Institute of Fundamental Technological Research

Magnetic nanoparticles (MNPs) have recently been a point of interest for many researchers due to their properties. However, the studies on the influence of bacteriophages on the synthesis of MNPs seem to be lacking. Furthermore, bacteriophage-modified MNPs have not been combined with n-alkyl quaternary ammonium ionic liquid precursors (QAS). In this study, the aim was to assess the influence of two distinctly different bacteriophages (Escherichia phage P1 and Pseudomonas phage Φ6) on MNPs synthesis in the presence or absence of QAS. Synthesized MNPs have been characterized with X-ray diffraction (XRD) and Mössbauer spectroscopy in terms of changes in the crystallographic structure; scanning electron microscopy (SEM) for changes in the morphology; and ζ-potential. Moreover, the sorption parameters and the loss of viability of bacteria that interacted with MNPs have been determined. The sorption of bacteria differs significantly among the tested samples. Furthermore, the viability of the bacteria adsorbed on MNPs varies in the presence of QAS, depending on the length of the n-alkyl chain. The study has revealed that MNPs can be bound with bacteriophages. Mössbauer spectroscopy has also revealed the probable influence of bacteriophages on the formation of crystals. However, these phenomena require further studies.

Niniejszy artykuł opisuje prace wykonane w celu przeprowadzenia eksperymentu weryfikującego działanie Planera zadania Search and Rescue na zespole trzech robotów kołowych w budynku użyteczności publicznej. Celem zadania jest przeszukanie obiektu przez grupę robotów, odnalezienie w nim poszkodowanych oraz wezwanie pomocy w odpowiednie miejsce. Punktem centralnym systemu jest Planer wykorzystujący język logiki czterowartosciowej 4QL, który został uprzednio przetestowany na symulacjach komputerowych. Jego działanie zostanie opisane pobieżnie, głównym tematem jest metodyka wdrożenia. Aby przeprowadzić eksperyment, należało zintegrować Planer z systemem wielorobotowym. Wedle autorów jest to zadanie nietrywialne, dlatego przy jego realizacji wykorzystano paradygmaty Test-driven development (TDD), zaadaptowane odpowiednio do realiów robotyki mobilnej. Finalny eksperyment został nagrany, a wideo udostępniono w Internecie.

logika wielowartościowa, search and rescue, systemy wielorobotowe

The paper reports initial results on modeling and simulating cooperation of rescue robots. Our aim is to investigate the efficiency of the “first simulate then act” paradigm for rescue operations undertaken by multiple mobile robots, assuming that information about the environment can be incomplete and partially inconsistent. To deal with ignorance and contradictions we adopt a non–standard logic in the inference engine. To demonstrate feasibility of our approach we present the architecture of the developed simulator and results of experiments done so far.

four-valued logic, search and rescue, multirobotic systems

In this article we present a navigation system of a mobile robot based on parallel calculations. It is assumed that the robot is equipped with a 3D laser range scanner. The system is essentially based on a dual grid-object, where labels are attached to detected objects (such maps can be used in navigation based on semantic information). We use a classical SMPA (Sense - Model - Plan - Act) architecture for navigation, however, some steps concerning object detection, planning and localization are parallelized in order to speed up the entire process. The CUDA (Compute Unified Device Architecture) technology allows us to execute our algorithms on many processing units with use of a inexpensive graphics card which makes it possible to apply the proposed navigation system in a real time.

navigation, neural network, parallel computing

Nowadays mobile robots find application in many areas of production, public transport, security and defense, exploration of space, etc. In order to make further progress in this domain of engineering, a significant barrier has to be broken: robots must be able to understand the meaning of surrounding world. Until now, mobile robots have only perceived geometrical features of the environment. Rapid progress in sensory devices (video cameras, laser range finders, microwave radars) and sufficient computational power available on-board makes it possible to develop robot controllers that possess certain knowledge about the area of application and which are able to reason at a semantic level.

The first part of the paper deals with mobile robots dedicated to operate inside buildings. A concept of the semantic navigation based upon hypergraphs is introduced. Then it is shown how semantic information, useful for mobile robots, can be extracted from the digital documentation of a building.

In the second part of the paper we report the latest results on extracting semantic features from the raw data supplied by laser scanners. The aim of this research is to develop a system that will enable a mobile robot to operate in a building with ability to recognise and identify objects of certain classes. Data processing techniques involved in this system include a 3D-model of the environment updated on-line, rule-based and feature-based classifiers of objects, a path planner utilizing cellular networks and other advanced tools. Experiments carried out under real-life conditions validate the proposed solutions.

semantic navigation, mobile robots, laser scanners

W poniższej pracy przedstawiono system nawigacyjny robota mobilnego. W procesie planowania trasy wykorzystuje się semantyczną wiedzę o otoczeniu. Robot wyposażony w skaner laserowy 3D analizuje otoczenie i przypisuje obserwowanym obiektom etykiety. Cel, do którego robot ma dotrzec jest wskazywany poprzez podanie nazwy obiektu. Możemy więc wydać polecenie typu jedź do ściany, do drzwi, czy też umywalki. Zastosowano hybrydową rastrowo-obiektową reprezentację otoczenia. W procesie planowania trasy zastosowano sieci komórkowe.

semantyczna nawigacja, roboty mobilne, sieci komórkowe

W artykule przedstawiono system wspomagający pracę operatora zdalnie kontrolowanego pojazdu poprzez wizualizację najbliższego otoczenia jako mapy wysokośsci przeszkód. Informacje o otoczeniu zbierane są za pomocą dalmierzy laserowych 2D dokonujących pomiaru w jednej płaszczyźnie, dane dotyczące umiejscowienia i przechyłów pojazdu dostarczają inklinometr, radarowy czujnik prędkosci oraz moduł GPS. Na podstawie przemieszczania się pojazdu możliwa jest pełna rekonstrukcja środowiska, przy założeniu że jest ono całkowicie statyczne. Przedstawiono wyniki budowania mapy 2,5D dla trzech róznych środowisk: garażu podziemnego, przejazdu między budynkami i parkingu samochodowego.

mapa otoczenia, nawigacja, dalmierze laserowe

This paper introduces a novel approach to structural engineering design, using a self-organizing multi-agent system. It commences by discussing structural optimization in engineering design. It will then define the key concepts of self-organization and multi-agent systems. It will finally present a self-organizing multi-agent system using a case study of trusses in electrical pylons.

multi-agent systems, structural design, self-organization, layout optimization

A numerical procedure is developed to compute the minimum volume design for the reinforcement of concrete slabs. The optimum solution ensures a given safety factor against plastic collapse and meets technological requirements. A linear programming approach to the optimization of rigid-plastic structures is briefly outlined, and a dual discrete model of a slab is then introduced that uses finite elements. A linear function is chosen for the deflection rate, while the bending and twisting moments are kept constant throughout the element. The mesh lines are potential yield lines, and the admissibility of stresses is checked along these lines. As a result a kinematic estimate of the optimum reinforcement is obtained. Several examples illustrate the method.