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Aplikace Galileo High Accuray Service
Kazmierski, Kamil ; Hadas, Tomasz ; Kudłacik, Iwona ; Marut, Grzegorz ; Madraszek, Szymon
Since January 2023 the Galileo High Accuracy Service (HAS) is available to registered users. Within the HAS users can retrieve clock and orbit corrections, as well as code biases for Galileo and GPS constellations. Galileo HAS covers almost the entire globe and is the next system, after the Japanese CLAS (Japanese Centimeter Level Augmentation Service) and the Chinese PPP-B2b, that provides corrections via a satellite signal. These Galileo corrections are transmitted in the Galileo E6 signal but also via the Internet stream. The official HAS Service Definition Document indicates that the positioning accuracy is better than 25 cm and better than 30 cm for horizontal and vertical components, respectively. HAS corrections can be used in difference real-time applications without Internet connection. The presented work shows the use of Galileo HAS corrections in various geoscience applications such as positioning, timing, troposphere monitoring or coseismic vibrations detection. Additionally, the quality of the transmitted HAS correction is also verified using the SISRE parameter. The computations are carried out in the in-house developed GNSS-WARP software with the Internet HAS corrections saved in the ASCII files by the BKG Ntrip Client software. The Galileo HAS corrections quality using SISRE parameter equal to 8.6 cm and 13.0 cm for GPS and Galileo respectively. The experiment with Precise Point Positioning reveal sub-decimeter and centimeters accuracy in kinematic and static approach, respectively. In terms of timing precision Galileo HAS ensure precision of single nanosecond. Zenith Tropospheric Delay estimation with the use of evaluated corrections meet the requirement of troposphere monitoring and coseismic vibrations detection was also possible.
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Real-time propojení senzorů pro navigaci
Kaczmarek, Adrian ; Rohm, Witold ; Klingbeil, Lasse ; Tchórzewski, Janusz
The development of satellite techniques in the field of precise positioning and the availability of mobile devices with a built-in multi-GNSS (Global Navigation Satellite System) receiver allow us to determine positions with better accuracy than a dozen or so years ago. At the same time, there is a growing demand from users for more and more accurate positioning while reducing the costs of the final device (e.g., a navigation system for autonomous lawn mowers). This work presents the concept of a solution that integrates different positioning techniques: gyroscopes, odometers, and GNSS using a loosely coupled Kalman filter. The sensor integration model was developed for horizontal components (2D) with simultaneous determination of azimuth and precise position. Additionally, the integration filter uses a dynamic weight matrix, the values of which are selected depending on the type of GNSS solution (FIX, FLOAT, etc.). Tests of the measurement platform were carried out under ideal conditions and in places where the horizon is obscured (passes along a high wall, under openwork steel trusses, etc.). The accuracies obtained during tests using EKF and the dynamic weight matrix are RMS 0.019 m for the North and East components. However, the accuracy of the azimuth determination was 0.59°. In addition, the presentation will present a platform concept that integrates low-cost sensors in real time.
This work was supported by Wroclaw University of Environmental and Life Sciences (Poland) under the project “POMOST” (grant no. N110/0002/22).
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Presentations Making Blender add-on
Telmanik, Ronald ; Milet, Tomáš (referee) ; Chlubna, Tomáš (advisor)
Cieľom tejto práce je vytvoriť nástroj, ktorý umožní používateľom programu Blender vytvoriť prezentáciu vo forme snímkov. Tento proces je zvyčajne časovo náročný spôsobené najme komplexnosťou program Blender. Preto na uľahčenie tohto problém je vytvorené rozšírenie pre program Blender. Toto rozšírenie implementuje sadu nástrojov, ktoré uľahčia tvorbu a neskôr aj samotnú prezentáciu v reálnom čase. Finálny zdrojový kód rozšírenia je voľne dostupný na platforme GitHub.
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MATLAB/Simulink, Real-Time simulation and control
Malík, Dalibor ; Chomát, Luděk (referee) ; Dvořáček, Martin (advisor)
This bachelor thesis provides information about a possibility of implementing the real-time, a serial line RS-232 and communication with a programmable controller (PLC) by Bernecker &Rainer (B & R) in MATLAB / Simulink evironment. Further, it provides information about options of creating a block in MATLAB / Simulink, modes of operation of the simulink and implementation of blocks to the blockset. In the proper communication with PLC the principle of PVI is described, the terminology connected with PVI is explained and setting and maintaining the communication between a source station and PLC is specified.
