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Modeling and analysis of laboratory rotational pendulum
Nedvědický, Pavel ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
This bachelor thesis aims at modelling, identification and control of Furuta pendulum. System was described via mathematical equations and simulation model was created in Matlab/Simulink. Parameters of rotary inverted pendulum were estimated using the simulation model. Then the thesis deals with swing up via torque impulse, energy control and PD regulator. In the part dealing with friction five compensation models were created. They include change of friction during rotation and one of them is dynamic model, Reset Integrator. Models were verified by adding them as an input to an actuator and testing them. To stabilize pendulum in inverted position state feedback control with state observer was designed using LQR method. Final regulation included all knowledge obtained during this thesis.
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Sensory array for home automation
Bastl, Michal ; Lamberský, Vojtěch (referee) ; Vejlupek, Josef (advisor)
Bachelor thesis Sensory array for home automation describes the design of a simple system for measuring air temperature, relative humidity and light levels in the room. The aim is to design measuring units which will be able to communicate with the parent unit through the RS-485 fieldbus. Parent unit will be designed to allow the transfer of data to PC via the USB bus.
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Design and implementation of educational mobile robot
Suchý, Jakub ; Sova, Václav (referee) ; Bastl, Michal (advisor)
This thesis deals with the design and realization of a wheeled robotic chassis which will serve as an extension for the EduKit learning platform. It contains a brief introduction to the problematic of expanding this platform, the description of the selection of suitable components, the design of mechanical parts and printed circuit boards, the assembly of the chassis and the verification of some of its functions by a demonstration task.
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Linear crane trajectory design and control
Krakovský, Jozef ; Appel, Martin (referee) ; Bastl, Michal (advisor)
This thesis deals with control of linear bridge cranes using three selected methods. In theoretical part, it gives information about basic structure of each selected algorithm and basic mathematical relations. In the middle, control of algorithms is simulated using created simulation programs in MATLAB. After that, the algorithms are applied on laboratory model of linear crane and in the end all of them are evaluated according to achieved results.
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Design and implementation of wireless charging for embedded systems
Bednařík, Josef ; Bastl, Michal (referee) ; Krejsa, Jiří (advisor)
This thesis deals with the design and realization of wireless power charging circuit for embedded systems. The research section focuses on the various ways and technologies used in applications of wireless power transfer. The theoretical part also briefly characterizes resonant inductive coupling and critical parameters of the transfer. This is followed by realization of various variants of transfer coils and electromagnetic oscillators. Wireless power charging prototype system is created and used for testing purposes to find optimal configuration of resonator. The hardware unit presented in the final part of the thesis exploits microcontroller and implemented software is extended by foreign object detection algorithm along with method to monitor battery charging state.
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Samples of examples for configurable gate array
Bajer, Jan ; Spáčil, Tomáš (referee) ; Bastl, Michal (advisor)
This thesis introduces the issue of configurable gate arrays and their position with respect to microprocessor technology. The aim is to present work with gate arrays on a set of basic realizations within the field of mechatronics. The examples are processed using VHDL and they are primarily intended for Altera / Intel devices.
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Design of a mobile robot with an augmented reality user interface
Adámek, Roman ; Věchet, Stanislav (referee) ; Bastl, Michal (advisor)
This thesis deals with the design and construction of a four-wheeled mobile robot designed for an interactive exhibit and educational purposes. This robot is capable of wireless image transmission and manipulation with objects. In addition, this thesis deals with the construction of a charging station and user interface for controlling the robot which contains elements of augmented reality and minigames.
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Measuring station with data transmission via 4G network
Pernica, Michal ; Bastl, Michal (referee) ; Najman, Jan (advisor)
The bachelor thesis is concerned with data transfer via 4G network from a measuring station to a web server. The first part presents the possibilities of transmission via 4G network using the SIMCom 7600E-H module. The ways how to assemble the measuring station or how to make a web server for saving and displaying the measured data are introduced. In the second part, the individual types of transmission are tested and live data transmission and interval data transmission is also implemented based on the results from the first part. The thesis also notes the procedure for setting up a server and a web application for displaying data or assembling and programming a measuring station.
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Visual servoing for humanoid robot
Nedvědický, Pavel ; Bastl, Michal (referee) ; Najman, Jan (advisor)
This thesis deals with construction of a cheap robotic manipulator, which should be used for exhibitions and educational purposes. This project is a teamwork of two students. A robotic arm with four degrees of freedom was developed. Control and power electronics were installed for whole robot. The software’s aim is to develop a software that can control the robot by visual feedback, obtained from image processing of an image from 3D camera. Lastly, a graphic user interface for robot movement control is presented.
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