The topic of this master’s thesis is the design of a sample manipulator for TEM. Regarding which the segment of the sample manipulator used to move the sample in the direction of the x-axis (so-called x-stage) was designed. The introductory theoretical part is concerned with a brief description of transmission electron microscopy focused on the imaging methods used in TEM and the procedures of preparing and loading TEM samples. The theoretical part follows with the design of precise mechanisms, especially with respect to the inaccuracies of their operation and the technological aspect of the design. In the practical part, a detailed analysis of the design of the x-stage is presented. Kinematics and dynamics of the mechanism is analyzed in depth, following with the description of the overall design of the mechanism and some of its parts in detail.

This diploma thesis deals with the tracking of objects using a robotic manipulator Epson C3 and a color camera. The work describes the basic qualities of the device to be used. The OpenCV library and its wrapper EmguCV are used as software tools for computer vision. It discusses the basic issues and principles of tracking objects in the image and introduces some methods of tracking. These methods have been tested and therefore their strengths and weaknesses, which appeared during testing, are listed here. Furthermore, there is a procedure for calculating the new coordinates of the camera and the manipulator effector using homogeneous transformations. The work contains the results of testing the algorithms and their evaluation. The output of the work is a test application for the Epson C3 robot.

This thesis is dedicated to the automation of tests of the thermostats developed by the company Honeywell. The first chapter presents a problem of self-testing of thermostats, followed by a discussion of possible approaches to solutions. Attention is paid to testing the functionality of the HMI of thermostats, especially to the part of the system, that deals with activation of touchscteen, but no other part of the problem are omitted in the text. Discussions of the problematic passes into the design and implementation of specific design solutions. The selected design of 3D-router, which moves in three orthogonal coordinates and resembles to a coordinate drill for example. First, it describes the basic concepts of mechanic and electronic part of equipment, and subsequently is designed and implemented control electronics for mechanical activator HMI. Each of the electronics components are described in detail and values of parts are based on the calculation with the exception of finished parts. The proposal of the electronics follows the possibility of maximization of universality module for applications in similar applications. The functionality of the electronics is controlled by a microprocessor with a custom program that is described in the work. Source code of some the programs is not available because it is know-how of the company. Next part of the thesis deals with optimization of the moving of axes, optimization is done empirically by measuring. An important issue is compliance with the accuracy required position, also part of the work is devoted to the issue of calibration position. Finally is solved the continuity on the superior system. It is designed and implemented the upper layer of the communication protocol used in the company. Work is the solution of specific corporate award thesis. Although it is a very specific role of the works are generally applicable for other applications. In particular, the proposed electronic represents relatively universal controller for stepper motor control.

From an overview of most commonly used kinematic conceptions of robotic manipulators, the conception of Cartesian robot was identified as the most suitable for the given task of colony picking. A control system consisting of two modular parts has been designed for the colony picking robot. ColonyCounter module is a set of image processing libraries for identification of microbial colonies in image data and precise localization of individual colonies. This has been achieved by combination of multiple methods, most importantly connected components labelling and Hough circular transform. The second module – ColonyPicker – utilizes output of ColonyCounter module to plan the picking and placing of colonies. Subsequently it controls the transfer process itself using an innovative task planning and executing system.

This thesis describes playing draughts game by 6 axis manipulator Lynxmotion AL5D controlled by ARM Cortex M3 MCU. It involves algorithms for image recognition, artificial intelligence and algorithms for controlling 6 axis manipulator in real-time.

The aim of the thesis is to design a special purpose tool for sag measurement. Three possible solutions are proposed, for each the production cycle time is calculated and its approximate costs are estimated. The best solution in terms of a trade-off between both key quantities is suggested. Next part of the work deals with the selection of suitable drives for the manipulator as well as of the other components for the whole electrical device. Finally, a possible automated control of the complete machinery, including the electrical wiring diagram, is presented.

The aim of the thesis is to design, create and evaluate a user interface for control of service robot. I will focus on controlling of robotic arm, to be able to accomplish pick and place tasks. Specifically I will work with robotic platform PR2. The thesis describes different devices for sensing and perception of a user and usage of information from these devices to control robotic arm. Moreover, different methods for controlling of robotic arm are described there. Application design and implementation is presented further in this thesis together with description of the experiments used for evaluation of application.

