Vasyl Koval

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TheSoftware Structure Development forMobile RobotControl

The developed datastructure fordata communication between robot units, theprotocol forclient- ser... more The developed datastructure fordata communication between robot units, theprotocol forclient- server interaction andalgorithm forthedatacommunication of client-server protocol packages that allow tocontrol bymobile robot inunstructured environment andtheir application on real-scaled mobile robot arepresented inthis paper.

Predetermined Movement of Mobile Robot Using Neural Networks

International Journal of Computing, Aug 1, 2014

This paper describes the experimental results of neural networks application for mobile robot con... more This paper describes the experimental results of neural networks application for mobile robot control on predetermined trajectory of the road.Theret is considered the formation process of training sets for neural network, their structure and simulating features. Researches have showed robust mobile robot movement on different parts of the road.

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The 3D Mapping Preparation using 2D/3D Cameras for Mobile Robot Control

The generalized frame of autonomous robot control system is represented and the data preparation ... more The generalized frame of autonomous robot control system is represented and the data preparation for the simultaneous localization and mapping (SLAM) by using new type of 3D sensor is described. Also the developed data structure for data communication between robot units, and the protocol for client-server interaction, and an algorithm for the data communication of client-server protocol packages allowing to control by mobile robot in unstructured environment, and their application on real-scaled mobile robot are presented in this paper.

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Mobile Post-Emergency Monitoring System for Nuclear Power Plants

In this paper, a concept of designing the post-emergency system for monitoring the equipment and ... more In this paper, a concept of designing the post-emergency system for monitoring the equipment and territory of nuclear power plant after a severe accident was developed. Power and communications network lines are found out as the most vulnerable ones during the accident monitoring, and selfdescriptiveness and survivability and veracity are recognized as system basic parameters. To ensure the self-descriptiveness it’s proposed to equip measurement and control modules with backup wireless communication channels and deploy the repeaters network based on drones. To provide the survivability modules possess the backup power battery, and repeaters appear in the appropriate places after the accident. Moreover an optimization of drone’s location is proposed according to the minimum energy consumption criterion. To ensure the veracity it’s expected to design the noise-immune protocol for message exchange and archiving and self-diagnostics of all system components. Formulas for estimating the ...

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Smart license plate recognition system based on image processing using neural network

Second IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2003. Proceedings

Algorithms of Landmark Robot Navigation Basing on Monocular Image Processing

The application of mobile robots is very important in environments that are dangerous or inapprop... more The application of mobile robots is very important in environments that are dangerous or inappropriate for human life. One of the problems arising for the mobile robot when targeting point within the indoor application during navigation is the provision of its localization. In this paper, the developments of the algorithms that provide and enable mobile robot to position itself within the indoor environment by using one video camera and a landmark template is presented.

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Criteria to estimate quality of methods selecting contour inflection points

2017 9th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), 2017

Current study performs a comparison of the contour inflection point selection methods according t... more Current study performs a comparison of the contour inflection point selection methods according to the following criteria: probability of the correct selection, probability of the incorrect selection and an error in the coordinate estimation based on the results of model tasks. Results of the interpolation and differential methods and the method based on wavelet analysis of the contour inflection point were analyzed and graphically illustrated. It is shown that for simple geometric shapes the interpolation method has low precision (it shifts the contour inflection points) while differential method has the best precision properties, however it selects redundant inflection points (it has a low noise resistance) and the method based on the wavelet analysis of the curvature function shows the best results under noisy conditions.

Semantic Core Building of a Site Based on Clustering Algorithms

2020 10th International Conference on Advanced Computer Information Technologies (ACIT), 2020

Websites are the main sources of information in the Internet. The ability to increase the ranking... more Websites are the main sources of information in the Internet. The ability to increase the ranking of the site for the search engine is particularly relevant in these circumstances. Engaging users with a demonstrating of a landing page on a search engine is the goal of search engine optimization. One of the steps of such optimization is a semantic core building. Semantic core is the most complete list of keywords that describes the theme and orientation of the site and matches its content. This paper presents semantic core building techniques for a site based on clustering algorithms.

Web Based Virtual Robot Prototyping and Manufacturing

International Journal of Computing, Feb 10, 2015

Developing an environment that enables optimal and flexible design of robot ma nipulators using u... more Developing an environment that enables optimal and flexible design of robot ma nipulators using universal reconfigurable links, joints, controllers, actuators and sensors is an essential step for efficient robot design and prototyping. Robot control has to be made by a uni versal controller with remote hardware and software reconfigurations. This technique allows to create an optimal configuration of software and hardware components for designing of the spe cialized robot, its algorithmic control and rapid prototyping.

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Method of Environment Reconstruction Using Epipolar Images

International Journal of Computing, Aug 1, 2014

In this paper the method for 3D Environment reconstruction usingepipolar images is presented. Met... more

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Development of Real-time Face Recognition System Using Local Binary Patterns

2018 IEEE Second International Conference on Data Stream Mining & Processing (DSMP), 2018

This paper describes the development of realtime human recognition system in video streams with t... more This paper describes the development of realtime human recognition system in video streams with the help of Local Binary Patterns (LBPs). The description of the system architecture, face detection process, additional methods for recognition accuracy increase and the method of image comparison based on center-symmetric LBPs are given.

