This master thesis is focused on Modular Self-Reconfigurable Robotic Systems. Their description is made at first and then possibilities of their use are listed. The next chapter concerns Molecubes modular system. The design of similar system where the construction of the individual modules is described follows. The transformations of coordinated systems in the individual modules are described and the calculation of forward kinematics and simulation of inverse kinematics is made at the end of the thesis.

This work presents an overview of the simultaneous localisation and mapping (SLAM) problem in the mobile robotics. The Extended Kalman filter (EKF) based algorithm for localisation and mapping is proposed. For EKF algorithm the models of the skid steering mobile robot and the laser scanner are presented. The EKF algortihm is feature based algorithm, therefore the method for the landmark position determination was developed. This segmentation method is based on the clustering of the Radon transform space. Proposed SLAM algorithm was tested with real data measured with UTAR mobile platform. Achievments of the work are summarized in the conclusion of the proposed work and possible improvements of the components are suggested.

This work deals with the path finding for nonholonomic robots using probabilistic algorithms. The theoretical part analyzes the general problem of finding routes. Subsequently, the work will focus on probabilistic algorithms. The practical part describes design of the applet and web sites that demonstrate probabilistic algorithms to user-specified objects.

Mobile robotics has been very discussed and wide spread topic recently.   This due to the development in the computer technology that allows us to create   better and more sophisticated robots. The goal of this effort is to create robots   that will be able to autonomously move in the chosen environment. To achieve this goal,   it is necessary for the robot to create the map of its environment, where   the motion planning will occur. Nowadays, the probabilistic algorithms based   on the SLAM algorithm are considered standard in the mapping in these times.   This Phd. thesis deals with the proposal of the motion planning of the robot with   stereocamera placed on the pan-and-tilt unit. The motion planning is designed with   regard to the use of algorithms, which will look for the significant features   in the pair of the images. With the use of the triangulation the map, or a model will be created.     The benefits of this work can be divided into three parts. In the first one the way   of marking the free area, where the robot will plan its motion, is described. The second part   describes the motion planning of the robot in this free area. It takes into account   the properties of the SLAM algorithm and it tries to plan the exploration in order to create   the most precise map. The motion of the pan-and-tilt unit is described in the third part.   It takes advantage of the fact that the robot can observe places that are in the different   directions than the robot moves. This allows us to observe much bigger space without   losing the information about the precision of the movements.

This MSc Thesis describes creation of motion model of mobile robot called Trilobot. This model is implemented into simple simulation tool. Some laboratory experiments with the robot are described in this paper. There is also some information about SmallDEVS tool and Squeak Smalltalk environment in which the model was implemented. Motivation of this work is effort to simplify the design and testing of navigation algorithms for Trilobot, which is available for students of FIT BUT in the robotics lab of department of intelligent systems. This simple simulation tool could partially reduce dependence on physical availability of this robot.

This project tries to ask by the means of speculation questions about contemporary architectectural conception, housing politics and personal ownership. How does the increasing amount of automatization and "smart" solutions change the state of society? And how could architecture reflect this change? One of the main advantages of modular design is the ability to change and replace modules. The reason of replacement often caused by the desire of customization of products according to one's needs. We can therfore state that one of the key properties of modular design is the ability "to change". Architecture is by it's means static. Compared to other aspects of our environment, it has the least amount of ability to change. Project Automata researches the possibilities of dynamic architecture and asks mainly those questions: How could an architecture reflecting the dynamic change in society look? Is it possible to live in such architecture? And what is the purpose of architect in the whole process?

