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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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Vibration of faulty bearing depending on the load
Slaninová, Barbora ; Marcián, Petr (referee) ; Krejsa, Jiří (advisor)
The subject of the presented bachelor thesis is an analysis of a bearing vibration during its failure on inner race with varying load. The work aims to create a model simulating the time course of vibrations in the event of a bearing failure depending on the load and speed of the bearing. The work compares the frequency and time model of the rolling bearing error spectrum. A model of bearing error frequencies was also created, which is supplemented by a force action in the next step. To parameterize the model, data were experimentally measured on a bearing that takes on three possible states. The first bearing has a defect on inner race measuring 0.25 mm, the second bearing 0.5 mm and the third is free of defects. The measurement takes place on a test bed in 135 repetitions. Inventor is used to design the bearing with defect. The measured data are processed and visualized with MATLAB. The measured values show that the rate of vibration is not only dependent on the load and speed, but also the size of the defect.
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Design of software module for paraglider landing simulator
Šulc, Dalibor ; Březina, Lukáš (referee) ; Krejsa, Jiří (advisor)
The aim of this diploma thesis is software designed to simulate landing of the paragliding wing. It means the development of the mathematic model describing the final stage of flight and landing. The model comprises the effects of controls (brakes, speed bar, weight-shifting). One part of the thesis is the description of the implementation in C# language with complete source codes.
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GPS data usability in mobile robot navigation problem
Novák, Pavel ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This work is focused on problems of the GPS/DGPS receiver precision used by mobile robot for navigation in outdoor environment. The first part deals with theoretical analysis of GPS, description of it´s functions, errors and their influence on measurements accuracy. Second part deals with practical measurements performed at two locations with different types of obstacles restricting the view to the sky and using the refining methods of measuring the DGPS or so-called differential GPS. The last part of study presents the measured results and its analysis.
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Design and realization of measuring device for determination of human arm force depending on elbow joint angle.
Zezula, Miroslav ; Vlk, Miloš (referee) ; Krejsa, Jiří (advisor)
The goal of this bachelor’s thesis is design and realization of measuring device for determination of human arm force depending on elbow joint angle. Used measuring method allows to measure this relationship during one continuos movement from one limit position to another. Simplicity of single measurement run allows to obtain a large set of values and evaluate it statistically. This thesis contains a detailed technical description of the measuring device. Actual force and position of hand are measured by electric transducers. Measured values are captured using Spider8 data acquisition system. Based on experiences from first test measurement, the measuring device is modified and drive unit is added. This drive unit is automatically started by a signal from data acquisition system.
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Design of airconditioned chamber for stratospherical baloon
Gedeon, Sebastián ; Spáčil, Tomáš (referee) ; Krejsa, Jiří (advisor)
The aim of this bachelor thesis is design of a heating chamber for a stratospheric balloon. The chamber's role is to preserve the load from the impact of the environment in which the baloon is going to be situated. The process of protection of the load is described in three steps. The first one is to characterize the flight dynamics which consits of the following: elevation time, descending time, maximal height reached, air characteristics changes depending on time. The second step deals with flight energetic balance. The total heat losses or the total heat increase of the chamber in different weather conditions have to be defined resutling from step one. The third step is to design the constructing or functional elements of the heated chamber, so that the chamber could overcome extreme conditions during the flight and to prevent the damage to the load. The energetic balance calculations are presented in the Microsoft Excel document. This document is free to read and can help with scientific construction projects.
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Determination of sound source orientation from multichannel audiosignal
Sumtsov, Artem ; Ripel, Tomáš (referee) ; Krejsa, Jiří (advisor)
The goal of this thesis was a research on appropriate methods of determination of sound source orientation and consequently its processing. This thesis describes subsequently four methonds of determination of signal delays between different channels. Each of these methods is evaluated with respect to suitability, usability, error rate and sensibility. In the next part the geometrical model for determination of the sound source orientation is described. Experimental solutions are processed for the situation with three microphones. Calculations are done in Matlab.
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Sign language detection methods - review
Petr, Luboš ; Venglář, Vojtěch (referee) ; Krejsa, Jiří (advisor)
The Aim of this work is to describe various methods of sign language detection. The output of individual methods is a functional translation of sign language into text in real time. In addition to glove and kinect detection, this work deals with the possibilities of sign language detection from image recording, which is the most prospective method of detection in the future. The thesis is also focused on sign classification using neural networks.
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Industrial TwinCAT based diagnostics application
Zigo, Ľubomír ; Ondroušek, Vít (referee) ; Krejsa, Jiří (advisor)
This bachelor´s thesis describes designing of diagnostics application for press controlled by Beckhoff TwinCAT. Application monitors press regularly and informs staff in case of breakdown. Diagnostics application is created in high-level programming language Visual C++ in Microsoft Visual Studio environment. Application communicates with TwinCAT via .NET Framework library TwinCAT::Ads, which is part of TwinCAT. Breakdown texts are read from database via Microsoft OLE DB interface using SQL.
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