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Sattelite Navigation and Compasss Data Fusion
Maceček, Ivo ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
Theoretical information about different satellite navigation systems used for determination of position. Special attention is attended to system GPS. There are consulted main principles of the GPS and some error sources. Application of differential GPS for minimization of these errors is discussed. Next part is about examples of basic principles for measuring earth magnetic field. Last chaps are about practical realization of mentioned DGPS, which is applied for outdoor mobile robot navigation. There is described hardware structure, software utilities and application of an aided tool for GPS - electronic compass. Some practical measurements and results are presented.
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Trajectory Planning with Laser Proximity Scanner
Přecechtěl, Vít ; Burian, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with a trajectory planning for a mobile robot using measured data obtained from proximity laser scanner, which is mounted on mobile robot. The document begins with brief explanation of the trajectory planning problem in an unknown environment. Thesis continues with description of proximity laser scanner, physical principles and its aplication in robotics. After that hardware and software resources used for implementation and testing algorithms are described. The most important hardware is proximity laser scanner SICK LMS111 and evaluation board STM32F4-Discovery with 32bit microcontroller ARM Cortex-M4F. Software SOPAS Engineering Tool provided by SICK company is used for setting LMS111 scanner. Microcontroller programming has been done in integrated development environment CooCox CoIDE. Last part of thesis describes the algorithms of data segmentation, planning the longest trajectory and planning wall following trajectory of mobile robot.
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The manipulator design for KAMBot robot
Popovský, Pavel ; Žalud, Luděk (referee) ; Burian, František (advisor)
This bachelor’s thesis deals with design and construction of small robotic manipulator for KAMBot robot using a 3D printer. The work also includes the design of a control unit and the electronics needed to support communications via the I2C protocol. The theoretical part documents the choice of mechanical and logical arrangement with mathematical analysis and describes the I2C protocol. The practical part describes the structure of the manipulator, the design of electronics to the PCB and implementation of I2C protocol. Last part documents the control of the manipulator and final results.
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High-Resolution Multispectral 3D Scanning and its Medical Applications
Chromý, Adam ; Duchoň,, František (referee) ; Mazal, Jan (referee) ; Žalud, Luděk (advisor)
Termovizní zobrazování i 3D skenování jsou v současné době rychle se rozvíjející technologie. Obě technologie mají mnoho výhod, které by mohly být užitečné v medicíně. Jejich datová fúze přináší ještě více nových diagnostických informací, než kdyby byly použity samostatně. Cílem této práce je vývoj multispektrálního 3D skenovacího systému založeného na novém způsobu snímání pomocí robotického manipulátoru vybaveného laserovým snímačem, teplotní kamerou a barevnou kamerou. Navržené řešení přináší jak flexibilitu, tak přesnost. Tento systém skenování je dále využit v klinických aplikacích, aby byly ověřeny jeho schopnosti a ukázány přínosy nad rámec současného stavu techniky.
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Laser Projector
Svoboda, Pavel ; Burian, František (referee) ; Žalud, Luděk (advisor)
The aim of this thesis is to create a system, which draws the graphics with the help of a set laser project and eventually is able to synthetize several coloured rays and thus realise a multicolour drawing. The whole system is controlled by a Raspberry PI microcomputer and the data is sent to it from a PC via an Ethernet cable. The transmission of the projector device was identified and possible ways of improving the device were suggested. The results of this thesis allow creation of a multi-coloured vector picture, transferring it into the device and depiction on the project desktop. The whole device can therefore be used for example for the purpose of a presentation.
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Validation of human body biological parameters for robotic visual telepresence
Cheparukhina, Anna ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
This work presents a research in the field of robotic visual telepresence. At the beginning explains the principle of teleprezence and it makes classification of robots according to their properties and concepts. Furthermore, there is a review of modern existing robots. The following chapter discusses the human visual system, the basic parameters and functions including parameters of head movements. Subsequently have been selected critical parameters for visual telepresence. At the conclusion of the theoretical part were designed some experiments to validation of human body biological parameters. In the practical part was conducted measuring the extent and speed of head movements, eye distinction depending on the lighting and measurement of visual field man. Also, a series of experiments was performed for practical technical embodiment of the telepresence system rescue robot for class Orpheus.
