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Collision Avoidance System for Mobile Robot
Dzuro, Daniel ; Hájek, Josef (referee) ; Herman, David (advisor)
This bachelor's thesis deals with the anti-collision system for mobile robot which is often liable to the collisions with other objects. Expensive parts of the robot could be saved thanks to the system. The main issue of the thesis was to design the system of premature reaction and it's application to the existing system which would help prevent the collision on time. Not only the breaking system was used to stop or slow down the vehicle but also the cooperation with the prediction of the vehicle's direction control was needed. Laser rangefinder and ultrasonic sonar were mainly used for this purpose.
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Support of Mapping by Image Processing
Jaroš, Ján ; Herman, David (referee) ; Váňa, Jan (advisor)
This bachelor's thesis deals with methods of detection of selected objects in video and with importing these objects into OpenStreetMap central database based on their geographic location. It focuses mainly on recognition of road signs. First section briefly describes some of the most widely used methods and OpenStreetMap project itself. In the following chapters is given a more detailed overview of used methods of proposed system, its implementation and testing. The conclusion contains evaluation of whole work and the possible improvements are listed here.
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Visual Simulator of General Neural Networks
Herman, David ; Zbořil, František (referee) ; Martinek, David (advisor)
The subject of this bachelor thesis is the design of a general library of neural networks. Another subject is the implementation of a visual simulator, which would represent graphically, in a suitable manner, the algorithm of learning and the active dynamics of the network, in separate steps. This application also has to be platform independent.
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3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
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3D Map Building Based on Stereo Vision for Mobile Robot Navigation
Babinec, Adam ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis is dedicated to the subject of passive stereo vision in modern robotics. The work includes the design and implementation of autonomous passive binocular stereo vision system for mobile robot navigation. A three-dimensional local map is built up by aggregation of point clouds created by reprojection of the image pairs taken with stereocamera. The image pairs are reprojected using disparity map obtained with application of block matching algorithms on the image pairs. The local map is represented by voxel grid stored in an octree and it supports detection of moving obstacles on ray-casting principle. Visual odometry is calculated by tracking reprojected paired image features detected in series of image pairs. The system allows user to choose different approaches to the problem solving, it is platform and hardware-independent and provides graphic user interface.
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Methods for the extraction of selected toxins from solid matrices and their subsequent determination by HPLC/MS
Herman, David ; Zlámalová Gargošová, Helena (referee) ; Čáslavský, Josef (advisor)
This diploma thesis is focused on the analysis of toxins and their extraction from sandyloamy soil. Particularly, saxitoxin and trichothecene mycotoxins deoxynivalenol, HT-2 and T-2 toxins are in the centre of interest of this work. Their occurrence, toxic properties and influence on living organisms are described in theoretical part of this thesis. In next chapters, currently published extraction methods for individual toxins and analytical approaches for their quantitative evaluation are summarized. In experimental part of this thesis, optimized process of sample pretreatment based on extraction of toxins from soil using 1mM HCOONH4 in 84% acetonitrile was proposed as the best option. Simultaneous determination of toxins was performed by liquid chromatography on a CN column (3.0 x 150 mm, 3 m, 100 ) in gradient elution mode. Mass spectrometer with electrospray as ion source and linear ion trap as analyzer was used as detector. Recovery of designed method was over 80% for trichothecene mycotoxins and 51% for saxitoxin.
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Local Navigation of an Autonomous Mobile Robot
Herman, David ; Rozman, Jaroslav (referee) ; Orság, Filip (advisor)
This paper deals with the topic of design of a navigation system for an autonomous mobile robot in a park-like environment. Precisely, designing methods for road detection using available sensoric system, designing a mathematical model for fusion of these data, and suggesting a representation of an environment suitable for planning and local navigation.
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Global Robot Localization Using GPS, Compass and Map
Snášelová, Petra ; Orság, Filip (referee) ; Herman, David (advisor)
The goal of this bachelor thesis is design of a global localization method for robots combining data provided by GPS, compass and maps. The purpose of such a method is to achieve more precise and reliable localization. The thesis is introducing senzor systems and global navigation. Furthermore it is focused on basic principles of Kalman's filtration applied to the designed localization method. The developed aplication ensures the localization of robot in the map and simulation of its move after maps in OSM or RNDF format and the trace record in XML format were loaded to the application.
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Search of Corresponding Objects in a Pair of Images
Vrbenský, Andrej ; Herman, David (referee) ; Orság, Filip (advisor)
This thesis is aimed on area of stereoscopy. At first, there is some space dedicated to stereoscopic theory, primarily to seaching of corresponding objects in a stereo image pair. Main attention is given to template matching methods, which are based on intesity comparison. Then we try to optimize these methods with SIMD SSE instructions and run some tests with image examples. These methods are implemented in C++ and also in assembly language.
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