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Flight Trajectory Planning for Unmanned Aerial Vehicles
Horeličan, Tomáš ; Jílek, Tomáš (referee) ; Gábrlík, Petr (advisor)
This thesis deals with the problem of planning a complete flight trajectory (ie. horizontal and vertical components) for unmanned aerial vehicles (UAV) with a main focus on maintaining a constant height and distance from the terrain. It includes the design of the trajectory planner itself, which is created in the Matlab environment. The design is mainly focused on small rotary aerial vehicles and drones. Main concepts of geolocation are discussed in the first chapters, which includes means of realization, basic terminology and theory that is needed in order to sufficiently track an object and its height on Earth. Principles of aerial survey, its use cases and means used in this thesis are also described. Following chapters present a complete hierarchical overview of the functionality of the designed planner and provide demonstrations with simulations. The practical part discusses results obtained from real flights of the vehicle.
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Motor driver board for mobile robot
Stavělík, Jiří ; Jílek, Tomáš (referee) ; Burian, František (advisor)
This thesis describes circuit design and realization for differential control of mobile robot. Control system is based on microcontroller STM32 of company STMicroelectronics, which selection is discussed too. Part of the work thesis is description issues concerning differential control of mobile robot, DC motor cotrol with incremental encoder including cascade control and implementation of cotrol algorithms.
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Tools for visualisation of data from 3D laser scanners
Střižík, Jakub ; Jílek, Tomáš (referee) ; Burian, František (advisor)
Master thesis deals with the creation of the data visualization measured by 3D laser scanner using the Point Cloud method. Measured data were parameterized after loading for use in programming environment of Microsoft Visual Studio 2010 and in platform XNA. Individual data points forms the center of defined cubes which are displayed and create a scene where is possible to move through a user input in the form of a keyboard or mouse. Created algorithms were analyzed to determine the total running speed of the program, the individual as well as critical sections. The algorithms were optimized to a higher running speed of the program on the basis of analyzed data. Optimization was focused on the selection of retrieved data and on the method of their saving within the program environment. The next optimization process was based on the using of the other method for displaying of measured data points. Individual data points were displayed in form of square 2D texture replacing the cube. This square is rotating according to move of observer. Designed algorithm optimization leads to faster running of the program.
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Windows 10 IoT on Raspberry Pi 2 computer
Prachař, Vojtěch ; Jílek, Tomáš (referee) ; Jelínek, Aleš (advisor)
The purpose of this thesis is to learn about the Raspberry Pi 2, Windows 10 IoT and development tools for this platform. In this work is presented hardware and software, and stated in detail the launching of development tools. In next part some sample applications and communication protocols are tested. In last part tested important ports for robotics. At the end, this platform is evaluated for the possibility of usage in home automation and robotics.
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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (referee) ; Mišík, Štefan (advisor)
Teória riadenia je aplikovaná takmer všade okolo nás, počnúc reguláciou teploty v našich domoch cez modelovanie správania sa trhu až po riadenie vesmírnych lodí. Dôvod, prečo je tomu tak je, je jej výkonnosť a krása, obe skryté v použitých matematických aparátoch. Kolesové mobilné roboty sú taktiež veľmi rozšírené, hlavne v priemysle, kvôli ich obrovskej nosnosti, ktorá je nevyhnutná. Veľmi presné detekovanie trasy je dôležité kvôli dôslednému riadeniu robota po jeho ceste. Jedna z najjednoduchších možností ako vynačiť trasu je použitie čiary, ktorá má iné optické vlastnosti ako jej podklad. Na detekovanie takto určenej trasy existuje niekoľko metód, ale najvýkonnejšie a najefektívnejšie je použitie kamery s následným digitánym spacovaním obrazu, ktoré je síce náročné na výpočtovú silu, ale je ním možne získať obrovské množstvo dát. Hoci táto metóda môže vyzerať zastaralo (vodiaca čiara) stále sa využíva v niektorých projektoch práve kvôli jej jednoduchosti a nízkej cene. Skutočné použitie kamery pre navigáciu všeobecne (nie pomocou čiary) je dokonca zatiaľ oblasť, ktorá je stále vo vývoji. Cieľom tejto práce je zostaviť malý mobilný robot, vytvoriť matematický model, navrhnúť niekoľko regulátorov a riadiť robot po vyznačenej čiare za použitia camery a počítačového videnia.
