this crucial problem is not deeply analyzed as required. This issue joins the interesting subjects of wide technical areas from robotics to communication. This paper tries to shed new light for it.


Adamski T.,Warsaw University of Technology | Nowakowski W.,Institute of Mathematical Machines
Bulletin of the Polish Academy of Sciences: Technical Sciences | Year: 2014

The paper deals with Nyberg-Rueppel digital signatures without message recovery. Probability of signature forgery is analyzed and assessed. Some simple methods to minimize probability of signature forgery are proposed.


Bedkowski J.,Warsaw University of Technology | Bedkowski J.,Institute of Mathematical Machines | Maslowski A.,Warsaw University of Technology | Maslowski A.,Institute of Mathematical Machines
Communications in Computer and Information Science | Year: 2011

In the paper the semantic simulation engine and its role in multi level mobile robot operator training tool is described. Semantic simulation engine provides tools to implement mobile robot simulation based on real data delivered by robot observations in INDOOR environment. It is important to emphasize that real and virtual part of the training system is integrated. The supervision of real objects such as robots is performed by association with its virtual representation in the simulation, therefore events such as object intersection, robot pitch roll are defined. Semantic simulation engine is composed of data registration modules, semantic entities identification modules (data segmentation) and semantic simulation module. The data registration modules delivers 3D point clouds aligned with ICP (Iterative Closest Point) algorithm accelerated by parallel computation to obtain on-line processing. Semantic entities identification modules provide implementation of methods for obtaining semantic entities from robot observations (already registered). Semantic simulation module executes rigid body simulation with predefined simulation events. It is implemented using NVIDIA PhysX engine. The simulation can be easy integrated with real part of the system with an assumption of robust localization of real entities, therefore Augmented Reality capabilities are available. © 2011 Springer-Verlag.


Adamski T.,Warsaw University of Technology | Nowakowski W.,Institute of Mathematical Machines
Bulletin of the Polish Academy of Sciences: Technical Sciences | Year: 2015

Generators of finite cyclic groups play important role in many cryptographic algorithms like public key ciphers, digital signatures, entity identification and key agreement algorithms. The above kinds of cryptographic algorithms are crucial for all secure communication in computer networks and secure information processing (in particular in mobile services, banking and electronic administration). In the paper, proofs of correctness of two probabilistic algorithms (for finding generators of finite cyclic groups and primitive roots) are given along with assessment of their average time computational complexity.


Bedkowski J.,Institute of Mathematical Machines | Bedkowski J.,Institute of Automation and Robotics | Maslowski A.,Institute of Mathematical Machines | Maslowski A.,Institute of Automation and Robotics | De Cubber G.,Royal Military Academy
Industrial Robot | Year: 2012

Purpose - The purpose of this paper is to demonstrate a real time 3D localization and mapping approach for the USAR (Urban Search and Rescue) robotic application, focusing on the performance and the accuracy of the General-purpose computing on graphics processing units (GPGPU)-based iterative closest point (ICP) 3D data registration implemented using modern GPGPU with FERMI architecture. Design/methodology/approach - The authors put all the ICP computation into GPU, and performed the experiments with registration up to 106 data points. The main goal of the research was to provide a method for real-time data registration performed by a mobile robot equipped with commercially available laser measurement system 3D. The main contribution of the paper is a new GPGPU based ICP implementation with regular grid decomposition. It guarantees high accuracy as equivalent CPU based ICP implementation with better performance. Findings - The authors have shown an empirical analysis of the tuning of GPUICP parameters for obtaining much better performance (acceptable level of the variance of the computing time) with minimal lost of accuracy. Loop closing method is added and demonstrates satisfactory results of 3D localization and mapping in urban environments. This work can help in building the USAR mobile robotic applications that process 3D cloud of points in real time. Practical implications - This work can help in developing real time mapping for USAR robotic applications. Originality/value - The paper proposes a new method for nearest neighbor search that guarantees better performance with minimal loss of accuracy. The variance of computational time is much less than SoA. © Emerald Group Publishing Limited.


Salamonczyk A.,Siedlce University Of Natural Sciences And Humanities | Brzostek-Pawlowska J.,Institute of Mathematical Machines
Proceedings - 2015 IEEE 2nd International Conference on Cybernetics, CYBCONF 2015 | Year: 2015

Blind people require special means of reading and writing of mathematical content. They require of alternative user interfaces in accessing math formulas. In this paper a tool helps surpass the difficulty in reading online documents containing mathematical expressions is presented. The translator from a MathML form to text in Polish take into account a mathematical context of symbols and neighboring nodes names in MathML structure. © 2015 IEEE.


