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Utilisations of the “Open Dynamics Engine” for modelling of mobile robots
Kovář, Jiří ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
This diploma thesis deals with the problems of virtual physical modelling of mobile robots for the needs of their real-time control. To create a virtual physical world, an open-source project OPEN DYNAMICS ENGINE (ODE) was used, the results were displayed facilitating DirectX graphical interface. Simulated systems in ODE were written in C# on Microsoft.NET platform. The properites and qualities in ODE were verified by simulation in several types of simple systems and on a simplified robot model "Kracmera I.". Subsequently, the usability of ODE for its control was being verified.
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Design and implementation of a CANopen communication unit
Řehák, Tomáš ; Kovář, Jiří (referee) ; Houška, Pavel (advisor)
This diploma thesis describes the design and implementation of an industrial communicator for synchronization and control of electrical drive controllers with the interface of RS232 or CANopen. Hardware of communicator uses the EMX development system by GHI Electronics. Communicator software is implemented in C# by the .NET Micro Framework. Communicator allows user to adjust and control up to four electric motor drives. After a successful connection with each unit, communicator can control its position, which specify the number of revolutions to the nearest thousandth of a turn. Communicator also periodically finds out and displays the current position of the connected units. User operates the communicator with GUI, application instructions are entered via the touch screen or buttons.
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A software interface for a laser tracker user application
Kozáček, Peter ; Kovář, Jiří (referee) ; Knobloch, Josef (advisor)
For assembly of product machine is necessary to evaluate a geometric accuracy of individual functional parts of the machine. This process is very demanding and time consuming. One of the reasons of mentioned problems is the lack of software (adaptation) for measuring of the accuracy of geometrical precision. This theses (diploma work) focuses at facilitating the development and creation of own application based on customer requirements and for measuring geometric accuracy with the Laser Tracker AT901 from Leica company. The aim is to create a basic application suitable for measurement of geometric accuracy, which would speed up this process, would be user-friendly, simple and open for further expansion.
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Artificial Intelligence and Industry 4.0
Kotas, Filip ; Kroupa, Jiří (referee) ; Kovář, Jiří (advisor)
This bachelor thesis deals with search for artificial intelligence methods used in the diagnostics of technical systems. The first part of the work is devoted to the search of used methods in the field of diagnostics of technical systems. The second part summarizes the characteristics and applications of these methods. The conclusion of the thesis deals with the application of the artifical neural network method and the hybrid method „adaptive neuro-fuzzy inference systém“, which is based on the neural network. This part deals with a detailed description and use of these methods in real technical systems.
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Machine vision implementation for control of parallel mechanism
Zábrša, Tomáš ; Kovář, Jiří (referee) ; Andrš, Ondřej (advisor)
The topic of this bachelor thesis covers issues of parallel robotics. It is focused on challenges of one particular type of parallel robot – delta robot. In this thesis it is described history of parallel robotics, kinematical calculations and machine vision. In the last part of this thesis is description of practical programming of delta robot and palletisation task using machine vision. Parallel robots have, compared to serial robots, certain advantages, but also disadvantages. Parallel robots are more stable, lower mass and they have higher accelerations and can do more work cycles. Using machine vision they can be used for sorting tasks, for example to put product into crates or sorting of machine parts.
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Pressure and Flow Rate Regulation Design for Pump-Tank System
Kovář, Jiří ; Němec, Zdeněk (referee) ; Svoboda,, Miroslav (referee) ; Březina, Tomáš (advisor)
The proposed work is dealing with control design of pump-tank system as part of broader water-supply network with using of mechatronic approach. The main goal of this work is design of control for regulation of flow, pressure and water level in tank in water-supply network of Vsetin city. This water-supply network consists of various components, such as pumps, pipes, valves, tanks etc. For the purpose of the control design is necessary to create a model of pipe network. The solution of hydraulic analysis is obtained by using the gradient method, which was implemented into the software solution named ADAM. The results of hydraulic analysis are compared with measured values of flow and pressure and difference of these values has to be minimalized by proposed calibration and verification process. The calibration and verification process was implemented in software ADAM. The essence of design control is formulating control problem as optimization problem. Therefore the output of higher control layer is set of procedural rules, which determines for example speed of pumps in time etc. Results were verified by using for this purpose developed computational server (ADAM Server).
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Illustrative Example of Model-Based Design for Complex Aircraft Systems
Sopoušek, Radek ; Kovář, Jiří (referee) ; Janák, Luděk (advisor)
This bachelor's thesis is on the development of aviation systems, in particular their software, using model-based design (MBD) methods while maintaining recommended practices developed by the aviation industry and certification authorities (in particular RTCA DO-178C/331). The general MBD deployment options given by current aviation regulators and standards are described in the theoretical part of the work. Furthermore, this work describes what the process of developing software for a sub-segment of an aircraft system (altitude hold mode of autopilot software) could look like using the model-based design method. The overlap to the system development level (SAE ARP 4754A) is also partially addressed. The work includes an illustrative example in which system requirements were specified, software development through "Design model" and ensuring traceability between system requirements and model design.
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Design of state space controller for DC motor
Kuklík, Michal ; Vetiška, Jan (referee) ; Kovář, Jiří (advisor)
This thesis deals with the distribution of DC motors and their possibilities of regulation. DC motor MF 112 S from company EM Brno was chosen for the modeling. The thesis describes design of the engine model in the state space. In this thesis is described design of state controller for DC motor. The design is done in Matlab / Simulink.
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Aplikace evolučního algoritmu na optimalizační úlohu vibračního generátoru
Nguyen, Manh Thanh ; Kovář, Jiří (referee) ; Hadaš, Zdeněk (advisor)
This thesis will deal with the use of artificial intelligence methods for solving optimization problems with multiple variables. A theorethical part presents problems of global optimization and overview of solution methods. For practical reasons, special attention is paid to evolutionary algorithms. The subject of optimization itself is energy harvester based on a piezoelectric effect. Its nature and modeling is devoted to one chapter. A part of the thesis is the implementation of the SOMA algorithm for finding the optimal parameters of the generator for maximum performance.
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