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System identification, sensory system and implementation of control algorithm for unstable balancing vehicle
Štěpánek, Jan ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This work deals with design and construction of unstable double wheeled Segway-like vehicle built for human personnel transportation and its smaller scaled clone developed for control algorithms testing. The smaller machine is controlled via Joystick and PC. This work was conducted in team consisting of three students. Individual goals are described in chapter „Stanovení cílů práce“. The beginning of the work deals with researching any similar projects concerned with this topic, especially with sensors and control algorithms used. Further, the work describes the process of choosing used electronics and its parameters. One of the problems faced during the work was the pitch angle of the vehicle base calculation - algorithm of the angle calculation had been designed by students of several world universities. The principle of how it works was studied and then tested by simulations and practically in the following chapters. Further on, the work deals with platform‘s parameter estimation, at first the testing platform made of wood, followed by the final platform made of aluminium. Parameter estimation was realized by using the multifunctional I/O card Humusoft MF 624 for PC. Part of the work deals with the final control algorithm on the dsPIC microcontroller implementation, sensor‘s outputs calculation and calibration algorithm design. Since the vehicle is built for human personnel transportation, implementation of certain safety algorithms was necessary. These algorithms should be able to detect possible fail states and prevent the driver from losing control over the vehicle in order to prevent any injuries.
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Design of Wing and Landing gear for TST 14 MC Glider
Štěpánek, Jan ; Šošovička, Róbert (referee) ; Juračka, Jaroslav (advisor)
Modification of TST-14 MC glider, calculation of flight envelope, distribution of lift on the wing, calculation of loading cases of the wing, strength check of choosen construction nodes, design of the landing gear retraction mechanism, setting up loading of landing gear according to ULKM, strength check of landing gear
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Car body design of Formula Student
Štěpánek, Jan ; Řezníček, Svatopluk (referee) ; Haltof, Vladimír (advisor)
The subject of this thesis is to design a body of a formula car, participating in international Formula Student competition. The work includes the designing proces of three concepts, one of which is selected as the final version. This variant is than finalized with technical, aerodynamic and manufacturing aspects in mind.
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Data glove: VRML visualization and design of electronic circuits
Štěpánek, Jan ; Bezdíček, Milan (referee) ; Grepl, Robert (advisor)
This work deals with designing and assembly of electronics of a data glove and creation of a hand visualization which projects a real-time state of user’s hand. Realization was a team effort of two students. The division of tasks is described in the chapter called Stanovení cílů práce. The beginning of the work is dedicated to a background research in the field of data gloves. Next chapters describe creation of the model of virtual hand. This model‘s task is to project real-time state of user’s hand based on data received from the flexure sensors and MEMS accelerometer. Communication with PC is realized through BlueTooth serial port virtualization. Mathematical model created in Matlab processes data received from the glove and calculates the values of the positions of the individual parts of hand. Matlab also served for development of a graphical user interface which enables the user to utilize the glove.
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A Study of the Feasibility of a chosen Health Project
Šemberová, Petra ; Střítecký, Rudolf (advisor) ; Štěpánek, Jan (referee)
Thesis and feasibility study that addresses the viability of a construction project to build housing for the care of the elderly and senior citizens of Usti nad Orlici. The study examines all the necessary aspects surrounding feasibility of the project and in particular, the results of market and economic analysis including personnel and staffing. The thesis concludes with a summary indicating feasibility or non feasibility of the project.
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