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Control System of Small Mobile Robot
Rysnar, Jiří ; Florián, Tomáš (referee) ; Žalud, Luděk (advisor)
This master’s thesis elaborates on the control of a wheeled mobile robot and its sensor system. The sensors provide information about distances of obstacles in its surroundings and orientation in area. The communication is realized by radiomodems, commands and data are sent by serial link between microncontroller and the PC.
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Remote controlled wheel robot
Ruhás, Sándor ; Kříž, Vlastimil (referee) ; Florián, Tomáš (advisor)
Tato práce se zabývá návrhem a vytvořením kolového robotu na dálkové ovládání. První část práce obsahuje základní úvod do robotiky. Poté se čtenář seznámí se všemi kroky návrhu, které byly provedeny. Samotná konstrukce je rozdělena do dvou hlavních částí: návrh hardware a software. V kapitole návrhu hardware se čtenář dozví, jaké součástky byly vybrány a proč. Pro vysvětlení funkce součástek, budou uvedeny některé důležité parametry. Protože většina součástek může být nastavena různým způsobem, jsou hlavní nastavení detailně popsána. V dokumentu je také uveden jednoduchý ilustrovaný popis hlavních funkcí obslužného software. Na konci tohoto textu jsou diskutovány dosažené výsledky.
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Group of Walking Minirobots - Movement Synchronisation
Mihál, Jakub ; Florián, Tomáš (referee) ; Žalud, Luděk (advisor)
The aim of the work presented here is to get acquainted with the construction of the Robonova-I humanoid robot and with Ing. Florián’s dissertation “Control unit for humanoid robot”. Both the construction and the dissertation conclusions were tested, compared and, in the next part of the work, evaluated. Finally, a new software solution to the robot control and wireless communication was worked out.
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Robotic Soccer in RDS
Kuparowitz, Tomáš ; Florián, Tomáš (referee) ; Honzík, Petr (advisor)
The aim of this thesis is to create a list of robotic simulators suitable for simulating robotic soccer. Simulation environment included in Microsoft Robotic Developer Studio is also used to implement the vector field path planning algorithm for robotic soccer.
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Navigating with a laser scanner for promotional robot of FEEC BUT
Musálek, Martin ; Burian, František (referee) ; Florián, Tomáš (advisor)
Project solves robot navigation using two laser scanners PLS 101-312 mounted on front and back side. In first phase there was solved data transfer and their conversion to vertex coordinates, in second there was solved simulation of robot movement and writing moving algorhytm, in this phase just in ideal 2D space. According to further objectives in real 3D space (surface disparities, inclined plane, stairs, windows, bars...) the simulation is done in 3D, so it is prepared for solving these objectives. Simulation includes scan error and dynamics of movement and wheel rotation.
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An Ethernet-CAN controller for mobile robots
Uherka, Bohumil ; Florián, Tomáš (referee) ; Burian, František (advisor)
The diploma thesis deals with creating the Ethernet converter protocol UDP of the CAN bus with the used application layer CANopen. The converter is executed by means of the microcontroller ARM Cortex-M3, namely by STM32F107VC by STMicroelectronics. The project is designed for the purpose of serving as the main motor controlling card of the mobile advertising robot FektBot. In the theoretical part you can find a brief analysis of the ARM microcotrollers problematics, particularly the STM32F107VC. Then the thesis introduces the Ethernet technology including the UDP protocol. Finally, the CAN bus and its application layer CANopen is described. The practical part shows first of all the scheme of converter hardware. You can find there the design of printed circuits including all components for proper functioning, i.e. especially the microcontroller STM32F107VC, Ethernet PHY, the CAN bus transceiver and switched stabilized supply. Next chapter describes software creating for the given converter. Firstly there are analyzed possible ways of STM32F107VC programming, and then there is the main conception of resolving the programming part shown. The thesis then deals with the concrete implementation of the UDP Ethernet protocol. For that, the lwIP stack is used, over which the application layer of the FektBot robot works. Then there is analyzed the implementation of the CAN bus and CANopen. At the end of the practical part, the final execution of the converter software and the ways of its testing are described.
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Implementation of Project Management Office
Majer, Luděk ; Florián, Tomáš (referee) ; Doskočil, Radek (advisor)
The diploma thesis consist of an overal view of the issue of project management and project management office topics. Also its functions and its place in an organization structure. In the first part (the theoretical part) of this work is defined the term project management and project management office. Basic functions and models are described. Next part is contains the analysis of the current state of project management in this company. The aim of this thesis is to suggest each stage of implementation of the project management office and its functions.
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Strength meter
Švancara, Michal ; Kopečný, Lukáš (referee) ; Florián, Tomáš (advisor)
The aim of this project is to improve last version of strength meter, which was designed for presentation purposes. This project describes theory and principles of used elements and contains analysis of function problems and practically solves them. The practical part also describes, how to extend strength meter with external display unit and how to control it. The final part of this project contains design solution of the device.
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The Design of Enlargement of Sensor and Control Module of Mobile Robots Named Brontes
Husar, Jan ; Kopečný, Lukáš (referee) ; Florián, Tomáš (advisor)
This bachelor's thesis deals with the proposal of the sensory module and the control of mobile robots named Brontes enlargement. For this purpose a printed circuit board named MX05 was created, which extends its functionality via connection to the control board named LTR001.2. Construction of the board was conducted on the bases of the needs and requirements coming from robot peripherals. The proposal was created containing the control, protection and filtering features. Further, the board was realized and inhabited. Using MX05 creates a great simplification of wiring and there is implied the extension of the original features that are useful not only in robots Brontes.
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Minidarpa robot - motor controller design
Libra, Jaroslav ; Florián, Tomáš (referee) ; Kopečný, Lukáš (advisor)
The main task of this master’s thesis is to design circuits for feedback control of the main drives Minidarpa robot. It contains the description of power-driven mobile robot control theory and the DC motor. The second part deals with the design options of the control module and its mechanical design. The last part of the proposal made cascade speed control with current loop by using optimal module and the symmetric optimum methods.
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