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Collaborative robot with adaptive grippers
Vondráček, Jakub ; Appel, Martin (referee) ; Najman, Jan (advisor)
This bachelor thesis deals with collaborative robots and adaptive grippers with a focus on practical testing of the UR5 robot from Universal robots with adaptive grippers Onrobot RG2 and Robotiq 3F, which are available in the mechatronic laboratory of the Faculty of Mechanical Engineering of Brno University of Technology. In the first part of the work, a search is performed, which presents the basic issues of collaborative robots, adaptive grippers, force sensing, as well as the possibility of software simulation aimed at testing the available collaborative robot. The second part of the work presents the methodology and development of practical work with the robot, which is focused on testing all the basic functions of the robot on simple tasks. The last section of the thesis shows a simulation of a more complex robot task from engineering practice using selected software.
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Sensor fusion for detecting and locating people in a room
Vondráček, Jakub ; Dobossy, Barnabás (referee) ; Najman, Jan (advisor)
This diploma thesis deals with the problem of fusion of several sensors for the purpose of detecting and locating people in a room. It is primarily about using measured sensors and implementing them in such a way that their connection creates a system that has obvious advantages compared to more expensive single sensor solutions. In the first part of the work, research is carried out, which presents the basic issues of detection, localization and counting of people in rooms. To be used in the practical part of the work, it is also indicated here which specific sensors can be used to achieve these functions and which control units are suitable for such a system. Finally, it summarizes specific components and software tools, which are further supplemented in the practical part of the work. The rationale for this selection is also included. The second part of the thesis describes the specific design of the resulting system, which can perform the functions of detection, localization and counting of people in the room. This practical proposal is described including all starting points, connections and especially the algorithm that was used for sensor fusion. The entire system is subsequently tested, based on which its functioning is evaluated. In the last section of the thesis, the created system is supplemented with a model of a cover and wall mount.
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Optimal choice of scenario tree using Reinforcement learning
Vondráček, Jakub ; Kopa, Miloš (advisor) ; Branda, Martin (referee)
This thesis deals with multistage stochastic programs and explores the dependence of the obtained objective value on the chosen structure of the scenario tree. In particular, the scenario trees are built using the moment matching method, a multistage mean-CVaR model is formulated and a reinforcement learning agent is trained on a set of historical financial data to choose the best scenario tree structure for the mean-CVaR model. For this purpose, we implemented a custom reinforcement learning environment. Further an inclusion of a penalty term in the reward obtained by the agent is proposed to avoid scenario trees that are too complex. The reinforcement learning agent is then evaluated against an agent that chooses the scenario tree structure at random and outperforms the random agent. Further the structure of scenario trees chosen by the reinforcement learning agent is analyzed. 1
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Collaborative robot with adaptive grippers
Vondráček, Jakub ; Appel, Martin (referee) ; Najman, Jan (advisor)
This bachelor thesis deals with collaborative robots and adaptive grippers with a focus on practical testing of the UR5 robot from Universal robots with adaptive grippers Onrobot RG2 and Robotiq 3F, which are available in the mechatronic laboratory of the Faculty of Mechanical Engineering of Brno University of Technology. In the first part of the work, a search is performed, which presents the basic issues of collaborative robots, adaptive grippers, force sensing, as well as the possibility of software simulation aimed at testing the available collaborative robot. The second part of the work presents the methodology and development of practical work with the robot, which is focused on testing all the basic functions of the robot on simple tasks. The last section of the thesis shows a simulation of a more complex robot task from engineering practice using selected software.
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Estimation of the pair correlation function of a point process
Vondráček, Jakub ; Dvořák, Jiří (advisor) ; Beneš, Viktor (referee)
This thesis deals with kernel estimation of the pair correlation function of a stationary and isotropic point process. Firstly, the basics of the theory of point processes are built up. Then, the derivation of formulas for expectation and variance of a kernel estimator is provided. Also, an extension of a simple Poisson approximation of variance to the case of an estimator with more complicated edge correction compared to what is usually used in the literature is given. These formulas depend on a parameter called bandwidth. The recommendations for selecting the bandwidth that can be found in the literature are summarised and simulation experiments are performed to assess the correctness of the derived formulas. These experiments also prove that a variance approximation obtained by ignoring so called "higher order correlations" is unjustified. Lastly, bandwidth selection and the advantages and disadvantages of several approaches for bandwidth selection are discussed. 1
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