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A Humanoid Robot on the Basis of Modules Controlled Through a Serial Half-duplex UART Bus
Matoušek, Sebastian ; Maršálek, Roman
Just a few decades ago the concept of humanoid robots assisting us at work would be something better suited for a movie plot than as a business plan. However, nowadays tests of such robots are already being performed, with big companies exploring the possibilities of such robots assisting in warehouses, robotic assistants roaming around airports directing lost passengers and more. In the future, such robots could very well be employed in many more areas of work – thanks to their construction being similar to humans, they integrate well into our everyday environment and make cooperation more intuitive. This thesis is the result of an attempt at building a small-scale humanoid robot. It expands upon the thesis ”Bipedal Walking Robot” [1] from last year, which described the process of building a two-legged robot capable of walking, at that time still lacking arms and a head, however. This thesis focuses on the expansion of the robot, mainly the addition of the upper limbs and a head missing in the previous project, thus finally creating a humanoid robot. Furthermore, a custom ecosystem of modules on the basis of the ESP32-C3FH4 microcontroller is discussed; communicating through a serial half-duplex UART bus, these modules were used to construct the upper body, smoothen the movement of the robot, and collect additional data about the robots movement. Such modules can be further used in other projects requiring the usage of numerous interconnected, yet independent, electronics parts.
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Innovative Control Systém for Water Supply Management at a Farm
Doležal, Aleš
The thesis deals with the implementation of an innovative control system for the management and supply of water to the farm. The innovation focuses on all areas of the control system such as hardware part as well as software part. In the hardware part, it is mainly about the communication between the PLC and the pumps in the boreholes Where contact switching has been replaced by fiber optic communication. Furthermore, the non-compliant components were replaced by components that are more suitable for this placation. In the software area, tools have been used to simplify both the programming and the actual operation of the control system. The use of structures, the use of equations, and, more efficient sampling of measured data. A PLC from Unitronics was selected to control the entire application. The program for the PLC was written in the UniLogic programming environment from Unitronics.
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Android Tracking Application Based on LTE Timing Advance
Michálek, Jakub
This article introduces a novel Android application developed in the Kotlin programming language, which enables users to tracking the location of their devices through the implementation of a custom algorithm. The focal point of this innovation lies in leveraging the Timing Advance parameter derived from the Long-Term Evolution (LTE) network to ascertain the most optimal track for location tracking. The technical overview describes the technologies used, while the tracking application chapter offers a detailed look at the architecture and implementation details. Special emphasis is placed on the use of Timing Advance and its role in the position tracking algorithm. The testing results confirm the efficiency and accuracy of the proposed solution. The article further deals with possible problems and proposed future extensions of the application. This work provides a comprehensive view of an innovative approach to location tracking in mobile devices.
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Lattice-based Threshold Signature Optimization for RAM Constrained Devices
Shapoval, Vladyslav ; Ricci, Sara
The DS2 scheme is a lattice-based (n, n)-threshold signature based on the standardized Dilithium signature. However, deploying DS2, as well as Dilithium, on microcontrollers is a challenge due to the memory limitations of these devices. While the decryption phase can be implemented relatively straightforwardly, the key generation and signing phases require the generation and manipulation of large matrices and vectors, which can quickly exhaust the available memory on the microcontroller. In this paper, we propose an optimization of the DS2 key generation and signing algorithms tailored for microcontrollers. Our approach focuses on minimizing memory consumption by generating large elements, such as the commitment key ck and the random commitment parameter r, on the fly from random and non-random seeds. This approach significantly reduces the overall size of the signature from 143 KB to less than 5 KB, depending on the number of signers involved. We also split the algorithms into two distinct components: a security-critical part and a non-security-critical part. The security-critical part contains operations that require secret knowledge and must be run on the microcontroller itself. Conversely, the non-critical part contains operations that do not require secret knowledge and can be performed on a connected, more powerful central host.
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Navigation of UAV in GNSS denied area
Pintér, Marco ; Marcoň, Petr
This paper examines the concept of navigation of of Unmanned aerial vehicle (UAV) in three-dimensional space using visual odometry. In the near future navigation of the UAV without GNSS is becoming a critical part of autonomous navigation systems, using information from on-board cameras to estimate the UAV’s movement and position. In the paper, different types of visual odometry, sensors for visual odometry, components of the implementation, and scenarios of usage. For the development and future application we utilize widely used Robotic Operating System (ROS).
