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Control System for Small Mobile Robot
Sárközy, Imrich ; Macho, Tomáš (referee) ; Žalud, Luděk (advisor)
The aim of this work was to design a control system based on the XMega microcontroller, for a small mobile robot with an tracked undercarriage. At first, my work was to develop an electrical scheme and circuit boards for the control system. The next step was to connect sensors for non electric quantity and modify the control algorithms for a simple navigation. In the last phase I tuned the user interface and the whole control system for minimal data flow between the mobile platform and the user interface.
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Minidarpa robot - software design
Kopecký, Martin ; Žalud, Luděk (referee) ; Kopečný, Lukáš (advisor)
This master‘s thesis deals with theme of autonomous mobile robots. In sequence of the bachelor’s thesis its goal is to design a control system of the outdoor mobile robot for Minidarpa type competition. It could be practically used for an autonomous transportation of material. In design of the control system the attention is aimed at planning algorithms which are divided into the local and the global parts. Most of the work is paid to a global planning algorithm, which plans, in help with graph algorithms, points needed to travel to achieve the goal. The global map is defined in RNDF file which must be preprocessed for needs of planning. There are designed classes in C++ language for communication with subsystems too. The control system further contains graphical interface for operation of the robot and a remote control through a wireless gamepad.
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Design and implementation of control software libraries for fiber characterization
Podivín, Ladislav ; Hästbacka, David (referee) ; Kallio, Pasi (referee) ; Honzík, Petr (advisor)
Tato práce se zabývá návrhem a implementací dvou konkrétních softwarových modulů, které jsou částí distribuovaného řídícího systému CoSMic. Tento systém je určen pro řízení speciálního zařízení pro charakterizaci papírových vláken. Prvním vyvinutým modulem je HapticFiber, ten má poskytovat rozhraní mezi řídícím systémem a speciálním vstupním zařízením - haptic device. Druhým modulem je ViCo, jehož účelem je poskytnout softwarovou obálku pro uživatelem definovaný algoritmus zpracovaní obrazu. Tento modul musí být připraven splnit určitá časová omezení, proto je nutné, aby běžel v rámci operačním systému reálného času.
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Artificial aorta for activity demonstration of intraaortal baloon contrapulsation
Bičiště, Jan ; Rampl, Ivan (referee) ; Zeman, Václav (advisor)
This dissertation work describes design and construction of simulated aorta device intended to demonstrate performance of the intra-aortal balloon catheter (IAB), and to test reaction of the contra-pulsation pump during simulated cardiac output in conditions of tachycardia, bradycardia and arrhythmia. The major part of the device is transparent plastic tube. The pressure pulses (waves) are generated inside this plastic tube to simulate real cardiac output. These pressure pulses are generated by step motor with membrane. The step motor is controlled by programmable control system AMiNi-E. Individual pressure pulses simulate cardiac output in conditions of tachycardia, bradycardia and arrhythmia. Required simulated cardiac output is selected by control switches. Generated pressure pulses are read by pressure sensor and are transferred to the control system of the configuration computer. Read data can be displayed as graphs in program Microsoft Excel. The intra-aortal balloon catheter (IAB) is inserted inside the aorta and is connected with contra-pulsation pump which on pressure pulse is responding.
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Controling the dust exhaust of smeltery for recyclation of aluminum waste
Jakubský, Ondřej ; Nadrchal, Zdeněk (referee) ; Trnka, Vladislav (advisor)
The work deals with controlling and visualizing technology of dust exhaust of smeltery for recyclation of aluminum waste. In the first part of the work are analyzed the different ways of automatic control. Based on the analysis is proposed control system configuration, algorithm of control, communication interfaces and sensors of alarm, measurement and regulation. The second part deals with visualization and remote administration of control system. On the basis of selection for the visualization software is designed and implemented a system that provides visualization of technology, the archiving of measured operating values, events and errors.
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Design and construction of automatic galvanic line
Vondruš, Jiří ; Janda, Marcel (referee) ; Melichar, Petr (advisor)
This thesis deals with the design of automated system of electroplating. The first part is centered on designing the technological process for this electroplating and the setout of operating vats. It also deals with the project of mechanical construction, electrical system, with the computing procedure and the optimum choice of gear for galvanic line model. The work includes the design of a DC motor controller, the computing procedure and the construction of heating element for vats heater simulation. The last part of this thesis offers an insight to the control system and the assembled program. In the addendum, the photo of the realized model, the wiring scheme, and the programme transcript for control galvanic line model can be found.
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Numerical control of machine tools
Dlouhý, Rostislav ; Opl, Miroslav (referee) ; Blecha, Petr (advisor)
This thesis is focused on numerical control of machine tools. Control systems are shortly compared. There are three biggest manufacturers: Siemens, Fanuc and Heidenhain. Especially user benefits and opportunities of workshop programming are compared. The second part is focused on the choice of control system for the selected machine tool. I am applying the knowledge and the conclusions which I have reached in comparing different control systems. I chose two alternatives of the control system based from entered requests for the chosen machine tool.
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Control of heat sources orientated on the biomass combustion
Havlíček, Martin ; Chlápek, Petr (referee) ; Máša, Vítězslav (advisor)
The Bachelor thesis deals with the control of heat sources which are concerned on biomass combustion. The aim of this thesis was to present the properties of biomass as a fuel. It also describes the technology of medium power boilers and their comparison with other power categories. Above all, it evaluates the current control systems of biomass boilers with medium power and offers the list of Czech producers. The thesis also gives the brief information about the situation abroad.
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