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1.
LiDAR-Based Maintenance of a Safe Distance between a Human and a Robot Arm
David Podgorelec, Suzana Uran, Andrej Nerat, Božidar Bratina, Sašo Pečnik, Marjan Dimec, Franc Žaberl, Borut Žalik, Riko Šafarič, 2023, original scientific article

Abstract: This paper focuses on a comprehensive study of penal policy in Slovenia in the last 70 years, providing an analysis of statistical data on crime, conviction, and prison populations. After a sharp political and penal repression in the first years after World War II, penal and prison policy began paving the way to a unique "welfare sanction system", grounded in ideas of prisoners' treatment. After democratic reforms in the early 1990s, the criminal legislation became harsher, but Slovenia managed to avoid the general punitive trends characterized by the era of penal state and culture of control. The authoritarian socialist regime at its final stage had supported the humanization of the penal system, and this trend continued in the first years of the democratic reforms in the 1990s, but it lost its momentum after 2000. In the following two decades, Slovenia experienced a continuous harshening of criminal law and sanctions on the one hand and an increasing prison population rate on the other. From 2014 onwards, however, there was a decrease in all segments of penal statistics. The findings of the study emphasize the exceptionalism of Slovenian penal policy, characterized by penal moderation, which is the product of the specific local historical, political, economic, and normative developments.
Keywords: LIDAR, robot, human-robot collaboration, speed and separation monitoring, intelligent control system, geometric data registration, motion prediction
Published in DKUM: 16.02.2024; Views: 210; Downloads: 17
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Simplified method for analyzing the availability of rooftop photovoltaic potential
Primož Mavsar, Klemen Sredenšek, Bojan Štumberger, Miralem Hadžiselimović, Sebastijan Seme, 2019, original scientific article

Abstract: This paper presents a new simplified method for analyzing the availability of photovoltaic potential on roofs. Photovoltaic systems on roofs are widespread as they represent a sustainable and safe investment and, therefore, a means of energy self-suffciency. With the growth of photovoltaic systems, it is also crucial to correctly evaluate their global effciency. Thus, this paper presents a comparison between known methods for estimating the photovoltaic potential (as physical, geographic and technical contributions) on a roof and proposes a new simplified method, that takes into account the economic potential of a building that already has installed a photovoltaic system. The measured values of generated electricity of the photovoltaic system were compared with calculated photovoltaic potential. In general, the annual physical, geographic, technical and economic potentials were 1273.7, 1253.8, 14.2 MWh, and 279.1 Wh, respectively. The analysis of all four potentials is essential for further understanding of the sustainable and safe investment in photovoltaic systems.
Keywords: photovoltaic system, rooftop photovoltaic potential, economic potential, light detection and ranging, LiDAR
Published in DKUM: 05.12.2023; Views: 236; Downloads: 10
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4.
Novel Half-Spaces Based 3D Building Reconstruction Using Airborne LiDAR Data
Marko Bizjak, Domen Mongus, Borut Žalik, Niko Lukač, 2023, original scientific article

Abstract: Automatic building reconstruction from laser-scanned data remains a challenging research topic due to buildings’ roof complexity and sparse data. A novel automatic building reconstruction methodology, based on half-spaces and a height jump analysis, is presented in this paper. The proposed methodology is performed in three stages. During the preprocessing stage, the classified input point cloud is clustered by position to obtain building point sets, which are then evaluated to obtain half-spaces and detect height jumps. Half-spaces represent the fundamental shape for generating building models, and their definition is obtained from the corresponding segment of points that describe an individual planar surface. The detection of height jumps is based on a DBSCAN search within a custom search space. During the second stage, the building point sets are divided into sub-buildings in such a way that their roofs do not contain height jumps. The concept of sub-buildings without height jumps is introduced to break down the complex building models with height jumps into smaller parts, where shaping with half-spaces can be applied accurately. Finally, the sub-buildings are reconstructed separately with the corresponding half-spaces and then joined back together to form a complete building model. In the experiments, the methodology’s performance was demonstrated on a large scale and validated on an ISPRS benchmark dataset, where an RMSE of 0.29 m was obtained in terms of the height difference.
Keywords: LiDAR point cloud, building reconstruction, half-spaces, Boolean operations
Published in DKUM: 01.12.2023; Views: 246; Downloads: 11
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Interaktivno upodabljanje oblakov točk LiDAR na očalih za navidezno resničnost z uporabo pametnega telefona : diplomsko delo
Žiga Pušnik, 2023, undergraduate thesis

Abstract: V diplomskem delu je opisana implementacija mobilne aplikacije za operacijski sistem Android, ki na pametnem telefonu prikaže oblak točk svetlobnega zaznavanja in merjenja (ang. Light Detection and Ranging – LiDAR). Aplikacija omogoča premikanje po navideznem prostoru in pri vizualizaciji točk s pomočjo očal za navidezno resničnost (ang. Virtual Reality – VR) omogoča prepričljivejšo izkušnjo realnega okolja. Najcenejša očala so na trgu dostopna že za 15 €. S testiranjem aplikacije smo preverili njeno uporabnost in omejitve. Ugotovili smo, da se glede na zahtevnost pogleda pri upodabljanju večjih oblakov točk pojavijo večje razlike v hitrosti upodabljanja. V našem primeru smo pri merjenju števila sličic na sekundo (ang. frames per second – fps) pri oblaku z 1.000.000 točkami v osnovnem pogledu izmerili 54 fps, v pogledu VR pa 24 fps.
Keywords: LiDAR, oblak točk, očala, navidezna resničnost, pametni telefon
Published in DKUM: 21.09.2023; Views: 320; Downloads: 14
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7.
Načrtovanje in implementacija optimizacijskega algoritma rojev delcev za lokalizacijo mobilnega robota pepper : magistrsko delo
Erik Rot Weiss, 2023, master's thesis

