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Using ODE for Design of Dynamic Model of a Four-legged Robot
Seriš, Richard ; Krejsa, Jiří (referee) ; Ondroušek, Vít (advisor)
The objective of this bachelor‘s thesis is to design the dynamic model of four-legged robot Qasimodo by using ODE and programming languange Python, based on analysed parameters and known walking gait parameters. Forward dynamic walking gait task is used to comapare behavior of the model with the real robot Qasimodo. Strike a balance and review of ODE usability for this task. This thesis also reviews suitability and complexity of using ODE for dynamic simulation of the walking gaits of the robot.
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Design of electronics and control for touch screen devices tester
Hrůzek, Jan ; Bednařík, Josef (referee) ; Krejsa, Jiří (advisor)
This thesis deals with a complex design of control electronics for device dedicated to testing touch panels and subsequent implementation of basic communication interface between microcontroller and service PC. There is a detailed analysis of selection procedure of suitable sensors for testing device and of suitable components for control and power circuits as well. The connection and interconnection of all necessary components is solved, including the temporary replacement of the main microcontroller with the Nucleo development board. The UART protocol is used as a tool for communication with the operating PC and Python is used on the operating PC side. It also outlines the extension of the content of this thesis when extending the system with a second device.
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Design and implementation of education model "Air levitation"
Horák, Petr ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This work deals with design, processing, animate and setting parameters of education model of air levitation. At the beginning is stated search essay deal with levitation. As the next tehere is a couple of examples of physical model, realization, following describing construction and realization of model. Next step was choise of sensor, actuation and electric supply of this model. Following design of communications unit, electronics and cableway used to connect model with PC control card MF 624. The last step was design real-time control system via program Matlab Simulink 2007b using Real Time Toolbox 4.0 made by Humusoft, realization of this system and its settings
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SW development and testing for engine monitoring module
Sumtsov, Artem ; Sova, Václav (referee) ; Krejsa, Jiří (advisor)
Diplomová práce popisuje vývojovou techniku Model Based Design a její použití pro návrh a testování algoritmů. Popis této techniky je proveden na příkladu praktického využití v praxi při vývoji modulu monitorování stavu motoru ve spolupráci se společností UNIS,a.s. Vývoj v oblasti současné letecké techniky klade velký důraz na monitorování životnosti zařízení. Podle výstupů algoritmu se dají naplánovat preventivní opravy s ohledem na aktuální podmínky opotřebení a provozování. Implementace algoritmů je provedena v prostředí Matlab/Simulink s následným testováním na platformě dSpace
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Design and implementation of RGB sensor for educational unit
Švehla, Lukáš ; Krejsa, Jiří (referee) ; Spáčil, Tomáš (advisor)
This thesis deals with construction of RGB sensor which will be extension for preparing of the education kit equipped with microcontroller AT Mega on Arduino board. It contains a brief introduction how the photodiodes work. There is also described some chosen RGB sensors, suggestion and realisation of Printed Circuit Board. Next continue with measurement. Then is chosen and completion final product from the best sensors.
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Human detection using laser rangefinder
Němeček, Jakub ; Selingerová, Simona (referee) ; Krejsa, Jiří (advisor)
This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.
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Road detection for mobile robot using image processing
Coufal, Jan ; Štarha, Pavel (referee) ; Krejsa, Jiří (advisor)
Diploma thesis deals with image processing for outdoor environment mobile robot. In first part, the problem is analyzed, general solution is proposed and suitable image processing methods are presented. In second part presented methods are tested and methods with best results are proposed. In third part is particular solution tested on real data.
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Adaptive Control of Electromechanical Actuators using Multiple Model Adaptive Feed forward Compensator
Sova, Václav ; Křivánek,, Václav (referee) ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This thesis deals with the derivation of novel adaptive feed forward compensator, which will be used for the control of the electromechanical actuators used in automotive industry. The electromechnical actuators are an electronic throttle valve and an EGR valve. The introduced adaptive compensator is derived from an existing multiple model feedback control method. This work describes the derivation of this method and simulation and experimental verification. In addition, the most well known digital filter differentiators are presented and summarized in this paper because the feed forward compensator needs them for its operation. From these filters, one specific is chosen, whoose coefficients for the specific setting leads to integer multiplication and an integer implementation of the filter. This will be used to implement this filter to the FPGA and then we prove, that this implementation saves a lot of FPGA resources compared to filters implemented using fixed or floating-point arithmetic.
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Usability of compass in indoor mobile robot navigation
Pilch, Petr ; Ripel, Tomáš (referee) ; Krejsa, Jiří (advisor)
This work is focused on usability of compass HMC6343 for controlling the mobile robot in an indoor environment. The first part shows the history of compass and describes the principle of operation of some types of compasses including anisotropic magnetoresistive sensor. HMC6343 compass used for the measurements in real environment is based on this principle. The measurement is evaluated and the usability of data gathered this way is discussed the second part of the thesis.
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