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undergraduate thesis
Semantički model stabljike biljke za taktilnu manipulaciju
2020. urn:nbn:hr:168:778165
Rajković, Karlo
University of Zagreb
Faculty of Electrical Engineering and Computing

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Rajković, K. (2020). Semantički model stabljike biljke za taktilnu manipulaciju (Undergraduate thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:778165

Rajković, Karlo. "Semantički model stabljike biljke za taktilnu manipulaciju." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:778165

Rajković, Karlo. "Semantički model stabljike biljke za taktilnu manipulaciju." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:778165

Rajković, K. (2020). 'Semantički model stabljike biljke za taktilnu manipulaciju', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 March 2023, https://urn.nsk.hr/urn:nbn:hr:168:778165

Rajković K. Semantički model stabljike biljke za taktilnu manipulaciju [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2023 March 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:778165

K. Rajković, "Semantički model stabljike biljke za taktilnu manipulaciju", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:778165

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Metadata
TitleSemantički model stabljike biljke za taktilnu manipulaciju
Title (english)A semantic model of a plant stem for tactile manipulation
AuthorKarlo Rajković
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberMarsela Polić (član povjerenstva)
Committee memberBruno Marić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-08, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Rad započinje simuliranjem Franka Emika Panda robota u Gazebo virtualnom okruženju. Pomoću MoveIt paketa prilagođenog Franki, robotom se može jednostavno upravljati u simulaciji. Dodavanjem taktilnog senzora na alatni dio robota (eng. end effector), dobiven je način na koji se mogu pamtiti ostvareni kontakti robota sa ostalim predmetima. Sa Frankom opremljenom novodefiniranim senzorom sakupljaju se skupovi točaka (pointcloud-ovi) različitih jednostavnih oblika koji predstavljaju dijelove stabljike biljke. Dobiveni pointcloud-ovi se zatim iskoriste u obliku slika kao ulazni podatci za model strojnog učenja napravljenog korištenjem Keras API. Model strojnog učenja je nakon učenja na dovoljno velikom skupu podataka naučio prepoznavati između ravnog dijela stabljike, ploda i račvanja.
Abstract (english)
The work disseminated in this thesis starts with simulating Franka Emika Panda robot in Gazebo virtual environment. With the help of a newly created MoveIt ROS package, specially designed for Franka, the robot can be easily controlled in the simulation. Adding a contact sensor to the end effector part of the robot enables one to collect contact data when Franka interacts with other objects. Equipped with the newly defined contact sensor, Franka can collect pointclouds of simple geometrical objects, with each object representing a different part of a plant stem. Collected pointclouds are then used in a form of images as an input for a machine learning model, which is defined using Keras API in Python. After training (learning), the model was able to succesfully differentiate between different parts of a stem - a flat part, fruit and branching.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:778165
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-14 09:49:27