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Modelling and Control of Multi-Steered Wheeled Mobile Robots
Hrabec, Jakub ; Srovnal, Vilém (referee) ; Šeda,, Miloš (referee) ; Jura, Pavel (advisor)
Dizertační práce se zabývá problematikou kinematického modelování a řízení mobliních kolových robotů. Přináší sumarizaci problematiky kinematického modelování mobilních robotů obecně a popis vlastností kolových mobilních robotů s několika řízenými koly. Použitý aparát z matematiky, fyziky je vysvětlován s důrazem na pohled teorie řízení. Dále je prezentován nový řídicí algoritmus pro mobilní kolové roboty s více řízenými koly, vhodný pro úlohu stabilizace v bodě i sledování trajektorie, tedy obě nejčastěji řešené úlohy pohybu mobilních robotů.
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6 axis robot control in RTOS
Václavek, Miroslav ; Hrabec, Jakub (referee) ; Kučera, Pavel (advisor)
The thesis deals with the analysis, software design and the study of 3D kinematic model of robotic manipulator ROB 2-6. It creates the control software for this manipulator, containing user interface based on MFC applications. Moreover, the thesis is concentrated on the solution of various problems, e.g. non-linearity of servomotor or the limitation of manipulator´s attainability. Finally, it poses a documentation of the single project and offers new possibilities of further development in the control of this manipulator.
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Design of self-balancing mobile robot
Bartončík, Michal ; Hrabec, Jakub (referee) ; Šolc, František (advisor)
This thesis treatise about design self-balancing wheelframe type of segway. Introduces the principle of segway, the original models and solutions other people. The simulation uses a mathematical model to determinate the characteristics of senzors. Selection the method of measuring the angle and implementation with the help of sensors. Furthermore, deal with engines for moving of model, multifunction I/O card and desktop board for processing signal from sensors. Their connections and attechments on the construction.
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Guiding of Mobile Robot
Podivín, Ladislav ; Hrabec, Jakub (referee) ; Lebeda, Ondřej (advisor)
This bachelor’s thesis deals with design and implementation of control algorithms for GPS guided mobile robot Ryder. Especially two main abstract layers of mobile robot control are discussed - planning algorithm and algorithm providing steering control. The Ryder robot is equipped with several types of range sensors and based on Ackerman's steering. Its purpose is autonomous movement from start point to goal point without any collision with obstacles.
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Control of self-balancing mobile robot
Vyoral, Jakub ; Hrabec, Jakub (referee) ; Šolc, František (advisor)
This thesis contains derivation of mathematical model of self-balancing Segway like scooter, its proper verification and design of state space control. Model is based on Lagrange equations. Constants of state space controller are tested on linearized system. Practical realization uses design environment of Matlab Simulink with xPC Target extension for real-time control.
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PDA software for robot soccer
Uhlíř, Luděk ; Honzík, Petr (referee) ; Hrabec, Jakub (advisor)
Robotic soccer is a game like a real soccer but here the game is played by robots. The rules are the same, only there are few exceptions (foul, penalty kick, stalemate situation). Game is running without the human intervention. Just a human referee is supervising the game. Two teams are attending the game. Each of them has a control computer. The control computer is the brain of the game. It has a camera, it is making decisions for the next step of robots and sending them configuration data. The thesis deals with testing of communication interface and designs the new communication protocol for the next generation of the robots. The testing is provided by pocket pc Palm TX. It will send data over the Bluetooth interface to the control pc and will configure particular constants, like constants of PID regulator and an address of a robot. This will be provided by the IrDA interface.
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OCR of image based web form protection
Peluch, Tibor ; Hrabec, Jakub (referee) ; Honzík, Petr (advisor)
The thesis deals with programming of application in operating system Windows. Main features of application system Microsoft Foundation Class are resumed in brief here. In following part there is idea about implementing an application with graphic user interface that makes, using schema, work with data, possible. The third part deals with implementation of blocks into dynamic linked libraries and there is outlined a possibility to use data of this programme as an external module and a possibility of realtime data processing e.g. picture and sound. The verification of a good functionality of this application is in the last part. The application is really tested in diagnosing of devaluated texts for protecting web forms www.centrum.cz. There were designed blocks making picture read possible just from internet, preprocessing, segmentation, feature extraction, evaluationg in neural network and blocks that make possible to read and save processed data into the disc.
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