This work is concerned by the issue of calibrating a robotic workplace, including the localization of a calibration object for the purpose of calibrating a 2D or 3D camera, a robotic arm and a scene of robotic workplace. At first, the problems related to the calibration of the aforementioned elements were studied. Further, an analysis of suitable methods for performing these calibrations was performed. The result of this work is application of ROS robotic system providing methods for three different types of calibration programs, whose functionality is experimentally verified at the end of this work.

At present, there are only a few systems in the world, that allow measurement of the dimensional accuracy of hot forgings directly in the manufacturing process. This work deals with the development of the calibration method of the cameras for the developed photogrammetric system, intended for the mentioned purposes. The conditions of measurement are very specific - high temperature and large dimensions of measured semi-finished products, environment of heavy industry. Employed methods are chosen with the emphasis on reliability of the system, taking into account the demanding conditions in the industrial premises. Calibration is designed for a large field of view, utilizing coded reference points in a scene with known spatial coordinates. The result of the work is the calibration software created in the MATLAB environment.

Tato dizertace je zaměřena na medicínskou zobrazovací modalitu – ultrazvukovou počítačovou tomografii – a algoritmy zlepšující kvalitu zobrazení, zejména kalibraci USCT přístroje. USCT je novou modalitou kombinující ultrazvukový přenos signálů a principy tomografické rekonstrukce obrazů vyvíjených pro jiné tomografické systémy. V principu lze vytvořit kvantitativní 3D obrazové objemy s vysokým rozlišením a kontrastem. USCT je primárně určeno pro diagnózu rakoviny prsu. Autor spolupracoval na projektu Institutu Zpracování dat a Elektroniky, Forschungszentrum Karlsruhe, kde je USCT systém vyvíjen. Jeden ze zásadních problémů prototypu USCT v Karlsruhe byla absence kalibrace. Tisíce ultrazvukových měničů se liší v citlivosti, směrovosti a frekvenční odezvě. Tyto parametry jsou navíc proměnné v čase. Další a mnohem závažnější problém byl v pozičních odchylkách jednotlivých měničů. Všechny tyto aspekty mají vliv na konečnou kvalitu rekonstruovaných obrazů. Problém kalibrace si autor zvolil jako hlavní téma dizertace. Tato dizertace popisuje nové metody v oblastech rekonstrukce útlumových obrazů, kalibrace citlivosti měničů a zejména geometrická kalibrace pozic měničů. Tyto metody byly implementovány a otestovány na reálných datech pocházejících z prototypu USCT z Karlsruhe.

The focus of this thesis is the cooperation of cameras and projectors in projection of data into a scene. It describes the means and theory necessary to achieve such cooperation, and suggests tasks for demonstration. A part of this project is also a program capable of using a camera and a projector to obtain necessary parameters of these devices. The program can demonstrate the quality of this calibration by projecting a pattern onto an object according to its current pose, as well as reconstruct the shape of an object with structured light. The thesis also describes some challenges and observations from development and testing of the program.

The topic of this thesis is utilization of three types of modern regression methods (linear mixed effects model, generalized additive model and classification and regression trees) to model height-diameter relationship. Results revealed that all three regression methods can be, under certain conditions, applicable as an alternative approach for height-diameter relationship modeling. The mixed effects model performed best, when random effects of the intercept and regression coefficient were taken into account along with the age as a second order predictor (or its natural logarithm). The generalized additive model performed best when LOESS smoothing function was applied. The regression tree method prediction was optimal when diameter at breast height, mean height, age of a forest stand and site index were included to the model as predictors.

Verification of applicability of the CE-QUAL-W2 model for simulation of phytoplankton, epiphyton and macrophyte growth in Lipno Reservoir was tested. The model was first calibrated for the year 2004, then was applicated to the whole investigated period from 1.1. 2000 to 31.12. 2005. Sensitivity analysis was executed for mean growth parameters of phytoplankton, periphyton and macrophytes.