<p>Studija se sastojala od dva dela &ndash; eksperimentalnog i kliničkog. Eksperimentalni deo je sproveden na Fakultetu tehničkih nauka u Novom Sadu na Departmanu za mehanizaciju i konstrukciono ma&scaron;instvo. Trideset dve zglobne povr&scaron;ine gornjeg okrajka golenjače sa pripojem prednje ukr&scaron;tene veze je uzeto tokom totalne aloartroplastike kolena kod trideset dva pacijenta kod kojih je preoperativno načinjena AP i profilna radiografija sa standardnim uvećanjem u cilju merenja veličine kolena a uz prethodno potpisanu saglasnost pacijenata. Zatim je načinjeno trodimenzionalno skeniranje prostorne povr&scaron;ine pripoja prednje ukr&scaron;tene veze na golenjači u odnosu na ravan zglobne povr&scaron;ine golenjače heptičkim uređajem &bdquo;Phantom Omni&reg;&ldquo; radi utvrđivanja korelacije između povr&scaron;ine pripoja prednje ukr&scaron;tene veze na golenjači i veličine platoa golenjače. U eksperimentalni deo su bili uključeni pacijenti oba pola metodom slučajnog izbora kod kojih je ugrađivana totalna proteza kolena a koji su prethodno potpisali informisani pristanak pacijenta na operativni zahvat na Klinici za ortopedsku hirurgiju i traumatologiju Kliničkog centra Vojvodine. Klinički deo studije je bio retrospektivno-prospektivnog karaktera i obuhvatio je ukupno 60 pacijenata izabranih metodom slučajnog izbora od kojih je ispitivanu grupu činilo 30 pacijenata u kojih je do&scaron;lo do ponovne rupture prednje ukr&scaron;tene veze levog ili desnog kolena nakon urađene primarne rekonstrukcije te je načinjena ponovna rekonstrukcija veze, i kontrolnu grupu koju je činilo 30 pacijenata u kojih je zbog rupture prednje ukr&scaron;tene veze načinjena primarna rekonstrukcija nakon koje nije do&scaron;lo do ponovne rupture. Kod svih pacijenata je rekonstrukcija prednje ukr&scaron;tene veze kolena rađena kalemom kost-tetiva-kost. Ishod rekonstrukcije je procenjivan na osnovu Tegner bodovne skale, Lysholm i IKDC bodovne skale za koleno, artrometrijskog merenja Lachman testa, Pivot shift testa, poloţaja kalema i urađeno je poređenje dobijenih rezultata u ispitivanoj (revizionoj) i kontrolnoj grupi. U klinički deo istraţivanja su bili uključeni pacijenti oba pola, ţivotne dobi od 18 do 40 godina koji su operisani na Klinici za ortopedsku hirurgiju i traumatologiju Kliničkog centra Vojvodine u Novom Sadu a koji su dali informisani pristanak za uključivanje. Kriterijumi za isključivanje pacijenata iz kliničkog dela istraživanja su bili životna dob manja od 18 i veća od 40 godina, pojava težih op&scaron;te-hirur&scaron;kih komplikacija i prestanak želje pacijenta da dalje učestvuje u ovom istraživanju. Nakon sveobuhvatne analize dobijenih rezultata istraţivanja, zaključeno je da postoji korelacija između povr&scaron;ine pripoja prednje ukr&scaron;tene veze na golenjači i veličine platoa golenjače. Formula, načinjena matematičko-statističkim metodama za ovo istraživanje, adekvatna je i praktično primenljiva za predikciju povr&scaron;ine pripoja prednje ukr&scaron;tene veze na golenjači u velikom procentu slučajeva a na osnovu samo dva radiografska parametra izmerenih preoperativno &ndash; prednje-zadnjeg i unutra&scaron;nje-spolja&scaron;njeg dijametra platoa golenjače. Kori&scaron;ćenje ove formule može da doprinese pobolj&scaron;anju rezultata hirur&scaron;kog lečenja pacijenata sa pokidanom prednjom ukr&scaron;tenom vezom kolena. Takođe, zaključeno je da je uzrok neuspeha primarne rekonstrukcije multifaktorijalan kao i da nema statistički značajne razlike u ishodu između ispitanika sa dobrom i ispitanika sa lo&scaron;om pozicijom kalema. Potvrđena je pretpostavka da je ishod ponovne rekonstrukcije prednje ukr&scaron;tene veze kolena slabiji u odnosu na ishod primarne.