Synak R.,Institute of Mathematical Machines
Proceedings of SPIE - The International Society for Optical Engineering | Year: 2012

A novel method for measuring roughness and reflectance of very smooth surfaces has been presented in the paper. It is based on the measurement of the Total Integrated Scatter (TIS) parameter using a flat photodiode integrator rather than a conventional optical sphere or hemisphere. By that means, one can obtain much less expensive and smaller instruments than the traditional ones that could find their application for surface control purposes in the production area of a wider range of companies. Unfortunately, a decrease of the integrator dimensions could reduce its spatial frequency bandwidth causing measurement errors. Additional errors can occur because of the integrator flatness. Therefore, an analysis of the influence of those factors has been performed. Using the results of the Rayleigh-Rice vector perturbation theory, dependences showing the influence of the range-of-acceptance angle on the TIS value measured have been shown. For the case when very smooth surfaces (e.g. silicon wafers, optical mirrors, precision metal elements) are investigated, the lower limit of the angle range is particularly critical and should be carefully selected. On the other hand, the upper limit can be even smaller than 20-30° which makes it possible to find a compromise while designing the measuring unit. Assuming such a limit, the influence of the integrator flatness is proved to be irrelevant. In the paper, results of measurements of some parameters valuable for the analysis are presented as well as preliminary results of sample measurements in a tentative system. The results obtained confirm the validity of further investigations in this research area. A precise unit for investigating functional properties of the method is under development, and it is planned that the measurement results derived from this unit are to be compared with results of different measurements conducted by means the Ulbricht sphere instruments and by other methods. © 2012 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).


Synak R.,Institute of Mathematical Machines | Lipinski W.,Institute of Mathematical Machines | Pawelczak M.,Institute of Mathematical Machines
Proceedings of SPIE - The International Society for Optical Engineering | Year: 2012

A roughness measurement method based on the application of a photodiode integrator for scattered radiation gathering as well as results of experiments concerning this method are presented in the paper. The new integrator, contrary to known optical integrating devices, provides the possibility to get much less expensive and smaller instruments than traditional ones. Unfortunately, a decrease of the integrator dimensions could restrict its spatial frequency bandwidth causing measurement errors. Therefore, experimental works have been performed to find the relation between the range-ofacceptance angle of the integrator and measured rms roughness. They have been done by constructing a model of the integrator and a complete TIS instrument as well as a precision experimental set. For the purpose of making a direct comparison between the new instrument and the existing one, the Ulbricht sphere has also been used in the set. For very smooth surfaces, the value of the lower angle range is very critical and should be smaller than 2 deg. The upper limit can be about 30 deg. for measurement of smooth and isotropic surfaces. At such limits, the influence of the integrator flatness is stated to be non-substantial. Results of surface roughness measurements obtained from the new unit and the Ulbricht sphere show that both methods have similar issues. Taking into account the dimensions of the photodiode integrator, a small and inexpensive TIS instrument can be designed for measuring roughness and reflectance of isotropic smooth surfaces in the optical and electronic industries. © 2012 SPIE.


Synak R.,Institute of Mathematical Machines
Optical Engineering | Year: 2012

An analysis of a novel unit destined for measuring roughness of smooth and isotropic surfaces as well optimization of its parameters has been presented. The unit is functioning on the measurement of the total integrated scatter parameter using a flat photodiode integrator rather than a conventional optical sphere or hemisphere. By that means, one can obtain much less expensive and smaller instruments than the traditional ones. Unfortunately, a decrease of the integrator dimensions could reduce its spatial frequency bandwidth causing measurement errors. Therefore, an analysis of this factor utilizing the results of the Rayleigh-Rice vector perturbation theory has been performed. For the case when smooth surfaces are investigated, the lower limit of the angle range is particularly critical and should be diminished as much as possible. This is in contradiction with the demand of a broader upper limit to have a greater roughness measuring range. Therefore, a way of optimization of unit parameters has also been described. Results of experiments concerning the validity of assumptions confirmed in the analysis as well as results of roughness measurements obtained using a tentative measuring unit are also given. © 2012 Society of Photo-Optical Instrumentation Engineers (SPIE).


Majek K.,Institute of Mathematical Machines | Bedkowski J.,Institute of Mathematical Machines
Advances in Intelligent Systems and Computing | Year: 2016

In this paper the GPU-accelerated range sensors simulation is discussed. Range sensors generate large amount of data per second and to simulate these high-performance simulation is needed.We propose to use parallel ray tracing on graphics processing units to improve the performance of range sensors simulation. The multiple range sensors are described and simulated using NVIDIA OptiX ray tracing engine. This work is focused on the performance of the GPU acceleration of range images simulation in complex environments. Proposed method is tested using several state-of-the-art ray tracing datasets. The software is publicly available as an open-source project SensorSimRT. © Springer International Publishing Switzerland 2016.

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