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Utilization of the inertial sensors for control of the mobile robots
Lachnit, Zdeněk ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.
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Swimming analysis using a SwIMU measuring device
Láznička, Jakub ; Šťastný, Jan (referee) ; Bátorová, Michaela (advisor)
This bachelor thesis deals with the description of the inertial sensor for measuring swimmers.The work contains a description of the possibility of performing swimming performance analyzes. In the practical part, a pilot measurement was performed and a detailed manual was created containing a description of accessories, the measurement process and the methodology of subsequent evaluation. An external database in MS Excel was created to compare the evaluated measurements, used to sort data with the possibility of statistical processing.
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Construction of a Pen with Hidden Acquisition of Behavioral Signature Samples
Müller, Dominik ; Sakin, Martin (referee) ; Drahanský, Martin (advisor)
This thesis deals with the construction of pen for hidden acquisition of behavioral signature samples. The proposed system provides realtime data acquisition with recording possibility. Signature samples are acquired using inertial sensors and pressure sensor. The custom printed circuit board with pen model have been developed. The special application has been developed for pen control. Received data are further processed for pen movement recognition. Bluetooth Low Energy has been used for communication and data transfer.
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9DOF sensor for weapon orientation measurement
Růžička, Jiří ; Richter, Miloslav (referee) ; Šedivá, Soňa (advisor)
This thesis deals with multi-axis position sensors, their nature and individual parts and types of these sensors. It is outlined their historical origin and the most used modern types, such as micro-electro-mechanical sensors. Further, the properties of these sensors, error sources and their compensation are discussed. Output data formats are also discussed here, such as Euler angles, their calculation and applications. The selected sensor is implemented in the simulator electronics, and the graphical application demonstrates its functions.
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Estimating Human Movement Using Accelerometers
Matula, Tomáš ; Růžička, Richard (referee) ; Dobai, Roland (advisor)
Tato práce je zaměřena na analýzu lidského pohybu, zejména měření úhlu kolena, co je důležité především při procesu rehabilitace u pacientů s protézy kolenního kloubu nebo po operaci. Pro měření IMU - inerciální měřící jednotky od firmy Xsens jsou použité, přičemž pouze data z 3-osého akcelerometru a gyroskopu jsou zahrnuty. Vhodné umístění jednotek je vybráno, jakož i metody pro kalibraci a následný výpočet úhlu ze zaznamenaných dat. Tyhle metody jsou implementovány a experimentálně ověřeny. Experimenty ukazují, že výsledky jsou docela přesné, a toto řešení je použitelné při analýze pacientů například provedením monitorování chůze.
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Measuring unit for race swimmers motion analysis
Kumpán, Pavel ; Hrbáček, Jan (referee) ; Krejsa, Jiří (advisor)
The master’s thesis deals with a design of the computational method for the analysis of swimmers training with the use of an inertial measurement unit. The developed algorithm uses quaternion-based Unscented Kalman filter and merges accelerometer and gyroscope measurements. The proposed method enables analysis of velocity, acceleration and inclination of a swimmer. Verification of the method was based on an underwater video camera capturing and a tethered velocity meter.
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Augmented reality applications in embedded navigation devices
Jaroš, Martin ; Slanina, Martin (referee) ; Frýza, Tomáš (advisor)
Tato práce se zabývá aplikací rozšířené reality v oblasti navigačních zařízení. Popisuje možnosti zpracování videa za účelem projekce virtuální scény pomocí dat získaných satelitním a inerciálním navigačním sybsystémem. Práce klade důraz na využití moderních hardwarových prostředků pro zpracování videa v mikroprocesorech pomocí grafických akcelerátorů. Součástí je návrh aplikace a realizace prototypu.
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Waterproof wireless IMU cover design
Kračmar, Filip ; Březina, Lukáš (referee) ; Krejsa, Jiří (advisor)
This bachelor thesis deals with the design and realization of waterproof wireless inertial measurement units cover to measure data of swimming training. The model of casing was created in 3D CAD software. IMU is fixed to lower back by using belt. Easy access to electronics and charging connectors are guaranteed. The shape corresponds to hydrodynamic requirements. Manufacture was made by 3D printing. Casing was tested of waterproof and used for measurement of swimming training.
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Utilization of the inertial sensors for control of the mobile robots
Lachnit, Zdeněk ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.
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