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Shadow robot: manipulation of a robot model in augmented reality
Halenár, Timotej ; Bambušek, Daniel (referee) ; Materna, Zdeněk (advisor)
Bakalárska práca sa zaoberá manipuláciou s modelom robota v rozšírenej realite za využitia aplikácie pre tablet. Riešenie rozširuje možnosti interakcie v existujúcej aplikácii na vizuálne programovanie robotov -- AREditor. Užívateľ potrebuje pri programovaní v AREditore nastaviť pózu robota, aby mohol definovať body v priestore, na ktoré sa má robot dostať pri vykonávaní programu. Stávajúce riešenie v aplikácii umožňuje iba krokovať fyzického robota po malých inkrementoch pozdĺž osí, čo je nedostatočné pre väčšinu účelov. Hlavným cieľom práce je navrhnúť a implementovať systém, pomocou ktoréhu bude užívateľ schopný rýchlo a jednoducho nastaviť pózu modelu robota, ktorý je premietnutý na obrazovke cez skutočného robota. Užívateľ najskôr ľubovoľne nastaví pózu modelu robota, a následne pošle príkaz skutočnému robotovi, aby zvolenú pózu skopíroval. V riešení bolo využité 3D gizmo, ktorého polohu sleduje koncový bod robotického ramena. Gizmo je možné presúvať v priestore za využitia kamery tabletu a rozšírenej reality, a jeho pohyb je možné obmedziť na jednotlivé osi či roviny v priestore. Riešenie poskytuje možnosť ovládať citlivosť, s akou hýbeme bodom v priestore, možnosť zmeniť súradnicový systém, a samostatné ovládanie pre vzdialenosť gizma od tabletu. Vytvorené riešenie ponúka pohodlnejší spôsob, akým sa dá nastaviť poloha robota, a môže zefektívniť proces programovania.
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Interaction with a Collaborative Robot using Augmented Reality
Zmrzlý, Daniel ; Milet, Tomáš (referee) ; Bambušek, Daniel (advisor)
This thesis focuses on the implementation of the possibility of interaction with a collaborative robot using Microsoft HoloLens 2 technology in an augmented reality environment. The work builds on the existing AREditor solution for tablet devices and adds the missing AREditor functionality to Microsoft HoloLens 2 glasses. Using these glasses and the ARCOR2 framework, it is possible to manipulate the physical robot and its model. In the initial phase of the implementation, several approaches were proposed for the user to interact with the robot, and then the solution with the most positive response was selected. The final solution succumbed to user experiments where participants evaluated the usability and compared the final solution of the two AREditors.
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Visualization Tool for a Drone Pilot in HoloLens Headset
Komárek, Jakub ; Beran, Vítězslav (referee) ; Bambušek, Daniel (advisor)
The aim of this thesis is the creation of a modern tool to facilitate the operation of drones, especially in professional sphere. The tool created by the author aims to facilitate the planning routine of the usual missions drones and help in its safe execution. The tool was also created with regard to the legislative restrictions on drone operations and contributes to their correct compliance. The author has addressed the issue with the help of a client-server application created in an augmented reality environment in HoloLens 2. The assistance in piloting is to be provided by a "heads up display" component that moves along with the drone and displays flight variables around it along with the video feed from the drone's camera. To facilitate mission planning, a 3D mini-map is implemented that provides information about the planned mission is projected onto the world around the pilot. The thesis is experimental in nature and has to determine the applicability of augmented reality in the professional operation of the drone. The results of the work are evaluated from data collected during extensive user testing, which included Comparison of the existing Litchi application with the developed application in the prepared test environment scenarios. The results showed that the interface is usable and can compete reasonably current conventional solutions. In some aspects the existing interface outperforms.
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Mobile App for Precise Navigation of Agricultural Machinery
Košák, Václav ; Bambušek, Daniel (referee) ; Herout, Adam (advisor)
The aim of this thesis is to develop a field navigation and GNSS system for precise localization. In the field, it is advisable to drive precisely along the lines to avoid repeated crossings or, on the contrary, free spaces. Driving accurately can save seeds, sprays, fuel, and more. Field navigation manages fields, machines, etc. The goal of the application is to navigate along generated guidance lines. In addition to the mobile application, a GNSS system has been developed to receive precise signals with RTK correction. Test results show that with an accurate receiver, the application can be practically used for everyday tasks.
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Automatic Construction of a Terrain Map by a Drone
Kapsa, Jan ; Bambušek, Daniel (referee) ; Beran, Vítězslav (advisor)
This thesis focuses on how UAV mapping functions with the focus on methods working in real-time. The process of image stitching is thoroughly explained and 2 methods based on it are designed. Together with these methods dataset is built containing different situations. Maps of the terrain are created by these methods, which are then compared and scored.
