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Function of hippocampal formation in avoidance of a moving object in rat
Zitta, Pavel ; Svoboda, Jan (advisor) ; Blahna, Karel (referee)
In the last decade, there has been a significant shift in hippocampal research from static tasks to dynamic environments that better model real-life animal situations in nature. At the same time, special attention has recently been paid to inhibitory parvalbumin interneurons (PVIs) that modulate hippocampal oscillations. Therefore, the aim of this work was to investigate the role of PVIs in orientation in dynamic environments, or in behavior relative to a potential threat posed by a moving object. In this context, chemogenetic methods were used to allow experimental manipulation of PVIs. In this work, we trained transgenic PV-cre rats in a robot avoidance task. Despite intensive behavioral training, the rats appeared to learn the task only very slowly. Chemogenetic activation of PVI with substance C21 resulted only in increased locomotor activity with a stable robot. The results show that C21 does not otherwise have a major effect on rat behavior, at least not with the relatively low number of hM3Dq expressed in the PVI. Based on local potential recording (LFP) results, we further showed that PVI activation had an effect on theta frequency band power. Keywords: Behavioral task, Hippocampus, Chemogenetics, LFP, Parvalbumin, Robot
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Shadow robot: manipulation of a robot model in augmented reality
Halenár, Timotej ; Bambušek, Daniel (referee) ; Materna, Zdeněk (advisor)
Bakalárska práca sa zaoberá manipuláciou s modelom robota v rozšírenej realite za využitia aplikácie pre tablet. Riešenie rozširuje možnosti interakcie v existujúcej aplikácii na vizuálne programovanie robotov -- AREditor. Užívateľ potrebuje pri programovaní v AREditore nastaviť pózu robota, aby mohol definovať body v priestore, na ktoré sa má robot dostať pri vykonávaní programu. Stávajúce riešenie v aplikácii umožňuje iba krokovať fyzického robota po malých inkrementoch pozdĺž osí, čo je nedostatočné pre väčšinu účelov. Hlavným cieľom práce je navrhnúť a implementovať systém, pomocou ktoréhu bude užívateľ schopný rýchlo a jednoducho nastaviť pózu modelu robota, ktorý je premietnutý na obrazovke cez skutočného robota. Užívateľ najskôr ľubovoľne nastaví pózu modelu robota, a následne pošle príkaz skutočnému robotovi, aby zvolenú pózu skopíroval. V riešení bolo využité 3D gizmo, ktorého polohu sleduje koncový bod robotického ramena. Gizmo je možné presúvať v priestore za využitia kamery tabletu a rozšírenej reality, a jeho pohyb je možné obmedziť na jednotlivé osi či roviny v priestore. Riešenie poskytuje možnosť ovládať citlivosť, s akou hýbeme bodom v priestore, možnosť zmeniť súradnicový systém, a samostatné ovládanie pre vzdialenosť gizma od tabletu. Vytvorené riešenie ponúka pohodlnejší spôsob, akým sa dá nastaviť poloha robota, a môže zefektívniť proces programovania.
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Modelování a řízení pohybu humanoidního robotu
Sokolová, Alexandra ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
With the rise in popularity of mobile robots in our day-to-day life and their advantages in exploration, we need to explore a broader scope of methods of movement that would allow these machines to comfortably live by our sides or access the terrain which is inaccessible to humans. We have long since realised that wheels do not allow for the necessary range of movement within environment that is harder to navigate. As a result, the development of robots with legs has seen a rapid rise in prominence in the recent years. Within this text we explored the possibilities of design of one such robot, a monopedal hopper with a foot, and then created a model in SimScape Multibody with the final result being a short choreography displaying the robot’s abilities to move in space, such as: crouching and jumping on and over obstacles.
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Robotic workplace safety
Kotlík, Jan ; Blecha, Radim (referee) ; Blecha, Petr (advisor)
The topic of the bachelor's thesis is the issue of the safety of the robotic system and its introduction to the market and into operation. It contains a system analysis of the solved problem, a proposal and justification of the chosen method of solution. Furthermore, the requirements of harmonized standards and the requirements of good technical practice are processed here, from which an editable list of requirements is compiled.
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None homogenous robot swarm creation
Bělohlávek, Jan ; Bergeon,, Yves (referee) ; Křivánek, Václav (advisor)
The subject of this thesis is enabling the DJI Robomaster S1 robot to be used as an autonomous drone in a robotic swarm. This is achieved by an analysis and documentation of the robot's internal communications protocol and the implementation of this protocol into the system. The Robomaster S1 is an educational robot, that the University of Defense in Brno wants to use for experimenting with swarm formations. However, the design of the robot does not allow for it to be controlled by external code and its source code is not public. The robot's main computer controls the rest of the robot via CAN bus, this communication was reverse engineered and the individual commands were documented. The robot's main computer was replaced with an ESP32, which now sends the commands itself and controls the robot. A wireless control method, which utilizes the ESP-NOW protocol, was also implemented. This enables the user to control the robot manually, but also serves as a foundation to enabling several robots to communicate with one another. With the applied modifications the battery life also significantly improved. The robot can now be used in a robotic swarm.
