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Rotational Display
Konečný, Ondřej ; Šimek, Václav (referee) ; Růžička, Richard (advisor)
This thesis describes the process of hardware and software development of a rotational display, that uses accelerometer for acquisition of placement data. It explains the principle of operation of the rotational display and of the components that were used. There are discussed various ways of accelerometer usage for these purposes and there is also explained the solution of the problem of timing for the purposes of displaying. In the end the thesis summarizes the results of the development process and outlines possible future development.
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Inertial Navigation Unit
Kulka, Branislav ; Kříž, Vlastimil (referee) ; Šolc, František (advisor)
This thesis is concerned with attitude estimation of small flying robots using low cost, small-sized inertial and magnetic sensors. A quaternion-based extended Kalman filter is used, which adaptively compensates external acceleration. External acceleration is the main source of estimation error. If external acceleration is detected, the accelerometer measurement covariance matrix of the Kalman filter is adjusted. The proposed algorithms are verified through experiments. Selected algorithm is implemented on STM32F4DISCOVERY development board.
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Verastile Sensor-based Experimental Platform
Tydor, Maximilián ; Ing. Vladimír Hubík, Ph.D. (Saab Czech s.r.o.) (referee) ; Šebesta, Jiří (advisor)
This document deals with issues of testing semiconductor inertial sensors like gyroscopes and accelerometers, but also other sensors like magnetometers, inclinometers and others for aviation navigation purposes where strict requirements cover every system. The goal of this thesis is to create modular test platform for testing wide variety of sensors in different combinations under variable circumstances. The development covers mechanical design, electrical design – hardware and also control algorithm – software.
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Distance measurement using sensors of mobile phone
Hubr, Ivo ; Endrle, Pavel (referee) ; Lattenberg, Ivo (advisor)
Distance and the associated parameters can be measured by specific sensors mobile device. Introduction The work focuses on the description of the sensors and the effects on their accuracy. To measure the distance, there is a number of good practices, which were described and demonstrated the application implemented source code for the Android platform. The project works with a total of three sensors, namely accelerometer, magnetometer and camera. The main objective of this work is the definition and application of methods for measuring distance using the appropriate sensors.
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Four legged walking robot
Veleba, Tomáš ; Krištůfková Dvorská, Jolana (referee) ; Neužil, Tomáš (advisor)
The diploma paper deal with control problems of a four legged walking robot. They endeavour to establish and partly implement the walking and control algorithms. They are divided into six parts. Individual chassis types and their advantages and drawbacks are analysed in introduction. Next part describes mechanical design of the robot and also all realised electronics facilities. The third part describes in detail sensors that are used by the robot. Following part deals with description of robot's walking. It explains individual walking phases and analyses both static and dynamic stability. Next part contains description of the robot's software facility. The software facility of the control micro-controller and the algorithm that generates walking are explained in this part. It also describes software facility of control application in computer. Exploration of the possibilities for wireless control is carried out in the last part.
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Development of Platform for Three-Rotor Helicopter
Votava, Martin ; Rozman, Jaroslav (referee) ; Hájek, Josef (advisor)
The goal of this master's thesis is design and built of platform for three-rotor helicopter development. The helicopter is also known as tricopter. Theoretical part describes principle of tricopter's flight and stabilization. There is also described basics inertial navigation system and sensors which are required for correct functionality. Practical part is dedicated to development of tricopter's frame, schematics diagram, communication between subsystems and stabilization system development. Flight stablization system is base on ATmega128A an using PID Controller. In the end is described testing of developed platform.
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Two-axis Stabilized Aerial Photography Platform
Vácha, Lukáš ; Hasmanda, Martin (referee) ; Strašil, Ivo (advisor)
This diploma thesis deals with design and realization of control board with controlling program for stabilization platform application. Thesis is splitted in to six parts. In first part of thesis are summarized required parameters and properties of proposed system together with explanation of necessary theoretical basics. In second part of thesis is made analysis of sensors which are designated for sensing necessary magnitudes. Namely then magnetometer, accelerometer, gyroscope. For every sensor is there made analysis of influence caused by parasitic effects. In conclusion of second part is made choice of concrete sensors by choosing sensory module. Third part deals with conception of mechanical solution. Fourth part of thesis deals with design and construction of control board and also with description of circuit functional blocks. This is followed with fifth part which describing program equipment of board with setting up sensory module. In last part of thesis are described conclusions of testing.
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Automatic elevation and azimuth measurement system
Večeřa, Jindřich ; Kasal, Miroslav (referee) ; Záplata, Filip (advisor)
This bachelor´s thesis deals with an automatic elevation and azimuth measurement system, which will be used for antenna positioning. It is realized by using magnetometer and accelerometer. Important part of the system is tilt compensation and calibration for selected location. This system will send data to PC and also display them on LCD display. This project contains theory of measured quantities, method choice, component choice, realization of wiring, PCB design, programming device, testing device and accuracy determination.
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Motion measurement by inertial sensors
Junasová, Veronika ; Šteffan, Pavel (referee) ; Levek, Vladimír (advisor)
This work deals with measuring specific types of movement in space using inertial sensors. It focuses on accelerometer, gyroscope and magnetometer. There is basic introduction to mentioned sensors, description of means of filtration their measurements and related mathematical part. The work contains design of board with selected sensors, description of sensors calibration, measurement of inclination and azimuth, optimalization of measurement, implementation of chosen filter. Functionality of measurement, calibration and filtration is demonstrated by results of measurement.
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