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Tone and Chord Recognition as an Android Application
Kucharovič, Oliver ; Černocký, Jan (referee) ; Szőke, Igor (advisor)
The aim of this work is to recognize tones and chords on any musical instrument using the microphone on Android mobile devices. The app scans or records the sounds which are analyzed. It writes to a visual representation which is similar to the musical notation. The work describes the problems of recognition and the solution of the problem using fast Fourier transformation and analysis of the spectrum of volumes. Work describes the theory of music and the training of individual tones. The application was subjected to user tests and recognition accuracy tests. The conclusion includes tests results and statistics from the Google Play publication.
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Real Time Suppression of Atmospheric Turbulence
Macků, Jiří ; Orság, Filip (referee) ; Marvan, Aleš (advisor)
This paper deals with removing undesirable image deformations caused by turbulences of Earth's atmosphere. The goal is to design and implement algorithm for suppression of atmosphere turbulence in video sequences to use in long-distance camera monitoring system. This paper also focuses on optimization of existing algorithms for running in real-time. Algorithm will be implemented in C++ programming language with use of library for computer vision OpenCV.
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Depth-Based Determination of a 3D Hand Position
Ondris, Ladislav ; Tinka, Jan (referee) ; Drahanský, Martin (advisor)
Cílem této práce je určení kostry ruky z hloubkového obrazu a jeho následné využití k rozpoznání statického gesta. Na vstupu je hloubkový obrázek, ve kterém je nejprve detekována ruka pomocí neuronové sítě Tiny YOLOv3. Následně je obrázek zbaven pozadí a z takto předzpracovaného obrázku je určena kostra ruky v podobě 21 klíčových bodů neuronovou sítí JGR-P2O. K rozpoznání gesta z klíčových bodů ruky byla navržena technika, která porovná kostru na vstupu s uživatelem definovanými gesty. Funkcionalita systému byla otestována na vytvořeném datasetu s více než čtyřmi tisíci obrázky.
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Firmware for the Robotic Vehicle
Otava, Lukáš ; Sojka,, Michal (referee) ; Kučera, Pavel (advisor)
This thesis is focused on a firmware for robotic vehicle based on the ARM Cortex-M3 architecture that is running a real-time operating system (RTOS). Theoretical part describes available solutions of embedded RTOS and concrete HW implementation of the robotic vehicle. There is also comparison of the three selected RTOS with their measurements. Result of this thesis is base firmware compounded by a program modules that controls HW parts. There is also a sample PC and firmware application that extends base firmware. This sample application is able to communicate with robotic vehicle, control wheel motion and measure process data.
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Realtime Weather in a Landscape Visualisation
Vlček, Adam ; Jošth, Radovan (referee) ; Seeman, Michal (advisor)
Thanks to the increasing computation power the complexity and dynamism of virtual reality is continuously improving. This work aims to examine influences of weather in a landscape and the means to simulate and dynamically visualize them in real time on the current personal computer hardware. The main goal is to find quick well looking approximations rather than a complex physically correct simulation. The work covers using modern programmable GPU not only for visualization but also as a powerful simulation instrument. The main topic is water movement in the terrain and its effects on it like erosion, snow melting and moisture impact on vegetation. This requires dynamic terrain texturing and algorithms supporting fast geometry and normals updates.
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System for People Detection and Localization Using Thermal Imaging Cameras
Charvát, Michal ; Kempter, Guido (referee) ; Drahanský, Martin (advisor)
V dnešním světě je neustále se zvyšující poptávka po spolehlivých automatizovaných mechanismech pro detekci a lokalizaci osob pro různé účely -- od analýzy pohybu návštěvníků v muzeích přes ovládání chytrých domovů až po hlídání nebezpečných oblastí, jimiž jsou například nástupiště vlakových stanic. Představujeme metodu detekce a lokalizace osob s pomocí nízkonákladových termálních kamer FLIR Lepton 3.5 a malých počítačů Raspberry Pi 3B+. Tento projekt, navazující na předchozí bakalářský projekt "Detekce lidí v místnosti za použití nízkonákladové termální kamery", nově podporuje modelování komplexních scén s polygonálními okraji a více termálními kamerami. V této práci představujeme vylepšenou knihovnu řízení a snímání pro kameru Lepton 3.5, novou techniku detekce lidí používající nejmodernější YOLO (You Only Look Once) detektor objektů v reálném čase, založený na hlubokých neuronových sítích, dále novou automaticky konfigurovatelnou termální jednotku, chráněnou schránkou z 3D tiskárny pro bezpečnou manipulaci, a v neposlední řadě také podrobný návod instalace detekčního systému do nového prostředí a další podpůrné nástroje a vylepšení. Výsledky nového systému demonstrujeme příkladem analýzy pohybu osob v Národním muzeu v Praze.
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