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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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Lowcost proximity sensor for mobile robot based on SRF05 sensor
Majerčík, Pavel ; Najman, Jan (referee) ; Krejsa, Jiří (advisor)
This master's thesis deals with determination of properties of the ultrasonic sensor SRF05. It is about finding factors that distort or have other negative effects in any way on the proper functionality of these sensors. First of all, it was necessary to program a chip mounted on signal processing board for correct functionality and operation of sensors. Then a few sets of measurements were done to determine the behaviour of sensors for different distances. In addition, we had to carry out many more measurements to find out the influence of temperature, light conditions, material of the sensed surface or cross-noise caused by the use of multiple sensors. In the next step, the approximate shape of the transmitted ultrasound was investigated to determine the zone of detection. The last task of this thesis was to compare the SRF05 sensors with other ultrasonic sensors from different manufacturers.
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Educational Model - Balancing Rod
Pojsl, Jakub ; Rajchl, Matej (referee) ; Najman, Jan (advisor)
This master's thesis deals with the design of the educational model of a balancing stick and implementation of control algorithms for this model. The balancing stick combines an inverted pendulum with reaction wheels, which allow for momentary control and maintaining its balance. The thesis includes a theoretical analysis of the reaction wheels, research on suitable components for the model's realization, design and construction of the physical device, implementation and testing of the control algorithms and evaluation of the design of the real model. The outcome of the thesis also includes a set of tasks that complement the educational use of the model and documentation of the control unit library.
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Sensor fusion for detecting and locating people in a room
Vondráček, Jakub ; Dobossy, Barnabás (referee) ; Najman, Jan (advisor)
This diploma thesis deals with the problem of fusion of several sensors for the purpose of detecting and locating people in a room. It is primarily about using measured sensors and implementing them in such a way that their connection creates a system that has obvious advantages compared to more expensive single sensor solutions. In the first part of the work, research is carried out, which presents the basic issues of detection, localization and counting of people in rooms. To be used in the practical part of the work, it is also indicated here which specific sensors can be used to achieve these functions and which control units are suitable for such a system. Finally, it summarizes specific components and software tools, which are further supplemented in the practical part of the work. The rationale for this selection is also included. The second part of the thesis describes the specific design of the resulting system, which can perform the functions of detection, localization and counting of people in the room. This practical proposal is described including all starting points, connections and especially the algorithm that was used for sensor fusion. The entire system is subsequently tested, based on which its functioning is evaluated. In the last section of the thesis, the created system is supplemented with a model of a cover and wall mount.
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Design of a livestock and property monitoring system
Krček, Roman ; Najman, Jan (referee) ; Formánek, Martin (advisor)
The bachelor thesis deals with the issue of monitoring livestock and property in remote areas. Specifically in areas where the access to the electricity grid is difficult or where it is not possible to build infrastructure for camera systems such as cottages, remote farms, etc. The aim of the work is to create a small reliable camera, powered by a solar panel, whose images could be viewed by the user from an app on a phone or computer. The thesis includes an analysis of available solutions such as camera traps or cameras with 3G/4G connectivity. The second part of the thesis deals with the design of a custom solution that would better meet the needs of the author and the choice of individual camera components.
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Design and implementation of a pneumatic educational model
Javorek, David ; Dobossy, Barnabás (referee) ; Najman, Jan (advisor)
The bachelor thesis deals with creating an educational pneumatic model and its subsequent simulation. The research section describes the possibilities and types of control of pneumatic actuators. Furthermore, their modelling in Simulink using Simscape blocks is explained here. In the practical part of the work is given the procedure of creating an educational model, how their control and data collection from sensors is solved. Finally, the modelling of the simulation is explained.
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Predictive maintenance with wireless data transfer
Pernica, Michal ; Najman, Jan (referee) ; Dobossy, Barnabás (advisor)
This thesis deals with predictive maintenance and the use of NB-IoT network for its purpose. In the first part of the thesis, the wireless technologies for data transmission are presented, followed by a description of the different types of communication protocols, and lastly, the process of developing predictive maintenance is described. In the second part of the thesis, a server application for predictive maintenance purposes is presented, system control using a microcontroller, the NB-IoT module SIM700E is introduced along with its specifications, connection to the NB-IoT network and implementation of the MQTT protocol. Also, the server software composed of the MQTT broker, Node-Red, Influx DB and Grafana is described. The third section describes the application of predictive maintenance on two devices, namely a thermal chamber and a pneustand. The function of these systems is described, followed by the modifications applied. Afterwards, the fault conditions we want to detect are mentioned and then classifiers are trained to determine the condition. Finally, the control of the systems is redesigned so that it can be done using a microcontroller. Finally, experiments are performed while operating the device and verifying the functionality of predictive maintenance to identify the condition.
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Design of low-cost control unit for DC/BLDC motors
Pospíchal, Tomáš ; Najman, Jan (referee) ; Rajchl, Matej (advisor)
This thesis deals with design and construction of motor driver, firmware for STM32H7 a software UI in Python. Motor driver has four total half bridges, from two H-bridge Smart Gate Drivers. Motor driver is designed for 100W DC/BLDC motors. Communication over USB 2.0 HS, using CANOpen protocol with IEC 61800-7 device profile. Motor driver could be used for lectures and demonstrates USB 2.0 HS capabilities of STM microcontroller.
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