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Automatic calibration of inercial sensors
Hamada, Vladimír ; Vágner, Martin (referee) ; Macho, Tomáš (advisor)
The main aim of this thesis is to design and build automatic calibration system for inertial measurement sensors. The calibration system is intended to support the development of devices with inertial measurement sensors. The great emphasis is placed on the configurability of system and for this reason all calculations are realized by Matlab system, which is well known by engineers. There is also presented design of inertial measurement unit, which is used as a~model sensor unit for calibration system development.
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The MEMS sensors usability for position detection
Bobalík, Lukáš ; Sedláček, Jiří (referee) ; Žák, Jaromír (advisor)
Within this Master’s thesis, design and construction of a strapdown inertial navigation system based on MEMS sensors is described. The thesis includes theoretic analysis of physics behind determining the position of an object based on the object’s aceleration and changes in the object’s orientation in space. Included is also an overview of mathematical methods related to the position calculation.
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Measurement of MEMS gyroscope parameter changes
Raichl, Petr ; Beneš, Petr (referee) ; Kunz, Jan (advisor)
The thesis is aimed on determination of parameters of MEMS gyroscopes with Allan variance. In the introduction, there is principle of gyroscopes described. The first part describes deterministic and stochastic parameters. Methods for determining these parameters are also described. In the practical part, stochastic parameters of two gyroscopes are determined with Allan variance. In the next part, thesis describes determination of changes of stochastic parameters after vibrations and shocks.
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MEMS Inertial Sensor
Mihaľko, Juraj ; Rášo, Peter (referee) ; Beneš, Petr (advisor)
The aim of this master’s thesis was to describe the basic measurement methods for measurement of inertial sensor, their physical principles and errors. The next step was to select a specific parameter, then test it on a number of sensors and evaluate the results. Measurement of inertial sensors is very important for the parametrization of their errors and their subsequent mathematical model by which it is possible to minimize their impact on inertial navigation. The practical part is dedicated to the measurement of stability of the offset. Data acquisition card NI-USB 6215, which can supply two accelerometers at the same time using analog outputs, was used for data acquisition and power supply. It was tested on seven inertial sensor from four manufacturers. Two connection methods with NI-USB 6215, by whose it was determined which one is better to suppress the crosstalk between channels, were used for measurement. The NI PXI 4462 was used to verify that the NI-USB 6215 card is sufficient. The parameters for description of the changes in inertial sensors were established, transition between the initial and final value of the output measurement, variance of the values on which the sensor fixates after 72 iterations, and the fixation time of the sensor.
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Drone construction for use in sensor technology made by 3D printing
Česák, Radim ; Skácel, Josef (referee) ; Adámek, Martin (advisor)
Goal of this term paper based od informaion gained from the internet was to design construction and then make drone with help of -3D printer, which will be used in sensor technology. In the first part term paper deals with familiarizing with problems that come with choosing parts and creating the frame in free 3-D modeling program. Second part of this work deals with practical construction of the drone, programming of its flight controller, which is ESP32 DevKit v1 and its testing.
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Control of laboratory model of unstable balancing vehicle
Horák, Petr ; Zavadinka, Peter (referee) ; Grepl, Robert (advisor)
This diploma thesis is a part of HUMMER project. The project deals with three student’s development of two-wheeled unstable vehicle Segway type and its diminished laboratory model. This thesis deals with reviviscence of laboratory model, design of its control and realization of its actuating (a more detailed breakdown of tasks in the project is shown below). At the beginning of the work is presented reviewed study. The first part of study deals with similar models in the world, their construction and way of control. In the next part of reviewed study follows description of a real model and derivation of model basic equations, in the last part of search is given principle of operation of some used sensors. The next step was the selection and design of required electronics. In this capture are described all designed electronic modules and used sensors. There are also given parameters of used batteries and motors. The next task was the estimation of system parameters. The estimation was made by sections, in the capture is in detail described way of measuring data and structuring of estimation model. The penultimate step was design of PID and LQR controller using I/O card MF 624 and their comparing. Following thing was choice of better regulator and its implementation to the microprocessor. The last step was the realization of actuating driving of model by joystick and supreme PC.
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Design of single-wheel mobile robot
Lochman, Vít ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the design of a single-wheel mobile robot, which is able to jump and collect samples weighing 2 Kg. The first part is devoted to the review of single-wheel robots. A brief analysis of single-wheel motion and a brief overview of jumping mechanism follow up. The second part describes problem analysis and five design variants. Using the multicriteria analysis, the variants were evaluated, and the optimal variant was chosen. The third partm is dedicated to the dynamic calculations and the mechanical design of the robot itself. The last part is devoted to economic evaluation and discussion with possible continuation in developing. The complete drawing documentation of the robot is included in this work.
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Position Tracking with GPS and PDA
Černohorský, Vilém ; Herout, Adam (referee) ; Szőke, Igor (advisor)
This work presents steps in creation of remote position tracking application. Document introduces history of geographical positioning and navigation, and describes development of navigation from primitive utilities to complex radio navigation systems. Global Positioning System is described in more detail including NMEA protocol used by GPS receivers. This work also presents several current navigation applications. Based on obtained information work presents analysis, object-oriented design and implementation of remote position tracking system.
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Measuring unit for race swimmers motion analysis
Kumpán, Pavel ; Hrbáček, Jan (referee) ; Krejsa, Jiří (advisor)
The master’s thesis deals with a design of the computational method for the analysis of swimmers training with the use of an inertial measurement unit. The developed algorithm uses quaternion-based Unscented Kalman filter and merges accelerometer and gyroscope measurements. The proposed method enables analysis of velocity, acceleration and inclination of a swimmer. Verification of the method was based on an underwater video camera capturing and a tethered velocity meter.
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ECG data recorder
Hruškovský, Antonín ; Krajsa, Ondřej (referee) ; Burda, Karel (advisor)
The master thesis deals with the issue of long-term ECG recording, used in medicine for monitoring of cardiac anomalies. Author focuses on explaning the general concepts in the first part. Author describes measuring methods and issues associated with measuring. Comparison of existing devices and design of solution with own features are in next chapter. Next is comparison and selecting of formats for recording measured data and description of device connectivity. In next chapter author focuses on hardware design and implementation of device. After that author describes software solution design for microcontroller, Bluetooth module and smartphone. Author introduces possible improvements for future generation of the device and then describes results of testing at the end of this work.
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