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Construction of educational model "Ball on Stick"
Coufal, Ondřej ; Formánek, Martin (referee) ; Dobossy, Barnabás (advisor)
The goal of this thesis was to create an educational model, which could be used as a demonstration of dynamic model and its regulation for future students of mechatronics. The construction was inspired by a similar construction but with much smaller dimensions where most of components were printed by a 3D printer. Afterwards there was created an electrical scheme and implemented on a printed circuit board. For the whole system was designed a caskade regulation, that makes sure the ball will reach the desired position, which is adjustable.
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Segway driver parameter estimation and its use for optimizing the control algorithm
Dobossy, Barnabás ; Zouhar, František (referee) ; Brablc, Martin (advisor)
Táto práca sa zaoberá vývojom, testovaním a implementáciou adaptívneho riadiaceho systému pre dvojkolesové samobalancujúce vozidlo. Adaptácia parametrov vozidla sa uskutoční na základe parametrov vodiča. Parametre sústavy sa nemerajú priamo, ale sú odhadované na základe priebehu stavových premenných a odozvy sústavy. Medzi odhadované parametre patrí hmotnosť a poloha ťažiska vodiča. Cieľom práce je zabezpečiť adaptáciu jazdných vlastností vozidla k rôznym vodičom s rôznou hmotnosťou, kvôli zlepšeniu stability vozidla. Táto práca je pokračovaním predchádzajúcich projektov z roku 2011 a 2015.
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Visual detection of small objects using available tools in MATLAB
Sladký, Jiří ; Dobossy, Barnabás (referee) ; Appel, Martin (advisor)
This thesis investigates possibilities of small object detection in pictures using YOLO method, a deep learning algorithm available in MATLAB. In the thesis, a detector was designed and trained to detect cows from top-down view. A tool was created, that performs detection using the proposed model even on high resolution images and counts the present objects. A generator of synthetic images was programmed, which helped with training the model. Various experiments were performed that found the limits of YOLO and validated contribution of the proposed improvements.
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Development of controller unit for robotic vehicle Car4
Šůstek, Jan ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This bachelor thesis deals with creation of new control unit for experimental vehicle CAR4. In the first part there are described basic communication protocols and checksum algorithms. In the second part of the work, the electronic diagram of the new control unit and the printed circuit board are designed and control algorithm is optimized. Also there is established communication between control unit and computer and creation of DC motor speed regulation.
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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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Development of control electronics for magnetorheological dampers in Formula Student vehicle
Skřivánek, Vladimír ; Dobossy, Barnabás (referee) ; Adámek, Roman (advisor)
The topic of this bachelor thesis is the design of a control board for magnetorheological dampers. The board has to be able to receive input data from a datalogger over the CAN bus. From these data, it has to calculate the required current using a known control algorithm and has to be able to regulate it by feedback using a PI controller. Furthermore, it should be able to measure the temperature of the magnetorheological fluid in the damper to be able to correct the degradation of the damping force due to increasing temperature. Another part of this work is to test the implementation of this control algorithm and measure the F-v characteristics of the magnetorheological damper for different values of current.
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Application of Algorithms of Predictive Maintanence for RUL Estimation
Dvořák, Jan ; Brablc, Martin (referee) ; Dobossy, Barnabás (advisor)
The aim of this thesis is to acquaint the reader with the areas of predictive maintenance and its algorithms within its prognostic part. The remaining useful life of the system will be determined on the data sets and the performed experiment using prognostic models in accordance with the algorithms described in the research section. MATLAB and its other applications described in the work were used for data processing and modeling.
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Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
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