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Modular system for electrical impedance tomography
Vaněk, Roman ; Mikulka, Jan
This paper presents a novel approach to an electrical impedance tomograph’s system and hardware architecture design. It delves into the strategic decisions that shaped the hardware layer of a measurement system comprising multiple units and enabling intercommunication between them. The primary objective was to develop a cost-effective method for switching a current source among numerous electrodes and measuring voltage across each with a wide dynamic range while maintaining a minimal phase shift between the channel and input of an analog-to-digital converter. The measurement system is designed and documented, serving as a valuable reference for developing new additional units.
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Design of the Electronic Target for Shooting Sports and Sensor Suitability Analysis
Grega, Matej
Electronic scoring targets (ESTs) are designed to overcome the drawbacks of classic paper targets, particularly the inability to score individual hits in groups if they overlap and the time-consuming manual scoring process. This paper presents the design of a prototype of an acoustically based EST for 10m air pistol discipline and examines the suitability of microelectromechanical system (MEMS) microphones and sealed flexural ultrasonic transducers (FUTs) as hit point localization sensors. The proposed prototype of the EST is mobile and battery-powered, with built-in illumination and radiofrequency communication. The position of the hit point is calculated using a closed-form, combined weighted method based on time difference of arrival (TDOA) measurements. FUTs were used as sensors due to their filtering properties of shot and ambient noise and overall higher signal-to-noise ratio than MEMS microphones, without saturation of the output signal. The sensor positions for TDOA localization were accurately obtained using an iterative calibration method. The proposed EST prototype achieved a mean position error of 0.29 mm and a standard deviation of 0.19 mm for hit point localization.
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FPGA-Based Sound Acquisition Prototype from MEMS Microphone Array
Liska, Matej ; Tomešek, Jiří
This paper presents a comprehensive exploration of an Field Programmable Gate Array (FPGA) prototype designed for efficient data acquisition from Micro Electro Mechanical Systems (MEMS) microphones through a Time Division Multiplexed (TDM) interface. The primary focus lies in the seamless integration of software and hardware elements, showcasing the implementation of IP cores for controlling TDM peripherals, generating clock signals, and facilitating communication with the Future Technology Devices International (FTDI) chip. The paper underscores the flexibility of the device design, which can be seamlessly deployed across various FPGA boards, thereby mitigating dependency on specific hardware models. Leveraging a large number of GPIO pins on the FPGA board, the PCB design incorporates multiple TDM buses and efficient communication channels with the FTDI chip, streamlining data transfer to the PC. This work not only presents a functional prototype but also lays the groundwork for future advancements in FPGA-based sound acquisition systems, promising enhanced versatility and efficiency in audio signal processing applications.
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Corrosion of Sintered Materials Based on Iron
Slotová, Petra ; Sedlaříková, Marie
This paper addresses the topic of biodegradable bone implants. Presently, titanium alloys, known for their ability to reinforce bone structure, are utilized for fracture fixation. Nevertheless, post-healing, their extraction from the body becomes necessary. Biodegradable implants serve the same purpose but undergo gradual degradation upon exposure to bodily fluids. Consequently, the need for additional surgical procedures for their removal is obviated.
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Estimating the Equivalent Circuit of Lithium-Ion Batteries During Operation
Vašíček, Jakub ; Vyroubal, Petr
This paper deals with the issue of estimating the equivalent circuit of lithium-ion cells during normal operation. The study explores fundamental battery models, such as the simplified Randles circuit and the full Randles circuit. Conventional methods for model estimation, including Electrochemical Impedance Spectroscopy (EIS) and Galvanostatic Intermittent Titration Technique (GITT) are examined. The research extends into the real-world data analysis, gained from a home photovoltaic system. Using these data, an algorithm to estimate the equivalent circuit model during battery operation is evaluated. The study investigates the correlation between the proposed algorithm's outcomes and results obtained through EIS and GITT methods.
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