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Analysis and modifications of 1D nanostructures
Kachtík, Lukáš ; Houben,, Lothar (referee) ; Šlouf,, Miroslav (referee) ; Kolíbal, Miroslav (advisor)
Tato disertační práce se zabývá strukturální a spektrální analýzou 1D nanostruktur. Nejprve jsou představeny techniky pro určení krystalografické struktury, stejně jako spektroskopické techniky, které byly použity pro tuto analýzu – jejich popis a možnosti. Disertace pokračuje analýzou InAs a Ge nanodrátů, kde se analýza zaměřuje na krystalografický směr růstu těchto nanodrátů a jejich dopování. Následující kapitola zahrnuje analýzu vícestěnných WS2 nanotrubic pomocí Ramanovy spektroskopie a postup, pomocí kterého by bylo možné spočítat počet stěn těchto nanotrubic. Disertace pokračuje analýzou WOx nanodrátů, které vznikly po oxidaci WS2 nanotrubic. Následuje nejobsáhlejší kapitola zaměřující se na určení chirality nejsvrchnější stěny vícestěnné WS2 nanotrubice, která mimo jiné odhaluje i proces růstu jednotlivých stěn při tvorbě těchto nanotrubic. V příloze je pak popsán postup, při kterém byl vytvořen autoregulační prvek vyhřívání držáku vzorků rastrovacího elektronového mikroskopu – jak hardwarová, tak softwarová část.
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Increasing the Drone Pilot Orientation by Using a Second Drone
Hubinák, Róbert ; Kapinus, Michal (referee) ; Beran, Vítězslav (advisor)
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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Steady-state steering accuracy
Belkoski, Aleksandar ; Švarc, Ivan (referee) ; Dosoudilová, Monika (advisor)
The main focus of this thesis are steady-state steering accuracy, analysis of the control systém and its parts. Emphasis is put mainly on factors influencing the precision of the steady-state, so on the system type, controler and the input signal. The influences of each factor is verified by calculations done by hand and also with the use of Simulink, at the end of this thesis. This text also discusses the stability of control systems.
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Design of a quadcopter model
Fiala, Jan ; Dosoudilová, Monika (referee) ; Hůlka, Tomáš (advisor)
The bachelor thesis deals with the creation and implementation of a quadcopter model. The first part summarizes the basic division of unmanned systems and the rules of legislation limiting their operation. Subsequently, the problematics of motion dynamic is discussed. The practical part first describes the selection of components used, their connection, and the creation of the quadcopter frame. The implemented control system and calibration are also described. In the final part, a flight test, price analysis, and rating in comparison with the competitive product are included. The conclusion contains an evaluation of the work, possible improvements, and reflections on the future use of the model.
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Laboratory electronic load 400 W
Horna, Aleš ; Szabó, Zoltán (referee) ; Steinbauer, Miloslav (advisor)
This thesis deals with the construction of a laboratory electronic load purpose of which is to test various sources of electric energy, for instance electronic power supplies or accumulators. The thesis states possible designs of electronic circuits forming such an electronic load, it mentions factory manufactured devices, it describes the way of designing parts of the device, choice of components, conduction of circuit simulations for function verification of designed circuits and mechanical construction.
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Developement of electronics and software on robotic vehicle Car4
Michal, Mikuláš ; Rajchl, Matej (referee) ; Dobossy, Barnabás (advisor)
Tato diplomová práce se zabývá revizí elektroniky robotického vozidla car4 se zaměřením na měření rychlosti otáčení kol, výkonovou a řídicí elektroniku. Car4 posloužilo jako základ pro již přes 20 diplomových prací od roku 2010. To znamenalo, že některé základní aspekty car4 byly zastaralé. Bylo vytvořeno schéma elektroniky vozidla, které bylo dále využito pro vývoj a výrobu nového hardwaru. Komponenty byly poté otestovány a implementovány na vozidlo. Dále byl vytvořen kinematický model 4WS vozidla za použití Ackermanovy geometrie, který byl implenetován a otestován na car4. Dále by měl sloužit jako základ řídicího algoritmu pro budoucí vývoj car4.
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Self-Driving of a Model Car
Hazucha, Ivan ; Šimek, Václav (referee) ; Bidlo, Michal (advisor)
The aim of this thesis is to demonstrate options for self-driving model cars, focused on local path planning methods and obstacle avoidance. As a part of the project, the model was supplemented by a computing platform Raspberry Pi and appropriate sensors. Specifically, a 2D LiDAR sensor was used for detection and measuring the distance of surrounding objects, an incremental rotary encoder for measuring the distance travelled and current speed, and a gyroscope to keep track of the vehicle's relative orientation. Subsequently, a control system was implemented. This system is able to receive and process sensor data, use it to estimate vehicle's current location, compute an optimal trajectory in an uncharted environment, and control the vehicle's actuators accordingly. The result is a functional model car able to navigate in an unknown environment and reach specified goals by following a trajectory, dynamically generated depending on the surrounding obstacles.
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Design of control circuit for towing dynamometer
Rýznar, Jan ; Němec, Zdeněk (referee) ; Cejpek, Zdeněk (advisor)
This bachelor’s thesis is focused on design of a control circuit for a towing dynamometer. In the introductory part of the thesis is a detailed description of the towing dynamometer, including its main parts, which are necessary for proper operation. The next chapter is devoted to creating a dynamic model of an existing prototype using Simscape. Furthermore, based on the conditions from the dynamic model, a control circuit is designed, which is introduced in the form of a program into the control unit of the towing dynamometer. Based on the measured data from the transient responses, the function of the controller is gradually tuned to a satisfactory result. Finally, the function of the control circuit is evaluated and then measures to improve the stability, quality and accuracy of control are proposed.
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Samples of examples for configurable gate array
Bajer, Jan ; Spáčil, Tomáš (referee) ; Bastl, Michal (advisor)
This thesis introduces the issue of configurable gate arrays and their position with respect to microprocessor technology. The aim is to present work with gate arrays on a set of basic realizations within the field of mechatronics. The examples are processed using VHDL and they are primarily intended for Altera / Intel devices.
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Sensors and motion control for humanoid robot
Chlaň, Jakub ; Křivánek, Václav (referee) ; Najman, Jan (advisor)
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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