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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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Multi-axis Engine Control in Intelligent House
Uherka, Bohumil ; Malounek, Petr (referee) ; Chomát, Luděk (advisor)
The bachelor thesis handles with multi-axis drives with electronic cam and electronic gear. Result of this project was to develop a model of entry gates and multi-axis drive control program. This issue was demonstrated on the entrance gate engines controlling the smart house. The model of entrance gates was constructed using a stepper engines. The model was connected by the input and output modules with Power Panel (programmable logic controller with touch screen), on which the visualization was created. Power Panel at the same time governed servoamplifiers ACOPOS. These servo amplifiers with synchronous engines correspond to engines controlling the actual gates.
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Multi-axis Engine Control in Intelligent House
Uherka, Bohumil ; Malounek, Petr (referee) ; Chomát, Luděk (advisor)
The bachelor thesis handles with multi-axis drives with electronic cam and electronic gear. Result of this project was to develop a model of entry gates and multi-axis drive control program. This issue was demonstrated on the entrance gate engines controlling the smart house. The model of entrance gates was constructed using a stepper engines. The model was connected by the input and output modules with Power Panel (programmable logic controller with touch screen), on which the visualization was created. Power Panel at the same time governed servoamplifiers ACOPOS. These servo amplifiers with synchronous engines correspond to engines controlling the actual gates.
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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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