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Operator's station for Perseus mobile robot
Sabó, Marek ; Jílek, Tomáš (referee) ; Burian, František (advisor)
This thesis deals with the design and implementation of application for control of mobile robot. In the introductory section is discussed used platform GEARS-SMP, the principle of functionality of protocol for servo motors control, format M-JPEG and standard H.264. Further work is dedicated to analysis of designing user interface in robotic applications, available options for control devices and hardware used in remote controller. The following part focuses on the design of robotic application, especially on graphic user interface and virtual head-up display and follow-up implementation of created application in Raspberry Pi. In the end, thesis describes implemented software solution and compares resulting application with the created design.
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Communication in Mobile Robotics
Hýbl, Matouš ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
Cílem této práce je poskytnout náhled do způsobů, jakými by se daly vylepšit komunikační spoje používané v mobilní a zejména servisní a záchranářské robotice. Elektromagnetické spektrum, zejména rádiové spektrum, je rozebráno vzhledem k nutnosti určit frekvence na kterých je možné komunikační spoje provozovat. Dále jsou popsány digitální modulace, jelikož mají vliv na chování signálu v přítomnosti rušení. Rovněž jsou popsány možnosti vylepšení komunikačních spojů, a to včetně jejich vhodného použití a možné implementace. Je vyvinut komunikační subsystém založený na routerech MikroTik. Tento komunikační subsystém je schopen retranslace a je vybaven hardwarem potřebným pro implementaci záložního spoje založeného na LTE. Jako testovací robot je oživen robot Orpheus HOPE, který je vybaven novou řídicí deskou, firmwarem, zmíněným komunikačním subsystémem a přejmenován na Orpheus CT. Dále je vyvinut systém pro měření vlastností komunikačních spojů, který je následně ověřen během dvou experimentů. Třetí experiment se zabývá testováním funkce retranslace komunikačního subsystému. Zhodnocení experimentů ukazuje, že zmíněný měřicí systém funguje a že komunikační subsystém je vhodný pro použití v robotech servisní a záchranářské robotiky.
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3D LED color display
Rak, Jan ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The goal of this project is to design and construct a LED cube for visualization and imaging attract attention. With respect to the assignment was determined resolution 8x8x8. For the overall management and communication with the PC was chosen development board STM32F4 Discovery, which, thanks to it parameters, is sufficient for this application. Cube consisting of diodes and power wires will sit on the governing board, which will include all parts of management and communication. Implemented firmware will have a base animations, it is also possible to control by superior system.The board will be covered by colored fabric for a better look.
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Control of Curalon cycle batcher
Jílek, Tomáš ; Hynčica, Ondřej (referee) ; Štohl, Radek (advisor)
The work deals with the controlling design of batching machine polyvinyl alcohol fibre, its integration into existing production technologies and the real implementation and verification of the machine functionality for which a design has been made. It also includes a design and implementation operator panel through which can be possible for production line supervising staff to set parameters and monitor the process. Firstly, there is described the default process of dosage, required conditions and restrictions for the newly established dosing machine. In the following part features of newly designed batcher are described, further it deals with the basic parameters and characteristics of selected components, which are important for the execution of its own proceedings. The next part of the work is concerned in detail with the implemented function of controlling algorithm and operator panel, which is provided through interaction with the staff supervising the production line. The last chapter provides the basic configured parameters of the controlled components.
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The Development of Autonomous Unmanned Aircraft
Hamáček, Vojtěch ; Ligocki, Adam (referee) ; Jílek, Tomáš (advisor)
The aim of this thesis is to modify commercially produced drone DJI Matrice 100 and replace its original control unit by open source Pixhawk and its accessories. Subsequently, it deals with the selection of suitable open source firmware for Pixhawk and its configuration on the device. Another part is dedicated to the possibilities of using the Robotic Operating System (ROS) and its Mavros libraries on the onboard computer Raspberry Pi. By using Mavros, it examines the possibilities of drone flight control, both in the simulation environment and in the real environment.
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Robotic solution of automated yoghurt packing line
Ficek, Václav ; Jílek, Tomáš (referee) ; Chromý, Adam (advisor)
This bachelor’s thesis deals with the design of a technical solution for increasing efficiency of the yogurt packing line. It is divided into four basic parts. The first part discusses pros and cons of the present production. The second part theoretically analyzes industrial robots and based on the requirements, suitable manipulator is chosen. The third part deals with the possible concept of a yoghurt packing line. In the fourth part complex technical documentation and control algorithm are made. Eventually, the real line parameters are evaluated.
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Public Transportation Lines classification by GNSS data
Pizur, Jaroslav ; Lázna, Tomáš (referee) ; Jílek, Tomáš (advisor)
The subject of this thesis is digitalization of bus transportation. The input is represented by a sequence of GNSS data which are transformed to the OpenStreetMap format. Doing so, it is enriched by the information OpenStreetMap format provides and it gains its positional advantages as well. Then this thesis deals with ways by which one can detect bus lines from this general sequence of GNSS coordinates. A bus line is recognized as a repeating trajectory, which satisfies criteria derived from its expectable or defined characteristics. A few clustering solutions are proposed and tested for their performance. On the basis of this testing, there is one solution chosen as the best performing one, to be the proposed solution of this thesis. The overall output will therefore be formed by automatic mapping of bus lines with no theoretical area limit and with minimum manual intervention needed. It lays the foundations for various intelligent real-time processes to be implemented as well as allowing for infrastructure to be processed for the statistics purposes or urban planning.
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Control of EUROBOT Mobile Robot
Plucnar, Libor ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The thesis is focused on the theoretical development of a control algorithm for mobile robot based on Eurobot and its subsequent practical implementation according to a specific assignment. There are two main methods designed to control the robot according to the input signal, whereby the robot orientats. The first control method is using the camera. This section describes general procedure how to create the image classifier, under which it is possible to search objects. The second part describes the trajectory planning of the robot depends on its position to achieve a specific point on a predetermined map. During the proceedings are taken into account static and dynamic barriers that can occur in an environment in which the robot moves in. In the study was also designed graphical user interface.
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Odometer module for mobile robot
Davídek, Daniel ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The main objective of this work was the development and realization of odometric module for mobile robot envMap. The module processes signals from the incremental encoder and then calculates the position and direction of the robot together with the probability of its occurrence. The calculated data with a time stamp obtained from the GPS, are then sent to the above-system via the serial interface. For the realization the development board STM32F407G was chosen. f this board can be configured to function as an encoder input. This minimizes the possibility of encoder data loss when external interrupts are handled. The STM32F4 will not be any pull-back in the later development as there are plenty of peripherals on STM32F4. They were designed with two printed circuit boards: the reduction for the GPS module and shield-board for STM32F4. The equations for calculating odometric information and the probability of occurrence are included in this work. To calculate the movement of the robot, the equation considering only the movement on the plane surface is chosen. Later in this thesis there is also description of the source code for the STM32 and its functionality. In the results there is a complete connecting diagram along with the description of the utility program ODOMAT and communication messages. Finally, measurements correcting systematic error in parameters of the robot are described and there is the final odometry measurements compared with GPS localization as ground truth.
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Combined Global Navigation Satellite System Module
Jurajda, David ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The thesis objective is design of methodology focused on accuracy measurement in field of GPS/GLONASS receivers. Text is devided into five main parts. The first one is focused on GNSS technology. Second one deals with used coordinate systems and map projections (ETRS89, WGS84, UTM, Gauss-Krüger). Next part discusses statistical methods. Part four is focused on hardware. Then the final part describes experiment realization and obtained data analysis.
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