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Two channel stepper motor controller
Hýbl, Matouš ; Arm, Jakub (referee) ; Žalud, Luděk (advisor)
Cílem této práce je vývoj dvoukanálového kontroléru krokových motorů. V rámci práce je popsán jak vývoj elektroniky, tak vývoj příslušného software. Elektronika kontrolŕu je založena na mikrokontroléru STM32F405 a driverů krokových motorů vyráběných firmou Trinamic. Pro komunikaci s nadřazenými systémy je implementován protokol CANOpen a sběrnice I\textsuperscript{2}C a USB. Elektronika byla navržena v software KiCAD and využívá čtyřvrstvého plošného spoje a moderních výrobních technologií. Co se týká software, byl vyvinut jak firmware pro mikrokontrolér, tak software pro ovládání kontroléru. Obě části software využívají programovacího jazyka Rust, který se zaměřuje na bezpečnost práce s pamětí, rychlost a zero-cost abstrakce. Sekundárním cílem této práce je ukázat, jak lze tento programovací jazyk s výhodou použít pro programování nízkoúrovňového embedded software. Firmware kontroléru implementuje nezávislé řízení pohybu obou os kontroléru a to jak v rychlostním, tak v pozičním režimu a zároveň implementuje bezpečnostní funkce pro případy selhání komunikace. Výsledný kontrolér by měl být použit v rámcí výzkumné skupiny Robotiky a Umělé Inteligence a studenty na Ústavu Automatizace FEKT VUT.
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Floating Robot KAMBoat II
Beneš, Jiří ; Žalud, Luděk (referee) ; Kopečný, Lukáš (advisor)
Objective of this thesis is to design and create second generation of KAMboat type robotic ship. Main tasks are to test abilities and performance of the ship alone and in comparison with the previous model. This thesis is divided into subparts which compare the differences between the two prototypes. First chapter focuses on analyzing selected parts of ship’s physical model, especially the hydrodynamics, which is then used to define construction limits. Following chapters KAMboat 1 and Construction analysis describe the first version of ship and reasons of making new version. Chapter KAMboat 2 refines the theoretical knowledge gained in previous chapter into tangible form. Chapter Electronics describes selected electronic equipment of the ship and mounted circuitry. The Control chapter is focused on combining theoretical and practical aspects of driving a small BLDC engine. Controls and Communications chapter describes how to secure and maintain data flow between operator and the robot. Chapter Missions is selection of tasks that are supported on KAMboat 2 type robotic ship.
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Control System for Mobile Platform
Sárközy, Imrich ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
The aim of this work is to design a control system for a mobile platform with an AVR microcontroller. It’s function is to control two DC motors, one stepper motor and read information from sensors. At first, our work is to develop an electrical scheme and circuit boards for the control system. Debug the microcontroller’s program for correct handling of the peripherals. The next step is to connect sensors for non electric quantity and modify the microcontroller’s program to handle them and send received data from them via bluetooth connection.
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Gamma Radiation Measurement
Lázna, Tomáš ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
This thesis is focused on detection of ionizing radiation, especially gamma radiation. In its theoretical part the issue is presented and the most common detector types (gas filled, scintillation and semiconductor detectors) are analysed. In its practical part the parameters of the chosen sensor HDS-100GN are verified with a focus on its capability of dynamical measurement. The robot Orpheus-X3 equipped with the precise RTK-GNSS receiver was used in the realization of the experiment. The analysis of the measurement results furthermore covers conversion of geographical coordinates to distance, determination of latency, conversion of measured value to dose rate and comparison with theoretical assumptions were solved. Formation of an area radiation map is also concerned. Direction-sensitive detection of gamma radiation is also studied in this thesis.
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