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Robotic Shopping Cart
Kuřátko, Jiří ; Beran, Vítězslav (referee) ; Materna, Zdeněk (advisor)
This bachelor’s thesis deals with the project of application about planning the robot’s movement in order to follow the specified person. At the beginning of the work, the Microsoft Kinect sensor which is used for sensing nearby objects is described. Hereinafter the possible methods how to identify human figures on the basis of depth data from the Microsoft Kinect sensor are discussed as well. The reader is also familiar with the methods determining the direction of arrival of acoustic signals. Last chapters of the work are dedicated to the motion control of the robot. Finally the complete implementation of the robot software for the platform of Robotic Operating System (ROS) is described.
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Calibration of Robotic Workspace
Uhlíř, Jan ; Veľas, Martin (referee) ; Kapinus, Michal (advisor)
This work is concerned by the issue of calibrating a robotic workplace, including the localization of a calibration object for the purpose of calibrating a 2D or 3D camera, a robotic arm and a scene of robotic workplace. At first, the problems related to the calibration of the aforementioned elements were studied. Further, an analysis of suitable methods for performing these calibrations was performed. The result of this work is application of ROS robotic system providing methods for three different types of calibration programs, whose functionality is experimentally verified at the end of this work.
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Cell transplantation methods in cardiology
Kukhta, Dziyana ; Hežová,, Reneta (referee) ; Skopalík, Josef (advisor)
Tato diplomová práce se zabývá tkáňovým inženýrstvím, zejména tvorbou homogenní, izotropní a planární vrstvy buněk srdečního svalu pomocí dvou technologii:”scaffold-based” a ”scaffold-free”. Nejprve popsaný histologie srdeční stěny, buňky srdečního svalu a buněčné kultury. Následuje popis tkáňového inženýrství, který zahrnuje technologii “cell sheet” a tkáňové inženýrství na bázi scaffoldů. Na konci teoretické části je popsána aplikace tkáňového inženýrství a buněčná vizualizace. Praktická část věnovaná tvorbě planární buněčné vrstvy z kardiomyocytů a fibroblastů s využitím informací z teoretické části.
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Development of Application for Mutliple Mobile Platforms
Seidl, Viktor ; Charvát, Lucie (referee) ; Křivka, Zbyněk (advisor)
In general, there are several platforms for mobile application development. This bachelor thesis is also related to the development of applications for platforms such as Android, iOS and Windows Phone. Xamarin technology is a suitable tool for unifying all three platforms. Xamarin belongs to the technology of .NET framework and it is based on the open-source Mono project. With this technology, an application called Mobilní Objednávání Kredit 2 was created for the bachelor thesis. The application serves for ordering meals in the Kredit system from ANETE spol. s r.o. For the purpose of this work, the application was improved for the Android platform and then compared to the available version of the application developed in the Java programming language. The application was successfully programmed for Android and iOS platforms and then uploaded to the appropriate stores on the platforms where the applications are offered to users.
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Detection and Vizualization of Features in a Point Cloud
Kratochvíl, Jiří Jaroslav ; Mikeš, Josef (referee) ; Martišek, Dalibor (referee) ; Procházková, Jana (advisor)
The point cloud is an unorganized set of points with 3D coordinates (x, y, z) which represents a real object. These point clouds are acquired by the technology called 3D scanning. This scanning technique can be done by various methods, such as LIDAR (Light Detection And Ranging) or by utilizing recently developed 3D scanners. Point clouds can be therefore used in various applications, such as mechanical or reverse engineering, rapid prototyping, biology, nuclear physics or virtual reality. Therefore in this doctoral Ph.D. thesis, I focus on feature detection and visualization in a point cloud. These features represent parts of the object that can be described by the well--known mathematical model (lines, planes, helices etc.). The points on the sharp edges are especialy problematic for commonly used methods. Therefore, I focus on detection of these problematic points. This doctoral Ph.D. thesis presents a new algorithm for precise detection of these problematic points. Visualization of these points is done by a modified curve fitting algoritm with a new weight function that leads to better results. Each of the proposed methods were tested on real data sets and compared with contemporary published methods.
