Razvoj i unaprjeđenje korisničkog sučelja za heterogeni robotski sustav HEKTOR

master's thesis

• Title (english): Development and improvement of the user interface for the HEKTOR heterogeneous robotic system
• Author: Marko Jelić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Dean Martinović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-02-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ovaj se rad bazira na razvoju korisničkog sučelja za heterogeni robotski sustav HEKTOR. HEKTOR je modularan i autonoman robotski sustav namijenjen za upotrebu u području vinogradarstva i marikulture. Sastoji se od niza robotskih jedinica: mobilnog manipulatora, bespilotne letjelice, podsustava za prskanje i skidanje mladica koji se koriste za izvođenje zadataka u vinogradarstvu. Svaki od navedenih robotskih podsustava zahtjeva intuitivno sučelje, koje omogućava operateru upravljanje i nadzor. Kako bi se svakom robotskom podsustavu pružalo odgovarajuće korisničko sučelje, u radu se predlaže univerzalno rješenje kojim bi se pokrila potreba korisničkog sučelja za sve robotske jedinice istovremeno. Predloženo sučelje je modularno, skalabilno i neovisno o platformi na kojoj se pokreće. Glavna prednosti ovog sučelja je što operater može samostalno odabrati koji podaci su od interesa. Time se eliminira prikaz neželjenih i nepotrebnih podataka dok se ključni podaci zadržavaju. Ovim se rješenjem pokušava pružati koncept univerzalnog sučelja za široki spektar robotskih sustava.

Abstract (english)

This thesis is based on the development of a user interface for the HEKTOR heterogeneous robotic system. HEKTOR is a modular and autonomous robotic system intended for use in the field of viticulture and mariculture. It consists of a series of robotic units: a mobile manipulator, an unmanned aerial vehicle, a subsystem for spraying and removing saplings that are used to perform tasks in viticulture. Each of the mentioned robotic subsystems requires an intuitive interface, which allows the operator to manage it and monitor it. To provide each robot system with an appropriate user interface, this thesis proposes a universal solution that would cover the need for a user interface for all robot units at the same time. The proposed interface is modular, scalable, and independent of the platform on which it runs. The main advantage of this interface is that the operator can independently select the data of interest. This eliminates the display of unwanted and unnecessary data while retaining key data. This solution attempts to provide the concept of a universal interface for a wide range of robotic systems.

• Keywords: Projekt HEKTOR; HMI; korisničko sučelje; ROS; ros-bridge
• Keywords (english): Project HEKTOR; HMI; user interface; ROS; ros-bridge
• Language: croatian
• URN:NBN: urn:nbn:hr:168:603409
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-07-13 10:09:00