POST-DOC REPORT

INSTITUTE OF INFORMATION AND COMMUNICATION TECHNOLOGIES

BULGARIAN ACADEMY OF SCIENCES

period: 05 January 2015 – 30 April 2015

Kristina Jakimovska

I. RESEARCH ACTIVITIES AND RESULTS

Conducting theoretical and simulation research on vehicle safety and vehicle roadworthiness of used cars using MCDM (Multi - criteria decision methods)

Carry out research on vehicle durability and ownership cost in vehicle LCC (Life Cycle Cost)

As well as working on several problems on autonomous mobile robots, intended for work and adaptive perception in unknown and unstructured environment. The objective are robots, dedicated for multisensory environment perception and exploration

Under AComIn project we have been working on the following problems mentioned below:

I. 1 Vehicle roadworthiness evaluation

In this study we are proposing fuzzy AHP /Analytic Hierarchy Process/ method to evaluate the vehicle roadworthiness that is directly connected to vehicle safety. A decision group and vehicle roadworthiness framework containing 14 indicators are established. The benefit of this task is to be shown the engineering practicability and effectiveness of this method in vehicle roadworthiness evaluation also importance of the weights on the various indicators are going to be illustrated.

I. 2 Wireless controlled mobile robots in transport

Made classification of the different types mobile robots in accordance with the way of locomotion, used drive mechanisms, kind of sensors, end effectors, area of application, etc.

I. 2 Wireless controlled mobile robots in transport

Proposed modular system for the mechanical construction of the mobile robots. Electronic modules for the wireless communication as well as the specific software is being developed.

I. 2 Wireless controlled mobile robots in transport

The methods, means and algorithms for adaptive environment behavior and tasks realization are examined. An algorithm for full covering of a surface with obstacles, using group of mobile robots is described. Discussion is involved about the methods of group control of mobile robots and different areas of application.

II. PARTICIPATIONS AND PRESENTATIONS AT SCIENTIFIC EVENTS

II. 1 From 03-05 February 2015 attended 3 days international conference "Non-destructive

control in modern industry" in Sofia organized from Cluster "NDT control in the Republic of Bulgaria", Institute of Mechanics - Bulgarian Academy of Sciences (BAS) and Bulgarian Society for Non-Destructive Testing. Discussed possibilities for common research using the Smart Lab equipment i.e. 3D laser scanner.

II. 2From 13-15 April 2015 attended International Automotive Conference in Belgrade XXV "Science and Motor Vehicles 2015" with paper "Application of fuzzy AHP method for vehicle roadworthiness evaluation" which was held in the technical session "Automotive Safety". With prof. Zoran Lulic from Faculty of Mechanical Engineering and Naval Architecture in Zagreb and prof. Mauri Haataja from Faculty of Technology in Oulu were specified some directions for future joint research in the area of vehicle safety and vehicle dynamics (using the High Speed Camera and the Thermo Camera from SmartLab).

II. 3 On the event Open Days at BAS 17-18 April 2015 organized by IICT - BAS under

AComIN project with Prof. Veno Pachovski from the American College in Skopje, MK it is discussed possibilities for creation of database that we'll help organize the data collected from the Smart Lab equipment.

III. PUBLICATIONS

Together with prof. Karastoyanov wrote several papers about vehicle safety, vehicle roadworthiness and wireless controlled mobile robots. These papers will be presented at international transport conferences. The papers are titled:

* paper with title "Wireless controlled mobile robots for transport" - D. Karastoyanov, K. Jakimovska

  * paper with title"Application of fuzzy TOPSIS in evaluating vehicle

roadworthiness" - K. Jakimovska, D. Karastoyanov

III. PUBLICATIONS

Two abstracts are accepted as well:

* abstract with title "Vehicle durability determination based on life cycle cost analysis" -

K. Jakimovska, D. Karastoyanov, B. Stojčevska

40th OMO 2015 conference "Maintenance of machinery and equipment"

  * abstract with title "An AHP/DEA method for measurement of the

vehicle roadworthiness performance index - VRWPI" -

K. Jakimovska, Č. Duboka, D. Karastoyanov

XXI International Conference MHCL 2015 "Material Handling, Constructions and Logistics"

IV. WORK WITH SMART LAB EQUIPMENT

IV. 1

AComIn Smart Lab 3D laser scanner performance was estimated

(scanning was performed with different types of objects from

different materials such as metal, plastic etc.)

