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An Ethernet-CAN controller for mobile robots
Uherka, Bohumil ; Florián, Tomáš (referee) ; Burian, František (advisor)
The diploma thesis deals with creating the Ethernet converter protocol UDP of the CAN bus with the used application layer CANopen. The converter is executed by means of the microcontroller ARM Cortex-M3, namely by STM32F107VC by STMicroelectronics. The project is designed for the purpose of serving as the main motor controlling card of the mobile advertising robot FektBot. In the theoretical part you can find a brief analysis of the ARM microcotrollers problematics, particularly the STM32F107VC. Then the thesis introduces the Ethernet technology including the UDP protocol. Finally, the CAN bus and its application layer CANopen is described. The practical part shows first of all the scheme of converter hardware. You can find there the design of printed circuits including all components for proper functioning, i.e. especially the microcontroller STM32F107VC, Ethernet PHY, the CAN bus transceiver and switched stabilized supply. Next chapter describes software creating for the given converter. Firstly there are analyzed possible ways of STM32F107VC programming, and then there is the main conception of resolving the programming part shown. The thesis then deals with the concrete implementation of the UDP Ethernet protocol. For that, the lwIP stack is used, over which the application layer of the FektBot robot works. Then there is analyzed the implementation of the CAN bus and CANopen. At the end of the practical part, the final execution of the converter software and the ways of its testing are described.
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Programmable Remote Control
Zemánek, Petr ; Pavlata, Karel (referee) ; Kučera, Pavel (advisor)
This thesis deals with the hardware and software design for programmable remote control. It describes the theory of infrared radiation and its applications in wireless data transmission, modulation methods of infrared radiation and transmission protocols, that remote controls use. It describes features of the ARM Cortex-M3 and selected microcontroller STM32L151C8. It is followed by the hardware and software solution for programmable remote control. This thesis solves receiving, storage and transmission infrared signal from original remote control. It describes a communication protocol, that allows communication between PC application and programmable remote control via USB. It contains user manuals for PC application and programmable remote control user interface, what user allows device control and allows to enter all commands like in PC application.
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Modular RGB LED display with Ethernet
Zemánek, Petr ; Kaczmarczyk, Václav (referee) ; Bradáč, Zdeněk (advisor)
This thesis deals with an electronic circuit and a PCB of a modular RGB LED display with the Ehernet interface. Firstly, author describes a RGB colour model, features of RGB LED displays, ways of control them. The next chapter contains a short description of the Ethernet interface, UDP and TCP protocols and a lwIP TCP/IP stack. The last theoretical chapter is an introduction to ARM Cortex-M3 and Cortex-M4 based microcontrollers. The next chaper is deals with a hardware design of the modular RGB LED display. The device is designed to be modular. Individual devices can be combosed together and create a larger display. Data from the Ethernet interface will be displayed on the RGB LED matrix, resolution of the matrix is 32 × 32 (1024 diodes). A refresh frequency is 100 Hz, a color depth is High color (16 bits) and a scanning 1/16 (two rows is driven at the same time). The next chapter describes the firmware for the RGB LED display, all its logical parts including a web page. Author also created the PC application, which sends pictures using UDP protocol to individual modules.
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6 Axis Manipulator Control
Semrád, Michal ; Chromý, Adam (referee) ; Hynčica, Ondřej (advisor)
This master thesis discusses about designing and realization of a control system for a 6-axis robotic arm. The controlling system consist in a microcontroller LPC1756 with its firmware implemented under the Real-time operating system FreeRTOS and GUI application, running on a PC. The Microcontroller communicates with the PC through a serial line via SLIP protocol. Theoretically, it will deal with an explanation of the important terms, and describes the used robotic arm and its controlling unit. The practical part describes kinematics problems solving, firmware’s realization and GUI application.
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Programmable Remote Control
Zemánek, Petr ; Pavlata, Karel (referee) ; Kučera, Pavel (advisor)
This thesis deals with the hardware and software design for programmable remote control. It describes the theory of infrared radiation and its applications in wireless data transmission, modulation methods of infrared radiation and transmission protocols, that remote controls use. It describes features of the ARM Cortex-M3 and selected microcontroller STM32L151C8. It is followed by the hardware and software solution for programmable remote control. This thesis solves receiving, storage and transmission infrared signal from original remote control. It describes a communication protocol, that allows communication between PC application and programmable remote control via USB. It contains user manuals for PC application and programmable remote control user interface, what user allows device control and allows to enter all commands like in PC application.
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6 Axis Manipulator Control
Semrád, Michal ; Chromý, Adam (referee) ; Hynčica, Ondřej (advisor)
This master thesis discusses about designing and realization of a control system for a 6-axis robotic arm. The controlling system consist in a microcontroller LPC1756 with its firmware implemented under the Real-time operating system FreeRTOS and GUI application, running on a PC. The Microcontroller communicates with the PC through a serial line via SLIP protocol. Theoretically, it will deal with an explanation of the important terms, and describes the used robotic arm and its controlling unit. The practical part describes kinematics problems solving, firmware’s realization and GUI application.
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Modular RGB LED display with Ethernet
Zemánek, Petr ; Kaczmarczyk, Václav (referee) ; Bradáč, Zdeněk (advisor)
This thesis deals with an electronic circuit and a PCB of a modular RGB LED display with the Ehernet interface. Firstly, author describes a RGB colour model, features of RGB LED displays, ways of control them. The next chapter contains a short description of the Ethernet interface, UDP and TCP protocols and a lwIP TCP/IP stack. The last theoretical chapter is an introduction to ARM Cortex-M3 and Cortex-M4 based microcontrollers. The next chaper is deals with a hardware design of the modular RGB LED display. The device is designed to be modular. Individual devices can be combosed together and create a larger display. Data from the Ethernet interface will be displayed on the RGB LED matrix, resolution of the matrix is 32 × 32 (1024 diodes). A refresh frequency is 100 Hz, a color depth is High color (16 bits) and a scanning 1/16 (two rows is driven at the same time). The next chapter describes the firmware for the RGB LED display, all its logical parts including a web page. Author also created the PC application, which sends pictures using UDP protocol to individual modules.
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|
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An Ethernet-CAN controller for mobile robots
Uherka, Bohumil ; Florián, Tomáš (referee) ; Burian, František (advisor)
The diploma thesis deals with creating the Ethernet converter protocol UDP of the CAN bus with the used application layer CANopen. The converter is executed by means of the microcontroller ARM Cortex-M3, namely by STM32F107VC by STMicroelectronics. The project is designed for the purpose of serving as the main motor controlling card of the mobile advertising robot FektBot. In the theoretical part you can find a brief analysis of the ARM microcotrollers problematics, particularly the STM32F107VC. Then the thesis introduces the Ethernet technology including the UDP protocol. Finally, the CAN bus and its application layer CANopen is described. The practical part shows first of all the scheme of converter hardware. You can find there the design of printed circuits including all components for proper functioning, i.e. especially the microcontroller STM32F107VC, Ethernet PHY, the CAN bus transceiver and switched stabilized supply. Next chapter describes software creating for the given converter. Firstly there are analyzed possible ways of STM32F107VC programming, and then there is the main conception of resolving the programming part shown. The thesis then deals with the concrete implementation of the UDP Ethernet protocol. For that, the lwIP stack is used, over which the application layer of the FektBot robot works. Then there is analyzed the implementation of the CAN bus and CANopen. At the end of the practical part, the final execution of the converter software and the ways of its testing are described.
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