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Sensor system design for mobile robot based on ROS framework
Tomáš, Petr ; Mašek, Petr (referee) ; Věchet, Stanislav (advisor)
The essence of this master thesis is design and implementation of sensor system based on robotic framework which is called ROS (Robot Operating System). The main task is to perform detailed analysis and test of capabilities of the framework with final implementation on specific robot application (sensor system) with following evaluation of applicability of the system in mobile robotics. As parallel aim is to create detailed general and practical guide for beginners with ROS which they are also beginners in Linux based operating systems.
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Inovation of PUSH-PACK Machine
Šimeček, Jiří ; Vdoleček, František (referee) ; Věchet, Stanislav (advisor)
This bachelor thesis deals with the modernization of the single push-pack machine. Modernization consists in exchanging pneumatic linear motors which are controlled by electromagnetic valves, selection of appropriate treatment of air and the design of control unit. Bachelor's thesis is divided into three parts. The first section describes the properties of compressed air and its regulation. The second part describs the original pneumatic system solutions. New solution was designed in the third part. That is used in the calculations of linear motors and air consumption,the selection of valve terminal and control system. The thesis is accompanied by pneumatic diagram.
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Automatic environment generator design for mobile robot
Schreiber, Petr ; Krejsa, Jiří (referee) ; Věchet, Stanislav (advisor)
This work deals with design and realization of automatic environment generator, serving for autonomous robot simulations. The author describes various approaches to implementation of interior environment generator and their relation to Open Dynamics Engine physics library and XODE file format. This work also includes verification of generator functionality with participation of virtual mobile robot.
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Road detection in outdoor environment using image processing
Vrbičanová, Antónia ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The Master’s thesis deals with the issue of the road detection in the outdoor environment using image processing. It is highly required that the methods selected are robust to sudden light changes within the image and effective in detection of wide variety of road surfaces possibly comprising certain kinds of pollution. Two methods have been used in order to reach the desired goal. The initial method uses standard algorithms of the image processing. Main outcome of this method are highlighted road boundaries. The following methodisbasedonconvolutionalneuralnetworks.Inthiscasewehaveclassificationtask. The result of this method is the estimation of the road direction. In the whole process, severalneuralnetworkstructureshavebeendesigned.Afterthenetworktrainingthemost suitable one was selected. Eventually, the results have been retested using newly created test set. Both of these methods are implemented in programming language Python.
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DESIGN OF METHODS AND TOOLS ACCELERATING THE SOFTWARE DESIGN FOR EMBEDDED PROCESSORS TARGETED FOR MECHATRONICS APPLICATIONS
Lamberský, Vojtěch ; Takács, Gergely (referee) ; Věchet, Stanislav (referee) ; Grepl, Robert (advisor)
The main focus of this dissertation thesis is on methods and tools which can increase the speed of software development process for embedded processors used in mechatronics applications. The first part of this work introduces software and hardware tools suitable for a rapid development and prototyping of new applications used today. This work focuses on two main topics from the mentioned application field. The first topic is a development of tools for an automatic code generation from the Simulink environment for an embedded processor. The second topic is a development of tools enabling execution time prediction based on a Simulink model. Next chapter of this work describes various aspects and properties of the Cerebot blockset, which is a toolset for a fully automatic code generation from a Simulink environment for an embedded processor. Following chapter describes various methods that are suitable for predicting the execution time on an embedded processor based on a Simulink model. Main contribution of this work presents the created support for a fully automatic code generation from a Simulink software for the MX7 cK hardware, which enables a code generation supporting also a complex peripheral (a graphic display unit). The next important contribution of this work presents the developed method for an automatic prediction of the software execution time based on a Simulink model.
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Mobile device for acceleration measurement.
Jurníček, Jakub ; Marada, Tomáš (referee) ; Věchet, Stanislav (advisor)
Presented bachelor thesis deals with acceleration measurement and visualization. The acceleration is measured via two sensors perpendicular to each other. The measured acceleration value is displayed in real time, moreover the actual value is stored for furthe offline processing on PC. The ADXL320 module acts as a main sensor and two LED screens displays the actual value. The recorded data are transferred to permanent memory EEPROM. The entire device is operated by Atmel ATmega8 microprocessing unit which is connected to PC by common RS232 serial line. Further in the thesis there's presented suggestion of the final solution of the problem.
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