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Indoor Positioning Based on Inertial Measurement Unit
Coufal, Marek ; Vychodil, Josef (referee) ; Král, Jan (advisor)
This bachelor’s thesis deals with inertial navigation intended for indoor usage. The algorithm for processing accelerometer and gyro data is described along with their position in equations of motion. Various coordinate systems are defined for ease of manipulation of vector quantities, including conversions and rotations between frames. The thesis also addresses the design of the hardware for the inertial unit, including the minimum requirements for fast data recording. Some chapters are dedicated to the design of the printed circuit board and the implementation of the device, followed by the development of firmware and software for data logging and processing.
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Figure trracking
Berka, Jiří Michael ; Řičánek, Dominik (referee) ; Richter, Miloslav (advisor)
This bachelor's thesis focuses on the development of software for tracking an exercising person and evaluating deviations from the correct execution of movement tasks. Initially, the thesis theoretically examines the fundamentals of digital image processing, the use of various types of cameras, and computer vision technologies. Subsequently, methods of artificial intelligence and deep learning that enable motion detection and analysis are described. The main part of the thesis focuses on the implementation of the OpenPose system for real-time pose estimation. Technical challenges are discussed, and solutions are proposed to achieve the accuracy and reliability of the system. The practical part includes testing the software on real videos and evaluating its performance. The results show that the developed software can effectively help in correcting movements and preventing injuries in various applications.
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Measurement Uncertainty Determination and Capability Evaluation during calibration CMM MicroVu
Vanek, Richard ; Jankových, Róbert (referee) ; Šrámek, Jan (advisor)
The diploma thesis deals with the determination of measurement uncertainty in the calibration of the Micro-Vu Excel 4520 Coordinate Measuring Machine (CMM). The research part of the diploma thesis is focused on the basic terminology used in the field of calibration measurement and on the general characteristics of coordinate measuring machines. The review part is concluded with the characteristics and description of the principle of operation of the CMM Micro-Vu Excel 4520. In the practical part, the diploma thesis first focuses on the selection of suitable standards for the calibration of the aforementioned CMM. Then it describes the performance of individual calibration measurements, which were carried out in the calibration laboratory in the building of the Czech Metrology Institute in Brno. Subsequently, it deals with the identification of individual measurement uncertainties and their evaluation. The thesis concludes with an evaluation of the results obtained, evaluation of CMM capability and recommendations for practice.
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Model of the bridge for presentation of the member system
Chlup, Pavel ; Krejčí, Petr (referee) ; Appel, Martin (advisor)
In this bachelor thesis, the individual parts of the model bridge structure are explained with a brief commentary on their creation. Subsequently, the computational modelling of the problem using statics and its practical solution using strain gauges and MATLAB software is elaborated upon. The thesis is divided into a total of four chapters, where the first one is devoted to research on the application of statics and strain gauges. Subsequently, the function of each part of the fabricated model is formulated and a static model of the truss system which is equivalent to the fabricated model but is statically indeterminate without further considerations is presented. Then, the principle on which strain gauges are applied to solve the insolvability of the system is explained and as a result, the force action in the truss system as a function of the load is plotted using an application developed in MATLAB software. The result is a comparison of the measured and calculated values in the truss system.
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Design and realization of device for cyclic load of test sample in vacuum chamber
Štarha, Matěj ; Šnajder, Jan (referee) ; Krejsa, Jiří (advisor)
The master's thesis focuses on development of device for cyclic loading of standardized specimen inside the vacuum chamber of an electron microscope. Options for source of force suitable for vacuum are discussed and methodology of indirect load measurement is described. Furthermore, hardware for measurement and control is proposed. The software is implemented in two parts: microcontroller firmware and a user application for PC. The device was calibrated using a loading machine and a successful test was performed in the electron microscope.