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Image Recognition Methods Based on Hemming Distance

2019 10th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), 2019

Recognition of multidimensional images based on the Hamming distance, as well as development of e... more Recognition of multidimensional images based on the Hamming distance, as well as development of estimation criteria of certain image classes and new methods for determining the Hemming distance differentiating between identical objects with different number of coding parameters are highly topical problems facing various areas of knowledge and activity. The paper proposes a method of encoding of multidimensional objects for diagnosis with the same and different number of parameters, which represent multidimensional vectors at nodes of a two-dimensional plane as a model of a multichannel object for diagnosis in the Hemming space. The monitoring system scheme of the nodes of the object for diagnosis is developed. Coding methods for priority and prohibitory road signs are proposed. The value of the Hamming distance estimate for these categories is determined. A method and algorithm for the Hamming distance estimate for objects with different number of parameters are proposed. In addition, a method of value of the Hamming distance estimate for some road sign categories with different number of informative parameters is proposed.

A Lossless Image Compression Algorithm Based On Group Encoding

2020 10th International Conference on Advanced Computer Information Technologies (ACIT), 2020

This paper considers a new lossless image compression algorithm that provides reduction of data r... more This paper considers a new lossless image compression algorithm that provides reduction of data redundancy in video processing systems. To achieve the high compression level group encoding approach is proposed. The experimental research shows that proposed algorithm provides 1.33 times better compression quality index than the Run Length Encoding (RLE) algorithm.

Sustainability and Time Complexity Estimation of Сryptographic Algorithms Main Operations on Elliptic Curves

2021 11th International Conference on Advanced Computer Information Technologies (ACIT), 2021

This paper presents the time complexity estimates for the methods of points exponentiation, which... more This paper presents the time complexity estimates for the methods of points exponentiation, which are basic for encrypting information flows in computer systems. As a result of numerical experiments, it is determined that the method of doubling-addition-subtraction has the lowest complexity. Mathematical models for determining the execution time of each considered algorithm for points exponentiation on elliptic curves were developed, which allowed to conduct in-depth analysis of their performance and resistance to special attacks, in particular timing analysis attack. The dependences of the cryptographic operations execution time on the key length and the sustainability of each method on the Hamming weight are investigated. It is proved that under certain conditions the highest sustainability of the system is achieved by the doubling-addition-subtraction algorithm. This allows to justify the choice of algorithm and its parameters for the implementation of cryptographic information security, which is resistant to special attacks.

A wireless navigation system with no external positions

2015 IEEE 8th International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), 2015

A wireless navigation system (WNS) is proposed that autonomously coordinates the motions of coope... more A wireless navigation system (WNS) is proposed that autonomously coordinates the motions of cooperating robots. The proposed WNS employs both Bluetooth technologies and wireless routing protocols that can discover routes around obstacles and other barriers to communications. A time-slotted, ad hoc on-demand distance vector routing (TAODV) protocol is designed to maintain secure, wireless communication links between cooperating robots that forms a wireless mobile ad hoc network (MANET). A practical application of the WNS is demonstrated as an example.

The Local Area Map Building for Mobile Robot Navigation Using Ultrasound and Infrared Sensors

2007 4th IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2007

This paper was devoted to improvement of existing and development of the new method for local are... more This paper was devoted to improvement of existing and development of the new method for local area map building of mobile robot using sensor fusion techniques. Such task is arisen from unstructured environment for navigation of mobile robots. The offered method provides building of the local area map using polar coordinate system and bases on the applications of artificial neural network for fusing of readings from ultrasonic and infrared sensors. Application of the proposed method allows to decrease computational complexity and to increase the accuracy of local area map.

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The Software Structure Development for Mobile Robot Control

2005 IEEE Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005

Abstract The developed data structure for data communication between robot units, the protocol fo... more

Advanced sensor data integration using neural networks

IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02

ABSTRACT Using neural networks for sensor drift prediction is considered in this paper. There are... more ABSTRACT Using neural networks for sensor drift prediction is considered in this paper. There are described basis and advanced methods of &quot;historical&quot; data integration and appropriate models of single-layer and multi-layer perceptrons. Simulation modelling results show an improvement of the accuracy of sensor data processing of advanced method in 2-3 times in comparison with basis method.

Infrared Sensor Data Correction for Local Area Map Construction by a Mobile Robot

Lecture Notes in Computer Science, 2003

1 Ternopil Academy of National Economy, Institute of Computer Information Technologies, 3 Peremog... more

Approach to recognition of license plate numbers using neural networks

2004 IEEE International Joint Conference on Neural Networks (IEEE Cat. No.04CH37541)

... is then more suitable for further image-processing tasks such as segmentation, feature extrac... more

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