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Simple Terrain Autonomous Navigation
Novák, Daniel ; Obdržálek, David (advisor) ; Vodrážka, Jindřich (referee)
An important ability for light terrain outdoor navigation of an UGV (Un- manned Ground Vehicle) is traversability detection. We focus on creating an evaluation layer for move_base package, which is part of ROS (Robot Operating System), using a lidar sensor. After sorting measured points into grid cells of the costmap, we calculate the traversability of each cell. For this calculation, we have proposed three different functions - the difference between the maximum and minimum point heights, variance of point heights and computation of eigenvalues of the covariance matrix. We tested the pro- posed functions in selected real-world situations with respect of operation usability. As a result, the robot is able to reach a given location in light terrain based on the resulting costmap, preferring paths with lower terrain roughness.
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Řídicí systém robota pro sběr badmintonových míčků
Červeň, Martin ; Obdržálek, David (advisor) ; Vodrážka, Jindřich (referee)
Badminton is a racquet game played on court with shuttles made from feath- ers or plastic. Top players train with many shuttlecocks at once, which are fed by coach from hand. After a short training period, shuttlecocks are scat- tered around the court, which need to be picked up so that coach can feed them from hand. In this thesis we created software for autonomous robot that de- tects shuttlecocks with camera, estimates their position and picks them up. We implemented this as nodes in ROS middleware. During development we created simulated environment in Gazebo, and created plugin that simulates shuttle pick- ing. We also created fully working picking mechanism of real shuttlecocks based on rotary brushes powered by motors, utilising 3D printing. Furthermore, we cre- ated and annotated dataset for object detection of over 2500 images and 18500 objects that we used for training and evaluation of state of the art neural net- work, that detects shuttlecocks from video. As part of our solution we developed ROS nodes that allows us to specify working area and area for filtering detections using RViz interactive markers. 1
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Home automation
Kytka, Jan ; Obdržálek, David (advisor) ; Bednárek, David (referee)
Title: Home automation Author: Jan Kytka Department: Department of Theoretical Computer Science and Mathematical Logic Supervisor: RNDr. David Obdržálek, Ph.D., Department of Theoretical Computer Science and Mathematical Logic Abstract: In the area of home automation and control based on data from input units, there are many commercial and hobby solutions. They offer different paradigms for repre- senting control rules, such as description of trigger conditions and events, gate networks, etc. We analyzed the shortcomings of event-driven systems and, based on them, we de- signed and implemented an application which represents the rules as explicit transition function expressions. We showed how to formulate more complex control tasks in this different paradigm and had it pre-tested with a small sample of users. They agreed that it is very usable, even if perhaps more difficult to understand. Keywords: automation expressions control application MQTT IoT ASP.NET 1
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Analysis of SLD DNS servers state
Šťastný, Petr ; Peterka, Jiří (advisor) ; Obdržálek, David (referee)
The publication contains a brief introduction into the system of domain names on the Internet (DNS) and into DNS protocol and its functioning. The main part is a methodology for systematic examination of a domain name and its name servers, offering criteria for checking validity of DNS records and functionality and availability of DNS servers. This methodology is then implemented as a web application that allows us to perform an on-line analysis of a domain name and the evaluation of discovered errors and other problems. The second part of the implementation is a tool for bulk analysis of large number of domain names, which was subsequently used for analysis of all domain names under TLD CZ; its short results are mentioned in the end of the work.
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Notový editor
Kopenec, Lukáš ; Bednárek, David (advisor) ; Obdržálek, David (referee)
The goal of this work was to design and implement a WYSIWYG musical notation editor that would solve some of the problems that the musicians encounter in their practice and would try to eliminate several imperfections of existing products. The principal motivation is the author's experience from the musical schools. The teachers own large amounts of printed scores that they need to distribute to their students and to the accompanying musicians which is very costly (paper, toner) and leads to disorganization of the ownership, number and placement of the scores. This work tries to provide the schools with a cheap platform for distribution and organization of their notation materials. A secondary motivation is the fact that the conception of existing notation editors has remained unchanged during the last two decades and offers only a limited control of the overall content of the musical projects. The proposed editor allows the user to create richer and more complex scores (e.g. songbooks or musical schoolbooks). It also provides the possibility to insert additional content (such as mp3 recordings or accompanying texts) directly into the created project.
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Outdoor robot localization
Marek, Jakub ; Obdržálek, David (advisor) ; Iša, Jiří (referee)
The work describes the design and implementation of a framework for building control systems for mobile robots. It is a simple modular system simplifying creation of control systems and experiments with the modules. The framework contains also several tools for localization in outdoor environment.
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Tournament Management System
Houška, Čestmír ; Obdržálek, David (advisor) ; Ježek, Pavel (referee)
In this work the speci fics of various tournament systems are analyzed and an object data model is proposed that can be used to model these tournament systems conveniently. A tournament management application that implements this model comprises another part of the work. Emphasis was given to the open nature and to the extensibility and universality of the application. Another important part of the work is a case study that shows how the application can be used in praxis. The case study is made using the real data from a robotic competition Eurobot 2010.
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H.323 Gatekeeper
Kratochvíl, Daniel ; Forst, Libor (advisor) ; Obdržálek, David (referee)
The purpose of this work is to design and implement a Gatekeeper service (a server for H.323 RAS protocol) with an integrated H.323 proxy. Thesis includes also a H.323 RAS protocol tester that can act both as a server and a client. The application is implemented in the C++ language using OpenH323, PWlib and readline libraries and is designed to run as a daemon on the Linux operating system. Strict usage of the platform independent libraries provides the ability to run on other operating systems. Linux and FreeBSD were successfully tested but another Unices, Windows or MacOS X should be suitable as well.
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Controlled Landing of an Autonomous Drone
Hraško, Andrej ; Barták, Roman (advisor) ; Obdržálek, David (referee)
The goal of this work is to develop and implement a desing for the most appropriate method allowing autonomous landing of the quadrocopter on a heliport with a visible pattern. This work includes an analysis dedicated to finding the best pattern for the designated landing area and the most reliable way to identify this pattern in an image taken from the camera of quadrocopter. The work explains the different ways of controlling devices as dynamic systems and implements algorithms for navigation of the quadrocopter to the target. The achieved results are verified by documented experiments. Powered by TCPDF (www.tcpdf.org)
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