REMEDI LOGO medium ReMote Medical Diagnostician
ROBREX LOGO medium Rescue and exploration robots

The main directions of research in the Department have been set by prof. J. Jaroń. These include: cybernetics and systems theory and robotics. The effects of research are both theoretical works and engineering constructions.

1. Cybernetics and systems theory
Research in this area has led to a new theoretical results in the field of general systems theory, the theory of modeling, logical foundations of the theory of inductive inference and knowledge representation, geometric theory of nonlinear systems, feedback theory, adaptive control systems. They are presented in the habilitation and doctoral dissertations, journal articles and conference papers.

2. Robotics
Research in the field of robotics is carried out in the Department for over a decade. According to the modern definition of robotics as the science of intelligent use of perception to action, they include: control, perception and intelligence of robots.

- Control of robots
Research focuses on issues of modeling kinematics and dynamics, control algorithms and motion planning algorithms for manipulating and mobile robots. Among the achievements of the Department in this area are the creation of new tools for modeling robot kinematic singularity, the proposed new algorithms for controlling manipulators and mobile robots and the development of new methods for nonholonomic motion planning systems. The subject of ongoing research are mobile manipulators.
The results are included in one habilitation thesis, the monograph: Manipulator and Mobile Robots, doctoral dissertations, journal articles and conference papers. The Department has developed a prototype mobile robot Ulysses, two implementations of microprocessor controllers for industrial manipulators type ASEA IRB and experimental manipulation robot Żwawy (Snappy) designed to explore control algorithms.

- Perception of robots
Research concern systems for the acquisition and processing of sensor data to recognize the environment of manipulating robots and the localization and navigation of mobile robots. In particular, much attention is paid to vision systems, the ultrasonic sensors and laser range finders. Among the achievement of the Department are the development of new methods and algorithms for the localization and navigation, software and hardware implementations of image processing algorithms, a modular stereovision system, a multi-sonar ultrasound system, a scene analysis system for a mobile robot using a laser rangefinder. The Department has developed a robotic system to support ultrasound medical research. The theoretical results have been presented in the doctoral theses, journal articles and conference papers. Some of the constructions were the subject of patents.

- Robot Intelligence
The area of research in the Department is the modeling and action planning of intelligent robots and intelligent robotic systems, with particular emphasis on smart work centers and flexible manufacturing systems. The basic tools and research methods used in this field are derived from artificial intelligence and computational intelligence, the theory of Petri nets, and the theory of algorithms. The results of theoretical works have been presented in one habilitation thesis, doctoral dissertations, the monograph: Intelligent Robotic Systems, scientific articles and conference papers. The effects of the application work carried out at the Department include the development of a CAD/CAM type software system called ICARS intended for production planning.
The research in the Department are now carried out in the framework of their statutory grants and individual grants financed by the Scientific Research Committee. Of great importance in this research is the international cooperation involving such institutions as:
University of Twente, Enschede, The Netherlands,
Johannes Kepler Universitat, Linz, Austria,
Carleton University, Ottawa, Canada,
Technische Universitat Braunschweig, Braunschweig, Germany
Ecole Superieure des Mines National de Paris, Fontainebleau, France,
Institute Polytechnique Federal de Lausanne, Lausanne, Switzerland.

An additional effect of the research was the formal development of the academic staff of the Department, in terms of scientific degrees and titles. In the last ten years, the Department has completed 9 doctorates, two employees of the Department obtained a habilitation degree, and one a full professor title.