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Autonomous vehicle convoy control system architecture based on ROS framework
Buchta, Hynek ; Růžička, Michal (referee) ; Věchet, Stanislav (advisor)
This thesis deals with the problematics of designing control system for convoy of autonomous vehicles using software tools offered as part of the ROS framework, which must take into account possible future implementations of various types of sensors. Designed system is realized on a single-board computer Pi 3 platform, the Raspberry company product. The main input sense is camera stream connected via USB interface. Another important part of the system is a wireless network module allowing communication between vehicles in the convoy as well as remote access to each of them. The engines are directly controlled by a mbed LPC1768 microcontroller communicating through serial link.
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Optic flow software module design
Grulich, Jan ; Růžička, Michal (referee) ; Věchet, Stanislav (advisor)
This bachelor thesis is focused on the analysis of optical flow. The first part is dedicated to the theoretical analysis of the motion of image features. Especially important is finding quality features that can be tracked in a videosequence. Detailed mathematical description of the necessary algorithms is presented. The second part describes the software and its functions with the implemented algorithms. The main function is determining the distance of an object from the camera based on its velocity. Empirical tests of this function are presented.
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Design of marker detection and tracking method for semi-autonomous convoy purpose
Kaura, Patrik ; Michl, Antonín (referee) ; Růžička, Michal (advisor)
This Bachelor’s thesis is focused on the description and implementation of the detection and tracking system of the passive marker for the purpose of controlling semi-autonomous platoon. The first part of the thesis summarizes certain convoy solutions, the measuring equipment used by the trucks in the convoy and it lists some of the available image processing libraries. The second part of the thesis deals with the design itself, the measurement and its results.
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Laboratory task for measuring parameters of optical fibre gratings
Dúbravka, Adrián ; Dejdar, Petr (referee) ; Ružička, Michal (advisor)
The bachelor’s thesis deals with optical fibers, especially fiber gratings such as Bragg’s grating. The theoretical part describes different types of fiber grids and their main differences. Later on the theoretical part deals with different methods of manufacturing Bragg’s gratings, temperature compensation in grantings and their use as a sensor. The practical part deals with the influence of pressure and temperature on gratings and sliding FBG sensor. OSNR and spectral lattice widths are also measured. Furthemore, the influence of various types of strain on optical fibers in Bragg’s gratings is also studied.
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