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Omnidirectional chassis control
Hrazdira, Adam ; Burian, František (referee) ; Šembera, Jaroslav (advisor)
The aim of this work is to design and implement software for omnidirectional chassis control. The document takes into account a real model of the chassis. Furthermore, the text presents the principles of the chassis and the client program for control. In the end the possibility of communication and control with Matlab Simulink environment is discussed.
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Robotic devices for disabled
Dojava, Marian ; Burian, František (referee) ; Šembera, Jaroslav (advisor)
The goal of this bachelor thesis is a improvement of a wheelchair. It is need to facilitate placing a wheelchair into a car of person with disability. The solvent of this problem is especially realizing of a remote control. This thesis deals with implementation communication between the selected components and it deals with implementation the integral system, too.
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Systme for solar system control
Cseri, Peter ; Šembera, Jaroslav (referee) ; Bradáč, Zdeněk (advisor)
In the first part of my thesis, I was studying materials about using solar energy. Then I write search about all components that are necessary to be used in solar systems. After that I designed the structure of solar system used for heating the hot water for a family house about 4 persons. For this system I designed a regulator and one layer circuit board using Eagle layout editor 4.12r2, which I assembled and tested. This followed creating and debugging program for microprocessor that controls the whole device. This functional regulator for solar collectors connected in a box together with the necessary electronic components is my final product of this project.
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Modelling and control of wheeled mobile robots
Sypták, Michal ; Šembera, Jaroslav (referee) ; Šolc, František (advisor)
Control of wheeled chassis does not constitute a problem in the area of mobile robotic solely. Rather, it can be encountered in transportation, both at close range and long range. In this thesis, mobile chassis are characterized as kinematic models. These models prove to be erroneous at high speed, whereas they sufficiently accurately represent the real robotic system in situations when slow, autonomous motion of the robot is desired. In comparison with dynamic models, both their project and implementation are simpler, too. The first part of this thesis is focused on a basic description of the motion of a robot in-plane. In the next part, five, most frequently used wheels in robotics are described and characterized - standard fixed wheels, standard steering wheels, castor wheels, multidirectional wheels and omnidirectional wheels. The motion conditions are deduced from each type of wheel. There are two methods of projecting the mobile robot model – full modelling and generic modelling. Based on these two methods, six models of mobile robots with different motion properties are proposed and described. The last and most extensive part of this thesis deals with simulator of robot motion created in Matlab/Simulink. It includes users guide which allows the configuration of random chassis and various trajectories of motion. In this way, it is possible to visually evaluace and classify the the different types of robots. The core of this thesis is largely connected with the field of odometry – i.e. transformation output from speed sensor and turning of wheels sensor into the robot position in the system of coordinates that defines its working space. Simulator as complex only model motion of mobile robots in plain. Its inside structure included algoritms, that have been used in praxis for control real mobile robots. In this way created Simulator models the motion of mobile robots in-plain only. However, its inside structure is based on algorithms, that could be used for control of real mobile robots in real-life working.
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Minidarpa robot - sensors
Sedlák, Luboš ; Šembera, Jaroslav (referee) ; Kopečný, Lukáš (advisor)
Bachelor's thesis be concerned with sensoric system of mobile robot Minidarpa. It means sonar which locate space ahead robot, camera for navigation, electronic compass to compute the direction of the Earth magnetic field and accelerometer which designates tilt, speed and position.
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Modelling and control of wheeled mobile robots
Jonszta, David ; Šembera, Jaroslav (referee) ; Šolc, František (advisor)
The thesis deals with modelling and control of wheeled mobile robots. The thesis introduces the mathematical models of diferentially driven mobile robot, robot with Ackerman steering and a skid steered robot. The thesis describes open-loop and feedback control. Feedback control is divided into point-to-point control, path following and trajectory tracking.
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Completion of the development and verification of software Flow123D within the project Decovalex 2015
Hokr, M. ; Maryška, J. ; Březina, J. ; Šembera, J. ; Balvín, A. ; Bruský, I. ; Blaheta, Radim ; Hasal, M. ; Michalec, Zdeněk ; Staš, Lubomír
In the framework of the activities of the international project Decovalex attributable to the Czech Republic (SURAO) the aim is to finalize the development and verify the quality and suitability of SW Flow123D for computer modeling of coupled thermo-hydro-mechanical-chemical (THMC) processes fractured granite environment of the tunnels in Bedřichov.
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Prevention of risks in international trade
Verner, Jan ; Sato, Alexej (advisor) ; Šembera, Jan (referee)
International trade goes hand in hand with the humankind since man discovered the fact that some items could be exchanged for others. It is the same with risks which are bounded with international trade since its beginning. The thesis is divided into three main parts. The first part is focused on defining and characterizing risks of international trade according to their origin. The second part describes the most common ways how to avoid these risks. The third part contains detailed analysis of two transactions of the company SOMA spol. s.r.o. on which is this knowledge demonstrated.
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