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Localization system for mobile robot B2
Korytár, Lukáš ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The master’s thesis implements localization and navigation routines for mobile robot B2 in order to operate autonomously in an environment described by a road map only. The ROS framework was used for developing new software. The research part describes possible approaches to localization problem and summarizes ROS packages with localization and navigation software. The following part includes communication with the robot’s sensor modules and data processing from LIDAR, IMU and camera. The localization package robot_localization based on Kalman filter is implemented and setting of the navigation stack navigation is proposed, aiming to robot’s autonomous outdoor navigation. Implemented functions were tested in park environment and they are evaluated in this master's thesis too.
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Spectral Analysis of EEG Signal
Miklenda, Petr ; Orság, Filip (referee) ; Kupková, Karolína (advisor)
This bachelor thesis is focused at the EEG signal analysis using the Fast Fourier Transform. The theoretical part consist of EEG signal description, its creation and selected method for signal analysis. The practical part presents program for recording data from EEG headset and displaying the Fourier spectrum.
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Musical multi effects analysis
Masár, Igor ; Kubásek, Radek (referee) ; Friedl, Martin (advisor)
This work deals with guitar effect and guitar sound in general. Most widely used effects are described as well as their output time courses are simulated. There is a comparison of analog and digital effects. There is also explained the principal of guitar multiefects, described all parts of guitar efect chain and determined key parameters, which has the main impact on quality of final sound. It is used to describe a methodology for measuring multi-effects and the results obtained by this measurement. The last part deals with psychoacoustic measurements.
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Use of Mobile Device Sensors in a Car
Aron, Lukáš ; Široký, Vít (referee) ; Žák, Pavel (advisor)
This thesis analyses the use of an accelerometer commonly present in a mobile device for the measuring of vibration in a vehicle. Such measurements are used to map the quality of the road surface. The signal from the accelerometer and the current travelling speed of the vehicle are evaluated according to a threshold function. This function allows for a determination of whether the signal reported by the device signifies a pot-hole or another type of defect on the road surface. If the defect is determined to pose a threat to a vehicle travelling at higher speeds, then this fact is saved into the memory of the device. The second part of this thesis deals with the design of an internet and a mobile application, which is able to collect all measured data processes using cluster analysis and then shares the results with other participating devices. Tha practical results is that a map of road surface defect is thus created, which is then displayed to road users. This thesis deals with theory of mobile device sensors, including signal processing, as well as the design creation of the internet and mobile application.
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Control of low-cost prosthetic limb using EMG sensors
Šafran, Jindřich ; Brablc, Martin (referee) ; Rajchl, Matej (advisor)
This Bachelor thesis is about the general design, construction and model assembling of the prosthetic arm. Its programming and controlling of the robotic part are also included. The thesis is divided into five chapters. In the first chapter, the anatomy of forearm is analysed and described. Its anatomical structure is the theoretical base on which the final model is designed and constructed. Following, second chapter, comprises the analysis of prosthetic mechanisms according to the historical development up until today. And this chapter also contains the production of the designed forearm-hand-model itself. The third chapter describes the EMG diagnostic method and the process of manufacturing of each compartment of controller device used for controlling the mechanism of the designed model. Next, chapter number four contains gaining and processing of the data from testing of the measuring device. In the last fifth chapter, the programming of the made forearm-hand-model in various development environments is described. All the results and gained knowledge, are evaluated and described in the conclusion of the Bachelor thesis.
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Audio Interface for Signal Procesor Using IEEE 1394 Bus
Staroň, Martin ; Přinosil, Jiří (referee) ; Schimmel, Jiří (advisor)
The scope of bachelor’s thesis is a design of the connection between the Freescale digital signal processor DSP56300 family and the DFM Audio DICE II iKit interface by way of the TDM bus. The DICE II iKit interface uses serial IEEE1394 FireWire bus that transmits an audio stream from a host computer. This signal receives the DICE II iKit interface that converts audio data from IEEE1394 FireWire to the TDM bus. The signal processor that process the sended audio data in a real time is connected to this TDM bus. The theoretical part of this work describes the theory of the digital signal processor, in detail DSP56300 Freescale family. After that there is a basic specification of the IEEE1394 FireWire bus. The theoretical part of this bachelor‘s thesis is ended by a description the TDM bus, the I2S interface and the AudifiedDSP Solution system. A connection of the signal processor and the DICE II interface was solved in the practical part, included the debbuging and the operating of the hadle subroutine for the duplex communication. The results of this thesis is might utilise for the duplex communication between the signal processor and aplication software working on the host computer.
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Experimental Software Musical Instrument Controlled by Light Color
Liska, Matej ; Indrák, Michal (referee) ; Dlouhý, Dan (advisor)
Bachelor thesis contains the theory for realization of experimental software instrument controlled by light color. It brings knowledge of sound and light waves and color pro- cessing. Besides others, it describes process of generating digital signals using additive synthesis, methods of signal processing and sonification techniques. It solves program- ming possibilities of creating, processing, playing and saving digital audio signals. The audio source is written in Java language on the JavaFX programming platform.
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Game Environment from Music
Vaněk, Jiří ; Fapšo, Michal (referee) ; Hradiš, Michal (advisor)
The topic of this work is game environment generation from music. The main subject of this work is the music analysis. I am dealing with the problem of finding relevant information in music, which would be useful for game generating. The design of the system for music analysis, presented in this work, is based on the theory of signal processing and statistical classification. The proposed analysis of music is focused mainly on a beat detection, musical genre recognition and song segmentation. The second part of the work deals with the design of a game, which generates its environment from the data obtained in the music analysis. I have implemented the complete system for the music analysis and a prototype of the game, in which it is possible to evaluate the results from the analysis. The implementation and the achieved results are described in the conclusion of this work.
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