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Simulation of Robotic Search of Lost Radiation Sources
Cihlář, Miloš ; Lázna, Tomáš (referee) ; Žalud, Luděk (advisor)
Simulátory, společnostmi zabývající se robotikou hodně využívané, hrají důležitou roli při výzkumu robotů. Zrychlují, zjednodušují, zlevňují a usnadňují vývoj softwaru a algoritmů. Magisterská práce se proto zabývá návrhem systému, založeného na ROS2 a Gazebo simulátoru, umožňující simulaci pozemních robotů ve vnějším prostředí s možností hledat ztracené radiační zdroje. Práce navrhuje několik metod vytváření prostředí v Gazebo simulátoru včetně návrhu prostředí z mračna bodů a je vytvořen model čtyřkolového, smykově řízeného mobilního pozemního robota. Chování robota v simulátoru bylo ověřeno a upraveno pomocí teoretického dynamického popisu robota. Před simulací algoritmů pro hledání ztracených radiačních zdrojů je navržena metoda sledování referenční trajektorie pomocí proporcionálně integračního (PI) a lineárně kvadratického (LQ) regulátoru a navrhuje metodu k simulaci zdroje radiace a jeho měření. Hledání radiačního zdroje jsou použity dvě typově odlišné metody, kdy jedna je založena na prozkoumání celé oblasti a vytváří mapu radiace, a druhá metoda založená na částicovém filtru aktivně hledá ztracený zdroj záření.
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Measurement of GNSS receiver parameters
Beneš, Jiří ; Lázna, Tomáš (referee) ; Jílek, Tomáš (advisor)
Goal of this thesis is to propose and realize a viable method to determine static a dynamic parameters of GNSS receivers. Thesis begins with research of GNSS, foremostly determining position and associated uncertainties of measurement. Following chapter contains research of GNSS receivers, data flow and methods of evaluating parameters of such measurements. Summary of obtained information is then used to schedule measurements, assemble experiment and create evaluating metrics. Main selected evaluating metric is weighted histogram of deviations with extended information. Aplication of proposed metrics onto measurements of GNSS receivers augments available information of GNSS receiver accuracy for whole range of values. This metrics also supplies additional statistical information about course of measurement.
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Programming of an Educational Robotic Manipulator
Lichosyt, David ; Burian, František (referee) ; Lázna, Tomáš (advisor)
The thesis in theoretical part is about inner arrangement of ROS platform and principles behind ROS Industrial, Moveit and image processing. In its practical part is this theoretical knowledge applied on robotic manipulator Fanuc LR Mate 200iD/4S, its controller Fanuc 30iB Mate and industrial camera to create system for moving pieces across the board like in game name checkers.
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Design and implementation of software for transportation entities of the Industry 4.0 testbed.
Sýkora, Tomáš ; Lázna, Tomáš (referee) ; Kaczmarczyk, Václav (advisor)
This diploma thesis deals with construction and software of transport entities for testbed Industry 4.0. The aim of the thesis is to create a transport network for moving a glass with a drink between individual cells on a production table. A four-axis Epson SCARA manipulator is used to transport the glass and a conveyor with carriages is designed to serving the finished drinks. The first part deals with the description of used components and their electrical connections. The second part describes the program solution of robotic manipulator and programmable logic controller. The final part is devoted to the description of problems arising during implementation.
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Cybernetic applications against COVID-19
Hyhlík, Pavel ; Lázna, Tomáš (referee) ; Chromý, Adam (advisor)
This bachelor thesis deals with possible solutions of the COVID-19 crisis, with the help of knowledge in the field of cybernetics. It describes problems that cause spread of the disease, precautions that have been made and possibilities for improvement of their efficiency using this specialization, or also new solutions. The advantages and disadvantages of particular solutions and their effect on spread will be analysed as well. A system for spacing monitoring is chosen and constructed from them.
