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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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Depth map visualization using the Kinect sensor
Gajdoš, Adam ; Najman, Jan (referee) ; Appel, Martin (advisor)
The theoretical part of bachelor thesis is focused on possibilities of use the depth device Microsoft Kinect in various spheres and branches of industry. The practical part deals with the processing of data from Kinect depth sensor, programming and creating visualizations in the Matlab programming environment for use in the field of education.
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Design of construction and control algorithm for unstable robot with spherical base
Špila, Filip ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This bachelor's thesis deals with the complete design, manufacture, and control of an unstable robot, balancing on a spherical base, also known as ballbot. The complete design of the construction, motor unit selection, design, implementation testing of an intelligent control algorithm to keep the robot in a meta-stable equilibrium is assumed. Multiple tools such as Matlab/Simulink are used for this approach. It also includes the final implementation of the code in the PIC microcontroller. The project has an interdisciplinary character and is meant to be done as teamwork whereby each team member has a strictly defined role.
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Visual odometry for robotic vehicle Car4
Szente, Michal ; Krejsa, Jiří (referee) ; Najman, Jan (advisor)
This thesis deals with algorithms of visual odometry and its application on the experimental vehicle Car4. The first part contains different researches in this area on which the solution process is based. Next chapters introduce theoretical design and ideas of monocular and stereo visual odometry algorithms. The third part deals with the implementation in the software MATLAB with the use of Image processing toolbox. After tests done and based on real data, the chosen algorithm is applied to the vehicle Car4 used in practical conditions of interior and exterior. The last part summarizes the results of the work and address the problems which are asociated with the application of visual obmetry algorithms.
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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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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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Control of inverted pendulum model
Zapletal, Vít ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This thesis is connected to bachelor thesis of Bradáč, M.: Design, production and testing of education model ''Inverted pendulum''. It deals with analysis of faults and construction imperfections and subsequently their solutions. It further describes development of controll algorithm in Matlab/Simulink. The end is dedicated to automatic code generation and inverted pendulum controll by microcontroller.
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Extending the Laboratory Educational Kit PIC Edu Kit with a Set of Wireless Sensors
Hanuš, Tomáš ; Najman, Jan (referee) ; Sova, Václav (advisor)
This thesis describes the design and implementation of extension of laboratory training model PIC Edu Kit. It is about set of wireless sensors. These sonsors have to measure temperature and deformation. Mesure of temperature was realized by temperature resistive sensor Pt100 and deformation by resistive tenzometr. These wireless moduls comunication on protocol Wi-Fi. In this work is introduced propose of measuring dictucts for measure of temperautre and deformation. There is evidenced their realization, showed software for receiving dates on PC and programme for the microcontroler.
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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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