National Repository of Grey Literature 147 records found  1 - 10nextend  jump to record: Search took 0.00 seconds. 
Real-time diagnostics for ROS running systems based on probabilistic patterns identification
Věchet, Stanislav ; Krejsa, Jiří
Autonomous mobile robots consists of various software modules to achieve given goal, including solving complex navigation tasks as localization, mapping or path planning. These tasks are highly dependent on the quality of data measured and gathered from hardware subsystems. Using Robot Operating System (ROS) as integration basis reduces the development effort and time to market. While ROS framework itself is considered as reliable and stable to run even soft real-time tasks, in case of any internal failures on data misreadings can be problematic to debug or even identify the problem for common user. Due to this unpleasant situations we develop a virtual assistant, internally represented as diagnostic expert system, to help users to identify and possibly fix the problem.
Utilization of Convolution Neural Network Based Road Detection in Mobile Robot Localization
Krejsa, Jiří ; Věchet, Stanislav
Mobile robot on-road navigation requires fusion of both global and local sensory information with an emphasis on the road detection processing. The paper deals with the road detection based on convolution neural networks (CNN) using commonly available tools such as TensorFlow and Keras. The road is defined by its linear boundaries. Network output is formed by the road definition together with classification parameters and serves as a local sensor in Kalman filter based localization. CNN based road detection is currently capable to successfully detect about 90% of images.
ROS framework utilization for autonomous mobile robot control system
Vávra, Patrik ; Krejsa, Jiří (referee) ; Appel, Martin (advisor)
Tato práce se zabývá vytvořením lokalizačního a navigačního systému mobilního robota pro vnitřní prostředí pomocí frameworku ROS. Stručně je zde představen projekt, v rámci kterého diplomová práce vznikla, a jeho cíle. V rešeršní části je v krátkosti popsán ROS framework, simulační prostředí Gazebo a senzory, kterými robot disponuje. Následuje vytvoření modelu robota a simulačního prostředí, v němž jsou vyzkoušeny lokalizační, navigační a další rutiny. V experimentální části je provedeno testování senzorů a popsáno využití jejich výstupů. Následně jsou upraveny a otestovány algoritmy ze simulace na reálném robotovi. V závěru jsou popsány vytvořené vzdělávací minihry. Hlavním výstupem této práce je funkční stavový automat, který umožňuje manuální ovládání, zadávání cílů pro navigaci a v případě potřeby zajistí autonomní nabití robota.
Design and implementation of RGB sensor for educational unit
Švehla, Lukáš ; Krejsa, Jiří (referee) ; Spáčil, Tomáš (advisor)
This thesis deals with construction of RGB sensor which will be extension for preparing of the education kit equipped with microcontroller AT Mega on Arduino board. It contains a brief introduction how the photodiodes work. There is also described some chosen RGB sensors, suggestion and realisation of Printed Circuit Board. Next continue with measurement. Then is chosen and completion final product from the best sensors.
Design of airconditioned chamber for stratospherical baloon
Gedeon, Sebastián ; Spáčil, Tomáš (referee) ; Krejsa, Jiří (advisor)
The aim of this bachelor thesis is design of a heating chamber for a stratospheric balloon. The chamber's role is to preserve the load from the impact of the environment in which the baloon is going to be situated. The process of protection of the load is described in three steps. The first one is to characterize the flight dynamics which consits of the following: elevation time, descending time, maximal height reached, air characteristics changes depending on time. The second step deals with flight energetic balance. The total heat losses or the total heat increase of the chamber in different weather conditions have to be defined resutling from step one. The third step is to design the constructing or functional elements of the heated chamber, so that the chamber could overcome extreme conditions during the flight and to prevent the damage to the load. The energetic balance calculations are presented in the Microsoft Excel document. This document is free to read and can help with scientific construction projects.
Design of mobile robot cover
Bláha, Pavel ; Venglář, Vojtěch (referee) ; Krejsa, Jiří (advisor)
This bachelor thesis deals with the design and construction of a mobile robot external casing. A robot could be used for transporting cargo. At the beginning of this thesis, there are briefly described technologies, which can be used to produce a robot casing. Part of this thesis is the variant design study, showing few possible rough plans of robot casing shapes. The thesis also includes a calculation dealing with the problem of robot cooling. Result of this thesis is a constructional solution related to suitably chosen production technology. The constructional solution has to comply with predefined requirements.
Analysis of ZED stereocamera in outdoor environment
Svoboda, Ondřej ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The Master thesis is focused on analyzing stereo camera ZED in the outdoor environment. There is compared ZEDfu visual odometry with commonly used methods like GPS or wheel odometry. Moreover, the thesis includes analyses of SLAM in the changeable outdoor environment, too. The simultaneous mapping and localization in RTAB-Map were processed separately with SIFT and BRISK descriptors. The aim of this master thesis is to analyze the behaviour ZED camera in the outdoor environment for future implementation in mobile robotics.
Navigation of B2 mobile robot in outdoor environment
Hoffmann, David ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This master’s thesis deals with the navigation of a mobile robot that uses the ROS framework. The aim is to improve the ability of the existing B2 robot to move autonomously outdoors. The theoretical part contains a description of the navigation core, which consists of the move_base library and the packages used for planning. The practical part describe the aws of the existing solution, the design and implementation of changes and the results of subsequent testing in the urban park environment.
Development of mobile robot autonomous docking
Čepl, Miroslav ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This thesis implements solution for automatic docking for a mobile robot using visual markers. After initial survey of already implemented works, new docking solution is proposed. Feasibility of the solution is verified with tests of marker detection precision. The implementation is tested in a simulation and with a real robot. The functionality of the proposed solution is verified by long-term tests. The result of this work is robot’s ability to navigate known environment to find and dock a charging station. After charging the robot is able to safely disconnect from the station.
Adaptive Control of Electromechanical Actuators using Multiple Model Adaptive Feed forward Compensator
Sova, Václav ; Křivánek,, Václav (referee) ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This thesis deals with the derivation of novel adaptive feed forward compensator, which will be used for the control of the electromechanical actuators used in automotive industry. The electromechnical actuators are an electronic throttle valve and an EGR valve. The introduced adaptive compensator is derived from an existing multiple model feedback control method. This work describes the derivation of this method and simulation and experimental verification. In addition, the most well known digital filter differentiators are presented and summarized in this paper because the feed forward compensator needs them for its operation. From these filters, one specific is chosen, whoose coefficients for the specific setting leads to integer multiplication and an integer implementation of the filter. This will be used to implement this filter to the FPGA and then we prove, that this implementation saves a lot of FPGA resources compared to filters implemented using fixed or floating-point arithmetic.

National Repository of Grey Literature : 147 records found   1 - 10nextend  jump to record:
See also: similar author names
2 KREJSA, Jakub
8 Krejsa, Jan
1 Krejsa, Josef
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