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Design of wheeled mobile robot
Ripel, Tomáš ; Grepl, Robert (referee) ; Krejsa, Jiří (advisor)
The master's thesis describes the complex design of autonomous mobile robot and its realization. It consists of the design of the chassis, actuators, safety components and electronics. The design part is given by specifications defined by external firm; the specifications are overviewed in the introduction section. The design part describes the function of particular elements the construction nodes consist of. Follow-up chapters solve the implementation of electronics in construction design and also the mounting of the outside shell to the frame. Constructional design of autonomous robot Bender III is the main result of this thesis. All required design and functional specifications were met.
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Design of robotic snake
Šumšal, Zdeněk ; Ripel, Tomáš (referee) ; Krejsa, Jiří (advisor)
This work follows up the construction, possibility of movement and practical use of bionic snakes. The first part is about the possibilities of motion of real snakes in the nature and tell us how it's possible to apply and combine those motions on a bionic snake. Second part is focused on different constructions of already existing robots which copy real snakes. The result of the work is design and realisation of the actual construction of a bionic snake using informations we already know so we can later build electronics in it and test various intelligent control programs.
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Design of transport mechanism for the stationary robot
Kříž, Pavel ; Vejlupek, Josef (referee) ; Ripel, Tomáš (advisor)
This bachelor's thesis describes design of the transport mechanism for the autonomous robot. The main aim is modification of the chassis and design of the control mechanism. The designed concept comes out of requirements assigned by external company. It also includes the list and description of various considered concepts. The final construction variant is divided into several construction sections described in the thesis. The check calculation of potentially critical part is specified in the final part. The result is design of the transport mechanism for the stationary robot which serves as multifunctional kiosk.
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Design of actuators for the butterfly safety valve
Melecký, Josef ; Halfar, Jiří (referee) ; Ripel, Tomáš (advisor)
The bachelor s thesis desribes desing of actuator and safety mechanism for a butterfly safety valve. Based on research mentioned in the introduction was chosen type of actuator, whose particular parameters come out of moment proportions calculated according to concrete requests of external firm. Another part of the thesis concerns design of safety mechanism for critical status. In the final part of the thesis parameters of design actuator system are stated, focusing on kinematics motion of the butterfly valve.
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Usability of compass in indoor mobile robot navigation
Pilch, Petr ; Ripel, Tomáš (referee) ; Krejsa, Jiří (advisor)
This work is focused on usability of compass HMC6343 for controlling the mobile robot in an indoor environment. The first part shows the history of compass and describes the principle of operation of some types of compasses including anisotropic magnetoresistive sensor. HMC6343 compass used for the measurements in real environment is based on this principle. The measurement is evaluated and the usability of data gathered this way is discussed the second part of the thesis.
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Determination of sound source orientation from multichannel audiosignal
Sumtsov, Artem ; Ripel, Tomáš (referee) ; Krejsa, Jiří (advisor)
The goal of this thesis was a research on appropriate methods of determination of sound source orientation and consequently its processing. This thesis describes subsequently four methonds of determination of signal delays between different channels. Each of these methods is evaluated with respect to suitability, usability, error rate and sensibility. In the next part the geometrical model for determination of the sound source orientation is described. Experimental solutions are processed for the situation with three microphones. Calculations are done in Matlab.
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Design and realization of wheeled mobile robot
Ripel, Tomáš ; Singule, Vladislav (referee) ; Krejsa, Jiří (advisor)
The bachelor's thesis describe the design and construction of chassis for autonomous mobile robot and its realization, in particular the design of frame with drives and steering. Proposed solution is partly based on the rules of Robotour competition, but the final design can serve as a platform for another applications. The design part describes the function of particular elements the construction nodes consist of. The selection and basic calculation of drives and details of implementation are also included. Functional platform for autonomous robot Bender II represent the final result of this work. Some problems which occurred during realization were fixed after testing. Construction proved its reliability even in poor conditions.
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Mobile Robot Tracking Using Image Processing
Krejsa, Jiří ; Věchet, Stanislav ; Ripel, T.
During the evaluation of autonomous mobile robot navigation routines the determination of true robot position on its track is essential. The paper presents simple yet reliable method of tracking robot position using processing of images acquired from the devices positioned above the operation space. The method consists of two steps for each image: detection of the robot in image space and transfer of its coordinates to operation space.
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