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Robot Localization Using MEMS Sensors
Demín, Michal ; Obdržálek, David (advisor) ; Bureš, Tomáš (referee)
Autonomous robots are becoming more common in this world. To be able to survive, they need precise information about their position. Purpose of this thesis is to design and create robust localization library, that provides such information to the robots. MEMS sensors are used as inertial measurement unit, which provide acceleration and rotation data to the library. We are discussing various available MEMS sensors, and their usability for such task. Described are various methods used to process sensor data such as the Kalman fi lter used to lter noise from measurements, sensor alignment using quaternions as spacial rotation, and xed-point arithmetics for compatibility with embedded systems. We found out that gyroscopes can only be used for short term observations, because of their drift. Acceleration sensors proved themselves unusable for localization purposes, because of imprecise acceleration sensing and major drift over time.
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Undetectable Debugger
Demín, Michal ; Děcký, Martin (advisor) ; Marek, Lukáš (referee)
Using debuggers is a common mean for identifying and analyzing malware (such as viruses, worms, spyware, rootkits, etc.). However, debuggers can be detected by malware via observing of the behavior of operating system, changes in code (such as breakpoint instructions) and non-standard behavior of the CPU, making the analysis of the malware can be hard and tedious. In this thesis we are implementing a basic debugger based on the QEMU emulator that hides its presence from the debugged application. This is accomplished by using the QEMU as virtual machine and adding context awareness to the already existing primitive debugger. The context awareness is implemented using an embedded Python scripting engine. Such setup gives us a flexible way of implementing support for various operating systems. In this thesis, we have developed two examples. One example is for the RTEMS operating system, which serves as easy to understand reference implementation. Second example is for the Linux operating system, to show the abilities of the undetectable debugger in a more real scenario.
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Robot Localization Using MEMS Sensors
Demín, Michal ; Bureš, Tomáš (referee) ; Obdržálek, David (advisor)
Autonomous robots are becoming more common in this world. To be able to survive, they need precise information about their position. Purpose of this thesis is to design and create robust localization library, that provides such information to the robots. MEMS sensors are used as inertial measurement unit, which provide acceleration and rotation data to the library. We are discussing various available MEMS sensors, and their usability for such task. Described are various methods used to process sensor data such as the Kalman fi lter used to lter noise from measurements, sensor alignment using quaternions as spacial rotation, and xed-point arithmetics for compatibility with embedded systems. We found out that gyroscopes can only be used for short term observations, because of their drift. Acceleration sensors proved themselves unusable for localization purposes, because of imprecise acceleration sensing and major drift over time.
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