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Localization system for mobile robot B2
Korytár, Lukáš ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The master’s thesis implements localization and navigation routines for mobile robot B2 in order to operate autonomously in an environment described by a road map only. The ROS framework was used for developing new software. The research part describes possible approaches to localization problem and summarizes ROS packages with localization and navigation software. The following part includes communication with the robot’s sensor modules and data processing from LIDAR, IMU and camera. The localization package robot_localization based on Kalman filter is implemented and setting of the navigation stack navigation is proposed, aiming to robot’s autonomous outdoor navigation. Implemented functions were tested in park environment and they are evaluated in this master's thesis too.
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Experimental testing of bus peripherals on single-board computer Beagleboard.
Hladík, René ; Zuth, Daniel (referee) ; Věchet, Stanislav (advisor)
This bachelor’s thesis obtains a kind and possibility of communication, which single board computer offers. Check range of communications using mobile robotics and summary for this system. The result of this work provides a configuration all peripherals for Beagleboard system using. The introductory part of work is focuses on the definition and summary single board computer systems. Description main differences single board systems. Next point is competition and summary single board computers from the world's leading manufacturers and hardware differences. The next part is making complete description and summary of using single board computer Beagleboard xm Rev C. Practical realization obtains the most important interface of communication, which we can use in case of prototypes mobile systems. Realization of USB camera, multifunctional interface GPIO, serial communication of CMUcam3 camera module and in conclusion I2C communication using GPIO SRF08 ultrasonic sensor. Demonstration of Beagleboard system diversity, what can use all users of embedding systems in mobile robotics. Modern mobile robotics systems are complex analog and digital devices like different kind of sensors, sensing elements, cams and else. Bachelor work describe basic configuration some possibility communication with using cameras, sensors and systems elements.
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Fatigue characteristics of Metal Matrix Composites (MMC)
Judas, Jakub ; Věchet, Stanislav (referee) ; Zapletal, Josef (advisor)
This bachelor thesis is focused on analysis of fatigue characteristics of hybrid composite based on magnesium matrix QE22 reinforced with Al2O3 fibres and SiC particles. Test specimens of the composite material prepared by infiltration method were subjected to quasi-static tensile and compression test and discovered data were afterwards compared with the magnesium matrix. Cyclic response and low-cycle fatigue life were studied on the material under stress-control mode. All of the experiments were conducted at room temperature. Cyclic curves were fit with regression analysis in order to measure fatigue parameters of the hybrid composite. Cyclic and fatigue parameters were discussed and compared to similar magnesium alloy AZ91 reinforced with SiC particles.
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Fourlegged racer robot design
Barcaj, Adam ; Marada, Tomáš (referee) ; Věchet, Stanislav (advisor)
This bachelor’s thesis deals with the main components of the BIOLOID kit, the development environment RoboPlus and subsequent construction of a fourlegged robot. The aim was to construct and vitalize a fourlegged robot, that would explore the potential not only of the kit as such, but also of the development environment that has been created for this kit, and thereby verify applicability of the individual components and the development environment in the robotic football RoboCup.
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Mechanical properties Al-alloy EN AW 7020 at increase temperatures
Slouka, Marek ; Kohout, Jan (referee) ; Věchet, Stanislav (advisor)
The master’s thesis deals with high strength aluminium alloys AlZn4Mg (EN AW 7020). This alloy is used for high strength, low density, a good corrosion resistant and a good weldability in protective atmospheres. At first this thesis is described to aluminium alloys, ways of manufacturing and history. Next this thesis mainly deals with wrought aluminium alloys, heat treatment this alloys and alloys Al-Zn-Mg. Tensile tests were made of alloys EN AW 7020 at room temperature and increased temperature. Next this alloy was made of fatigue test and metallographic analysis. The model was construct. This model describe to behaviour alloy at increased temperature and this model was compared with measure values. This thesis describe to behaviour of study alloy at room temperature and increased temperature.
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Fatigue properties of weathering steel
Zavadilová, Petra ; Věchet, Stanislav (referee) ; Kunz, Ludvík (advisor)
This work deals with the influence of atmospheric corrosion on high-cycle fatigue properties of a weathering steel ATMOFIX B. New experimental data on fatigue strength of a steel exposed for 20 years to an atmospheric corrosion were compared to those characterizing the base material. Reduction of the fatigue lifetime of the exposed material compared with the base material was predicted on the basic of fractographic examination of fracture surfaces and the influence of surface notches on fatigue strength. The predicted results agree well with the experimental results.
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Fatigue Properties of Stainless Austenitic Steel
Sedlák, Martin ; Němec, Karel (referee) ; Věchet, Stanislav (advisor)
Final bachelor thesis „Fatigue characteristics of anti-corrosion austenitic steels" is aimed at problematic of mechanics and fatigue properties of Chrome-Nickel austenitic steel CSN EN X2CrNiMo 18-14-3. Thesis aim is to pass judgment on influence of stress cycle asymmetry on fatigue characteristics on high cyclic loading on above mentioned steel. Design Haigh and Smith diagrams. Component of the thesis is metallographical and chemical analysis, mathematical values processing obtained from fatigue tests and also determine primary mechanical properties. Further Wohler´s curves are stated at different stress cycle asymmetry. According to mathematical values processing is designed Haigh and Smith diagrams and fatigue index is calculated. From obtained data result that medium stress of cyclic stress, has of principle influence on appreciate fatigue limit of engaged material.
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Design of electronic subsystem for reduced gravity impact simulator
Ostrý, Lubomír ; Hadaš, Zdeněk (referee) ; Věchet, Stanislav (advisor)
The focus of this thesis is development of an electronic subsystem for reduced gravity impact simulator. The research part of this thesis firstly covers methods used for simulation of microgravity or reduced gravity and compares them. Another part of research focuses on three selected potential approaches to creating the electronic subsystem for this device. The second, practical, part of this thesis describes the design and development of the electronic subsystem. The foundation of the electronic subsystem is a control unit which has been developed on the basis of an STMicroelectronics microcontroller. Using the control unit, the electronic subsystem measures pressure, position, acceleration and force in the system. Another task of the control unit is control of a stepper motor. Integration of individual elements into the electronic subsystem is described both in terms of software and hardware. Furthermore, a graphic user interface program for PC has been developed as a means to interact with the system. In the final part of the thesis, the operation of the electronic subsystem is described and lastly, the electronic subsystem is evaluated.
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GPS data usability in mobile robot navigation problem
Novák, Pavel ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This work is focused on problems of the GPS/DGPS receiver precision used by mobile robot for navigation in outdoor environment. The first part deals with theoretical analysis of GPS, description of it´s functions, errors and their influence on measurements accuracy. Second part deals with practical measurements performed at two locations with different types of obstacles restricting the view to the sky and using the refining methods of measuring the DGPS or so-called differential GPS. The last part of study presents the measured results and its analysis.
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