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New Hybrid Methods for Robust and Automated Parameter Estimation of Mechatronic Systems
Najman, Jan ; Štefek, Alexandr (referee) ; Opluštil, Vladimír (referee) ; Grepl, Robert (advisor)
The thesis deals with the development of a new hybrid optimization algorithm for mechatronic models. The introductory chapters are devoted to a general description of the problem of estimating unknown system parameters, based on the developed mathematical model and measured data. Furthermore, an overview and a brief description of available optimization algorithms that are suitable for solving this type of problem is given. Based on the research study, the specific objectives of the paper are then formulated. In the second part of the thesis, a newly developed set of mechatronic models created using physical modelling tools is described. Subsequently, a comparative test of the speed and success rate of the selected optimization algorithms is performed using these models. Based on the results of this test, the design of a new hybrid algorithm is proposed, which is then tested and compared with the other algorithms. Finally, several new auxiliary functions and tools are presented to detect and analyze improperly designed parameter estimation problems.
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Environmental monitoring with the FLIR Lepton miniature thermal camera
Niedoba, Marek ; Adámek, Roman (referee) ; Najman, Jan (advisor)
Tato práce se zabývá monitorováním prostředí použitím cenově dostupného teplotního senzoru s vývojovou platformou. První část prezentuje základní přehled o termovizní technologii a jejím využití. Dále se zabývá technickými specifikacemi a funkcemi senzoru Flir LEPTON 3.5, a vývojové platformy OpenMV Cam H7 R2. Druhá část práce poskytuje informace a instrukce ohledně práce se senzorem a ukazuje některé možné aplikace. Také jsou zde ukázané způsoby jak překonat některé limitace senzoru a porovnání s jinými komerčně dostupnými termokamerami.
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Autonomous assembly using the UR5e robotic arm
Cesnek, Martin ; Formánek, Martin (referee) ; Najman, Jan (advisor)
This bachelor thesis deals with the demonstration of the abilities of collaborative robots in practical use. These abilities are demonstrated in a task where the robot autonomously composes a predefined shape from LEGO cubes. The UR5e robot from universal Robots was used together with the OnRobot RG2 gripper to carry out this work. Communication with the robot is ensured by the Maltab environment with the use of the library created at ÚMTMB from BUT FME. The first part of the work is devoted to getting acquainted with the used hardware and introducing the functions of the library together with setting up the communication between the robot and PC. There is also paid attention to the analysis of possible solutions to the problem of stacking LEGO cubes. The second part presents the methodology and elaboration of structural elements together with control software for robot motion control and data processing from sensors. The result is a demonstration in which the user enters the input parameters of a rectangular 3D shape according to which the robot autonomously composes the given shape.
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Measuring station with data transmission via LoRa network
Nguyen, David ; Formánek, Martin (referee) ; Najman, Jan (advisor)
This thesis deals with the data transmission from the measuring station via LoRa network. The goal is to research possible solutions of data transmission using a LoRa technology and to select suitable hardware for creating a measuring station. Subsequently, setting up radio module with sensors and developing web application that will collect, store and present the data from the measuring station. This thesis includes tests of power consumption, range and transmission reliability of the end node.
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The educational model of a hand-operated balanced manipulator
Letrik, Lukáš ; Najman, Jan (referee) ; Adámek, Roman (advisor)
This bachelor’s thesis deals with a draft and an assembly of a simple uni-axial HOBM (Hand-Operated Balanced Manipulator). The research part is dedicated to the history of HOBM, basic mechanisms of mechanic HOBMs, different types of propulsion used for HOBM and their most renowned producers. The practical part of this thesis is focused on simulation, construction and programming of uni-axial HOBM for educational purposes. The thesis is concluded with an evaluation of the functionality of the constructed uniaxial HOBM and improvement proposals. Part of the thesis is also a list of used components, which were used for construction, and their datasheets with attached scripts, which comprise of a simulation and a program for operating the uni-axial HOBM. These documents are enclosed.
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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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Collaborative robot with adaptive grippers
Vondráček, Jakub ; Appel, Martin (referee) ; Najman, Jan (advisor)
This bachelor thesis deals with collaborative robots and adaptive grippers with a focus on practical testing of the UR5 robot from Universal robots with adaptive grippers Onrobot RG2 and Robotiq 3F, which are available in the mechatronic laboratory of the Faculty of Mechanical Engineering of Brno University of Technology. In the first part of the work, a search is performed, which presents the basic issues of collaborative robots, adaptive grippers, force sensing, as well as the possibility of software simulation aimed at testing the available collaborative robot. The second part of the work presents the methodology and development of practical work with the robot, which is focused on testing all the basic functions of the robot on simple tasks. The last section of the thesis shows a simulation of a more complex robot task from engineering practice using selected software.
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Test stand for DC motor control units
Procházka, Jan ; Adámek, Roman (referee) ; Najman, Jan (advisor)
Main focus of this bachelor thesis is construction of testing stand for master-slave driver units with possibility of using more slave units at the same time. Theoretical part is about DC engines and sensors. Practical part is about testing components, construction of mechanisms, which are mented to test different variants of controlling DC engines. For every mechanism is created program in SIMULINK. With thesis is included list of used components, script with subsystem for each mechanism and file with wire description and basic troubleshoot.
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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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