Iskanje po katalogu digitalne knjižnice

Opis: Localization of a semi-humanoid mobile robot Pepper is proposed based on the particle swarm optimization algorithm (PSO) that is robust to the disturbance perturbations of LIDAR-measured distances from the mobile robot to the walls of the robot real laboratory workspace. The novel PSO, with the avoiding local minima algorithm (PSO-ALM), uses a novel fitness function that can prevent the PSO search from trapping into the local minima and thus prevent the mobile robot from misidentifying the actual location. The fitness function penalizes nonsense solutions by introducing continuous integrity checks of solutions between two different consecutive locations. The proposed methodology enables accurate and real-time global localization of a mobile robot, given the underlying a priori map, with a consistent and predictable time complexity. Numerical simulations and real-world laboratory experiments with different a priori map accuracies have been conducted to prove the proper functioning of the method. The results have been compared with the benchmarks, i.e., the plain vanilla PSO and the built-in robot’s odometrical method, a genetic algorithm with included elitism and adaptive mutation rate (GA), the same GA algorithm with the included ALM algorithm (GA-ALM), the state-of-the-art plain vanilla golden eagle optimization (GEO) algorithm, and the same GEO algorithm with the added ALM algorithm (GEO-ALM). The results showed similar performance with the odometrical method right after recalibration and significantly better performance after some traveled distance. The GA and GEO algorithms with or without the ALM extension gave us similar results according to the accuracy of localization. The optimization algorithms’ performance with added ALM algorithms was much better at not getting caught in the local minimum, while the PSO-ALM algorithm gave us the overall best results
Ključne besede: mobile robot localization, PSO algorithm, avoid the global minima
Objavljeno v DKUM: 17.10.2025; Ogledov: 0; Prenosov: 4
Celotno besedilo (2,95 MB)

Opis: V diplomskem delu je predstavljena zasnova, izvedba in validacija mikrokrmilniških modulov za implementacijo žičnih komunikacijskih protokolov UART, SPI, I²C, CAN, Ethernet in Modbus, namenjenih prenosu podatkov v realnem času med gradniki mehatronskih sistemov. Pri razvoju so bili uporabljeni mikrokrmilniki serije PIC18 v kombinaciji z ustreznimi komunikacijskimi vmesniki (MCP2515/MCP2551, MAX485, ENC28J60) in perifernimi napravami (senzorji, prikazovalniki, aktuatorji). Programska oprema je bila razvita v okolju MikroC PRO for PIC. Eksperimentalni preizkusi so potrdili zanesljivost prenosa, združljivost z različnimi topologijami ter uspešno integracijo v naloge vodenja. Rezultati potrjujejo, da razviti moduli predstavljajo učinkovito orodje za pedagoške in raziskovalne namene ter omogočajo nadaljnje nadgradnje.
Ključne besede: komunikacija, mehatronski sistemi, realni čas, mikrokrmilniki, vodenje.
Objavljeno v DKUM: 25.09.2025; Ogledov: 0; Prenosov: 6
Celotno besedilo (8,02 MB)
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Opis: Objectives: Pilot 5 utilizes AI and robotics to develop a robotic nurse assisting hospital staff in response to workforce shortages and rising care demands due to an aging population. This project aims to optimize resources, reduce errors, and improve patient satisfaction through personalized care. Methods: The Living Lab approach was implemented to split the study into sprints. The first split involves working with project partners and stakeholders to define the problem, brainstorm functionalities, and identify limitations (24 participants). The second split focuses on further requirement gathering, exploring real-world use cases, and considering ethical and privacy concerns (51 participants). Results: The project used iterative development cycles (5-8 months) to continuously improve the solution. Surveys revealed high satisfaction rates, with average scores of 4.0 and 3.6 for Sprints 1 and 2, respectively. Similarly, a team morale survey indicated a positive trend, with average scores of 7.6 and 8.18 for Sprints 1 and 2, respectively. Conclusion: Pilot 5 offers a promising solution to the evolving needs of modern hospitals. This study explores the integration of a social robotic system into nursing care to enhance quality and emphasizes stakeholder engagement, participatory design, and user-centered approaches in AI healthcare solutions.
Ključne besede: co-creation, stakeholder engagement, socially assistive humanoid robots, living lab, hospital care
Objavljeno v DKUM: 03.02.2025; Ogledov: 0; Prenosov: 8
Celotno besedilo (728,55 KB)
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Opis: To diplomsko dela je namenjeno izdelavi algoritma vodenja in nadzornega grafičnega vmesnika za industrijski proces čiščenja rešetk usedalne komore, s pomočjo programskega orodja TIA Portal. Program se bo uporabljal za testiranje obratovalnega procesa sistema, ter spremljanje odzivov sistema ob morebitnih napakah oz. menjavi elementov v sistemu. Glavna dela projekta sta izdelava delujočega programa na PLK-ju in izdelava celotnega HMI zaslona z animacijo delovanja sistema. Za programiranje smo uporabili standardne programske bloke, ki omogočajo lažje programiranje. Za vse ponavljajoče se grafične elemente smo ustvarili knjižnice, ki omogočajo hitrejšo izdelavo HMI zaslona in lažjo programiranje animacije grafičnih elementov.
Ključne besede: krmilnik, operacijski panel, HMI, PLK, baze podatkov, visoko tlačno pranje
Objavljeno v DKUM: 09.10.2024; Ogledov: 0; Prenosov: 36
Celotno besedilo (5,65 MB)

Opis: Athletes are often subjected to a great physical strain during training and competition. Sport activities performed in hot and humid conditions may result in different heat illnesses with mild or fatal consequences. Against this background it is important to know the thermal state of athletes during physical activity. This article presents the development of a smart T-shirt for monitoring the thermal status of an athlete. The smart T-shirt was created by embedding an electronic system with temperature and humidity sensors that allows the measurement of temperature and the relative humidity of the microclimate. A smart T-shirt is comfortable, and integrated sensors and electronics do not affect wearing comfort. A good concurrence between the temperature and humidity results from using the smart T-shirt, and thus the medical device was achieved. Data obtained can be of great importance to the sports staff who will be able to monitor the athletes' thermal state during matches and competitions.
Ključne besede: smart T-shirt, microclimate temperature, relative humidity of the microclimate
Objavljeno v DKUM: 26.03.2024; Ogledov: 190; Prenosov: 26
Celotno besedilo (1,34 MB)
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