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ARM Remote debugging over industrial bus.
Skalický, Jakub ; Jílek, Tomáš (referee) ; Burian, František (advisor)
This semestral thesis is concerned on facilities of using DebugMonitor exception for debugging software which run on ARM Cortex-M4. The comunnication between debugged software and debugging master is implemented via CAN bus. The result is support for debugging without special debugging equipment. For support of this type of debug this thesis implemented code library called SDebug. It's managing parts of Cortex-M4 core, which are userd for debug.
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Evolutionary Design of Artificial Neural Network
Jílek, Tomáš ; Šperka, Svatopluk (referee) ; Pospíchal, Petr (advisor)
Focus of this bachelor thesis is on Neural networks, Genetic algorithms and Evolutionary Design. First part of thesis describes Neural networks, their history, training and ways of use and Genetic algorithms, their components, operators and practical application. Next part is devoted to prediction of time series, specifically prediction with use of Neural networks. This is followed by practical part of work, implementation of experiments with Evolutionary design of Neural networks for prediction in which currency exchange rates of several countries are used as a predicted time series. Results and discussion about further development of thesis are described in last chapter.
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Electronic Navigation System
Jílek, Tomáš ; Straka, Martin (referee) ; Šimek, Václav (advisor)
The aim of this thesis is the design and realization of Electronic navigation system. It comprises magnetic senzors and GPS receiver which enables to get information about movement and its direction. Afterwards the measured values can be processed by microprocessor integrated on the board and visualised by graphic display.
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Cellular Automata Design Optimization
Jílek, Tomáš ; Drábek, Vladimír (referee) ; Bidlo, Michal (advisor)
Focus of this master's thesis is on evolutionary design of cellular automata and it's optimalization. There are described Evolutionary algorithms and Cellular automata in first part. Thereafter, one of the new ways of transition function representation and its possible evolutionary design is presented. Name of this method is Conditionally Matching Rules. This is followed by description of realized experiments with detailed results. Finally, success with optimalization for some tasks is presented in last chapter along with discussion.
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Advanced Navigation in Heterogeneous Multi-robot Systems in Outdoor Environment
Jílek, Tomáš ; Duchoň,, František (referee) ; Mazal, Jan (referee) ; Žalud, Luděk (advisor)
The doctoral thesis discusses current options for the navigation of unmanned ground vehicles with a focus on achieving high absolute compliance of the required motion trajectory and the obtained one. The current possibilities of key self-localization methods, such as global satellite navigation systems, inertial navigation systems, and odometry, are analyzed. The description of the navigation method, which allows achieving a centimeter-level accuracy of the required trajectory tracking with the above mentioned self-localization methods, forms the core of the thesis. The new navigation method was designed with regard to its very simple parameterization, respecting the limitations of the used robot drive configuration. Thus, after an appropriate parametrization of the navigation method, it can be applied to any drive configuration. The concept of the navigation method allows integrating and using more self-localization systems and external navigation methods simultaneously. This increases the overall robustness of the whole process of the mobile robot navigation. The thesis also deals with the solution of cooperative convoying heterogeneous mobile robots. The proposed algorithms were validated under real outdoor conditions in three different experiments.
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Control of Curalon cycle batcher
Jílek, Tomáš ; Hynčica, Ondřej (referee) ; Štohl, Radek (advisor)
The work deals with the controlling design of batching machine polyvinyl alcohol fibre, its integration into existing production technologies and the real implementation and verification of the machine functionality for which a design has been made. It also includes a design and implementation operator panel through which can be possible for production line supervising staff to set parameters and monitor the process. Firstly, there is described the default process of dosage, required conditions and restrictions for the newly established dosing machine. In the following part features of newly designed batcher are described, further it deals with the basic parameters and characteristics of selected components, which are important for the execution of its own proceedings. The next part of the work is concerned in detail with the implemented function of controlling algorithm and operator panel, which is provided through interaction with the staff supervising the production line. The last chapter provides the basic configured parameters of the controlled components.
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Combined Global Navigation Satellite System Module
Jurajda, David ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The thesis objective is design of methodology focused on accuracy measurement in field of GPS/GLONASS receivers. Text is devided into five main parts. The first one is focused on GNSS technology. Second one deals with used coordinate systems and map projections (ETRS89, WGS84, UTM, Gauss-Krüger). Next part discusses statistical methods. Part four is focused on hardware. Then the final part describes experiment realization and obtained data analysis.
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Tools for visualisation of data from 3D laser scanners
Střižík, Jakub ; Jílek, Tomáš (referee) ; Burian, František (advisor)
Master thesis deals with the creation of the data visualization measured by 3D laser scanner using the Point Cloud method. Measured data were parameterized after loading for use in programming environment of Microsoft Visual Studio 2010 and in platform XNA. Individual data points forms the center of defined cubes which are displayed and create a scene where is possible to move through a user input in the form of a keyboard or mouse. Created algorithms were analyzed to determine the total running speed of the program, the individual as well as critical sections. The algorithms were optimized to a higher running speed of the program on the basis of analyzed data. Optimization was focused on the selection of retrieved data and on the method of their saving within the program environment. The next optimization process was based on the using of the other method for displaying of measured data points. Individual data points were displayed in form of square 2D texture replacing the cube. This square is rotating according to move of observer. Designed algorithm optimization leads to faster running of the program.
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Outdoor Mobile Robot Self-localisation
Sárközy, Gabriel ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The aim of this work was to create a self-localization unit. The basis of the unit is an electronic platform Netduino Plus, which is connected with a measurement unit MTi-G and a camera based sensor, which is able to detect the position of points on the schools testing polygon. Configuration of the measurement unit MTi-G was done by a modified previously developed program. The program of the platform uses lover level communication with the sensor without using predefined classes from the manufacturer. This should improve the speed of processing the data from the sensor. To check the accuracy of the position provided by the self-localization unit another program was created. This program receives messages form a more accurate localization system that is mounted to the robot. The localization system is based on Trimble DB982 receiving modules.
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Remote control of remote communication board of mobile robot
Jílek, Tomáš ; Žalud, Luděk (referee) ; Burian, František (advisor)
The thesis discusses the possible ways of remote management of devices running Mikrotik RouterOS and choosing appropriate variant for implementation of automated remote management of the device, which is part of a mobile robot. Due to the limited capabilities of embedded system, from which it is necessary to perform automated remote management of device with this operating system, it was not possible to use standardized protocols for this purpose. A substantial part of this work therefore deals with analysis and detailed documentation of proprietary protocols implemented in the MikroTik RouterOS operating system, which are suitable for implementation in an embedded system, from which it is necessary to perform automated remote management. The conclusion describes the principle of the proposed and realized implementation of proprietary protocols in C language. The described implementation is part of the library, which provides automated remote management using these protocols.
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