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Robotic Arm Exploiting RC Components and Servos
Bobčík, Petr ; Kapinus, Michal (referee) ; Zemčík, Pavel (advisor)
Cílem této práce bylo postavit vlastní robotické rameno, s využitím RC komponent, serv a dodat k němu i vlastní uživatelské rozhraní, které umožní jeho řízení. Součástí řešení bylo také opatřit robotické rameno potřebnou senzoriku, která by umožnila jistou míru autonomnosti. Pro mé řešení jsem se rozhodl upravil již existující design robotického ramene, s pěti stupni volnosti, založeném na krokových motorech. Přidal jsem senzory, jako je akcelerometr, enkodér, měřič proudu, laserové měření vzdálenosti a kameru. Na základě těchto senzorů je robotické rameno schopné detekovat náraz, pozici odpojených motorů, uchopení předmětu uchopovacím mechanizmem nebo měřit vzdálenost předmětu v prostoru za účelem inverzní kinematiky. Vytvořil jsem také jednoduché uživatelské rozhraní, které umožňuje tři typy ovládání, jako je ovládání jednotlivých kloubů samostatně, autonomně s využitím kamery nebo ručním napozicováním.
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Tutorial for autonomous driving
Strašil, Vojtěch ; Zemčík, Tomáš (referee) ; Honec, Peter (advisor)
This thesis is devoted to the design of a teaching aid for autonomous driving intended primarily for second grade primary school students and secondary school students. The aim of this work was to create a robot that is able to move autonomously along a line or in a lane that is formed by two lines, based on data obtained from a camera sensor. The thesis deals with the design of the mechanical part of the robot, the control electronics and the software. The mechanical basis of the robot is formed by an RC car that has been modified with parts printed on a 3D printer. The control electronics is a Raspberry Pi version 4 single board computer, which is complemented by an Adeept Robot HAT. Most of the necessary peripherals are then connected to this extension. The operating software was written in Python and several use cases were created as part of the work. These examples include line recognition algorithms as well as a PSD controller.
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Product quality control
Pitrun, Tomáš ; Janáková, Ilona (referee) ; Boštík, Ondřej (advisor)
The bachelor’s thesis deals with the industrial inspection of defects on injection molding based on computer recognition. Part of the work is a description of injection molding technology and defects that may occur with this technology. The detection application is implemented in Python on the Raspberry Pi platform. The OpenCV library is used to detect product defects. Part of the work is also the selection of suitable hardware resources, including the Raspberry Pi microcomputer, lighting camera module, lens, relay modules and supporting structure.
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Robot vision and 3D image acquiring
Arnošt, David ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Master´s thesis is describing basic concepts in machine vision. Used camera systems and possible imaging 2D and 3D are described. Practical part deals with constructin of scanning device with linear actuator, conveyor belt, camera and laser. For experimental use is construction of scanning device made for 2D and 3D image using several methods.
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Board Game User Interface with a Camera
Cihlářová, Dita ; Hradiš, Michal (referee) ; Zemčík, Pavel (advisor)
Cílem této práce je vytvořit systém, který bude schopen nahradit reálného protihráče ve hře Dostihy a sázky. Hra je snímána kamerou, ze které se obraz přenáší do počítače, kde probíhá zpracování obrazu a identifikace herních objektů. Dále aplikace analyzuje stav hry a rozhodne o svém následujícím tahu. Rozhodovací algoritmus je schopen reagovat na každou herní situaci a tudíž dohrát hru do konce. Aplikaci mohou využít hráči, jež rádi hrají Dostihy a sázky, ale chybí jim protihráč. Aplikace také může najít uplatnění jako demostrace možností počítačového vidění.
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Visual Navigation of the Vehicle
Jaššo, Kamil ; Richter, Miloslav (referee) ; Horák, Karel (advisor)
The thesis consists of retrieval of known solutions of autonomous vehicle navigation. Thesis further describes options for controling autonomous vehicle, and using of sensors in autonomous vehicles. From different types of sensors are selected two types, that are most suitable for visual navigation of the vehicle. Thesis describes the function and way of using these two types of sensors in the visual navigation of the vehicle. The program for obtaining and saving data from selected sensors is also part of the thesis.
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Design and Analysis of Systems for Advanced Guarding and Securing Objects and Areas
Komínek, Petr ; Šimek, Václav (referee) ; Strnadel, Josef (advisor)
This diploma thesis deals with design, realization and analysis of security and surveillance systems for buildings and spaces containing advanced components. One of the main design's parts is dedicated to intruder alarm system, access system, attendance and CCTV systems with the possibility of automatic motion tracking. Controlling and monitoring of particular subsystems is possible both locally and remotely from a computer via a web interface or by means of a software. The access to camera system from a mobile phone is also possible. IAS/ACS systems also enable controlling and transferring information about their state via SMS. The designed system was realized completely and its operating was demonstrated. The realization is described in detail including illustration of configuration of particular components. A security analysis and a possible future development of the project is summarized in the conclusion.
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3D model
Sejkora, Martin ; Janáková, Ilona (referee) ; Richter, Miloslav (advisor)
This document focuse on computer vision and backward spatial reconstruction of the object from camera images. It describes the theoretical foundations needed to understand the problem and how to solve it. Software solution is created in C ++ language and uses OpenCV library.
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Track detection and planning
Brázdil, Jan ; Horák, Karel (referee) ; Richter, Miloslav (advisor)
The goal of the thesis was to design and create a line follower with one-line camera on The Freescale Cup 2013 car model platform. Computational unit is microcontroller Kinetis K40, which receives data from camera and other sensors. Then use these inputs to calculate the ideal path. This bachelor thesis leads to test several different types of controlling in unknown environment – data table control, vector control and PSD controller. It then expolores in known environment – map creation and drive control with map data. The thesis describes all used components, control theory and creating and programming controllers. In conclusion of this thesis all algoritms are tested on real track and results are compared.
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