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Head-Mounted Display or Tablet? Device Usability in the Context of Programming Robotic Workplaces
Kníže, Josef ; Milet, Tomáš (referee) ; Bambušek, Daniel (advisor)
This thesis focuses on usability comparison of head-mounted display Microsoft HoloLens 2 and tablet in context of programming robotic workplace using augmented reality. The existing interfaces for these devices are analyzed, and a user experiment was designed and conducted to compare them, involving a total of 18 participants who tested and evaluated both devices in two iterations. Based on feedback from the first iteration, many changes were proposed and implemented in the HoloLens 2 interface. Key changes included porting the entire application to newest framework for mixed reality, programming through scene interaction, reworking robot placements, and adding parameter configuration and action placement through the robot. The new version of the interface was tested in the second iteration of experiments, revealing that users are 32,3 % faster when using HoloLens 2 and they rate usability and user experience better compared to tablet. Surprisingly, there was no significant difference measured in user mental or physical load between the devices.
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Application for Aiding Solar Panel Positioning
Mudroň, Marek ; Bambušek, Daniel (referee) ; Herout, Adam (advisor)
Táto práca podrobne popisuje vývoj a iteratívne testovanie webovej aplikácie určenej na odhad solárneho výkonu fotovoltaických systémov. Hlavným cieľom bolo vytvoriť používateľské rozhranie (UI) a poskytnúť intuitívnu používateľskú skúsenosť (UX), cielenú pre amatérskych používateľov zaujímajúcich sa o fotovoltaické riešenia. Aplikácia umožňuje používateľom vybrať si geografickú polohu stavby, použiť textúru mapy pre jej namodelovanie a umiestniť solárne panely na strechu v zapojení podľa vlastného výberu. Používatelia môžu do systému pridať aj svoje vlastné modely panelov. Aplikácia využíva simulačný model na odhad výkonu navrhnutého systému. Nakoniec prezentuje výsledky predstavujúce očakávaný výťažok elektrickej energie.
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Top Down hra s prvky RPG
Heřmann, Pavel ; Bambušek, Daniel (referee) ; Milet, Tomáš (advisor)
The aim of the work is to create a 2D game with RPG elements using the Unity game engine. Collected powerups can be used to fulfill the RPG elements, modifying the character's behaviour. To enrich the game experience, several procedural generation methods are used to create game levels. This thesis describes the design and implementation explaining all three procedural generation methods namely: cellular automata, L-system generating building floor plans and grammar generating graph structure. Furthermore, several algorithms are used to generate the maps: the Bresenham algorithm, BFS, Kruskal algorithm to generate paths between rooms, dilation and random walk algorithm to generate the rooms of the map. Also discussed are other systems that take care of the proper functioning of the game, such as: a save system using JSON format, a combat system using Unity collision elements, boss design and implementation, character movement, and a system for upgrading the player character's abilities. The result is a fully functional game in which the player can visit three different types of maps, collect and then use various upgrades, fight enemies and save their progress.
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Programming a robotic arm with ChatGPT
Kuba, Josef ; Bambušek, Daniel (referee) ; Materna, Zdeněk (advisor)
This bachelor thesis aims to develop a virtual assistant that allows users without advanced technical knowledge to effectively control a robotic arm. The thesis uses ChatGPT technology along with \uv{function calling} to generate commands for the robotic arm API based on user input. The focus is on developing and testing appropriate inputs for ChatGPT (prompt engineering), to create an intuitive and user-friendly interface. Testing with users revealed opportunities for improvement and provided valuable feedback for further development. Users were able to create simple object manipulation programs without much difficulty. The results show that the creation of such an assistant is possible and that the main challenge is to specify the correctly designed system input for proper code generation. The paper also compares the performance and efficiency of ChatGPT versions 3.5 Turbo and 4, emphasizing the importance of choosing the appropriate version for a particular application.
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Robotic Workplace Programming Using the HoloLens Headset
Kolařík, Petr ; Milet, Tomáš (referee) ; Bambušek, Daniel (advisor)
The bachelor thesis deals with the use of Microsoft Hololens 2 glasses in a robotic workplace. It follows the diploma thesis of ing. Simona Hiadlovská and the existing AREditor user interface connected to ARServer. The first goal of the work was to improve the way of adding objects at a greater distance. Three methods are proposed and compared for this problem: the first is adding at a fixed distance of one meter in the direction of the hand, the second is adding on a perpendicular line drawn from the point of contact between the pointer and the table and then adjusting the height by pulling the hand, and the last is adding also on a perpendicular line but adjusting the height by tapping. The second objective of the work was to devise a method of selecting one object from a cluster of objects. In this case, the methods of simple selection using the pointer, expanding objects from the surroundings and displaying an interactive list of objects are compared.
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