[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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Automatic Targeting Sentry Turret for Distributed Systems 53 The most important information from vision system is the position of object and real time processing [12]. Objects are tracked with use of history of motion and optical flow algorithm. It is assumed that the scene is static, and the camera is not moving. If a new moving object appears it is separated from the background and its center of mass is calculated. As long as an object is moving its position is tracked and its coordinates are sent as control of gun positioning variables. Each turret is mounted in one place and as a process of setting up the equipment it is possible to provide the GPS coordinates so the turret can work in slave mode. In this case turret is receiving orders about objects and targets position that are detected from other systems. Aiming targets is done by calculating the position of object due to turret position and setting the proper orientation. It is also possible that the user is manually operating the gun. It can work with two ways. In fully manual mode user is controlling the gun actuators. In semiautomatic mode user is working with vision system and can point objects on camera output frames in order to move the gun to that position or to track objects. The presented solution was made with use of easy methods and its purpose was to point out all disadvantages that should be handled. The parameters that should be considered are: wind speed, bullet speed while shooting moving targets, distance from object that indicates bullet descending due to gravity. Each of those variables cause the inaccuracy of the gun. For example it is possible that if the object is moving fast, the gun would not shoot the object, but the place where the object was small amount of time ago. 5 Future Work The proposed architecture of distributed system for monitoring and control of robotic application has proven its usefulness in sentry turret application. It is possible to use such architecture for other devices, such as exoskeletons. It is important to be able to remotely monitor the health of the exoskeleton application elements, such as batteries, actuators and controllers, to ensure safety of the user. The experience from sentry turret application showed that this is possible and doesn't even need dedicated architecture written from the very bottom, but the usage of existing, universal architectures is possible. Current work will be focused on the usage of different devices, such as tablets or smartphones, to allow interconnection between robotic applications and remote users. 6 Summary Targeting system requires extensive testing, as far as dispersion, recoil and different ranges are concerned. One of the biggest issues are shooting the moving targets, because in this case a lot of arguments should be taken into account, some of them are difficult to measure, some demand high measurement accuracy. However it was shown and proven that the system can work with multi agent approach and
54 P. Demski et al. implementing such system is an effective way of terrain control. It is practical implementation of the idea presented in [13] and [15]. Acknowledgements. Research presented in this paper has been made possible thanks to the Foundation for Polish Science (Ventures Project), and is co-funded by the European Union from the Operational Program Innovative Economy. Furthermore the author Michal A. Mikulski is a scholar from the "DoktoRIS - Scholarship Program for Silesian Innovation" co-funded by the European Union from the European Social Fund. References [1] Demski, P., Mikulski, M., Koteras, R.: Characterization of hokuyo UTM-30LX laser range finder for an autonomous mobile robot. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems. SCI, vol. 440, pp. 143– 154. Springer, Heidelberg (2013) [2] Digi International Inc.: XBee/XBee-PRO ZB RF Modules Manual (2009) [3] Ho-Chung, C., Ta-Ming, S.: Visual servo control of a three degree of freedom robotic arm system. In: IEEE International Conference on Advanced Robotics and its Social Impacts. IEEE, Taipei (2008) [4] Suidobashi Heavy Industry: Kuratas (2012), http://suidobashijuko.jp/ [5] Mikulski, M.A., Szkodny, T.: Remote control and monitoring of ax-12 robotic arm based on windows communication foundation. In: Czachórski, T., Kozielski, S., Stańczyk, U. (eds.) Man-Machine Interactions 2. AISC, vol. 103, pp. 77–83. Springer, Heidelberg (2011) [6] Moore, S.: A robotic sentry for korea’s demilitarized zone. In: IEEE Spectrum (2007) [7] Wolcott, R., Bishop, B.: Cooperative decision-making and multi-target attack using multiple sentry guns. In: 41st Southeastern Symposium on System Theory. IEEE, Tullahoma (2009) [8] Grygiel, R., Pacholczyk, M.: Prototyping of control algorithms in matlab/Simulink. In: 14th World Multi-Conference on Systemics, Cybernetics and Informatis, WMSCI 2010, vol. 2, pp. 141–145 (2010) [9] Daniec, K., Jedrasiak, K., Koteras, R., Nawrat, A.: Embedded micro inertial navigation system. Applied Mechanics and Materials 249-250, 1234–1246 (2013) [10] Jędrasiak, K., Bereska, D., Nawrat, A.: The Prototype of Gyro-Stabilized UAV Gimbal for Day-Night Surveillance. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems. SCI, vol. 440, pp. 107–115. Springer, Heidelberg (2013) [11] Iwaneczko, P., Jędrasiak, K., Daniec, K., Nawrat, A.: A prototype of unmanned aerial vehicle for image acquisition. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds.) ICCVG 2012. LNCS, vol. 7594, pp. 87–94. Springer, Heidelberg (2012) [12] Jȩdrasiak, K., Nawrat, A.: Image recognition technique for unmanned aerial vehicles. In: Bolc, L., Kulikowski, J.L., Wojciechowski, K. (eds.) ICCVG 2008. LNCS, vol. 5337, pp. 391–399. Springer, Heidelberg (2009)
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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