Obtained characteristics enable to improve its usage.

Applicability of the scanner was considered.

TECHNICAL SPECIFICATIONS:

Weight: 1.3 kg (2.85 lb) Dimensions: 172 x 260 x 216 mm (6.75 x 10.2 x 8.5 in) Measurements: 18,000 measures/s Laser class: II (eye-safe) Geometry Resolution: 0.1 mm (0.004 in) Accuracy: Up to 50 μm (0.002 in) ISO: 20 μm + 0.2 L / 1000 Texture Resolution: 50 to 250 DPI (userconfigurable) Texture Colors: 24 bits, sRGB-calibrated Depth of field: 30 cm (12 in) Output file

formats: .ma, .dae, .obj, .x3dz, .x3d, .zpr, .wrl, .fbx, .ply, .stl, .txt

#1 ALUMINIUM PART

Scanned with 1mm resolution in VXelements Software

shiny surfaces or specular reflections, can produce noise in the scan or create artefacts in the .stl file

x before after (use of anti-glare spray)

Scanning with 3D laser scanner

VXelements software

SAVE FACETS AS

Binary STL (*.stl)ASCII STL (*.stl)

3D Points Text File (*.txt)Wavefront (*.obj)

ZPR (*.zpr)VRML 1.0 (*.wrl)

VRML 2.0/97 (*.wrl)ASCII PLY (*.ply)Binary PLY (*.ply)

Gzip Compressed X3D (*.x3dz)ASCII X3D with Embedded Texture (*.x3d)ASCII X3D with Separate Texture (*.x3d)

Maya (*.ma)COLLADA (*.dae)

Binary Autodesk FBX (*.fbx)ASCII Autodesk FBX (*.fbx)

Wavefront (*.obj)

Meshlab is extensible mesh processing system, aimed to the user assisted cleaning, filtering, editing and rendering of unstructured 3D triangular meshes. The tool found its natural use for the processing of the meshes that usually arise in 3D scanning.

#2 JOHN ATANASOV

Scanned with 2mm resolution in VXelements Software

Different resolutions tried in order to get the best scanned picture.

Hint: the object should be lightly sprayed in order to get better results!

#3 METAL GLASS

Scanned with 2mm resolution in VXelements Software

IV. 2 Active work and collaboration with colleagues from

Institute of Experimental Morphology, Pathology and Anthropology with Museum - Bulgarian Academy of Sciences.

Poster #1 for Open days at BAS 17-18 April 2015“Application of 3D Digitizing Technologies in Paleoanthropology”

IV. 3 Active work and collaboration with colleagues from

Institute of Mathematics and Informatics & National Archeological Institute with Museum - Bulgarian Academy of Sciences.

Poster #2 for Open days at BAS 17-18 April 2015“3D digitization for cultural heritage objects”

Took too long for scanning – couple of hours!

Next time large objects should be scanned in parts with Save Targets Function and merging them at the end.

V. PLANS FOR FUTURE WORK

V. 1 Continuing work with 3D laser scanner and searching for possibilities for itsimplementation in NDT (non-destructive testing):* creating a database model for organizing the data about scanned objects, * creating case studies (choosing objects and defining procedures) for educating * professionals in using 3D laser scanner, preparing manual for efficient using of the 3D laser scanner. 

V. 2 Planned activities with Bulgarian Society for Non-Destructive Testing on theNDT Conference in Sozopol in June 2015.

V. 3 New collaboration with research group from VTU Todor Kableshkov was

established andcolleagues from the Department of Electrical Engineering in Transport from

GdanskUniversity of Technology, Poland. It was discussed about research project in the

field ofElectrical transport on trolleybuses and possibilities of using Thermo Camera

fromSmart Lab for heat diagnostics on electrical components at trolleybuses.

THANK YOU FOR YOUR

KIND ATTENTION!

Acknowledgments This work was supported by AComIn

“Advanced Computing For Innovation" grant 316087,

funded by the FP7 Capacity Program

e-mail: kristina.jakimovska@gmail.com