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Robust wheeled robotic chassis
Jirges, Radek ; Chalupa, Jan (referee) ; Bastl, Michal (advisor)
This thesis deals with the issue of the proposal of mobile wheeled robotic chassis. In the introductory theoretical part gives an overview of the division of mobile chassis inclu-ding representatives of each group. In the begining of the practical part describes se-lection of suitable components for the chassis from drivetrain to controlling electronics. Constructional part of this thesis at first deal with selection of suitable material for each part of chassis and than follows construction of these components including decsription of used constructional solutions for each issue. Result of this thesis is robust wheeled chassis fitted with drivetrain and basic electronics.
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Design of SCARA robot control system
Formánek, Martin ; Najman, Jan (referee) ; Bastl, Michal (advisor)
The subject of this bachelor thesis is the Yanome SCARA industrial robot in the mechatronics laboratory. The theoretical part describes the robot, including kinematics, The Raspberry Pi platform which was used for the control and the development enviroment Python. The practical part focuses on the opereation of the robot. Practial part is devided into two parts. The first part contains design of the end effector, the second part is about demonstrational tasks. There is also designed graphical user interface for robot control.
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Control Rotational Inverse Pendulum Laboratory Model
Šnajder, Jan ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
Aim of this bachelor thesis is modeling, identification and control of rotational inverted pendulum. The thesis describes parts of real system and its control. The work also contains creation of simulation model in Matlab/Simulink. Simulation model is respresented by mathematical equations created by second type Lagrange equations. Estimation of parameters is based on reduced systems and these parameters have been validated. Control of system is based on state-space model. The paper includes description of linearization, design of state-space control created by LQR method and creation of state-space observer. The last part of the study is focused on state observer experiments, friction compensation by few static friction models and by adding noise to compensation.
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Design and implementation of educational mobile robot
Suchý, Jakub ; Sova, Václav (referee) ; Bastl, Michal (advisor)
This thesis deals with the design and realization of a wheeled robotic chassis which will serve as an extension for the EduKit learning platform. It contains a brief introduction to the problematic of expanding this platform, the description of the selection of suitable components, the design of mechanical parts and printed circuit boards, the assembly of the chassis and the verification of some of its functions by a demonstration task.
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Energy management for robotic vehicle Car4
Dobossy, Barnabás ; Bastl, Michal (referee) ; Najman, Jan (advisor)
This thesis describes the design process and implementation of a measurement unit for state of charge estimation of the batteries of experimental vehicle Car4. The first part is devoted to give insight into why battery monitoring is so important and difficult task at the same time, which is often influenced by ambient effects. The second part describes the design and configuration process and the creation of control algorithm for the central control unit of Car4
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Design of miniature thermal chamber
Červínek, David ; Bastl, Michal (referee) ; Chalupa, Jan (advisor)
This thesis is about designing and bulding temperature chamber. Main use for this chamber is to test devices which are designed in Mechlab laboratory. While I was developing this chamber I used Simuling for simulation of thermodynamic events. For LC filter simulation I used LTspice IV. Peltiers device is used as cooling/heating element. For calculation and control is used 3.5“ touch screen programmed in 4D Workshop. Final device is capable to automatically maintain set temperature in range of -13°C to 80°C. Temperature can be set as stationary or cyclic between two predefined temperatures. User can also choose temperature that will be used by regulator.
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Design of control unit for two-wheeled self-balancing vehicle
Bastl, Michal ; Klimeš, David (referee) ; Chalupa, Jan (advisor)
This diploma thesis is a part of a project of two students. The aim of the project is to design safer electronics for the unstable balancing vehicle HUMMER and implementation of advanced diagnostics and fault detection. In the first part of the project we analysed the original vehicle using the FMEA analyse and created a new concept of the vehicle. The second part of the project describes a new hardware. I designed and tested the power electronics, control unit and supplies. The outputs of the work are prototypes which allow testing a new concept.
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Sensory array for home automation
Bastl, Michal ; Lamberský, Vojtěch (referee) ; Vejlupek, Josef (advisor)
Bachelor thesis Sensory array for home automation describes the design of a simple system for measuring air temperature, relative humidity and light levels in the room. The aim is to design measuring units which will be able to communicate with the parent unit through the RS-485 fieldbus. Parent unit will be designed to allow the transfer of data to PC via the USB bus.
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