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Spatial Augmented Reality for Robotic Workplace
Štrof, Jakub ; Kapinus, Michal (referee) ; Materna, Zdeněk (advisor)
The focus of this work is to create projected user interface, which will complement AREditor, an application for robotic programming and also to calibrate Kinect and projector using existing calibration method. For calibration, I used the procam-calibration method, which uses projected Gray codes onto a chessboard to calculate calibration parameters. Thanks to it, virtual objects can be placed correctly into the real space. User interface was implemented using game engine Unity. By testing the interface, it was found that it helps the user to better grasp the relation between real and virtual space when placing virtual objects into the robotic workplace. It also raises user's awareness of the robot's movements when cooperating with it.
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Design and construction of a controller for automated calibration of vacuum gauges
Kuchař, Matěj ; Králík, Jan (referee) ; Appel, Martin (advisor)
The aim of this work is to accelerate and enhance calibration, as previously a mechanical valve was used to adjust the desired pressures. To achieve automation, a system utilizing ADS 1256 for reading analog signal, EVR 116 for regulation, and standards for pressure measurement during calibration was designed and implemented, with the entire system controlled by Raspberry Pi. The results indicate that the controller performs very well but struggles with low pressures, which are, however, caused by imperfections in the apparatus.
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Accuracy Check of the Dataset of Digital Technical Map
Kinc, Martin ; Sláma, Jiří (referee) ; Bárta, Ladislav (advisor)
This thesis focuses on the accuracy control of the dataset of a digital technical map. It analyzes the usability of primary data in creating this map using new mapping methods and proposes suitable methods for control measurements. The main objective is to conduct necessary measurements to enhance the precision of primary data and subsequently perform control measurements in a selected location. Statistical evaluation of the measured data is carried out with respect to the accuracy of the vector drawing and the standards outlined in ČSN 01 3410. The thesis is structured into theoretical foundations of digital technical map issues, data collection methods, and measurement procedures. It employs real data and a case study for the application of proposed methods in practice. In conclusion, the achieved results are presented.
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Automatic hydroponic microfarm for plant cultivation
Takács, Peter ; Janoušek, Jiří (referee) ; Szabó, Zoltán (advisor)
This thesis deals with the implementation of hardware and software design for an existing hydroponic micro-farm. The thesis includes a literature and internet search focused on automated plant cultivation. A description of different types of soilless cultivation systems is given in the thesis. General plant requirements are addressed and these requirements are thoroughly discussed. Instrumentation using specific components is also described in the thesis. The system integrates a control unit, heating and aeration controls for the nutrient solution, adjustable lighting, and sensors for pH, EC, and adjustable water and ambient temperature. In addition, the advantages and disadvantages of two selected microprocessor units are discussed. Further, the operation of the microcontroller that controls the individual components is also described in the thesis. This thesis briefly describes the general circuitry of each component and includes circuit diagrams and the schematic of a printed circuit board. This thesis describes the program of the firmware and the functions of the web interface used to interact with the system. Additionally, it features remote control and monitoring capabilities via a web interface, with email alerts for external intervention needs. This thesis also includes the implementation of the electronics in terms of assembly and calibration.
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Stereo reconstruction of vehicles' cross section
Boch, Jan ; Richter, Miloslav (referee) ; Honec, Peter (advisor)
This master thesis deals with the design of a stereo system for processing vehicle images and subsequent reconstruction of their 3D model. The aim of the thesis is to reconstruct the vehicle model to control its dimensions and load on which restrictions are imposed in case of the use of critical transport infrastructure (tunnels, bridges). The thesis begins with a mathematical description of scene capture and continues with a research of theoretical possibilities of system configuration. One Intel RealSense 3D camera and one RGB camera were chosen as the most suitable configuration. The software solution works with the design of several different algorithms of which it is worth mentioning reconstruction using depth maps or triangulation.The resulting models in the last chapter contain data only from the aforementioned 3D camera. The model from the 3D camera could not be improved with the images from the RGB camera and camera can therefore be declared redundant. Resulting 3D model is still sufficient for the purpose of vehicle inspection and in case of continued work, another, more optimal configuration should be designed.
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