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Bin Picking and Robotic Vision
Múčka, Jan ; Parák, Roman (referee) ; Matoušek, Radomil (advisor)
The aim of this master’s thesis is to describe the Robotic Vision for Bin Picking usage and creating an application for the realization of this task. This application will be able to distinguish several objects based on data from a camera with deep perception and should find the location of object, recognize it and determine its location and orientation. Bin Picking is one of the biggest challenges in today's automation.
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Sampling Rate Conversion
Hylmar, Petr ; Vítek, Martin (referee) ; Kozumplík, Jiří (advisor)
This thesis is focused on sampling rate conversion by a rational factor interpolation and decimation and sampling rate coversion by an arbitrary factor interpolation and decimation. There are described methods sampling rate conversion in time domain based on lowpass FIR linear filter and in spectral domain based on zero spectral lines. These methods are created in Matlab programming and tested on particular example. The results of this thesis are sensible parameter lowpass FIR linear filter for sampling rate conversion and discussion success rate used methods.
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Advanced Algorithms for Satellite Communication Signal Processing
Záplata, Filip ; Bezoušek, Pavel (referee) ; Šimša, Jan (referee) ; Kasal, Miroslav (advisor)
Dizertační práce je zaměřena na softwarově definované přijímače určené k úzkopásmové družicové komunikaci. Komunikační kanály družicových spojů zahrnujících komunikaci s hlubokým vesmírem jsou zatíženy vysokými úrovněmi šumu, typicky modelovaného AWGN, a silným Dopplerovým posuvem signálu způsobeným mimořádnou rychlostí pohybu objektu. Dizertační práce představuje možné postupy řešení výpočetně efektivní digitální downkonverze úzkopásmových signálů a systému odhadu kmitočtu nosné úzkopásmových signálů zatížených Dopplerovým posuvem v řádu násobků šířky pásma signálu. Popis navrhovaných algoritmů zahrnuje analytický postup jejich vývoje a tam, kde je to možné, i analytické hodnocení jejich chování. Algoritmy jsou modelovány v prostředí MATLAB Simulink a tyto modely jsou využity pro ověření vlastností simulacemi. Modely byly také využity k experimentálním testům na reálném signálu přijatém z družice PSAT v laboratoři experimentálních družic na ústavu radioelektroniky.
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Fractional-Octave Analysis of Acoustic Signals
Ryšavý, Marek ; Frenštátský, Petr (referee) ; Schimmel, Jiří (advisor)
The diploma thesis is focused on design and optimalization of digital octave and fraction-octave band filters. This thesis describe the behavior of filters in systems with fixed point arithmetics and investigate the impact of quantization coefficients for frequency response of filter. Filters, whitch has been designed, are implemented into simple software in C. Designed filters are in accordance with standard IEC 61260.
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Implementation of software radio into FPGA
Šrámek, Petr ; Maršálek, Roman (referee) ; Prokeš, Aleš (advisor)
The common objective of this project is implementation of software defined radio (SDR) into FPGA. The text contains review and comparison of several hardware concepts intended for SDRs implementation then the methods for digital implementation of various components of radios as the filters, mixers and others are mentioned. Part of the text introduces used hardware platform and describes software support for designing, simulations and implementation into hardware. Significant part of project describes complex of external hardware components as filter, amplifier and control panel designed and built within the project realization. But the main part of project demonstrates design of the software solution of radio receiver. There is specified architecture of radio for FM broadcast receiving, next the more complex systems with carrier recovery algorithm are presented. These systems are able to work with AM, BPSK and QPSK modulations. It is possible to implement all these receivers into hardware and verify their operation. The practical laboratory theme has been outlined within the project run.
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Design of digital decimation filter in CMOS technology
Toman, Petr ; Pristach, Marián (referee) ; Fujcik, Lukáš (advisor)
This Master’s thesis deals with digital decimation filter design for undersampling and filtering of sigma-delta ADC signal. Filter cascade is designed in Matlab according to given requirements and is then described in VHDL language aiming for minimum area. Implemented filter functionality is compared to Matlab-generated reference filters in created verification environment. Finally the design is synthesized in specified technology and verified on gate level.
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Modern Methods of Realistic Lighting in Real Time
Szentandrási, István ; Pečiva, Jan (referee) ; Herout, Adam (advisor)
Fyzikálně přijatelné osvětlení v reálném čase je často dosaženo použitím aproximací. Současné metody často aproximují globální osvětlení v prostoru obrazu s využitím schopností moderních grafických karet. Dva techniky z této kategorie, screen-space ambient occlusion a screen-space directional occlusion jsou popsány detailněji v této práci. Screen-space directional occlusion je zobecněná verze screen-space ambient occlusion s podporou jednoho difúzního odrazu a závislostí na směrové informaci světla. Hlavním cílem projektu bylo experimentování s těmito metodami. Pro uniformní distribuci náhodných vzorek pro obě metody byla použita Halton sekvence. Pro potlačení šumu je použita bilaterální filtrace, která bere do úvahy geometrické vlastnosti scény. Metody jsou dál zrychleny použitím nižších rozlišení pro výpočet. Rekonstrukce výsledků do původní velikosti pro vytvoření konečného obrazu je realizována pomoci joint bilateral upsamplingu. Kromě metod globálního osvětlení byly v práci použity aj metody pro mapování stínů a HDR osvětlení.
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Identification of 3D objects for Robotic Applications
Hujňák, Jaroslav ; Návrat, Aleš (referee) ; Matoušek, Radomil (advisor)
This thesis focuses on robotic 3D vision for application in Bin Picking. The new method based on Conformal Geometric Algebra (CGA) is proposed and tested for identification of spheres in Pointclouds created with 3D scanner. The speed, precision and scalability of this method is compared to traditional descriptors based method. It is proved that CGA maintains the same precision as the traditional method in much shorter time. The CGA based approach seems promising for the use in the future of robotic 3D vision for identification and localization of spheres.
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Watermarking of static images
Bambuch, Petr ; Burda, Karel (referee) ; Číka, Petr (advisor)
The thesis deals with the security of static images. The main aim is to embed the watermark into the original data so effectively, to avoid removal of the watermark with the use of simple and fast attacks methods. With developing of the watermarking techniques the technique of attacks are improved and developed also. The main aim of the attacks is to remove and devalue the hidden watermark in the image. The goal of the thesis is to check current techniques of static image watermarking and implement two methods of watermarking, which are to be tested for robustness against attacks.
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Front end for software receiver
Slezák, Jakub ; Horský, Pavel (referee) ; Šrámek, Petr (advisor)
This thesis deals with a theoretical analysis of the basic parameters of receivers, input circuit architecture and signal digitization. According to the specified assignment it is outlined block scheme of front end for software receiver with specified components and the total bilance is calculated. Individual parts of the system are designed and realized. This is a set of four input filters for bandwidths: short waves up to 30 MHz, 87,5-108 MHz, 144-148 MHz and 174-230 MHz. The main point of design is a circuit containing a low-noise amplifiers, switches, and two amplifiers with adjustable amplification. Mainly are used integrated circuits from Analog Devices corporation. To control the various switches and adjustable amplifiers was designed a separate panel, which is connected to the main circuit via a cable. In the last phase was the whole system and its components subjected to measurements. Thanks to a number of mounted SMA connectors it is possible to measure different parts of the system and we are able to modify it partially.
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