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Control of a Robotic Arm Gripper
Luža, Radim ; Rozman, Jaroslav (referee) ; Zbořil, František (advisor)
This document describes design of regulator of gripping force for robotic gripper Schunk PG70. In the first part of this document there is described electircal connection, interconnection with control systém and testing of robotic gripper. The second part of document desribes design of software regulator of gripping force and material recognition with robotic gripper. Document also describes experiments with implementet regulator and sumarizes real measured values of atributes of the regulator.
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Road Detection in the Camera Image
Šedo, Jan ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
Bachelor's thesis deals with road detection in camera image. It contains overview of used methods in this area and their most frequented usage, brief introduction to image processing and to ROS framework. Then it gives proposal and details of implementation of application, which analyzes the image and performs segmentation in order to separate the road and it's surroundings by global thresholding method with use of ROS and OpenCV libraries. Application is tested on the data gathered for purposes of Robotour 2013 contest and on series of own recorded data. Finally it contains evaluation of results and discussion about future work on this project.
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Robot Navigation with Differential GPS
Doležal, Jan ; Rozman, Jaroslav (referee) ; Luža, Radim (advisor)
This bachelor's thesis describes the realisation of method for improving the accuracy of GPS navigation, so-called differential GPS, and its implementation in the form of a package for Robot operating system (ROS). A programming library RTKLIB, which deals with methods of increasing the accuracy of GPS navigation, is used in the package. Created solution was subjected to measurement of precision and accuracy of calculated position. This proved that the differential GPS method provides more accurate position coordinates and makes more sense for use on robots than conventional GPS.
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Robot Controlled by PIC Microprocessor Unit
Heřman, Petr ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.
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Mobile Robot Localization Using Camera
Vaverka, Filip ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design and implementation of an approach to the mobile robot localization. The proposed method is based purely on images taken by a monocular camera. The described solution handles localization as an association problem and, therefore, falls in the category of topological localization methods. The method is based on a generative probabilistic model of the environment appearance. The proposed solution is capable to eliminate some of the difficulties which are common in traditional localization approaches.
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Fuzzy Neural Networks
González, Marek ; Rozman, Jaroslav (referee) ; Zbořil, František (advisor)
This thesis focuses on fuzzy neural networks. The combination of the fuzzy logic and artificial neural networks leads to the development of more robust systems. These systems are used in various field of the research, such as artificial intelligence, machine learning and control theory. First, we provide a quick overview of underlying neural networks and fuzzy systems to explain fundamental ideas that form the basis of the fields, and follow with the introduction of the fuzzy neural network theory, classification and application. Then we describe a design and a realization of the fuzzy associative memory, as an example of these systems. Finally, we benchmark the realization using the pattern recognition and control tasks. The results are evaluated and compared against existing systems.
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Motion Controlling of a Robotic Car by RaspberryPi and Camera
Brhel, Miroslav ; Samek, Jan (referee) ; Rozman, Jaroslav (advisor)
This Master's Thesis deals with the controlling of robotic car by Raspberry Pi and the ca- mera. Theoretical part describes individual steps of image processing and probabilistic plan- ning for searching path in the work space. In particular, algorithm RRT (Rapidly-exploring Random Tree) is discussed and the balanced bidirectional RRT is further introduced and used for nonholonomic planning in configuration space. Next chapter speaks about propo- sed solution and there is the accurate description of connection Raspberry Pi to the robotic car. Rest of the work provides look at implemetation details and evaluation. In the end, conclusion was given and some improvements were suggested.
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Real-Time Object Tracking in Video
Šimon, Martin ; Beran, Vítězslav (referee) ; Rozman, Jaroslav (advisor)
This thesis focuses on real-time visual object tracking with emphasis on problems caused by a long-term tracking task. Among theses problems belong primarily an occlusion problem, both the partial and the full one, and appearance changes of the object during the tracking. The work is also concerned with tracking objects of a very limited size and unsteady camera movements. These two particular problems are relatively common when tracking distant objects. A part of this work is also a summary of related work and a proposal of a system with high qualitative stability and robustness to problems mentioned. The proposed system was implemented and the evaluation demonstrated that it is capable of solving these problems partially.
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Stability Control of Quadrocopter
Nejedlý, Jakub ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This work deals with physical laws affecting behavior of a quadcopter as a mobile robot. It describes methods of controlling movements and stability. The result of the theoretical analysis is creation of simulation model. Moreover it depicts practical software developement of a real machine controller unit with its own conclusion, comparison between simulation and practical experiments and the workflow of the physical system construction.
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Hexapod Robot Movement Control
Žák, Marek ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis discusses walking robots issues, their classification, management and construction. There are listed the most famous motion algorithms and their graphical representation. Examples of existing walking robots are also mentioned in this thesis. There are also described modifications of hexapod robot, its hardware and software. The robot is controlled through graphical user interface, which displays data from all sensors, visualises positions of all legs and allows the creation of user defined gaits and its simulations.
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