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Interactions in solutions and gels of stimuli-responsive polymer systems investigated by NMR spectroscopy
Konefał, Rafał ; Spěváček, Jiří (advisor) ; Hrabal, Richard (referee) ; Štěpánek, Miroslav (referee)
Stimuli-responsive (stimuli-sensitive, intelligent, or smart) polymers are polymer materials which, after small external stimuli, evidently change their physical or chemical properties. Smart polymers can be classified according stimuli they respond to such as: temperature changes, mechanical stress, light irradiation, ultrasonic treatment, application of external magnetic as well as electric field, changes of pH, ionic strength, addition of the chemical agents and presence of biomolecules and bioactive molecules. Stimuli-responsive synthetic polymer systems has attracted considerable attention due to wide range of applications, i.e. controlled drug delivery and release systems, diagnostics, tissue engineering and 'smart' optical systems, as well as biosensors, microelectromechanical systems, coatings, and textiles. Among the types of stimuli for this dissertation temperature, pH and reactive oxygen species (ROS) responsive polymer systems were studied. In case of thermoresponsive polymers, when polymer chains are molecularly dissolved in a good solvent, changes (increasing or decreasing) of temperature result in insolubility (globular nanoparticles formation) of polymer chains, called temperature induced phase-separation. pH responsive polymers change properties such as: solubility, volume (gels),...
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Obstacle detection using an image-based 3D scanner
Rybin, Andrei ; Kumpán, Pavel (referee) ; Hrbáček, Jan (advisor)
Tato bakalářská práce se zabývá implementaci softwaru pro systém detekci překážek pomoci kamerového 3D skeneru Kinect V2. V rešeršní části jsou detailně popsány existující druhy kamerových 3D skenerů, jsou analyzovány existujiící řešení, a algoritmy v oblasti detekci překážek a je uvedena potřebná teorie. Praktická část se skládá ze tři části: popis použité robotické platformy, rozbor implementaci softwaru pro detekci překáźek, a diskuzní část s analýzou výsledků experimentů. Na závěr vyvínutý systém je zhodnocen, jsou navrženy možnosti jeho aplikace a dalšího vývoje.
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Tabletop Object Detection
Timko, Martin ; Veľas, Martin (referee) ; Kapinus, Michal (advisor)
The aim of this thesis is to design and create a module for robotic platform PR2. This module has to detect objects in front of the robot on a table and enable various operations with these objects. This thesis describes methods of object detection which were used in the implementation of the module. The thesis also describes the methods used for design and implementation of this module. The module testing and evaluation of results are mentioned at the end of the thesis.
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Doors and Door Handle Localization for PR2
Botka, Roland ; Španěl, Michal (referee) ; Kapinus, Michal (advisor)
The aim of this work is to design and create a module for locating doors and handles for the robotic platform PR2. Finding the doors should be done separately, which means that the robot finds a door in the room without assistance. Handle position is stored in a file which the data are read from based on the AR code affixed to the door. The result of this module should be a program for the Robotic operating system that will locate the door in the room, and give information about them. These informations will be the basis for the work of another module, which open the door. The final test took place in a faculty robotic laboratory
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User Hand Detection in Depth Data
Malík, Pavol ; Šimon, Martin (referee) ; Beran, Vítězslav (advisor)
The aim of this thesis is to detect hand of user above the interactive table and show its position with respect to the table. Used sensor was Kinect so the depth data approach was selected. The detection is realized using registration method SAC-IA, which works on the template matching principle. Thesis deals with existing solutions of hand detection as well as procedure used in this work. Dataset was defined, containing hand templates and testing scenes, from which the classifier was evaluated. Final testing was performed on more than a hundred objects and the success rate reached 82 %.
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