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The realization of selected mathematical computations using graphical cards.
Schreiber, Petr ; Krejsa, Jiří (referee) ; Ondroušek, Vít (advisor)
This work discusses available approaches for programming graphic hardware as a platform for executing parallel calculations. Text of the work is focused on new OpenCL technology, which allows executing the same high level code for taking control of full potential of multicore CPUs and GPUs, without explicit bindings to hardware vendor or operating system. Author provides the reader with libraries and tools based on OpenCL, along with practical examples and own observations about the current state of mentioned technology.
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Utilization of the inertial sensors for control of the mobile robots
Lachnit, Zdeněk ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.
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The Software for Experiments Control on Biomechanical Machine.
Hejč, Tomáš ; Březina, Tomáš (referee) ; Ondroušek, Vít (advisor)
The main aim of this masters thesis is the design and the realization of graphical user interface for constructionally-advanced prototype of biochemical device, which was realized in terms of the cooperation of ISMMB (Institute of Solid Mechanics, Mechatronics and Biomechanics) and IAI (Institute of Automation and Computer Science). The NI LabVIEW developing suite has been used as the main design tool of this software. This experimental device is used to investigate characteristics of spinal vertebra. The main aim of this thesis is to realize the control software, which is able to plan, initialize and record the long-term experiments on this device. This thesis is divided into theoretical and practical part. First part is focused on the description of the experimental device and sums all apointed requirements. This part also includes characterization of software tools, that has been used to realization in NI LabVIEW 8.6 development suite. The practical part deals with the design and successive realization of the developed application used for planning and controlling experiments, and also describes performed long-term tests. The solutions of a few fundamental problems, which were shown during these tests, are also included.
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Utilisations of the “Open Dynamics Engine” for modelling of mobile robots
Kovář, Jiří ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
This diploma thesis deals with the problems of virtual physical modelling of mobile robots for the needs of their real-time control. To create a virtual physical world, an open-source project OPEN DYNAMICS ENGINE (ODE) was used, the results were displayed facilitating DirectX graphical interface. Simulated systems in ODE were written in C# on Microsoft.NET platform. The properites and qualities in ODE were verified by simulation in several types of simple systems and on a simplified robot model "Kracmera I.". Subsequently, the usability of ODE for its control was being verified.
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Industrial TwinCAT based diagnostics application
Zigo, Ľubomír ; Ondroušek, Vít (referee) ; Krejsa, Jiří (advisor)
This bachelor´s thesis describes designing of diagnostics application for press controlled by Beckhoff TwinCAT. Application monitors press regularly and informs staff in case of breakdown. Diagnostics application is created in high-level programming language Visual C++ in Microsoft Visual Studio environment. Application communicates with TwinCAT via .NET Framework library TwinCAT::Ads, which is part of TwinCAT. Breakdown texts are read from database via Microsoft OLE DB interface using SQL.
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Possibilities of implementation parallel task in programming languages
Zejda, Václav ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
This work deals with the problem of implementation of parallel tasks in various programming environments. First part of the work follows the basics of parallelisation. It features especially when the parallelisation is suitable, what kinds of parallelisation are used and differences between architecture of various systems. Following parts describes various techniques in developing applications with the parallelisation support. From parallelisation support for common programming languages to graphics development tools and to environments that uses graphic processing unit (GPU) in combination with central processing unit (CPU).
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The Study of Controllers for Four-legged Walking Robots
Klvaňa, Roman ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This work is based on literary search and is focused on description of various approaches in walking gait generation for four-legged walking robots. There are six various groups of aprroaches described in this thesis. Main functional principles as well as one representative robot of each approach is described. The summarize of advantages and disadvanteges of each approach is used to apoint an appropriate control approach for robot Quasimodo walking gait generation in the conclusion chapter of this bachleor thesis.
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Using ODE for Design of Dynamic Model of a Four-legged Robot
Seriš, Richard ; Krejsa, Jiří (referee) ; Ondroušek, Vít (advisor)
The objective of this bachelor‘s thesis is to design the dynamic model of four-legged robot Qasimodo by using ODE and programming languange Python, based on analysed parameters and known walking gait parameters. Forward dynamic walking gait task is used to comapare behavior of the model with the real robot Qasimodo. Strike a balance and review of ODE usability for this task. This thesis also reviews suitability and complexity of using ODE for dynamic simulation of the walking gaits of the robot.
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Computations in Physics Using Graphic Card Procesor
Hlůšek, Bronislav ; Poliščuk, Radek (referee) ; Ondroušek, Vít (advisor)
This work deals with issue of general purpose computation on graphics processing units. It provides basic information about the graphics hardware. It also describes CUDA and CTM programming interface, that are intended specially for these calculations and features and alternative methods solving. There are as well mentioned possibilities their usage and several practical instances calculations.
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The Design and Realization of the Lowest Level Layer of the Control Unit for a Walking Robot
Olša, Petr ; Andrš, Ondřej (referee) ; Ondroušek, Vít (advisor)
This BA thesis is focused on the project and realization of the lowest layer of manipulation of the walking robot. The realization of the lowest layer contains: •installation of the coordinated systems •the solution of the inverse task of kinematics of the robot •creation of the simulative and communicative program •implementation of the inverse task of kinematics into the microcontroller •incorporation of serial communication between the PC and robot into the controlling system •realization of robot’s walking In the end, the ability of the controlling system to accomplish the orders in real time is tested.
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