Testing of Software for the Planning of a Linear Object GNSS Measurement Campaign under Simulated Conditions

The precision of a linear object measurement using satellite techniques is determined by the number and the relative position of the visible satellites by the receiver. The status of the visible constellation is described by the Dilution Of Precision (DOP). The obtained geometric coefficient values are dependent on many variables. When determining these values, field obstacles at the receiver location and satellite positions changing with time must be taken into account. Carrying out a series of surveys as part of a linear object Global Navigation Satellite System (GNSS) measurement campaign requires the optimisation problem to be solved. The manner of the inspection vehicle’s movement should be determined in such a way that the surveys are taken only within the pre-defined time frames and that the geometric coefficient values obtained at subsequent points of the route are as low as possible. The purpose of this article is to develop a software for the planning of a linear object GNSS measurement campaign to implemented in motion and taking into account the terrain model and its coverage. Additionally, it was determined how much the developed program improves DOP values on the planned route under simulated conditions. This software has no equivalent elsewhere in the world, as the current solutions for the planning of a GNSS measurement campaign, e.g., Trimble GNSS Planning, GNSS Mission Planning, or GPS Navigation Toolbox, allow the satellite constellation geometry to be analysed exclusively for specific coordinates and at a specific time. Analysis of the obtained simulation test results indicates that the campaign implementation in accordance with the pre-determined schedule significantly improves the quality of the recorded GNSS data. This is particularly noticeable when determining the position using the Global Positioning System (GPS) and GLObal NAvigation Satellite System (GLONASS) satellite constellations at the same time. During the tests conducted on the road along a three-kilometre-long route (tram loop) in Gdańsk Brzeźno, the average value of the obtained Position Dilution Of Precision (PDOP) decreased by 22.17% thanks to using the software to plan a linear object GNSS measurement campaign. The largest drop in the geometric coefficient values was noted for an area characterised by a very large number of field obstacles (trees with crowns and high buildings). Under these conditions, the PDOP value decreased by approx. 25%. In areas characterised by a small number of field obstacles (single trees in the vicinity of the track, clusters of trees and buildings located along the track), the changes in the PDOP were slightly smaller and amounted to several percent.

Proximity Sensor for Thin Wire Recognition and Manipulation

In robotic grasping and manipulation, the knowledge of a precise object pose represents a key issue. The point acquires even more importance when the objects and, then, the grasping areas become smaller. This is the case of Deformable Linear Object manipulation application where the robot shall autonomously work with thin wires which pose and shape estimation could become difficult given the limited object size and possible occlusion conditions. In such applications, a vision-based system could not be enough to obtain accurate pose and shape estimation. In this work the authors propose a Time-of-Flight pre-touch sensor, integrated with a previously designed tactile sensor, for an accurate estimation of thin wire pose and shape. The paper presents the design and the characterization of the proposed sensor. Moreover, a specific object scanning and shape detection algorithm is presented. Experimental results support the proposed methodology, showing good performance. Hardware design and software applications are freely accessible to the reader.

Linear objects as real estate objects: legislative approaches of Russia and foreign countries

The purpose of the study is to theoretically develop the problem of attributing linear objects to real estate objects. To achieve this goal, a comprehensive analysis of Russian and foreign legislation was carried out in the framework of relations with linear facilities. At the same time, special attention is paid to the concepts and approaches related to the classification of linear objects as real estate objects in Russian law and in the countries of the Anglo-Saxon and Romano-Germanic legal systems. Considering the civil legislation of Germany, Russia, the USA and France, the authors concluded that there are no unified definitions of the concepts of "linear object" and "real estate"; only a listing of their types has been established. However, the declared concept can be identified based on the definition of the characteristics of real estate in these countries. In this regard, it can be argued that each country has its own understanding in assessing the concept of «linear object» and its attribution to real estate objects.

Tactile Sensor Data Interpretation for Estimation of Wire Features

At present, the tactile perception is essential for robotic applications when performing complex manipulation tasks, e.g., grasping objects of different shapes and sizes, distinguishing between different textures, and avoiding slips by grasping an object with a minimal force. Considering Deformable Linear Object manipulation applications, this paper presents an efficient and straightforward method to allow robots to autonomously work with thin objects, e.g., wires, and to recognize their features, i.e., diameter, by relying on tactile sensors developed by the authors. The method, based on machine learning algorithms, is described in-depth in the paper to make it easily reproducible by the readers. Experimental tests show the effectiveness of the approach that is able to properly recognize the considered object’s features with a recognition rate up to 99.9%. Moreover, a pick and place task, which uses the method to classify and organize a set of wires by diameter, is presented.

New Model-Based Manipulation Technique for Reshaping Deformable Linear Objects

In this article, we consider the problem of reshaping a deformable linear object (DLO) like wires, cables, ropes, and surgical sutures. The solution to this problem would be useful for many fields, especially industrial manufacturing, where the DLO manipulation is still frequently carried out by human workers. In this work, a new model-based manipulation technique for reshaping a DLO is addressed employing a sequence of grasping and releasing primitives performed by a single-armed robot equipped with a gripper. A decision process selects the optimal grasping point exploiting an error minimization approach and chooses the related releasing point. This decision process performs a spline interpolation between the error values obtained from candidate grasping points and chooses the optimal point that owns a minimum error. The multivariate dynamic spline model of the DLO is exploited for selecting the optimal grasping point and predicting the DLO behavior during the manipulation process. Because of its advantages over other integration methods, the symplectic integrator is utilized for iteratively solving the DLO dynamic model. Simulation results of reshaping a DLO lying on a table are presented to evaluate the proposed technique. These results illustrate the intermediate deformation steps which lead the DLO from its starting state to the desired one. They demonstrate that our proposed technique can efficiently manipulate the DLO into various shapes in few steps.

SELECTION OF ROUTE OPTIONS FOR LOCATION OF LINEAR NONAGRICULTURAL FACILITIES

Consideration of several options for routes of passage of a linear object through the construction site is an important part of drawing up a construction project. The article proposes and considers options for the passage of power lines, reveals their positive and negative sides. By comparing technical and economic indicators, a choice was made that meets all the requirements for quality, convenience and safety.