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Inertial Navigation Unit
Kulka, Branislav ; Kříž, Vlastimil (referee) ; Šolc, František (advisor)
This thesis is concerned with attitude estimation of small flying robots using low cost, small-sized inertial and magnetic sensors. A quaternion-based extended Kalman filter is used, which adaptively compensates external acceleration. External acceleration is the main source of estimation error. If external acceleration is detected, the accelerometer measurement covariance matrix of the Kalman filter is adjusted. The proposed algorithms are verified through experiments. Selected algorithm is implemented on STM32F4DISCOVERY development board.
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Motion detection based on an accelerometer measurement
Štancl, František ; Šimek, Milan (referee) ; Pál, Tamás (advisor)
This thesis is devoted to detect motion and it is focused on energy consumption. The introduction involves possible ways for acceleration measuring and discusses The MEMS technology in accelerometers. It also describes components used in a low-power module and some suggestions leading to resolution of this issue. This thesis includes the module design as well, PCB design and software equipment. Finally, it evaluates the results and the solution accuracy.
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Anodic bonding of sandwich structures
Urbánek, Petr ; Kosina, Petr (referee) ; Pekárek, Jan (advisor)
This master thesis deals with the technology anodic soldering. It focuses mainly on soldering sandwich glass-silicon structures. Describes the soldering method and highlights its advantages. Theoretically discusses the different methods used soldering these structures and assess their possible benefits. This work explores practical ways possible soldering methods on a particular device. These different soldering methods evaluated on the basis of achieved quality connections. This thesis examines the anodic soldering at low temperatures, while there are demands on the shortening of the technological process.
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Modeling of Inertial Sensors
Trličík, Jakub ; Klusáček, Stanislav (referee) ; Beneš, Petr (advisor)
This master thesis deals with measurement and modeling of MEMS inertial sensors. This paper describes basic principles of inertial sensors along with their most often errors. The next part shows results from inertial sensor market analysis, which enabling a selection of sensors to be measured. The following two chapters present methods for inertial sensor modeling and testing. The biggest part of text is dedicated to presentation of measurement results showing us static measurement of Allan variance, Earth rotation, temperature dependent bias and dynamic measurement of gyroscope sensitivity testing over temperature. In the last part of the thesis is presented a design of sensor error model by autocorrelation function and Allan variance and also an evaluation of achieved results.
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Digital microphone signal processing
Vykydal, Martin ; Macho, Tomáš (referee) ; Havránek, Zdeněk (advisor)
The aim of this work is to implement digital filters into programmable gate array. The work also includes a description of the MEMS technology, including comparisons with the technology of MEMS microphones from various manufacturers. Another part is devoted to the Sigma-delta modulation. The main section is the design and implementation of digital CIC and FIR filters for signal processing of digital microphone, including simulation and verification of properties of the proposed filter in Matlab.
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Rotation sensors in robotics
Javorček, Martin ; Skula, David (referee) ; Žalud, Luděk (advisor)
The goal of this paper is to suggest suitable method for angle measuring of mobile robot. There are being analyzed 3 different sensors – gyroscope, accelerometer and electronic compass in the prologue. Their advantages and disadvantages in the theoretical way are being explained in this part and also their opportunities of use in the practical way. In the following parts the work is focused on MEMS gyroscopes and their opportunities of use in the practical way with regard to achievable exactness and to the application for development of its exactness. The application of device together with main SW for microcontroller and the valuation of achievable exactness and determined facts are being described in the conclusion part.
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Overview of sensors suitable for active flow control methods
Kopylov, Gleb ; Dvořák, Petr (referee) ; Brožek, Petr (advisor)
The main purpose of this bachelor thesis was to create the overview of the sensors developed for the future active flow control applications and overview the sensors already used in the active flow control applications. The sensors have to fulfil several requirements, so selection for the overview was based on the real flight test programs results, which were described in the first part of the thesis. The sensors technology description and operation principles were included in the second part of the thesis.
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Application of MEMS technology in the field of thermoelectric generators
Janák, Luděk ; Brázdil, Marian (referee) ; Ančík, Zdeněk (advisor)
Práce je zaměřena na moderní oblast využití MEMS technologií v oblasti termoelektrických generátorů. Úvodem jsou diskutovány základní principy konstrukce a výroby MEMS TEG modulů. Praktická část práce sestává z ověření parametrů komerčního MEMS TEG modulu měřením a jeho simulace. Simulace je provedena pomocí MATLAB/Simulink i analytických metod. V závěru práce je na základě získaných poznatků provedeno zhodnocení využití metod „thermal energy harvesting” v oblasti letecké techniky.
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CAD systems for MEMS design
Lazar, Jaroslav ; Paloušek, David (referee) ; Hartl, Martin (advisor)
This thesis deals with CAD design tools for MEMS. First part describes and defines MEMS and its basic components. This is followed by a description of methods used to manufacture MEMS. The last part deals with particular CAD design tools, their modules and functions. Mentioned systems are then compared, reviewed and appropriate usage for each of them is suggested. Then the importance and advantages of MEMS are disccussed.
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