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Fuzzy map models for mobile robots
Machek, Ondřej ; Burian, František (referee) ; Jura, Pavel (advisor)
This master thesis present a method for building topological maps for mobile robot navigation using neural network and neural fuzzy network. The master thesis concentrates on classification method. Neural fuzzy network is compared with two neural networks. It was also designed control algorithm exploration environment for autonomous mobile robot. This will rereduce the time to build the map. I developed simulation program in Matlab, which simulate move mobile robot in unknown environment.
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CNC - design and contrlol
Matoušek, Vojtěch ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
My task was to build a smaller structure triaxial CNC milling. I designed electronics for motion control. The main part is the implementation of the control unit, which will provide control of the machine. The work includes the complete design, PCB design and program description for the uP ARM. The unit can work independently as well as hardware interpolator connected to the PC.
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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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Wireless Communication in Mobile Robotics
Hricišin, Tomáš ; Burian, František (referee) ; Žalud, Luděk (advisor)
This work deals with the fundamental principles of wireless communications in mobile robotics. It introduces overview of the use of different frequency bands for wireless communications needs and control of mobile devices in Czech Republic. It also contains a brief overview of all applicable technologies and available modules that can be used for wireless communication. The theoretical part deals with some of the protocols that were used in the practical part of this work and the manner of wave propagation in buildings. The practical part consisted of a design of our own application to monitor and control the module Mikrotik Routerboard. With this application we have tested and compared two wireless cards of this module.
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Minidarpa robot - visual navigation
Groulík, Tomáš ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
Master`s thesis is focused on mobile robotics and computer vision. There is briefly introduced a library of functions for image processing OpenCV. Then it deals with image processing and navigation of mobile robots using image data. There are described segmentation methods and methods for navigating through feature points.
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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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Bioloid Comprehensive Kit
Síla, Vladimír ; Burian, František (referee) ; Žalud, Luděk (advisor)
Thist thesis deals with smart servomotor control. The aim of thist project is to create own control system, implementig communication protocol with smart servos from Bioloid Comprehensive Kit. Communication. The deal also deals with communication with smart sensoring element.
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Outdoor Robot
Tomášek, Ondřej ; Burian, František (referee) ; Žalud, Luděk (advisor)
This work deals with navigation of the mobile outdoor robots. It is divided in two parts. In the first part, the mobile robots and their control problem is examined. The technical means for navigation and obstacles avoidance are described and the mathematical means for sensor data fusion and optimal position estimation of the robot are outlined. In the second part the hardware of the robot is described and furthermore it deals with description of the practically realized algorithms for obstacles avoidance and robot navigation.
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Minidarpa robot - electronic layout design
Groulík, Tomáš ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
Bachelor`s thesis is bent on problems mobile robotics. In forepart is genarally circumscribed architecture AVR and individual used microprocessors. Next part is intend for distance evaluation by the help of ultrasonic sensores and concrete description of used modulus. Last part is specialized in motor control and regulation of DC motor. There are described possibilities of motor control by the help of PWM and used draft of motor control and projecting of regulator.
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