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Joining partial 3D surface models into the overall model
Lampáš, Marek ; Lázna, Tomáš (referee) ; Chromý, Adam (advisor)
This bachelor's thesis deals with joining partial 3D surface models, that overlap on certain area, into the overall model. The aim is to describe and explain the algorithm I proposed in the previous semestral thesis and it's subsequent implementation in the C\# language in RoScan system. Introductory part contains short approach of the RoScan system. Next, there is detailed description of the algorithm's principle, that I later implemented and tested on various types of input data. There are two cases that can occur during the connection- either the partial models fits in the absolute coordinates or they do not and they must be fitted first using user-selected corresponding points. This thesis deals with both cases.
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Automatic testbed for opponent sensors of minisumo robots
Radvanský, Martin ; Kopečný, Lukáš (referee) ; Lázna, Tomáš (advisor)
Aim of this bachelor thesis is the design and creation of an automated testbed for measuring changes in the detection characteristics of IR sensors under the influence of external light interference. The measurement is performed in the simulation of daylight, artificial lighting and IR interference. Part of this work is the creation of a decision system for evaluating sensors depending on their properties, for use in minisumo competitions.
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Automated speaker for orienteering races
Šabata, Milan ; Lázna, Tomáš (referee) ; Chromý, Adam (advisor)
This work describes an automatic commentator application for a sport called orienteering. This is an autonomous commentary on the ongoing race. The reason is to increase the attractiveness for the average viewer.Communication with humans is guaranteed using the text to speech function. The application uses inputs directly from the plant premises with the help of RACOM, where it then decides and selects interesting moments using an algorithm and a mathematical formula.
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Public Transportation Lines classification by GNSS data
Pizur, Jaroslav ; Lázna, Tomáš (referee) ; Jílek, Tomáš (advisor)
The subject of this thesis is digitalization of bus transportation. The input is represented by a sequence of GNSS data which are transformed to the OpenStreetMap format. Doing so, it is enriched by the information OpenStreetMap format provides and it gains its positional advantages as well. Then this thesis deals with ways by which one can detect bus lines from this general sequence of GNSS coordinates. A bus line is recognized as a repeating trajectory, which satisfies criteria derived from its expectable or defined characteristics. A few clustering solutions are proposed and tested for their performance. On the basis of this testing, there is one solution chosen as the best performing one, to be the proposed solution of this thesis. The overall output will therefore be formed by automatic mapping of bus lines with no theoretical area limit and with minimum manual intervention needed. It lays the foundations for various intelligent real-time processes to be implemented as well as allowing for infrastructure to be processed for the statistics purposes or urban planning.
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Ionizing Radiation Measurement in Field Robotics
Lázna, Tomáš ; Duchoň,, František (referee) ; Janda, Jiří (referee) ; Žalud, Luděk (advisor)
Tato disertační práce se věnuje oblasti měření ionizujícího záření prostřednictvím autonomních robotických platforem, konkrétně pozemních robotů a bezpilotních leteckých systémů. Zaměřuje se na dva hlavní cíle, a to na radiační mapování a lokalizaci radioaktivních zdrojů. Autor představuje různé systémy pro detekci radiace a zabývá se jejich integrací na pozemní i vzdušné roboty. Nedílnou součástí výzkumu je vývoj metod pro zjištění pozic zářičů, a to nejen pomocí systematického průzkumu podél předem naplánované trasy, ale také s využitím aktivního upravování měřicí trajektorie za účelem zrychlení tohoto procesu. V rámci aktivní lokalizace jsou prověřovány také směrově citlivé senzory. Tato práce zkoumá i výhody spolupráce mezi pozemními a leteckými platformami, čímž demonstruje praktickou využitelnost prezentovaných postupů. Další oblastí využití robotů je trojrozměrné radiační mapování budov prostřednictvím bezpilotního letadla. Většina navržených algoritmů byla experimentálně ověřena v terénu.
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