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Laser proximity scanner - Electronics
Padyšák, Zdeněk ; Burian, František (referee) ; Žalud, Luděk (advisor)
In first chapter I introduce with aim of diploma work and in second chapter with principles distance measuring in robotic. After it in next chapter I describe used distance sensor, his principle and characteristics. In fourth chapter I describe control and parts mechanics shoulders. The fifth chapter describes program, which control mechanics shoulders by the 32bits microcontroller Freescale. At last sixth chapter gained data are modified and resulting imagery in 2D and in 3D.
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Sensor Calibration for Multispectral Data Fusion in Mobile Robotics
Kalvodová, Petra ; Hanzl, Vlastimil (referee) ; Mazal,, Jan (referee) ; Pospíšil,, Jiří (referee) ; Weigel, Josef (advisor)
Thesis deals with data fusion and calibration of sensory system of Orpheus-X3 robot and EnvMap mapping robot. These robots are parts of Cassandra robotic system that is used for exploration of hazardous or inaccessible areas. Corrections of measured distances are determined for used laser scanners Velodyne HDL-64, Velodyne HDL-32 and range camera SwissRanger SR4000. Software MultiSensCalib has been created and is described. This software is used for determination of intrinsic parameters of heterogeneous cameras of the sensory head and for determination of mutual position and orientation of these sensors. Algorithm for data fusion of CCD camera stereo pair, thermal imager stereo pair and range camera is proposed. Achieved calibration and data-fusion parameters are evaluated by several experiments.
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Navigating with a laser scanner for promotional robot of FEEC BUT
Musálek, Martin ; Burian, František (referee) ; Florián, Tomáš (advisor)
Project solves robot navigation using two laser scanners PLS 101-312 mounted on front and back side. In first phase there was solved data transfer and their conversion to vertex coordinates, in second there was solved simulation of robot movement and writing moving algorhytm, in this phase just in ideal 2D space. According to further objectives in real 3D space (surface disparities, inclined plane, stairs, windows, bars...) the simulation is done in 3D, so it is prepared for solving these objectives. Simulation includes scan error and dynamics of movement and wheel rotation.
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Laser Projector
Svoboda, Pavel ; Burian, František (referee) ; Žalud, Luděk (advisor)
The aim of this thesis is to create a system, which draws the graphics with the help of a set laser project and eventually is able to synthetize several coloured rays and thus realise a multicolour drawing. The whole system is controlled by a Raspberry PI microcomputer and the data is sent to it from a PC via an Ethernet cable. The transmission of the projector device was identified and possible ways of improving the device were suggested. The results of this thesis allow creation of a multi-coloured vector picture, transferring it into the device and depiction on the project desktop. The whole device can therefore be used for example for the purpose of a presentation.
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Heavy workpiece measurement
Klus, Jakub ; Pavlík, Jan (referee) ; Holub, Michal (advisor)
This thesis deals with problematics of large scale metrology and describes possible methods of measurement. It focuses on ways to use coordinate measuring machines and laser trackers including their equipment. Then the variants are compared with each other on selected workpiece.
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Review of methods to determining wear in hip replacements
Zapletal, Jakub ; Vrbka, Martin (referee) ; Ranuša, Matúš (advisor)
This bachelor thesis analysis issues of observation and measurement of wear on hip replacements. First of all there is a description of historical milestones in development of hip prosthesis. Afterwards there is a recherché study of measuring methods and devices, whereas each one of them is reviewed for pros and cons. In the last section these methods are compared and there is an author’s recommendation for the most viable method for observation and measurement of wear on hip prosthesis.
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Adaptive Planning of Industrial Robot Trajectory
Dizorzi, Matúš ; Burian, František (referee) ; Chromý, Adam (advisor)
This thesis deals with the extension of the RoScan scanning system features, making its behaviour more secure and adaptivte during scanning of the object on its whole trajectory. This work contains mathematical model of said manipulator, suggested methods to ensure proper behaviour during singularities. New features were added to the RoScan system such as control panel for manipulator control including new format of trajectory log, moving closer or further away from manipulator’s end effector and non adaptive trajectory testing for singularities. Result of this work is ready-to-use.
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Comparison of methods of 3D model
Balák, Martin ; Bartoněk, Dalibor (referee) ; Hanzl, Vlastimil (advisor)
This bachelor thesis is about 3D modelling by using different methods and different types of processing. It describes the process of creating a model in Photomodeler software and Autodesk 123D – Catch software. A major part of the thesis focuses on comparing accuracy of the photogrammetric evaluation. Another factor used to compare the different techniques is how time – consuming it is. The final chapter is devoted to the overall evaluation of the techniques.
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