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Remote control of an embedded system via a mobile application using data transfer over Bluetooth
Dvořák, Richard ; Friml, Dominik (referee) ; Dokoupil, Jakub (advisor)
This work is focused on programming a mobile application that will be compatible with common mobile operating systems, and demonstrating two-way wireless communication between the application and the specified ESP32 module. Bluetooth wireless technology was chosen for communication between devices, and the mobile application was designed and programmed in the Qt Framework. To demonstrate the functionality of wireless communication, the ESP32 module is configured in the role of an SPP server, to which the mobile device connects in the role of a client.
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An optimal strategy for transporting objects between moving conveyor belts
Vítek, Pavel ; Friml, Dominik (referee) ; Veselý, Libor (advisor)
This thesis deals with strategies used in pick-and-place applications. In the theoretical part, the main parameters of the robot-conveyor system, such as efficiency and gripping rate, are first described. Subsequently, pick-and-place problems are divided into solutions with one or more robots. Then, the paper focuses on well-known strategies such as FIFO or SPT. The construction of a cost function based on the position of an object on the conveyor is described. Furthermore, the creation of the simulation is described, which is then compared to the B&R solution. Then, the different strategies in different scenarios are analysed. Finally, the rules for the selection of strategies are formulated and the whole paper is summarized.
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Robust Student estimator
Hlavinka, Radek ; Friml, Dominik (referee) ; Dokoupil, Jakub (advisor)
This Master's thesis deals with Bayesian approach to robust parameter estimation for ARX models. Robustness is achieved by assuming the measurement noise to be generated by Student-t distribution. The asumption of Student-t noise renders the model's posterior intractable and requires utilization of approximation techniques. This thesis considers algorithms using Gibbs sampler and Variational approximation and compares them with Ordinary Least Squares. The algorithms are compared based on their Maximum Likelihood estimation. It is shown that approaches assuming the Student-t noise perform better in simulation. The results from data acquired from physical system are however similar for all algorithms considered.
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Computer simulator for education
Friml, Dominik ; Macho, Tomáš (referee) ; Petyovský, Petr (advisor)
This bachelor thesis is divided into several parts. The first part consists of an introduction to individual parts of a processor and some of its peripheries. Next part of thesis is a research of existing educational and demonstrative tools usable in education. Results of the research were compiled into requirements for educational system. Using those requirements, and design of an architecture for educational processor for education, not only on FEEC BUT was created. As a next step, there is described a procedure, that led to a creation of a working simulator of the designed processor. Last part of this thesis is a design of several educational exercises, that demonstrates principles of computers and programming in a machine code and an assembly language.
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Comparison of H-infinity and LQG controller
Friml, Dominik ; Blaha, Petr (referee) ; Pohl, Lukáš (advisor)
This thesis deals with the MIMO system analysis, with a comparison of a different frequency charactersitics, and including singular values characteristic. The H2 and H norms are defined for signals and a MIMO systems. A MIMO optimal control using an LQG, an H2 and an H control is defined and described. Their general advantages, disadvantages and similarities are summed up. An H2 and an H state controller and state observer synthesis is implemented in a MATLAB using linear matrix inequalities. Control of an inverted pendulum is designed using the H optimal cascade control, the H2 state control and the H state control. The results are compared with each other. The theoretical possibility of same H2 and H optimal state controller design is presented.
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Web Intercase for Building Control System with BACnet protocol
Kretek, Tomáš ; Friml, Dominik (referee) ; Václavek, Pavel (advisor)
This bachelor thesis analyzes the basic features of the BACnet protocol, which is followed by visualization platforms and tools ThingsBoard, OpenHAB and Node-RED. The BAC0 library and the BOSS Simulator program are selected for the BACnet device simulation. The ThingsBoard platform is used to demonstrate the functionality with the BAC0 library, which allowed the design of a two-room model with heating and heat transfer through the walls. At the end of the work, the operation of the ThingsBoard platform on a Raspberry Pi computer is evaluated.
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Robust Student estimator
Hlavinka, Radek ; Friml, Dominik (referee) ; Dokoupil, Jakub (advisor)
This Master's thesis deals with Bayesian approach to robust parameter estimation for ARX models. Robustness is achieved by assuming the measurement noise to be generated by Student-t distribution. The asumption of Student-t noise renders the model's posterior intractable and requires utilization of approximation techniques. This thesis considers algorithms using Gibbs sampler and Variational approximation and compares them with Ordinary Least Squares. The algorithms are compared based on their Maximum Likelihood estimation. It is shown that approaches assuming the Student-t noise perform better in simulation. The results from data acquired from physical system are however similar for all algorithms considered.
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Pellet grill control system
Vařečka, Ondřej ; Friml, Dominik (referee) ; Dokoupil, Jakub (advisor)
This thesis focuses on determination of basic requirements for a pellet grill control system. It also explores expansion possibilities of these requirements with respect to user-friendliness. The thesis also includes a description of the system represented by the grill using differential equations and simulations of temperature responses during heating and cooling. After establishing the requirements for the grill control system, suitable components are selected to achieve an optimal balance between functionality and cost. The next step involves the creation of a functional schematic using the KiCad software. A printed circuit board (PCB) is designed and assembled using the components. Finally, the PCB is powered, and firmware is developed to control peripherals.
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Implementation of mechatronic demonstration device
Fedor, Filip ; Pohl, Lukáš (referee) ; Friml, Dominik (advisor)
Paper covers implementation of mechatronic demonstration device using PMS motor. It consists of four parts. Part one lists mechatronic demonstration devices and chooses the appropriate one to be build. Part two explains means of driving PMS motor with focus on FOC algoritm. Part three covers real-life demonstration of torque and position control of PMS motor. In part four suitable motor is chosen using mathematical modeling. Part five covers assembly and testing of mechatronic demonstration device.
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Robust Student estimator
Rázek, Stanislav ; Friml, Dominik (referee) ; Dokoupil, Jakub (advisor)
The diploma thesis deals with the formulation of the algorithm for estimating the parameters of the linear ARX model with Student's noise using approximate Bayesian inference. The topics of Student's noise, Approximate Bayesian inference and Student's algorithm are discussed. The formulated parameter estimation algorithm is compared with other model parameter estimation methods and evaluated. At the same time, the Student's filter is derived and its connection with the Kalman filter is discussed.
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