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Simulační modely lidského operátora
Boháč, Petr ; Horák, Karel (oponent) ; Havlíková, Marie (vedoucí práce)
V této práci se zabývám simulačními modely lidského operátora při řízení příčné polohy vozidla. Porovnávám vlastnosti McRuerova modelu lidského řidiče a regulátoru PID. Simulovanou soustavou je jednostopý model vozidla. Simulovaný řidič má za úkol s tímto modelem vozidla projet dráhou losího testu. K nalezení optimálních parametrů modelu řidiče používám metodu simulovaného žíhání. Výsledné simulace následně zobrazuji pomocí 2D a 3D vizualizace. Na závěr provedu srovnání dosažených výsledků a úspěšnost modelů řidiče.
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Sensors and motion control for humanoid robot
Chlaň, Jakub ; Křivánek, Václav (oponent) ; Najman, Jan (vedoucí práce)
The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.
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Data Acquisition and Control System of Hydroelectric Power Plant Using Internet Techniques
Sattouf, Mousa ; Přikryl, Hynek (oponent) ; Richter, Aleš (oponent) ; Skalický, Jiří (vedoucí práce)
Hydropower has now become the best source of electricity on earth. It is produced due to the energy provided by moving or falling water. History proves that the cost of this electricity remains constant over the year. Because of the many advantages, most of the countries now have hydropower as the source of major electricity producer. The most important advantage of hydropower is that it is green energy, which mean that no air or water pollutants are produced, also no greenhouse gases like carbon dioxide are produced which makes this source of energy environment-friendly. It prevents us from the danger of global warming. Using internet techniques to control several hydroelectric plants has very important advantages, as reducing operating costs and the flexibility of meeting changes of energy demand occurred in consumption side. Also it is very effective to confront large disturbances of electrical grid, such as adding or removing large loads, and faults. In the other hand, data acquisition systems provides very useful information for both typical and scientific analysis, such as economical costs reducing, fault prediction systems, demand prediction, maintenance schedules, decision support systems and many other benefits. This thesis describes a generalized model which can be used to simulate a data acquisition and control system of hydroelectric power plant using MATLAB/SIMULINK and TrueTime simulink library. The plant considered consists of hydro turbine connected to synchronous generator with excitation system, and the generator is connected to public grid. Simulation of hydro turbine and synchronous generator can be done using various simulation tools, In this work, SIMULINK/MATLAB is favored over other tools in modeling the dynamics of a hydro turbine and synchronous machine. The SIMULINK program in MATLAB is used to obtain a schematic model of the hydro plant by means of basic function blocks. This approach is pedagogically better than using a compilation of program code as in other software programs .The library of SIMULINK software programs includes function blocks which can be linked and edited to model. Either Simulink Real-Time library or TrueTime library can be used to build and simulate internet and real time systems, in this thesis the TrueTime library was used.
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Programování Arduino pomocí Matlab/Simulink
Bartoněk, Jan ; Hůlka, Tomáš (oponent) ; Matoušek, Radomil (vedoucí práce)
Obsahem této bakalářské práce je rešerše možností programování mikrokontrolerů Arduino prostřednictvím programu Matlab/Simulink. Součástí práce je také stručná rešerše platformy Arduino. Dále byly vytvořeny a popsány dvě praktické úlohy, které mohou sloužit k edukativním účelům. První z nich je aplikace demonstrující využití DHT22 senzoru, vytvořená pomocí App Designeru, což je součást Matlabu. Druhá úloha reprezentuje regulaci polohy levitujícího tělesa v trubici s využitím Simulinku. K oběma úlohám byla vytvořena demonstrační videa a popis, který je součástí této práce.
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Robustnost fuzzy řízení
Hebelka, Marek
Hebelka M. Robustnost fuzzy řízení. Diplomová práce. Brno: Mendelova univerzita v Brně, 2023. Práce se zabývá posouzením robustnosti fuzzy regulátoru v rámci odstranění vlivu poruchové veličiny v podobě jednotkového skoku polohy o velikosti 10, 20, 30 a 40 % vstupního signálu a úpravou časových konstant o 5, 10, 15 a 20 % původní hodnoty. V práci jsou popsány základy fuzzy řízení, simulačních nástrojů, klasických regulátorů a regulovaných soustav. V rámci práce je popsáno seřízení jednotlivých soustav a následně je provedena analýza vlivu změn klíčových parametrů regulovaných soustav. Výsledkem je zhodnocení a posouzení robustnosti regulátorůu regulovaných soustav.
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Uncommon platforms in mobile robotics
Miškolci, Michal ; Cihlář, Miloš (oponent) ; Kopečný, Lukáš (vedoucí práce)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
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Uncommon platforms in mobile robotics
Miškolci, Michal ; Burian, František (oponent) ; Kopečný, Lukáš (vedoucí práce)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
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Analysis and modifications of 1D nanostructures
Kachtík, Lukáš ; Houben,, Lothar (oponent) ; Šlouf,, Miroslav (oponent) ; Kolíbal, Miroslav (vedoucí práce)
The doctoral thesis deals with structural and spectral analysis of 1D nanostructures. First, techniques for the determination of crystallographic structure, as well as spectroscopic ones used to perform this analysis, are introduced with their description and abilities. The thesis continues with the analysis of InAs and Ge nanowires, where the analysis focuses on determining the crystallographic growth direction and their doping. The following chapter comprises an analysis of multi-walled WS2 nanotubes using Raman spectroscopy and the process used to count the number of walls in these nanotubes. The thesis continues with the analysis of WOx nanowires that emerged after the WS2 nanotubes oxidation. After that, the most complex chapter follows with the determination of the chirality of the outermost wall of multi-walled WS2 nanotubes. This chapter also reveals the process of the WS2 nanotubes growth. In the appendix, a self-regulation controller that controls the heating of the sample holder inside the scanning electron microscope is described, including the hardware and software parts.
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Increasing the Drone Pilot Orientation by Using a Second Drone
Hubinák, Róbert ; Kapinus, Michal (oponent) ; Beran, Vítězslav (vedoucí práce)
This work deals with the implementation of drone tracking by a second drone in order to improve pilot orientation. The main focus is work with drones from DJI. The proposed concept allows the pilot to observe the drone from new angles, which contributes to better navigation and the overall flight experience. The work included the study of drone control and stabilization, as well as the implementation of algorithms for drone tracking and data transfer between drones.
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Přesnost řízení v ustáleném stavu
Belkoski, Aleksandar ; Švarc, Ivan (oponent) ; Dosoudilová, Monika (vedoucí práce)
Tato práce se zabývá přesností řízení v ustáleném stavu, rozborem regulačního obvodu a jeho částí. Důraz je kladen především na faktory ovlivňující přesnost regulace v ustáleném stavu, tedy typ obvodu, regulátoru a vstupního signálu. Vlivy jednotlivých faktorů jsou ověřeny jak ručními výpočty, tak programem Simulink na konci textu. Práce krátce pojednává i o stabilitě regulačních obvodů.
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