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Collision Avoidance System for Mobile Robot
Dzuro, Daniel ; Hájek, Josef (referee) ; Herman, David (advisor)
This bachelor's thesis deals with the anti-collision system for mobile robot which is often liable to the collisions with other objects. Expensive parts of the robot could be saved thanks to the system. The main issue of the thesis was to design the system of premature reaction and it's application to the existing system which would help prevent the collision on time. Not only the breaking system was used to stop or slow down the vehicle but also the cooperation with the prediction of the vehicle's direction control was needed. Laser rangefinder and ultrasonic sonar were mainly used for this purpose.
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Robot for Robotour 2012
Vass, Robert ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
The aim of this article is the theoretical analysis, proposal and implementation of a method for the operation of an autonomous robot for Robotour 2012 with the help of camera and sensor usage. Key issues to be faced are the computer vision, robot sensing uncertainty and the localization problem. Firstly, road extraction is achieved by using colour segmentation. Secondly, for the combination of information of different uncertain sources, Kalman Filter is proposed. Finally, the information received by the camera which serves for the building of an occupancy grid map corrected by sensors is de facto the representation of environment for the robot.
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Environment mapping
Juriga, Jakub ; Pavlík, Jan (referee) ; Bilík, Martin (advisor)
This bachelor thesis deals with various possibilities and methods that are available for studying especially of underwater environment. After comparing of the various methods, it is focused mainly on sonars and echolots from their history through their artition by type / kind of broadcast signal, kind of ray and possibilities of the resulting image display, to the different methods of reading of the image and the ability to analyze it properly. In the next part thesis, the attention is dedicated to the application of these technologies in different detection systems, due to the correct understanding of the detection, the principle of operation of the input signal and the gradual transfer to the resulting image suitable for further processing are described. In the conclusion, the already used distinguishing methods are described and also their potential future use.
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Echo-Based Distance Measurement on Mobile Phone
Richter, Jiří ; Maršík, Lukáš (referee) ; Černocký, Jan (advisor)
Cílem této práce je vytvoření aplikace pro mobilní zařízení na měření vzdálenosti pomocí ozvěny. Zaměřuje se na testování komponent zařízení a výběr signálu s vhodnými parametry pro měření. První částí práce je vyhodnocení schopnosti zařízení přehrávat a nahrávat zvuk, výsledkem je určení frekvence a síly zvuku, se kterým je zařízení schopno pracovat. Práce dále popisuje algoritmus pro měření vzdálenosti založeny na vzájemné korelaci vyslaného a přijatého signálu. Další částí je popis implementace výše zmíněného algoritmu v aplikaci pro operačním systému Android s řešením komunikace a synchronizace mezi jednotlivými součástmi. Implementace navrženého algoritmu v aplikace je v závěru práce otestována. Na základě zjištěných údajů je možné měření vzdálenosti na mobilním zařízení od půl metru do přibližně tří metrů, s ohledem na okolní hluk, s přesností na desetinu metru.
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Robot Controlled by PIC Microprocessor Unit
Heřman, Petr ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.
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Minidarpa robot - sensors
Sedlák, Luboš ; Šembera, Jaroslav (referee) ; Kopečný, Lukáš (advisor)
Bachelor's thesis be concerned with sensoric system of mobile robot Minidarpa. It means sonar which locate space ahead robot, camera for navigation, electronic compass to compute the direction of the Earth magnetic field and accelerometer which designates tilt, speed and position.
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Quadrotor altitude stabilization
Ligocki, Adam ; Kříž, Vlastimil (referee) ; Gábrlík, Petr (advisor)
The aim of this thesis is to design and implement a vertical stabilization for drone developed at the Department of Control and Instrumentation of the Faculty of Electrical Engineering and Communication. Work gradually deals with summary of already existing solutions of already existing projects, analysis of individual sensors possible to be applied in this project and evaluate their pros and cons for measuring the flight altitude. It also deals with the mathematical apparatus suitable for processing altitude data and the design and implementation of the controller for the movement of the drone in the vertical axis. The conclusion summarizes the results achieved on real hardware.
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Robot Control Using FITkit
Novotný, Tomáš ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This paper deals with the teoretical background, design and implementation of the remote controlled robot, which is shipped with various sensors. Work is based on the available devices. FITkit is used for controlling sensors, motors and communication with the PC at the robot side. The different interfaces are used by almost every sensor. These are the I2C bus, PWM or analog signals. The biggest part of the controlling is done by the FITkit using programming C language. The FPGA is used just for the communication over the COM port. Later expansion was in the mind during the design and implementation. The result of this work is remote controlled robot with the sonars, compass, accelerometer and optical encoders.
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Microwave radar sensor data processing focused on detecting the trajectory of people
Uher, Adam ; Slováček, Miroslav (referee) ; Valach, Soběslav (advisor)
This bachelor ‘s thesis deals with a topic of people detection and tracking their movement in regions of interest. The individual methods that can achieve people detection are analyzed. To implement people detection and tracking their movement microwave radar sensor IWR6843AoPEVM from Texas Instruments is chosen for this task. This hardware and its software are described in detail. Then simulation is conducted to track people in a queue and its results are evaluated. Different advantages and disadvantages of individual methods are compared with each other. Finally, there’s a summary of possible implementations for this device and target platform is chosen to verify its functionality.
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Safe Flight-Control of Drone Based on Sonar Measurements
Benkő, Krisztián ; Maršík, Lukáš (referee) ; Beran, Vítězslav (advisor)
Bachaleor's thesis describes design, implementation and testing of anti-crash system for safe flight-control of quadcopter. The system is implemented using ROS framework, where input data from sonars and keyboard are processed, calculation is then performed, output of which is controlling motors. Quadcopter is able to move safely in indoor environment. The emphasis was on speed of calculation and system testing. The quadcopter can be controlled by keyboard.
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