Sirvi Autor "Allik, Robert" järgi

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Pmod lisamoodulite kasutamine “Digitaalse loogika” aine praktikumides
(Tartu Ülikool, 2019) Allik, Robert; Rosin, Margus, supervisor; Tartu Ülikool. Loodus- ja täppisteaduste valdkond; Tartu Ülikool. Tehnoloogiainstituut
Eesti keeles: Antud lõputöö raames loodi kuus praktikumi juhendit “Digitaalsele loogikale”. Varasemad praktikumide juhendid on piirdunud LED-e ja lülitite väljundväärtuste muudmisega. Antud lõputöö raames lisaks eelmainitud sisend-väljund seadmetele lisati ka Pmod lisamoodulite ja nendele vastavate kommunikatsiooni protokollide kasutamise võimalus. Mainitud lisamoodulite praktikumi juhenditesse lisamisega lisandus praktikumide läbijatele parem arusaam tänapäeval kasutusel olevatest sisend-väljund seadmetest ning tõusis ka ülesannete komplekssus aste. Kaks valminud lõputöö juhenditest võeti kasutusse ka 2019. aasta kevadsemestril Tartu Ülikoolis “Digitaalse loogika” praktikumides. Valminud praktikumi juhendi kvaliteedi hindamiseks teostati ka praktikumide läbijate seas küsitlus. Küsitluse tulemuse põhjal võib järeldada, et valminud praktikumi juhend on igati täitnud oma eesmärki ja on praktikumide läbijatele meeldinud. Tagasisidet küsiti ka praktikumijuhendajatelt, kes samuti kiitsid valminud lõputöö selgust, ülesannete keerukust ning uudset lähenemist huvitavate lisamoodulite rakendamisel. In English: Former practical guides of the University of Tartu course “Digital logic” have been limited to using simple IO devices, such as LEDs and switches. This thesis provides six new practical guides to increase the depth of the “Digital logic” course. These new guides add the option of using Pmod modules to provide students a better understanding of modern IO devices and communication protocols. Two of the provided guides were taught in the spring semester of 2019 in the University of Tartu course “Digital logic”. Feedback was asked of the students to measure the quality of the guides. Based on the results it can be concluded that the guides fulfilled their objectives and were liked by the students. Feedback was also asked from the practical instructors of the course and they approved of the difficulty and the new approach of these guides.
Validation of NoMaD as a Global Planner for Mobile Robots
(Tartu Ülikool, 2024) Allik, Robert; Singh, Arun Kumar; Kruusamäe, Karl; Tartu Ülikool. Loodus- ja täppisteaduste valdkond; Tartu Ülikool. Tehnoloogiainstituut
As autonomous mobile robots are becoming increasingly common in real-world applications, like warehouses and self-driving cars, so is the need for robust navigation methods growing. NoMaD, a vision-based navigation architecture, was recently presented and showed very good metrics in obstacle avoidance tested in ”challenging environments” but the exact level of challenge was unclear. This thesis aimed to measure that performance in a standardized way and implement an improvement by augmenting it with a LiDAR sensor. This new solution is based on ROS Navigation, where NoMaD acts as the global planner guiding the robot, leaving the obstacle avoidance to the local planner. Both NoMaD and the new solution were tested in environments inspired by the standardized navigation environment dataset BARN. While NoMaD reached the proclaimed success rate (90%) in simple baseline tests, it failed to do so in more complex environments, even when the hardware limitations of the setup were compensated for, with success rates ranging from 3.3% to 53.3%. The new solution, however, achieved all-around good results (83%) with no collisions. While it has its own drawbacks the new approach shows some merit.