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3D LED cube
Rak, Jan ; Jílek, Tomáš (referee) ; Florián, Tomáš (advisor)
The goal of this project is to design and construct a LED cube for visualization and imaging attract attention. With respect to the assignment was determined resolution 8x8x8. For the overall management and communication with the PC was chosen development board STM32F4 Discovery, which, thanks to it parameters, is sufficient for this application. Cube consisting of diodes and power wires will sit on the governing board, which will include all parts of management and communication, including the controller power supply. The board will be covered by colored fabric for a better look.
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Operator's station for Perseus mobile robot
Sabó, Marek ; Jílek, Tomáš (referee) ; Burian, František (advisor)
This thesis deals with the design and implementation of application for control of mobile robot. In the introductory section is discussed used platform GEARS-SMP, the principle of functionality of protocol for servo motors control, format M-JPEG and standard H.264. Further work is dedicated to analysis of designing user interface in robotic applications, available options for control devices and hardware used in remote controller. The following part focuses on the design of robotic application, especially on graphic user interface and virtual head-up display and follow-up implementation of created application in Raspberry Pi. In the end, thesis describes implemented software solution and compares resulting application with the created design.
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Communication in Mobile Robotics
Hýbl, Matouš ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
Cílem této práce je poskytnout náhled do způsobů, jakými by se daly vylepšit komunikační spoje používané v mobilní a zejména servisní a záchranářské robotice. Elektromagnetické spektrum, zejména rádiové spektrum, je rozebráno vzhledem k nutnosti určit frekvence na kterých je možné komunikační spoje provozovat. Dále jsou popsány digitální modulace, jelikož mají vliv na chování signálu v přítomnosti rušení. Rovněž jsou popsány možnosti vylepšení komunikačních spojů, a to včetně jejich vhodného použití a možné implementace. Je vyvinut komunikační subsystém založený na routerech MikroTik. Tento komunikační subsystém je schopen retranslace a je vybaven hardwarem potřebným pro implementaci záložního spoje založeného na LTE. Jako testovací robot je oživen robot Orpheus HOPE, který je vybaven novou řídicí deskou, firmwarem, zmíněným komunikačním subsystémem a přejmenován na Orpheus CT. Dále je vyvinut systém pro měření vlastností komunikačních spojů, který je následně ověřen během dvou experimentů. Třetí experiment se zabývá testováním funkce retranslace komunikačního subsystému. Zhodnocení experimentů ukazuje, že zmíněný měřicí systém funguje a že komunikační subsystém je vhodný pro použití v robotech servisní a záchranářské robotiky.
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3D LED color display
Rak, Jan ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The goal of this project is to design and construct a LED cube for visualization and imaging attract attention. With respect to the assignment was determined resolution 8x8x8. For the overall management and communication with the PC was chosen development board STM32F4 Discovery, which, thanks to it parameters, is sufficient for this application. Cube consisting of diodes and power wires will sit on the governing board, which will include all parts of management and communication. Implemented firmware will have a base animations, it is also possible to control by superior system.The board will be covered by colored fabric for a better look.
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Control of Curalon cycle batcher
Jílek, Tomáš ; Hynčica, Ondřej (referee) ; Štohl, Radek (advisor)
The work deals with the controlling design of batching machine polyvinyl alcohol fibre, its integration into existing production technologies and the real implementation and verification of the machine functionality for which a design has been made. It also includes a design and implementation operator panel through which can be possible for production line supervising staff to set parameters and monitor the process. Firstly, there is described the default process of dosage, required conditions and restrictions for the newly established dosing machine. In the following part features of newly designed batcher are described, further it deals with the basic parameters and characteristics of selected components, which are important for the execution of its own proceedings. The next part of the work is concerned in detail with the implemented function of controlling algorithm and operator panel, which is provided through interaction with the staff supervising the production line. The last chapter provides the basic configured parameters of the controlled components.
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