Piotr Garbacz
@itee.lukasiewicz.gov.pl
Łukasiewicz Research Network – Institute for Sustainable Technologies
EDUCATION
Politechnika Rzeszowska im. Ignacego Łukasiewicza
Doctor of Philosophy - PhD, Mechanical Engineering
2022 - 2026
Warsaw University of Technology
Master of Science (M.Sc.), Mechatronics, Robotics, and Automation Engineering
2004 - 2010
RESEARCH, TEACHING, or OTHER INTERESTS
Engineering, Computer Vision and Pattern Recognition, Safety, Risk, Reliability and Quality, Industrial and Manufacturing Engineering
Scopus Publications
Scholar Citations
Scholar h-index
Scholar i10-index
Scopus Publications
Berenika Linowska and Piotr Garbacz
Springer Nature Switzerland
Piotr Czajka, Piotr Garbacz, Tomasz Giesko, Adam Mazurkiewicz, Jordan Mężyk, and Wojciech Mizak
Springer International Publishing
Piotr Garbacz, Tomasz Giesko, Piotr Czajka, and Adam Mazurkiewicz
Springer International Publishing
Piotr Garbacz and Tomasz Giesko
Springer International Publishing
P. Garbacz, T. Giesko, and A. Mazurkiewicz
Springer Science and Business Media LLC
Piotr Garbacz and Jordan Mężyk
Trans Tech Publications, Ltd.
The Institute for Sustainable Technologies – NRI in Radom, together with Silesian University in Gliwice, have developed a group of mobile robots [1] intended for support of rescue actions. The group consists of two big robots: Explorer for exploring the environment and Transporter for transporting the number of small robots – Pathfinder (Fig. 1). The Explorer robot is capable of monitoring the environment in terms of temperature measurement, measuring the concentration of gases in the atmosphere and collecting the samples of soil. The Transporter is capable of transporting small robots and picking small objects as it is equipped with a container and a robotic arm and its purpose is to move small robots as close to the hazardous place as possible. Small robots called Pathfinder are intended to penetrate the area such as the room on fire and find potential victims or just allow the reconnaissance. All robots are equipped with one or more cameras and audio system for duplex communication. All the functions require the reliable and fast method of communication with enough bandwidth for the transmission of full duplex audio stream next to the simplex video stream and duplex control data stream.In the first part, the paper presents the brief overview of the market-available technologies for wireless communication; the second part presents the practical comparison test of selected products; and finally the last part of the paper describes the selected solution together with discussion on its capabilities.Fig. 1. Two of the group of four robots: small inspection robot and big transporter robotOne of the characteristic features of the designed group of robots is its low cost of production and maintenance, therefore the components used in the robot system could only be standard available constructions, but as the tests show, it is sufficient to fulfill the minimal requirement of range of at least fifty meters inside the typical building. Out of the considered communication equipment one of the commercially available Wi-Fi access point showed to be appropriate for the proposed application.
Bartłomiej Burski, Piotr Garbacz, Jordan Mężyk, Piotr Czajka, and Wojciech Mizak
Trans Tech Publications, Ltd.
Industrial robots are mostly designed for tasks where working conditions are well known and do not change over time. However, there are many examples where robots require vision sensor-based control in order to perform complex operations and react to changes in the environment. Other areas where there is need for combining vision sensors with manipulators are quality inspection tasks of large or complex structured objects. The paper presents an overview of the methods used in robotic vision systems, taking into account their specific requirements and advantages. Experimental studies of a selected 2D/3D sensors mounted on industrial manipulators are presented including analysis of collected 3D points clouds. Additionally, a system of a reconfigurable manipulator that interchangeably uses various sensors and tools in complex inspection tasks is presented.
Piotr Garbacz, Piotr Czajka, and Bartłomiej Burski
Trans Tech Publications, Ltd.