This Master's Thesis is focused on the design and control of a small-series production line, for the production of segmetal arches and plastic reductions. It is about the conversion from a semi-automatic line to a fully automatic line. The production line consists of an extruder, a cutting unit, a exhaust unit, three pressing machines and a manipulator. Every single machine has a custom control for which was selected a baseplate with microcontroler ATmega 128 and designed powerful part of inputs and outputs. There is a simple communication between the machines. Appropriate elements were used for conversion of every individual part of the production line. The whole system is programmed with software called AVR Studio4.

This work describes important periods of making application on editing 3D scene. It concerns a program which makes possible visualization of objects and simulation graphic scene. The introduction of this document is dedicated to theorical analysis, which is oriented on objects presentation in computer graphic with detailed orientation on Boundary Representation. The following chapter is about transformations and manipulators. Design part introduces basic problems and apprises with exercise solutions on general level. In the part of the implementation, we find detailed description of actual solution for particular phase of proposal. It states description of advanced camera system and transformation of objects by the help of graphic manipulators. The next chapter discuss implement effects, modifications and solution for graphical user interface.

[pt] Questões de segurança têm sido fatores cruciais para que robôs se tornem aptos a trabalhar em colaboração com seres humanos. Esse esforço envolve um controle de força mais refinado e uma certa flexibilidade nas juntas para que a adaptação dos robôs ao ambiente real e às atividades comuns dos seres humanos seja efetiva. Uma das tecnologias com esse objetivo é o Atuador Elástico em Série (SEA - Series Elastic Actuator), que apresenta um bom desempenho para controle de força, tolerância a impactos causados por agentes externos, baixa impedância, e a redução de vibrações mecânicas. Em um SEA, um elemento elástico passivo é adicionado entre o motor e o elo acionado, a fim de gerar flexibilidade. Este elemento pode ser uma mola, ou outro elemento deformável com flexibilidade caracterizada por sua geometria e pela elasticidade do material utilizado. Esta tese propõe um Atuador Elástico em Série Baseado em Elastômero (eSEA), cuja flexibilidade é obtida a partir de um elastômero depositado entre dois elementos metálicos: um interno acoplado ao atuador, e o outro externo acoplado ao elo. O eSEA foi projetado e avaliado por software de CAD e Elementos Finitos, com o intuito de obter a flexibilidade desejada para a aplicação. Foram produzidas duas versões do eSEA, com duas durezas diferentes: 10 e 55 Shore A. Testes estáticos com células de carga foram executados para caracterizar a rigidez dos eSEA. Os eSEA foram instalados em manipuladores robóticos especialmente desenvolvidos para essa tese. Experimentos compararam o desempenho das técnicas de controle com e sem a influência dos eSEA, mostrando que o uso dos eSEA diminuiu os erros de posicionamento do manipulador e possibilitou o controle de força sem a necessidade de sensores específicos. A fim de criar um modelo para que a estimativa do torque seja mais precisa a partir do eSEA, foram realizadas técnicas de identificação para estimar uma função de transferência que melhor representa o alongamento da borracha. E combinados com modelos NARX e NARMAX do erro de estimativa, gerou-se um modelo híbrido para o elemento elástico no qual soma-se a função de transferência com o erro modelado. / [en] Safety issues have been crucial factors for robots to become able to work in collaboration with humans. This effort involves more refined force control and a certain flexibility at the joints, for the robots to better adapt to real environments and common human tasks. A technology with this objective is the Series Elastic Actuator (SEA), which presents good performance for force control, tolerance to impacts caused by external agents, low impedance, and dampening of mechanical vibrations. In an SEA, a passive elastic element is added between the motor and the driven link, in order to generate a desired flexibility. This element can be a spring, or else another deformable element with flexibility characterized by its geometry and material elasticity. This thesis proposes an Elastomer-Based Series Elastic Actuator (eSEA), whose flexibility is obtained from an elastomer deposited between two metallic elements: an internal element attached to the actuator, and an external element attached to the link. The eSEA was designed and evaluated by CAD and Finite Element software, in order to obtain the desired flexibility for the application. Two versions of the eSEA were produced, with two different hardnesses: 10 and 55 Shore A. Static tests with load cells were then executed to characterize the stiffness of the eSEA. The eSEA elements were installed on robotic manipulators especially developed for this thesis. Experiments compared the performance of control techniques with and without the influence of eSEA, showing that the use of the eSEA reduced manipulator positioning errors and enabled force control without the need for specific sensors. In order to create a model for more accurate torque estimation from eSEA, identification techniques were performed to estimate a transfer function that best represents the rubber elongation. And combined with NARX and NARMAX models of the estimation error, a hybrid model was generated for the elastic element in which the transfer function is added together with the modeled error.