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Design and testing of the system for localizing a sound source
Havelka, Martin ; Vechetová, Jana (referee) ; Najman, Jan (advisor)
This bachelor’s thesis deals with possibilities of sound source localization. There are generally mentioned possible hardware and software solutions at the beginning, from which two applicable methods and suitable components of test device are selected. Further there is a practical part of this work, where programmed algorithms are described. An essential part is testing. Accuracy is tested for the selected microphone array, depending on the change in the number and position of the sensors, the effect of ambient noise, and the location of the obstacle in the area. The output of the tests is the evaluation of functionality and accuracy for both methods used.
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Design of communication interface in WBAN systems
Kandera, Tomáš ; Najman, Jan (referee) ; Krejsa, Jiří (advisor)
Táto diplomová práca sa zaoberá technickou realizáciou WBAN zariadenia, ktoré je schopné súbežne komunikovať prostredníctvom dvoch bezdrôtových komunikačných protokolov. Rešerš dostupných riešení je dostupná s hodnotením jednotlivých produktov podľa vopred stanovených kritérií. Návrh z hľadiska software obsahuje tvorbu vlastného BLE servisu, konfiguráciu Timeslot API a periférií často využívaných vo WBAN zariadeniach. Výroba dosiek plošných spojov pre zariadenie a dedikovaný ovládač zahŕňa vlastnú anténu, nabíjací obvod batérie a nRF52810 čip. Testovanie prototypov je zhrnuté v poslednej kapitole spoločne s experimentálnym meraním útlmu živočíšneho tkaniva.
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Redesign of the construction and control algorithm for an unstable robot with a spherical base
Novák, Vlastimil ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This bachelor thesis deals with the redesign of an unstable robot with spherical base, also known as Ballbot. The aim of the work is to analyze the existing structural elements of the robot, available sensors, control and power electronics and identify functional deficiencies. Subsequently, design a solution and implement it in order to eliminate all found deficiencies. Part of the work is testing a revised version of the robot, which, among other things, consists of checking the functionality of individual sensors and checking the comunication between sensors and microcontroller. Emphasis is placed on determining the real accuracy of newly used sensors depending on the settings used and ambient conditions.
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Automatic tuning of the DC motor controller
Tran, Adam ; Brablc, Martin (referee) ; Najman, Jan (advisor)
Diploma thesis deals with designing of algorithmus for automatic controller tunning for DC motors. Automatic tuning function consist of system identification and controller parametrization. Cascade control loop was chosen for its robustness and proper DC motor control. For electric system identification of DC motor was used recursive method of instrumental variables, because of noisy signal from current transducer. In the case of identification mechanical system, there were used least sqares method. According to identified parameters, current controller was parametrized by optimum module and revolution controller according symetrcal optimum.
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Application of SLAM algorithms for 4WS vehicle
Najman, Jan ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This paper deals with the application of SLAM algorithms on experimental four wheel vehicle Car4. The first part shows the basic functioning of SLAM including a description of the extended Kalman filter, which is one of its main components. Then there is a brief list of software tools available to solve this problem in the environment of MATLAB and an overview of sensors used in this work. The second part presents methodology and results of the testing of individual sensors and their combinations to calculate odometry and scan the surrounding space. It also shows the process of applying SLAM algorithms on Car4 vehicle using the selected sensors and the results of testing of the entire system in practice.
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Design of SCARA robot control system
Formánek, Martin ; Najman, Jan (referee) ; Bastl, Michal (advisor)
The subject of this bachelor thesis is the Yanome SCARA industrial robot in the mechatronics laboratory. The theoretical part describes the robot, including kinematics, The Raspberry Pi platform which was used for the control and the development enviroment Python. The practical part focuses on the opereation of the robot. Practial part is devided into two parts. The first part contains design of the end effector, the second part is about demonstrational tasks. There is also designed graphical user interface for robot control.
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Energy management for robotic vehicle Car4
Dobossy, Barnabás ; Bastl, Michal (referee) ; Najman, Jan (advisor)
This thesis describes the design process and implementation of a measurement unit for state of charge estimation of the batteries of experimental vehicle Car4. The first part is devoted to give insight into why battery monitoring is so important and difficult task at the same time, which is often influenced by ambient effects. The second part describes the design and configuration process and the creation of control algorithm for the central control unit of Car4
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Sensors and motion control for humanoid robot
Chlaň, Jakub ; Křivánek, Václav (referee) ; Najman, Jan (advisor)
The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.
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