The article presents a method for monitoring the destruction process of materials under mechanical load on a universal testing machine. Observations of the subjects are made using a high-speed camera and a catadioptric stereo-vision system. The camera allows for data acquisition with the capture speed more than a million frames per second (FPS) with reduced resolution. Catadioptric vision systems use mirrors and lenses in order to modify the observation path. In the proposed system four mirrors are required to divide the observation path into two separate paths. This enables monitoring the test specimens from different perspectives, which provides a number of advantages including information redundancy or stereovision. In order to verify the proposed method several metal specimens were put under mechanical load and monitored with the vision system. Test results are enclosed in the article. Selected registered images presenting the moment of the destruction are described in greater detail with data about the capture speed provided. The tests were conducted under front and back lighting in order to assess the best method of illumination.
Jordan Mężyk, Piotr Garbacz, and Wojciech Mizak
Springer International Publishing
Piotr Garbacz and Piotr Czajka
Trans Tech Publications, Ltd.
The article presents the optical inspection method for the correct assembly of bearings with rolling elements in the form of balls. During the assembly process, faults can occur of incomplete fill of the rolling elements in a bearing cage or a lack of rivets for fixing both parts of the cage. These are critical defects, disqualifying the bearing from the operation. In order to detect these faults, the method of backlighting was used in the form of a modular LED panel illuminator located under the inspected bearing. The chosen method of lighting provides a high contrast and good sharpness with a simultaneous low sensitivity to contamination that may arise in the field of view of the camera. In order to verify the developed method, an experimental automated research stand was made. For vision inspection, a modular vision controller with a monochromatic CCD camera was used. Due to the range of bearings subjected to vision inspection, the algorithm of the program allows automatic detection of the bearing type based on its characteristics. The operation of the vision system was presented for each of the individual stages of the inspection process. The functions used in the field of computer-based image processing and analysis were described. Examples of bearing inspections, with use of the developed method, were presented.
Jordan Mężyk and Piotr Garbacz
Trans Tech Publications, Ltd.
The FSW method is a modern and still not very common method for joining materials by mixing them after plasticising with a special tool. The rotary motion of the tool and its pressure against the welded surface causes friction and, as an effect, local heating of the material that then causes plasticisation. Then the tool moves linearly along the trajectory of welding, while the stem causes the mixing of materials and tool’s shoulder concentrates and presses the material in the produced weld. An important feature of the process is that the material does not pass to the liquid phase and remain in the solid phase. This method allows the combination of non-welding and difficult to weld materials, including combining different materials (dissimilar). The FSW method is a new method and there are no tools to assess the quality of the process, especially on-line, that is in the making of the weld. Currently, the research methods used include point temperature measurement and measurement of forces on the tool performed during welding, and metallographic methods that are destructive can be used after the weld. This article presents the authors’ method for monitoring the Friction Stir Welding (FSW) processes with use of a multi-spectral vision method. The monitoring method uses the system built of two visual channels that work in different light bands; hence, the name of the method ismulti-spectral.The main component of the system is an infrared camera that is used for the observation of the temperature distribution on the surface of the welded materials. The second visual channel uses the line-scan visual band camera for recording the image of the surface of the weld. Such observation allows the detection of weld defects and non-compliances, which include excessive burrs, discontinuities, uneven edge of the weld, as well as the subsurface faults such as cavities and sub-surface discontinuities. In addition, the temperature of the process is monitored to prevent under-and over-heating, which may result in a weak joint or cracks in the material. The presented method is applied for monitoring the FSW process and presents a worldwide novelty.
Tomasz Giesko and Piotr Garbacz
Trans Tech Publications, Ltd.
The paper presents the possibilities of a hybrid vision method based on simultaneous analysis of infrared and vision images for surface inspection of hot aluminium in a manufacturing process. The system consists of a NIR/SWIR camera and a high resolution visual camera, and a computer based image analysis system. The simultaneous analysis of infrared and vision images will enable surface inspection for detecting defects in temperature range from 200°C to 600°C. Thermal images present temperature distribution on the surface, and contain information about the manufacturing process. The analysis of thermograms enables to find areas of temperature irregularity caused by increased friction loads, as well as areas of inhomogeneous emissivity caused by surface defects. Furthermore, information captured by the vision camera is used to detect surface defects. The software developed enables the overlaying of images. The proposed simultaneous thermovision and vision imaging can be applied in industry for in-line monitoring of aluminium extrusion processes.