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Using the library for data serialization in embedded system
Slavov, Jan ; Burian, František (referee) ; Petyovský, Petr (advisor)
This diploma thesis deals with the possibilities of using serialization libraries for communication with embedded systems. Data serialization is a process that converts data objects organized into complex data structures into a stream of bytes. Data serialized in this way can be easily transferred between devices or stored. At the same time, serialization enables the platform to transfer data in a programing language-neutral manner. Also addresses compatibility when updating messages. This work will primarily deal with binary serialization, as it is less time-consuming and the resulting messages are smaller in size. This work will describe work with the following libraries for data serialization: Flatbuffer, Protocol Buffer, Cap'n Proto. These libraries will then be compared with each other and one library will be selected from the results. A demonstration task is designed for this library. It will be implemented in two versions. The first version will use the selected library and the second will use my own method of data serialization. Both approaches will be compared with each other at the end of this thesis.
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SCARA robot advanced program functions
Štípek, Martin ; Burian, František (referee) ; Benešl, Tomáš (advisor)
This thesis is devoted to the description of the used SCARA type of robot, controlled by using devices from the Beckhoff company. In original workstation it is necessary to check all systems and then do commissionig of motor cotrollers for correct working of individual axes. A 3D design is created, which serves as a demonstrative model of a possible workplace. The robot is tuned to optimal motor constants. Interpolation from specified points or using G-code is implemented. At the end, for the system is developed web visualization based on the Server-Client principle.
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Weather station for smart home system
Mitter, Martin ; Burian, František (referee) ; Šedivá, Soňa (advisor)
This semesterly thesis deals with designing of weather station whose task is to provide via wireless data transfer on Wi-Fi network up-to-date information of measured temperature, barometric pressure, relative humidity, ambient light, wind speed and directions to smart home system, whose job is to store the values, creates its visualization for users and based on the data regulates the systems. The work describes the selection of suitable sensors for those variables and the design of the structure of the hardware part of the weather station. Theoretical parameters of the proposed solution are compared with the competition. Then the whole system is build and tested.
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On the kinematics of wheeled mobile robots
Zoufalý, Stanislav ; Hrabec, Jakub (referee) ; Burian, František (advisor)
The bachelor thesis deals with the description of the concepts of nonholonomic mobile robots. Its aim is to get acquainted with the basic variants of structures, to build a mathematical model, to derive dynamic properties and to design a functional algorithm of a control system. The work describes the selection of suitable models, the implementation of two basic types of chassis and the selection of a suitable simulator for the implementation of models. These are types with Differential and Ackerman chassis. The thesis next describes the design of suitable control so as to meet the requirement of tracking the desired trajectory. Control algorithms and mathematical models were implemented in the MATLAB-Simulink software environment with the possibility of real 3D simulation in the Webots simulator.
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Wireless communication link analyzer
Dostálek, Jakub ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The aim of this bachelor thesis is to design and implement a wireless communication analyzer in mobile robotics, using IPv4 protocol and Ethernet interface and to create correctly selected and expressed characteristics from the measured data, according to which the wireless communication channel can be further optimized for the best data transmission. To meet these requirements, a brief search of existing solutions was performed, their applicability was discussed and important parameters of the wireless transmission channel were defined, which will form the given characteristics. Furthermore, the actual design and implementation of a wireless communication link analyzer for previously specified required parameters, verification of its functionality on the transmission link with known parameters and automation of measurement and data evaluation was performed.
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An kinematic analysis of skid-steer wheeled mobile robot
Šafránek, Petr ; Jílek, Tomáš (referee) ; Burian, František (advisor)
In this thesis deals with an kinematic analysis of skid-steer wheeled mobile robot. In chapter we will focuse on theore about kinematice. In chapter two there is forward and inverse kinematice which will be implemented in the parametric simulator in chapter 3. Results of simulation are sumarized in chapter 4. The simulator is located in an attachment A and m-file with resullts processing is in attachment B.
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Comparison of collaborative and non-collaborative robots
Krajčovič, Matej ; Burian, František (referee) ; Macho, Tomáš (advisor)
The bachelor thesis was focused on comparing collaborative and non-collaborative robots from ABB. Currently, the development of collaborative robots is advancing. The bachelor thesis contains the characteristics of collaborative and non-collaborative robots. Collaborative robots are capable of working with humans, which companies can use in multiple applications. They differ from non-collaborative robots in load capacity, reach, price and cycle time. The results were achieved using simulations from the Robotstudio program and from the relevant documents for collaborative and non-collaborative robots.
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RS-485 demonstration board
Hříbek, Šimon ; Burian, František (referee) ; Fiedler, Petr (advisor)
First part is focused on basics of standard RS-485. Characteristics, industrial applicarions and different variants are described here. Second part is about design of device itself. Its focused on schematic design of the device. Three main parts of device are described here. Third part is about proces of choosing right components and theirs key aspects. Last part descibes previous versions of design of device. Major changes and fixes are mentioned here.
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Comparing 3D multispectral images of the human body
Šopák, Petr ; Burian, František (referee) ; Chromý, Adam (advisor)
This thesis is about creating new application of Roscan Analyzer 2.0 based on the original Roscan Analyzer using one of the current game engines. This application is used to model 3D models of scanned parts of human body using RoScan System and using the implemented tools such as view modes or measurement on model according to user-specified points. A new module for comparing two 3D models has been added to this application, in which models can be manually or automatically aligned and then compared. Physiological differences can be filtered on the models before comparison. The Unity game engine was chosen for implementation of the new RoScan Analyzer 2.0 application.
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On the kinematics of legged robots
Hrubý, Tomáš ; Kopečný, Lukáš (referee) ; Burian, František (advisor)
This bachelor thesis deals with the topic of kinematics of walking robots. It is aimed at introducing the problems of mobile robots and the concepts of solving locomotion and stability of robots with different numbers of limbs. Furthermore, the thesis discusses the mathematical principles leading to the description of the limbs of robots and to the description of their motion. These principles are then applied to the specific case of a six-legged walking robot. The description of the limbs with respect to the coordinates and the servomotor setup is resolved. Then the forward motion of the robot is modeled and the result is shown in the simulation.
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