|
|
Estimation of Parameters of Multicopter Model
Loviška, Martin ; Klusáček, Jan (referee) ; Baránek, Radek (advisor)
This thesis is about deployment of methods for parameter estimation in mathematical models. The main task of this work is to implement estimation algorithms on a multirotor mathematical model. First of all, a plainer mathemical model of 2D robot was created to implement estimation algorithms due to complexity of multirotor model. Acquired knowledge was latter used in multirotor parameter estimation.
|
|
|
Processing of localization data and its accuracy
Návara, Marek ; Baránek, Radek (referee) ; Jílek, Tomáš (advisor)
This work is focused on correction of localization data, relative to them location of the sensor on robot. Also solves the conversion between coordinate systems WGS-84, ETRS-89 and local coordinate system. For localization data are designed error characteristics and their transformation.These points have been implemented in C#. Classes were firstly developer for single-axis sensors and they are base for multi-axis sensors. The implementation has been tested on simulated data and verified in the experiment with the robot envMap. Experiment results show that the correction is implemented properly and can be further used. Error characteristics listed in the work characterize the measurement uncertainty of location data and can be used in further processing.
|
|
| |
|
|
Attitude Estimation of Multicopters
Baránek, Radek ; Jalovecký, Rudolf (referee) ; Krejsa,, Jiří (referee) ; Šolc, František (advisor)
This dissertation deals with attitude estimation of multicopters. Mainly the use of multicopter dynamic model in order to gain accuracy is investigated. It shows that the usage of multicopter dynamic model brings advantage contrary to other known algorithms for attitude estimation such as GPS/INS or complementary filter. Besides others one goal is to study the possibilities to estimate the parameters of dynamic model on-line. Further the influence of wind speed to estimation accuracy is also investigated. The algorithms are based on a nonlinear Kalman filter. The use of dynamic model of multicopters reveals the possibility of estimating attitude with bounded error even without periodic measurement of absolute position. One of the results of the dissertation is a new algorithm which does not require information about the thrust of multicopter propellers.
|
|
|
Mathematical model of nanobrewery
Blaha, Vít ; Baránek, Radek (referee) ; Kopečný, Lukáš (advisor)
The thesis describes a mathematical-physical model of nanobrewery designed in program Matlab-Simulink. It is focused on warming of fluid in a container with printed heating spirals and in a container with oil bath. Formed models are verified with real systems. Based on this comparison, unknown parameters' values of designed models are found out. These values are further used for s imulation of fluid temperature time- dependency in measured nanobreweries during mashing. Both types of warming are compared in the final part of the thesis.
|
|
|
Altitude control of flying robot
Palacký, Tomáš ; Šembera, Jaroslav (referee) ; Baránek, Radek (advisor)
This bachelor’s thesis deals firstly with design and construction of a device for testing of altitude control algorithms of a flying robot. Secondly with creating and testing of an altitude control algorithm in order to apply findings while creating a copter control system. Provided is a selection and analysis of used hardware and software components – microcontroller AVR ATmega, ultrasonic sensor, motor controller and also communication interfaces IC, USART and SPI. Also design and realization of electrical wiring, circuit board and mechanical structure is being described here. The next section includes creation of software for microcontroller and PC application. The altitude control algorithm is developed using a simulation, furthermore tested and tuned for desired behavior.
|
|
|
Omnidirectional mobile robot
Štěrba, Ondřej ; Baránek, Radek (referee) ; Zezulka, František (advisor)
This bachelor’s thesis describes controlling of omnidirectional chassis based on omnidirectional (‚swedish“) wheels especially controlling angular velocities for each wheel to achieve desired speed and desired direction. As next describes detecting obstacles by additional sensors.
|
|
|
Processing of localization data and its accuracy
Návara, Marek ; Baránek, Radek (referee) ; Jílek, Tomáš (advisor)
This work is focused on correction of localization data, relative to them location of the sensor on robot. Also solves the conversion between coordinate systems WGS-84, ETRS-89 and local coordinate system. For localization data are designed error characteristics and their transformation.These points have been implemented in C#. Classes were firstly developer for single-axis sensors and they are base for multi-axis sensors. The implementation has been tested on simulated data and verified in the experiment with the robot envMap. Experiment results show that the correction is implemented properly and can be further used. Error characteristics listed in the work characterize the measurement uncertainty of location data and can be used in further processing.
|
|
|
Estimation of Parameters of Multicopter Model
Loviška, Martin ; Klusáček, Jan (referee) ; Baránek, Radek (advisor)
This thesis is about deployment of methods for parameter estimation in mathematical models. The main task of this work is to implement estimation algorithms on a multirotor mathematical model. First of all, a plainer mathemical model of 2D robot was created to implement estimation algorithms due to complexity of multirotor model. Acquired knowledge was latter used in multirotor parameter estimation.
|
|
|
Mathematical model of nanobrewery
Blaha, Vít ; Baránek, Radek (referee) ; Kopečný, Lukáš (advisor)
The thesis describes a mathematical-physical model of nanobrewery designed in program Matlab-Simulink. It is focused on warming of fluid in a container with printed heating spirals and in a container with oil bath. Formed models are verified with real systems. Based on this comparison, unknown parameters' values of designed models are found out. These values are further used for s imulation of fluid temperature time- dependency in measured nanobreweries during mashing. Both types of warming are compared in the final part of the thesis.
|
guest ::
RSS feed.