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The Study of Controllers for Four-legged Walking Robots
Klvaňa, Roman ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This work is based on literary search and is focused on description of various approaches in walking gait generation for four-legged walking robots. There are six various groups of aprroaches described in this thesis. Main functional principles as well as one representative robot of each approach is described. The summarize of advantages and disadvanteges of each approach is used to apoint an appropriate control approach for robot Quasimodo walking gait generation in the conclusion chapter of this bachleor thesis.
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Design of autonomous vehicle simulator
Machač, Petr ; Králík, Jan (referee) ; Věchet, Stanislav (advisor)
Tato práce se zabývá simulačními prostředky pro vývoj algoritmů pro řízení autonomních automobilů. V zásadě lze rozdělit na dvě části, na rešeršní, teoretickou, a praktickou, vývojovou. V té prvně zmíněné je uveden přehled dostupných nástrojů pro simulaci autonomních vozidel, jedná se jak o nástroje open-sourcové tak placené. Dále se v teoretické části popisuje princip a nástroje, resp. enginy pro řešení dynamických rovnic na počítači. Důraz je kladen na fyzikální engine Box2D který je dle zadání této práce využit ve druhé části teze pro vývoj vlastního prostředí simulujícího autonomní automobil.
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Mechanical construction of hydraulics arm
Vodrážka, Jakub ; Březina, Lukáš (referee) ; Věchet, Stanislav (advisor)
This bachelor’s thesis deals with design of a hydraulics arm. The main purpose of this hydraulics arm is the possibility to use it in education project which is a part of hydraulics systems lessons. This arm consists from few parts which are connected together by rotary joints. This arm is actuated by linear hydromotors, furthermore there is a magnetic position sensor. Autodesk Inventor 2008 was used during the arm design process. There are three main parts in this work. First part deals with fluids systems, the second part shows the position sensor properties and the last part presents some cases of arm design with deformation verify. A lot of supplement is presented at the end of this work as pictures of the model of the arm or pictures of some parts of the model.
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4 Wheel mobile robot control
Deďo, Michal ; Věchet, Stanislav (referee) ; Marada, Tomáš (advisor)
The purpose of this thesis is to design and implement four-wheel mobile robot control which will be used in future in the field of mapping and localization. Concretely, it will be a design of drive control with microcontrollers Xmega, which will also process the signals of the sensors. Communication with the PC will ensure the BlueTooth module. In view of the future use of the robot, there will be designed and carried out modifications of the mechanical part. Correctness and functionality of all parts of the robot will be verified by carrying out basic movements.
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Simulation and modeling of free body dynamic inside sea drifter
Moravec, Jakub ; Věchet, Stanislav (referee) ; Hadaš, Zdeněk (advisor)
This thesis deals with the development of a simulation model of an energy harvester based on the electromagnetic resonator principle. The introduction focuses on a search of the devices created so far for the conversion of kinetic energy of the sea into electrical energy. Furthermore, a model of the resonator design tuned to a frequency of 1.6 Hz is created in the body dynamics program MSC Adams. Simulations are performed in this program to analyze the resonator properties. Finally, the model is tested by real sea excitation. From these simulations, the electrical power obtained by this device is then predicted. Under regular sea excitation, the harvester power reached instantaneous peak values of 5 W and in case of irregular sea excitation the peak power values reached up to 16 mW.
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Control of real cart pole balancer by PLC
Mitiska, Daniel ; Věchet, Stanislav (referee) ; Marada, Tomáš (advisor)
This thesis deals with design of inversion pendulum, pole rod balancing on mobile vehicle.In the first part is described projection and realisation of mechanical part of the task, the problems encountered during the projection and eventuallly its final solution. Follows verification of the mechanical and electrical part and testing of possibilities of operating by programated machine.
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Influence of asymmetry loading cycle on fatigue crack growth of alloy Inconel 625
Kander, Jan ; Kohout, Jan (referee) ; Věchet, Stanislav (advisor)
The main subject of this bachelor thesis was to evaluate influence of asymmetry of loading cycle on fatigue crack growth rate in a nickel-based superalloy Inconel 625. Experimental part of this thesis was carried out in Material and metallurgical research Ltd. Company in Ostrava, it’s main aim was to study the influences of loading cycles with parameter of asymmetry R = 0,1 and R = 0,7 on crack growth rate. Theoretical part deals with structure of nickel-based superalloys and fatigue crack growth rate.
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Design of mobile robot simulation model suitable for ROS framework
Čepl, Miroslav ; Vojáček, Zdeněk (referee) ; Věchet, Stanislav (advisor)
This thesis focuses on motion models of autonomous robots. In the first section the framework ROS is introduced and creation of models for this framework is mentioned. The second section focuses on various types of robots and discusses their suitability for the framework ROS. Basic kinematic models for the most common robots are shown. In the third section a particular chassis is chosen, a motion model is experimentally determined and the results are tested on a control set of data.
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