</p> / <p>This study consisted of two parts &ndash; experimental and clinical. Experimental part was conducted at the Department of Mechanization and Design Engineering of The Faculty of Technical Sciences, University of Novi Sad. Thirty two proximal tibial articular surfaces together with the anterior cruciate ligament insertion of thirty two patients were harvested during total knee arthroplasty. All patients had standard preoperative AP and profile radiographs with standard magnification in order to acquire the knee measurements. All patients previously signed the informed consent. The harvested proximal tibial articular surfaces were 3D scanned by a haptic device called &bdquo;Phantom Omni&reg;&ldquo; in order to determine the correlation between the size of the anterior cruciate ligament insertion site and the size of the tibial plateau. Thirty two randomly chosen patients of both sexes which had a knee arthroplasty were included in the experimental part of this study. All of the patients signed the informed consent at The Clinic for Orthopedic Surgery and Traumatology of The Clinical Centre of Vojvodina. The clinical part was a retrospective-prospective study. This part included 60 randomly chosen patients divided into two groups. The test group consisted of 30 patients who had undergone a revision anterior cruciate ligament reconstruction. The control group consisted of 30 patients who had undergone only primary anterior cruciate ligament reconstruction. A bone-tendon-bone graft was used for the reconstruction in all cases. The outcome was assessed by using Tegner activity scale, Lysholm knee scoring scale, IKDC score, arthrometric evaluation, Pivot shift test and the position of the graft. The results were compared between the test group and the control group. The clinical part of the study included 60 patients of both sexes, age 18-40 which were operated at The Clinic for Orthopedic Surgery and Traumatology of The Clinical Centre of Vojvodina. All of the patients signed the informed consent for participation in this study. The exclusion criteria were age under 18 and above 40, occurrence of severe general surgical complications and a patient wish to be excluded from further investigation. After a thorough analysis of the results, we concluded that the correlation between the size of the anterior cruciate ligament tibial insertion site and the size of the tibial plateau exists. Formula which was created for this study by using mathematical and statistical methods, is adequate and practically applicable for the prediction of size of the anterior cruciate ligament tibial insertion site in the majority of cases based on just two preoperative radiographic parameters &ndash; AP and profile diameter of the tibial plateau. The use of this formula may improve the outcome of the anterior cruciate ligament reconstruction. We also concluded that the cause of the primary anterior cruciate ligament reconstruction failure is multifactorial as well as that there is no statistically significant difference between the patients with good and the patients with poor graft position. We confirmed the assumption that the outcome of the revision anterior cruciate ligament reconstruction is poorer than the outcome of the primary anterior cruciate ligament reconstruction.</p>

LIDAR (2D) has been widely used for mapping, localization and navigation in mobile robotics. However, its usage is limited to simple environments. This problem can be solved by adding more sensors and processing these data together. This paper explores a method how measurements from a stereo camera and LIDAR are fused to dynamical mapping. An occupancy grid map from LIDAR data is used as prerequisite and extended by a 2D grid map from stereo camera. This approach is based on the ground plane estimation in disparity map acquired from the stereo vision. For the ground plane detection, RANSAC and Least Squares methods are used. After obstacles determination, 2D occupancy map is generated. The output of this method is 2D map as a fusion of complementary maps from LIDAR and camera. Experimental results obtained from RUDA robot and MIT Stata Center Data Set are good enough to determine that this method is a benefit, although my implementation is still a prototype. In this paper, we present the applied methods, analyze the results and discuss the modifications and possible extensions to get better results.

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.

This thesis describes development of control algorithm for a wheelchair. Wheelchair should be capable of tracking and following a wall or a similar flat surface. Thesis is supposed to be an extension of the previous concept, whose purpose was to allow remote telepresence control of this wheelchair. SRF08 ultrasonic range finders are used to measure distance from the wall. Furthermore, image processing for mark detection is discussed. Purpose of these marks is to increase precision during final phase of the parking.