Papers by Author: Tomasz Praczyk

Abstract: Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle on the operator level is also necessary. Its task is to define mission of the vehicle, to start, stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode.The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

Abstract: In the paper, the problem of modeling motion of Biomimetic Underwater Vehicle BUV has been taken into consideration. The model of the BUV motion has been designed for initial tuning and verification of the vehicle’s autonomy system. The BUV is built within development project funded by Polish National Centre of Research and Development. At the end of the project, it is expected to achieve technology demonstrator at the 7th level of technology readiness.In the first part of the paper, a control-oriented mathematical model of the BUV designed for implementation of the simulator is described. Then, selected results of the BUV operation in the form of courses of the vehicle motion parameters are presented. Finally, general information about the implementation of the BUV model has been inserted.

Abstract: When designing a control system for a ship gun, the problem is to predict orientation of the ship in an assumed reference frame. This problem can be solved with different regression tools out of which one are neural networks. To verify their abilities to predict spatial orientation of a ship, experiments were carried out. In the experiments, the task of neural networks was to predict the roll angle which changed according to seven model sinusoid functions with different parameters and higher harmonic components.

Abstract: Assembler Encoding is a neuro-evolutionary method in which neural networks are represented in the form of evolutionary created programs. Each program consists of operations and data evolving in many separate populations. To enable the evolution to produce effective programs and in consequence neural networks, operations and data from each population have to be reliably evaluated. The paper presents and compares several methods that can be used for that purpose. The comparative tests were carried out on the predator-prey problem.

Abstract: Assembler Encoding is Artificial Neural Network encoding method. To date Assembler Encoding has been tested in the optimization problem and in the so-called predator-prey problem. The paper reports experiments in a next test problem, i.e. in the inverted pendulum problem. During the experiments two direct encodings were also tested in order to compare Assembler Encoding with other Artificial Neural Network encoding methods.