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Sensors and motor control of mobile robot
Zatloukal, Jiří ; Věchet, Stanislav (referee) ; Marada, Tomáš (advisor)
The diploma thesis is dealing with the proposal and realization of the sensor and drive system of the four wheel mobile robot. The control unit is a miniature computer Raspberry Pi. The robot will be employed in the future for the environment mapping and location. For this purpose robot exploits the different types of sensors. The information of these sensors is being processed by the Xmega microcontroller. Another microcontroller together with H-bridge DRV-8432 is used to control the direct current drives.
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Electronics circuit board and control software design for autonomous mobile robot
Meindl, Jan ; Krejsa, Jiří (referee) ; Věchet, Stanislav (advisor)
The master's thesis deals with the design and realization of embedded control system and software of the autonomous mobile robot DACEP. The research section focuses on the selection of sensory equipment. Moreover, the design of the embedded control system and the communication interface between this system and the master PC is described in detail, followed by the design of localization and navigation software that uses ROS framework. The section is written as instructive as possible for the development of robots of similar construction. Finally the development of a graphical interface for robot diagnostics and remote control is depicted.
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Configurable SPI device
Ženčár, Pavol ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
Táto práca sa zaoberá vývojom a testovaním konfigurovateľného SPI slave zariadenia, ktorého hlavným účelom je testovanie reálnych SPI master zariadení. Zariadenie je implementované pomocou STM32 mikrokontroléra na vývojovej doske NUCLEO. Medzi základné funkcionality zariadenia patrí meranie frekvencie SPI prenosu, stream mód, ktorý umožní umožní presne sledovať, čo pripojené master zariadenie posiela po SPI zbernici a LUT mód, ktorý umožňuje nakonfigurovať zariadenie tak, aby odpovedalo prednastavenými odpoveďami na aktuálnu príchodziu správu. Rozšírená funkcionalita sa skladá z EEPROM emulátor módu. V tomto móde sa zariadenia správa ako virtuálna náhrada reálneho EEPROM zariadenia. Zariadenie je pripojené k počítaču pomocou sériového portu a je možné toto zariadenie konfigurovať pomocou python programáterského rozhrania. Zariadenie taktiež hlási každú aktivitu na SPI zbernici tomuto python programátorskému rozhraniu.
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Structure and fatigue properties of selected titanium alloy
Prudíková, Alena ; Kohout, Jan (referee) ; Věchet, Stanislav (advisor)
Main topic of the thesis was to evaluate fatigue properties of the titanium alloy Ti-A13-V2,5, labelled by ASTM as Grade 9. Most attention was focused on fatigue behaviour of the alloy in the range of high cycle fatigue. Fatigue testing was realised to detect the fatigue properties and consequently to generate the Wöhler curve and the Haigh diagram. In addition to this, tension and bending tests were performed. Metallographic and fractographic analyses of fatigue fracture form part of the overview about material properties, which was accomplished by use of REM. Experimental part of the thesis was backed by the literature research. The first half of it contains a short summary of basic information about the titanium and its alloys, so as some chapters about the history and properties of titanium, the way of its production, classification of titanium alloys and its thermic treatment. The fatigue is thoroughly scrutinised in the second half of the background research. Here can also be found the information about the fatigue process, its stages, the fatigue life and the most significant attributes of the fatigue fracture. The last chapters of the thesis are dedicated to the alloy Ti-A13-V2,5 - being examined in the experimental part - so as to its fatigue properties. The main benefit of this thesis is the completion of the missing information concerning the fatigue behaviour of the alloy, which is – according to the literature research - generally not available.
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Design and realization of emebedded control system for mobile robot Bender II
Meindl, Jan ; Mašek, Petr (referee) ; Věchet, Stanislav (advisor)
This thesis describes design of the embedded control system for a four-wheel mobile robot Bender II. The first part deals with analysis of applicable platforms for embedded control system and four-wheel chassis kinematics. The second part focuses on describing the microcontroller Mbed, practical construction of the power supply for control systems and describes the framework created for communication with superior computer. The last chapter deals with one particular solution of speed measurement and transformation of this data into coordinates requested by supervisory system, which is a robotic framework ROS.
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Navigation of B2 mobile robot in outdoor environment
Hoffmann, David ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This master’s thesis deals with the navigation of a mobile robot that uses the ROS framework. The aim is to improve the ability of the existing B2 robot to move autonomously outdoors. The theoretical part contains a description of the navigation core, which consists of the move_base library and the packages used for planning. The practical part describe the aws of the existing solution, the design and implementation of changes and the results of subsequent testing in the urban park environment.
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Influence of Temperature on Mechanical Properties of Alloy AlZn4Mg.
Slouka, Marek ; Podrábský, Tomáš (referee) ; Věchet, Stanislav (advisor)
This bachelor’s thesis deals with mechanical properties of a chosen aluminium alloy which is specified to preform. It is the alloy AlZn4Mg. Aluminium alloys are the most used constructive materials after iron alloys in this time. The importence of this alloys is great for their unique properties, e. g. a low density, a good corrosion - resistant, a good weldability in protective atmospheres. At first the Aluminium alloys mainly alloys of the high strength Al-Zn-Mg are described generally. Then this thesis is concerned with mechanical properties of the alloy AlZn4Mg in increased temperature. There is little information of this alloy in increased temperature in accessible scientific literature. This thesis completes the clear space in this branch.
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Cast Iron producing in foundry Slévárna a modelárna Nové Ransko and their charakteristics
Matulová, Anna ; Lána, Ivo (referee) ; Věchet, Stanislav (advisor)
This bachelor thesis deals with cast iron producing in foundry Slévárna a modelárna Nové Ransko and their characteristics in the form of literary research. In the first part graphite cast iron and its distribution is characterized. Furthermore, grey cast iron and ductile cast iron are described in detail in terms of mechanical properties, structure, chemical composition, production, heat treatment and use, and austempered ductile iron is specified. Then specific graphite cast iron, which foundry Slévárna a modelárna Nové Ransko used for production of castings, is listed and described. In conclusion, these materials are evaluated and their advantages and disadvantages are assessed.
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The design of automatic winding machine feeder
Gašperec, Michal ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
Abstrakt. The subject of this Bachelor’s Thesis is automation of the gaskets production process in the workshop of Leader Gasket of Slovakia, s.r.o. The objective is to design inner rings feeder for semi-automatic winding machine. This will upgrade the semi-automatic winding machine, required operator to load inner ring, to automatic winding machine. The final product should make the process fully automatic and simpler with minimum requirements for operator actions. The Bachelor’s Thesis provides the analysis of input parameters required by existing production process. The next part is the design of the movement mechanism by accepting the optimal selection of the movers and 3D modeling by using Solid Works software. The last part describes the control logic of the feeding mechanism, selection of proper pneumatic and electronic control components and their integration with the existing equipment, automatic winding machine, which the feeding mechanism will be part of. The output of the Bachelor’s Thesis is the design of real feeding mechanism, which fulfills all required performance criterions and is ready to be build.
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