The spatial accuracy of points obtained from aerial laser scanning is most affected by the parameters of the GNSS receiver used, the IMU unit and the parameters of the flight itself. An important role is played by the accuracy of the so-called calibration, ie the determination of the transformation elements between the coordinate systems of the scanning unit itself, the IMU and the position of the phase center of the GNSS antenna. The diploma thesis deals with the calibration accuracy of the IMU / GNSS unit. It compares the displacements and rotations of a point cloud acquired by LiDAR (laser scanner RIEGL miniVUX-1UAV) in relation to the calibration elements given by the manufacturer. Evaluate the results using calculated standard deviations and positional differences in the raw point cloud, or by comparing point clouds obtained by another method. It also focuses on verifying geometric accuracy using checkpoints. The accuracy of the IMU / GNSS calibration is minimal after verifying the results and comparing the influence of the calibration elements given by the manufacturer. There was no significant improvement in the quality of the point cloud. At the same time, it was found that for better quality of the scanned data, it is necessary to perform cross-flights when UAV scanning. Key words UAV,...

This master’s thesis deals with calibration of a coherence scanning interferometer Talysurf CCI Lite. Basic terms related to surface texture evaluation were described along with selected profile and areal surface texture parameters. The working principle and design of the calibrated instrument were explained. Manufacturer’s calibration procedure was analyzed in relation to the definition of calibration in the International vocabulary of metrology. Further calibration steps leading to calculation of measurement uncertainty were presented. Last but not least, measurement uncertainties of areal surface texture parameters Sq and Sz were evaluated. The procedures and results described in this thesis may contribute to wider use of non-contact surface texture measuring instruments.

The diploma thesis deals with creation of software support for the robotic device used for absolute GNSS antenna calibration, which is developed by Institute of Geodesy at Faculty of Civil Engineering, Brno University of Technology. In the beginning of this thesis, there is in general discussed issue of absolute GNSS antenna calibration. Then the text continues by description of calibration device itself together with summary of testing performed so far. Next sections are focused on its main content. There is mentioned testing calibration process, followed by all of every single steps, which leads the procedure towards gaining calibration parameters for removing errors arising due to instability of antenna´s phase center position.

Tato disertační práce je zaměřena na vysokorychlostní simulace dopravy a jejich přesnou kalibraci pomocí různých typů dopravních dat. Práce se po úvodním popisu motivace pro samotný výzkum nejdříve věnuje současnému stavu poznání, a dále rozdělení simulátorů dopravy, zejména podle typu dat, se kterými se v nich pracuje. Úpravou existujícího řešení je navržen vlastní mikrosimulační model, který je založen na principu celulárního automatu. S tímto novým modelem je pak experimentováno, zpočátku z pohledu rychlosti simulace a další rozšiřitelnosti. Je navržena a popsána technika, kterou je možné navržený model významně akcelerovat a následně provádět simulace rychleji než v reálném čase i pro rozsáhlá území. Práce dále přistupuje k samotné kalibraci modelu, ke které byl využit evoluční přístup. Je představena metoda pro efektivní způsob optimalizace parametrů mikrosimulačního modelu, která nevyžaduje citlivostní analýzu a je schopná nalézt jinak obtížně nastavitelné parametry modelu. Kvalita získaných optimalizovaných modelů byla analyzována jak pomocí makroskopických, tak i mikroskopických dopravních dat, a to i s ohledem na jejich reálné vlastnosti, tj. chybějící vzorky. Dále jsou zhodnoceny výkonnostní a jiné kvalitativní parametry vlastního přístupu v porovnání s existujícími řešeními, přičemž bylo dosaženo významného zlepšení. Nakonec jsou představeny nástroje, které v rámci řešení vznikly. Na závěr je uvedeno další zaměření výzkumu, a to zejména s ohledem na využití výsledků práce v praxi.