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Artificial Intelligence in Science Fiction
Zatloukal, Petr ; Sučková, Magda (referee) ; Kotásek, Miroslav (advisor)
Bakalářská práce je plavidlem, ve kterém čtenář putuje vývojem vědeckofantastické literatury, přičemž hlavním zaměřením této práce je problematika umělé inteligence (UI) a její interakce, vztahy s lidmi. Technologie umělé inteligence a robotiky se rychle rozvíjí a pomalu se stávají běžným fenoménem, i proto je poměrně příhodné analyzovat a komentovat četné příklady vztahů mezi lidmi a umělou inteligencí v SF literatuře, jelikož mohou stejně dobře připomínat situace ze světa reálného, které se mohou v blízké budoucnosti potencionálně stát skutečností. Práce se nejprve zabývá divadelní hrou R.U.R. od českého spisovatele Karla Čapka, přičemž v této části popisuje vznik slova robot, které bylo poprvé použito právě v této hře a zároveň má stále obrovský kulturně-společenský význam. Význam R.U.R. dále umocňuje fakt, že se se v díle, vůbec jako v jednom z prvních, objevují bytosti uměle vytvořené. Práce dále pokračuje obecným popisem tří literárních směrů spojených s SF literaturou, a to: Zlatý věk, Nová vlna a Kyberpunk. Každý literární proud je doprovázen jedním literárním dílem zaměřeným na tématiku UI. U každé knihy lze nalézt podrobný popis dějové linky, doprovázené popisem momentů, v nichž hrají roli interakce a vztahy mezi člověkem a umělou inteligencí, spojené s jejich následnou analýzou, komentářem a pohledem na tyto interakce a vztahy. Knihy jsou v práci analyzovány chronologicky, a to v tomto pořadí: I, Robot, Do Androids Dream of Electric Sheep?, a Neuromancer. Poslední kapitola se zabývá srovnáním výše uvedených literárních děl s reálnými příklady ze světa robotiky a umělé inteligence. Pevně věřím, že tato práce, poslouží jako inspirace pro její čtenáře, zejména pro odborníky z různých vědních oblastí, kteří mohou tuto práci využít jakožto inspiraci pro vlastní práci v oblasti týkající se vztahů a interakcí mezi UI a člověkem v SF literatuře či v reálném světě.
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Fiducial Marker-Based Localization System
Hála, David ; Horeličan, Tomáš (referee) ; Gábrlík, Petr (advisor)
This work deals with localization of the robot in space using optical markers. In the first part of the thesis, the reader is introduced to the problems and pitfalls of this project and all the important connections, both mathematical and physical, are explained. The second part then focuses on the description of the procedure that was chosen to design the program and the ideas that led to its completion.
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An optimal strategy for transporting objects between moving conveyor belts
Vítek, Pavel ; Friml, Dominik (referee) ; Veselý, Libor (advisor)
This thesis deals with strategies used in pick-and-place applications. In the theoretical part, the main parameters of the robot-conveyor system, such as efficiency and gripping rate, are first described. Subsequently, pick-and-place problems are divided into solutions with one or more robots. Then, the paper focuses on well-known strategies such as FIFO or SPT. The construction of a cost function based on the position of an object on the conveyor is described. Furthermore, the creation of the simulation is described, which is then compared to the B&R solution. Then, the different strategies in different scenarios are analysed. Finally, the rules for the selection of strategies are formulated and the whole paper is summarized.
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Virtual commissioning of automatic welding robot guidance
Podolák, Petr ; Vetiška, Jan (referee) ; Szabari, Mikuláš (advisor)
Automatic guidance of welding robots is an important step in the automation of production processes. Virtual commissioning enables a preliminary preview of the operation of the robotic workplace. In the initial project phase, it provides valuable information for implementation decisions. The goal of this thesis is to first describe the current state of the field, analyse a specific problem, and then carry out the virtual commissioning. For virtual commissioning, describe the individual steps of this process and, at the end, recommend appropriate procedures.
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Tutorial for autonomous driving
Strašil, Vojtěch ; Zemčík, Tomáš (referee) ; Honec, Peter (advisor)
This thesis is devoted to the design of a teaching aid for autonomous driving intended primarily for second grade primary school students and secondary school students. The aim of this work was to create a robot that is able to move autonomously along a line or in a lane that is formed by two lines, based on data obtained from a camera sensor. The thesis deals with the design of the mechanical part of the robot, the control electronics and the software. The mechanical basis of the robot is formed by an RC car that has been modified with parts printed on a 3D printer. The control electronics is a Raspberry Pi version 4 single board computer, which is complemented by an Adeept Robot HAT. Most of the necessary peripherals are then connected to this extension. The operating software was written in Python and several use cases were created as part of the work. These examples include line recognition algorithms as well as a PSD controller.
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