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Tracking the movement of objects using a moving camera
Duráníková, Andrea ; Šnajder, Jan (referee) ; Králík, Jan (advisor)
The bachelor thesis deals with software for dynamic cameras with object evaluation. The first theoretical part compares programs for control of the report and data evaluation, as well as the method of motion processing, the possibilities of detecting motion and objects. The practical part implements an algorithm with the function of tracking objects, their resolution into groups and recording tracking using MATLAB.
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Autonomous mobile robot communication interface design
Bajer, Jan ; Šnajder, Jan (referee) ; Věchet, Stanislav (advisor)
This thesis deals with the design and implementation of a communication interface for an autonomous mobile robot, which is designed for watering plants. The theoretical part is a search for possible ways of communication with the ROS system, which runs on the robot. Subsequently, the possibilities of designing a mobile application for interaction with this robot are explored. In the practical part, a communication interface is designed using the MQTT protocol together with the implementation of this interface into a robot, database server and mobile application, which is created using the Flutter framework. The conclusion of the work discusses the suitability of the communication protocol used and the evaluation of the functionality of the created system.
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Detection and classification of objects of interest for watering mobile robot using image processing
Sladký, Jiří ; Šnajder, Jan (referee) ; Krejsa, Jiří (advisor)
This thesis deals with image processing on autonomous watering mobile robot using embedded computer NVIDIA Jetson Nano. A method for object detection, YOLOv5, was chosen, which served for detection of flowers and flower pots. Using a method for monocular depth estimation, MiDaS, relative depth map was predicted. An algorithm was created, which converted this map to metric depth map using data from LiDAR. Thanks to that, distance of the detected flowers could be estimated. The created tools were implemented in ROS framework and tested on real data form indoor environment.
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Automatic detection of elevator controls using image processing
Černil, Martin ; Šnajder, Jan (referee) ; Krejsa, Jiří (advisor)
This thesis deals with the automatic detection of elevator controls in personal elevators through digital imaging using computer vision. The theoretical part of the thesis goes through methods of image processing with regards to object detection in image and research of previous solutions. This leads to investigation into the field of convolutional neural networks. The practical part covers the creation of elevator controls image dataset, selection, training and evaluation of the used models and the implementation of a robust algorithm utilizing the detection of elevator controls. The conclussion of the work discusses the suitability of the detection on given task.
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Design and realization of serial communication monitor
Šnajder, Jan ; Králík, Jan (referee) ; Krejsa, Jiří (advisor)
Aim of this thesis is design and realization of serial communication monitor. The thesis describes creation of hardware device responsible for collecting data from analyzed communications and for distribution of these data by USB bus. Thesis also explains connection between serial monitor and software Wireshark by extcap interface. Visualization of data in readable format is done by decoding script, which is tested by selected protocol. The last part of the study is focused on evaluation of data permeability of hardware device according to data line fullness.
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Control Rotational Inverse Pendulum Laboratory Model
Šnajder, Jan ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
Aim of this bachelor thesis is modeling, identification and control of rotational inverted pendulum. The thesis describes parts of real system and its control. The work also contains creation of simulation model in Matlab/Simulink. Simulation model is respresented by mathematical equations created by second type Lagrange equations. Estimation of parameters is based on reduced systems and these parameters have been validated. Control of system is based on state-space model. The paper includes description of linearization, design of state-space control created by LQR method and creation of state-space observer. The last part of the study is focused on state observer experiments, friction compensation by few static friction models and by adding noise to compensation.
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