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Robotic manipulator testing
Pernikář, Aleš ; Davídek, Daniel (referee) ; Richter, Miloslav (advisor)
This bachelor thesis concerns about automation of testing procedures using automaticaly controlled robotic manipulator. Thesis defines requirements of prerequisites, testing procedures and evaluation of results. Testing environment YSoft SafeQ as well as multifunctional printers are described. Algorithms for manipulator control and extracting results from sensors are designed. Testing libraries, created to serve as an interface between testing environment and the testing tools are described. Tests are designed in Robot Framework where test plans are created and executed by a remote machine using test environment Atlassian Bamboo.
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Image processing using Android device - gas-meter value recognition
Wertheim, Michal ; Davídek, Daniel (referee) ; Honec, Peter (advisor)
This thesis describes the design of the image processing for Android system, consisting of the choice of the development environment and its implementation. Workflow soluti-on to the problem involves development of the Androidapplication and it’s graphical user interface. The text includes description of the application functionality, communica-tionwith a camera, storing and retrieving data. It also describes used algo-rithms and image processing methods used for detecting values from the counter of the gas meter.
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Optical Music Recognition
Vaško, Radim ; Davídek, Daniel (referee) ; Richter, Miloslav (advisor)
The diploma thesis specifies digital methods of optical recognition of a notation, by detailed analysis of methods based on removal of notation lines and creation of a test program which automatically converts the images written in the notation into digital format. This work summarizes the knowledge from the research and practical part. In the research section, key chapters are described as OMR architecture, including processing, symbol classification, postprocessing, and more. The practical part of the thesis presents the results of the development and testing of the proposed application.
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Object detection
Strašek, Petr ; Davídek, Daniel (referee) ; Richter, Miloslav (advisor)
This thesis solves the problem of detecting contrast subjects, assessing their symmetry and limit states. For this purpose, a database of photographs had been created, that were used for testing algorithms. The thesis also describes the specific implementation of these algorithms and their results.
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Interest Points Tracking in Video Sequence of Non-stationary Camera
Studený, Pavel ; Davídek, Daniel (referee) ; Horák, Karel (advisor)
The thesis deals with the issue of tracking feature points earned from videosequences of hand helded camera. The work is focused on the case of moving camera and static background, and events that are associated with this case and can occur. There is studied the movement of the camera, which is given its direction and speed. The aim of this work is the election and the subsequent implementation of three fundamentally different methods suitable for tracking feature points in case of moving camera and their comparison according to set criteria. On the basis of comparison will be under pre-defined conditions chosen algorithm that is best able to deal with tracing these points.
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Advanced Visual Telepresence System
Davídek, Daniel ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
The introduction of this document presents some basic principles of visual telepresence with analysis of important aspects of the design. Afterwards there is a brief ovrewview of some of the applications of telepresence systems. Subsequently there is a description of the basic parameters and functions of the human visual perception system including the head motion parameters. This document examines the creation of telepresence apparatus through which is the user able to percieve visual stimuli accross distance. The device consist of camera with wide FOV positioned on the last link of the servo-motor chain with 3 DOF. Camera view is projected into scene in position read from actual motor posture. The scene is perceived through the HMD Oculus Rift (DK1, DK2) where the actual head-orientation read from the HMD inertial sensors is the entered end value for the rotation angles of the servomotors. A \csharp (WPF) program was developed for the controling and setting of motors which handles the byte communication through RS485-USB converter and also configures and starts the telepresence mode. The telepresence scene is drawn with help of SharpDX and SharpOVR - the \csharp wrappers of DirectX and LibOVR.
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Object detection
Strašek, Petr ; Davídek, Daniel (referee) ; Richter, Miloslav (advisor)
This thesis solves the problem of detecting contrast subjects, assessing their symmetry and limit states. For this purpose, a database of photographs had been created, that were used for testing algorithms. The thesis also describes the specific implementation of these algorithms and their results.
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Odometer module for mobile robot
Davídek, Daniel ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The main objective of this work was the development and realization of odometric module for mobile robot envMap. The module processes signals from the incremental encoder and then calculates the position and direction of the robot together with the probability of its occurrence. The calculated data with a time stamp obtained from the GPS, are then sent to the above-system via the serial interface. For the realization the development board STM32F407G was chosen. f this board can be configured to function as an encoder input. This minimizes the possibility of encoder data loss when external interrupts are handled. The STM32F4 will not be any pull-back in the later development as there are plenty of peripherals on STM32F4. They were designed with two printed circuit boards: the reduction for the GPS module and shield-board for STM32F4. The equations for calculating odometric information and the probability of occurrence are included in this work. To calculate the movement of the robot, the equation considering only the movement on the plane surface is chosen. Later in this thesis there is also description of the source code for the STM32 and its functionality. In the results there is a complete connecting diagram along with the description of the utility program ODOMAT and communication messages. Finally, measurements correcting systematic error in parameters of the robot are described and there is the final odometry measurements compared with GPS localization as ground truth.
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Terrestrial Mobile Robot Undercarriagedisambiguation With Stress On Mecanum Wheels
Davídek, Daniel
The first step in new mobile robot design is the selection of undercarriage. If you are designing terrestrial robot you have commonly two options how to create movement with your actuators: a legged or wheeled drive. To select on of these categories, you should now the nature of the surface the mobile robot will most often get across. In this article commonly used wheeled drives and a few of legged robot examples are described with special attention to the omnidirectional Mecanum wheel undercarriage.
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Image Processing Algorithms Visualiser
Davídek, Daniel
A highly visual way to understand and develop computer vision algorithms is proposed. Image processing realization commonly sustains of successive function calls over the output image from the previous function. In the later phases (i.e. contour analysis, operations over segments) when the output argument of a function is not always an image, there is often a way to visualize the arguments by an image. The developed program described in this article is capable of executing basic computer vision algorithms over the input image sequentially and visualize individual steps outputs as image queue. The initialization of functions chain is possible with simple text input of individual function names with an easy option to program new algorithms.
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