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Optimizing the selection of actuators for reconnaissance flying robot
Vítek, Milan ; Gábrlík, Petr (referee) ; Kříž, Vlastimil (advisor)
Purpose of this semestral thesis is to create a set of recommendations for choosing optimal motors, propellers and batteries for multi rotor flying vehicles with respect to flight time and flight dynamics. In this thesis you can find analysis of motor, propeller and battery properties and characteristics and their dependencies. Based on these findings there is a set of rules to choose optimal components and set optimal working point. This thesis also describes the design and implementation of a device used to measure the main characteristics of motors and propellers.
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Localization with Optical Markers in Mobile Robotics
Vítek, Filip ; Jílek, Tomáš (referee) ; Gábrlík, Petr (advisor)
The problems of mobile robotics includes, for example, method of navigation or positioning of mobile robot. This thesis deals with one of the many posibilities, which is the use of optical markers. The first part of this thesis is recherche about implementation of optical markers and the result is slection of the ArUco library. Under the open source license is available program library for the detection of these markers, which was used for measurement. The second part of thesis is concerning with making and adjusting program equipment and preparation or construction others necessary utilities. Then the mesurement was made, which was mainly focused on accuracy and success of detection. The results may be viewed in graphs and summarized in coclusion.
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Measurement of GNSS receiver accuracy
Čepl, Miroslav ; Gábrlík, Petr (referee) ; Jílek, Tomáš (advisor)
In this thesis a new method of determining an accuracy of a GNSS receiver is presented. First, a research of basic GNSS systems and a description of receiver accuracy is performed. Subsequently, the method of measuring the accuracy with the focus on RTK mode is proposed. A measuring jig is designed and manufactured. After verifcation of jig accuracy, a measurement of three dierent antennas is performed for subsequent comparison of basic characteristics. The work also contains instructions for operating the measuring jig.
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Control of a robotic lawn mower
Škapa, Antonín ; Gábrlík, Petr (referee) ; Jílek, Tomáš (advisor)
This master‘s thesis deals with development and realisation of robotic lawn mower with satelite navigation. It begins with preparation of a platform for outdoor mobile robot navigation and it’s control HW and SW. There are discussed different options of navigation both commercial and experimental. Further on I have chosen the right GNSS receiver based on market research and user experience. The GNSS receiver’s parameters are measured with different antennas. Following with the choice of suitable open-source control unit and it’s software implementation. Furthermore control from a companion computer is described and physical realisation is done. In the end of the thesis activation of the whole mower is performed and described. Lastly there are discussed possible ways of future development.
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Quadrocopter - Modelling, Stabilisation, Control
Gábrlík, Petr ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
The Thesis objective is the design and implementation of program management and operational service for a flying robot, quadrotor concept. This thesis is divided into three main parts. The first part is focused on the studies of finished projects, their characteristics and used components, followed by a description of structure and physical properties of the concepts. The second part is focused on the components. It mainly discusses the sensory subsystem, which is concentrated on the sensors operations, data processing for the stabilization needs and elimination of errors. Then service of actuators, remote control and the ground station communication. In the third part are verified physical properties of actuators and designed basic algorithm of stabilisation. This consists of three independent regulator, stabilizing 3 degrees of robot movement freedom, which are rotational movements.
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Localization and Navigation of Tello Unmanned Aircraft
Panský, Michal ; Chromý, Adam (referee) ; Gábrlík, Petr (advisor)
This bachelor thesis deals with the design of a suitable solution to control the unmanned aircraft Ryze Tello for use in autonomous missions. Its content is to familiarize and test all available SDKs and all the features they offer. Introduction to the location and navigation of robots in indoor spaces. Then there is described ROS and its implementation for the problem using the available SDK with instructions for installation and launch of the practical part. At the end of the work are displayed data obtained during the unmanned aircraft flight and the structure of the communication system, a description of the problems encountered during testing and a discussion of possible extension to this solution.
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Quadrotor altitude stabilization
Ligocki, Adam ; Kříž, Vlastimil (referee) ; Gábrlík, Petr (advisor)
The aim of this thesis is to design and implement a vertical stabilization for drone developed at the Department of Control and Instrumentation of the Faculty of Electrical Engineering and Communication. Work gradually deals with summary of already existing solutions of already existing projects, analysis of individual sensors possible to be applied in this project and evaluate their pros and cons for measuring the flight altitude. It also deals with the mathematical apparatus suitable for processing altitude data and the design and implementation of the controller for the movement of the drone in the vertical axis. The conclusion summarizes the results achieved on real hardware.
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The Design of Stratospheric Probe and Flight Simulator
Lindtner, David ; Kopečný, Lukáš (referee) ; Gábrlík, Petr (advisor)
This bachelor thesis deals with the design of the stratospheric probe as a device for measuring the parameters of higher layers of the atmosphere. The influence of different parameters on the resulting flight profile is shown in the simulations. On the base of real meteorological probes flights the model of atmosphere is verified and is used to estimate the landing point of our probe. The work emphasizes the design of key probe components such as communication devices, battery sources and sensors. At the end of the thesis, the data from the real flight of our probe are displayed and evaluated.
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Simulation and control of a flying robot
Moravec, Vojtěch ; Gábrlík, Petr (referee) ; Šolc, František (advisor)
This work describes multi-rotors aerial vehicle, known as copter. The first part is summary of types of copters and its construction. Control system is designed on dedicated mathematical model. Both control system and model of copter are implemented in MATLAB/ Simulink environment. There are implemented common effects such as drag force or errors of sensors and uneven mass distribution. Simulation of flight of copter is visualized and there is possibility to control flight of copter manually with connected joystick.
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Remote control for quadrotor
Růžička, Jiří ; Jílek, Tomáš (referee) ; Gábrlík, Petr (advisor)
This bachelor's thesis deals with the design of the remote control for Quadrotor. The goal of project is design and practical implementation of the motherboard as a replacement of retired gamepad, which will allow wireless control of Quadrotor and show telemetry on display.
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