Informatics Publishing Limited

Sergey I. Artamonov ¹, Nikolay A. Gryaznov ¹, Vyacheslav V. Kharlamov ¹, Nikolay A. Romanov ¹, Evgeniy N. Sosnov ¹

Affiliations
1 Central Research Institute of Robotics and Technical Cybernetics, Saint-Petersburg, Russia

Abstract

Background/Objectives: The article deals with various laser location systems and schemes of building 3D images used for a distant 3D shooting of objects, automated control movement systems, air and space cartography, object search, finding and tracking of targets for ground, surface and air carriers. Methods: Comparative analysis was employed in the research of laser location systems. Findings: The authors have presented a review of different schemes of forming 3D images, covering examples of implementations of Laser Location Systems (LLS) with different functions. Characteristics of different LLS were compared and ways of further evolution of LLS in terms of reducing dimensions and increasing performance of the system were proposed. Applications/Improvements: This review was conducted to study the possibility of increasing LLS performance by means of hybrid building schemes.

Keywords

3D Image, Lidar, Laser Location, Scanning Systems.

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Nikolai A. Gryaznov ¹, Sergey I. Artamonov ¹, Victor I. Kuprenjuk ¹, Evgeny N. Sosnov ¹

Affiliations
1 Department of Medical Equipment, Central Research Institute of Robotics and Technical Cybernetics,,Saint-Petersburg, Russia Federation, Russia

Abstract

Objectives: The article presents the results of the development of multi-channel timeslot measurement system for laser radar for space application. Methods: FPGA Spartan-6 system (Xilinx, USA) was used for the development of our system. Vernier method was applied for timeslot measurement that enabled to obtain high accuracy of the results without using high-frequency signals. Findings: The result of our work was the development of time-to-digital converters (TDC) with extremely low sensitivity to temperature changes. At the same time our TDC was a complete digital device and had lower sensitivity to electromagnetic interference and noise in the supply chain. The results of this development could be interesting to a wide range of specialists focusing on the development of digital systems for both ground and space application. Improvements: A 64-channel TDC has been developed. Due to the self-measurement of characteristics in real time the developed TDC does not require additional correction and adjustment before use.

Keywords

Programmable Logic Device (PLD), Time-to-Digital Converters (TDC).

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Nikolai A. Gryaznov ¹, Sergey I. Artamonov ¹, Victor I. Kuprenjuk ¹, Evgeny N. Sosnov ¹

Affiliations
1 Department of Medical Equipment, Central Research Institute of Robotics and Technical Cybernetics, Saint-Petersburg, RU

Abstract

Objectives: The aim of this work was to perform experimental studies of hybrid laser radar as an intermediate option between the classical scanning pulsed laser radar and a system built in accordance with a 3D-Flash LADAR technology. Methods: The studies were performed on the ground optical track using modern equipment for the registration of measurement results. Modern methods of mathematical modeling were applied for data processing. Findings: Hybrid laser radar provided location frame frequency significantly greater than the frequency of the classical pulse radar, without the use of a matrix photodetector required for 3D-Flash LADAR. Frame frequency of 28 frames per second was obtained in the experimental settings with the view field of 20×20°. A signal/noise ratio was also determined imitating maximal operating range of 2 km on the ground track or of 5 km in space. Improvements: Hybrid laser radar can be used in robotic systems as a 3D technical vision system.

Keywords

3D-Flash LADAR Systems, 3D Images, Hybrid LIDAR, Scanning Systems, Time of Flight.

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Sergey I. Artamonov ¹, Nikolay A. Gryaznov ¹, Vyacheslav V. Kharlamov ¹, Nikolay A. Romanov ¹, Evgeniy N. Sosnov ¹

Affiliations
1 Central Research Institute of Robotics and Technical Cybernetics, RU

Abstract

Background/Objectives: The article outlines aspects of effective application of multiagent robotic systems and development of a unified coordinate-information space for such systems Methods: Authors review aspects of efficacy of application of multiagent robotic systems and questions of development and maintaining the unified coordinateinformation space of these systems. Aspects of devices required to solve the identified problem are also considered in the article. Findings: The circle of the problems arising at creation of multiagent robotic systems has been outlined in the review and possible ways to solve these problems have been shown. Applications/Improvements: The article formulates a list of equipment and systems necessary to maintain a single coordinate-information space for the operation of multiagent robotic systems.

Keywords

Coordinate Measuring, Hybrid Lidar, Multi-Agent Robotic System, Supervisory Network-Centric Management, Technical Vision.

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