Abstract: V tem magistrskem delu se raziskuje načrtovanje in implementacija optimizacijskega algoritma rojev delcev za lokalizacijo mobilnega robota Pepper. Osredotočamo se na interpretacijo senzorskih meritev z uporabo algoritma rojev delcev in njegovo primerjavo z genetski algoritmom. Preizkušamo algoritem v izven omrežnem okolju lokalizacije, kjer so podatki, ki so obravnavani, prave meritve LiDAR v znanih točkah v prostoru. Delo se konča z implementacijo algoritma na robota za sočasno lokalizacijo med obratovanjem robota.
Keywords: lokalizacija, mobilni robot Pepper, algoritem rojev delcev, genetski algoritem, LiDAR meritve
Published in DKUM: 06.09.2023; Views: 300; Downloads: 24
.pdf Full text (3,12 MB)

8.
Načrtovanje in sledenje poti kmetijskega robota FarmBeast : diplomsko delo
Domen Toš, 2022, undergraduate thesis

Abstract: Kmetijski robot FarmBeast je nastal v okviru obštudijskega dela študentov treh fakultet Univerze v Mariboru. V nadaljevanju diplomske naloge je opisan postopek ustvarjanja algoritma za načrtovanje in sledenje poti ob avtonomni vožnji robota. Naloga robota je, da se avtonomno vozi po polju koruze in ob tem načrtuje pot, kateri bo kasneje sledil. Postopek opisa zajema spoznavanje strojnega dela opreme, predvsem senzorjev, kot so LiDAR, IMU, inkrementalni dajalnik, itd., ki so ključni faktor, da se lahko robot avtonomno premika ter programskega dela, ki je rezultat našega dela. Programske kode so zapisane v programskem jeziku C++, ki je eden najbolj razširjenih jezikov in je priporočljiv za programiranje v meta operacijskem sistemu ROS. ROS deluje na operacijskem sistemu LINUX, na katerem smo uporabljali tudi 3D simulacijsko okolje Gazebo in grafični vmesnik Rviz.
Keywords: FarmBeast, LiDAR, ROS, Gazebo
Published in DKUM: 14.09.2022; Views: 390; Downloads: 30
.pdf Full text (3,15 MB)

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Razvoj senzorske merilne naprave za 3D zajem prostora : diplomsko delo
Uroš Cizerle, 2022, undergraduate thesis

Abstract: Diplomsko delo zajema primerjavo različnih senzorskih tehnologij in njihove uporabe za merjenje razdalje in zajem prostora. Opisuje postopek izdelave prototipa naprave za izmero 2D prostora do 10 metrov razdalje z uporabo LiDAR tehnologije. Trenutna tehnologija omogoča mnogo senzorjev različnih cenovnih razredov, ki ponujajo širok spekter uporabe in vse večjo zanesljivost.
Keywords: LiDAR tehnologija, 3D tiskalnik, 2D izris prostora, programsko okolje Python
Published in DKUM: 25.08.2022; Views: 1023; Downloads: 101
.pdf Full text (3,74 MB)

10.
Prostorsko-Časovne spremembe biomase kopenskih rastlin na območju ledavskega jezera med letoma 1980 in 2018 : magistrsko delo
Gregor Horvat, 2021, master's thesis

Abstract: Geografski informacijski sistemi (GIS) so orodja s katerimi uporabnik zajema, shranjuje, obdeluje, analizira in prikazuje prostorske podatke. Digitalna oblika prostorskih podatkov omogoča obdelavo le-teh z različnih zornih kotov številnih znanstvenih panog. Uporaba geografskih informacijskih sistemov je med drugim primerna za proučevanje bodisi naravnih ali antropogenih vplivov na okolje. Ledavsko jezero je umetni rezervoar, ki je nastal v obdobju 1976-1977 z zajezitvijo reke Ledave, ki je po reki Muri drugi največji vodotok v Pomurju. Jezero je bilo zgrajeno predvsem kot zaščita pred poplavami po obsežnih poplavah mesta Murska Sobota leta 1972. Medtem ko je spodnji, južni del vodnega telesa omejen z betonskim jezom, je severni del rezervoarja na izlivu Ledave, popolnoma podvržen naravni prostorski dinamiki. V magistrskem delu obravnavamo spreminjanje nadzemne biomase kopenskih rastlin na območju Ledavskega jezera s pomočjo tehnologije daljinskega zaznavanja. Naslanjamo se na podobe satelita LANDSAT in podatke laserskega skeniranja Agencije RS za okolje ter na podatke habitatnega kartiranja. Rezultati kažejo, da je večina kopenske biomase nastala v prvih desetih letih ob izlivu reke Ledave v umetno jezero. Trend zaraščanja je značilno linearen. Z leti je, s pomočjo uporabe 2D in 3D prostorskih podatkov, zaznavno povečanje nadzemne biomase praktično na celotnem raziskovalnem območju, še posebej pa v habitatnih tipih mlado- in belo-vrbovje.
Keywords: Ledavsko jezero, LANDSAT, daljinsko zaznavanje, Lidar
Published in DKUM: 13.01.2022; Views: 784; Downloads: 42
.pdf Full text (1,72 MB)

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