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Universal Control System for Quadrocopter
Gábrlík, Petr ; Kříž, Vlastimil (referee) ; Žalud, Luděk (advisor)
The Thesis objective is the design and implementation of the universal control system for a flying robot, quadrotor concept. The first part deals with ways of solving program for microcontrollers. The special attention is given to the FreeRTOS real-time operating system, which is designed for microcontrollers. The second part of the Thesis is focused on the description of the chosen microcontroller LM3S8962 and the hardware solution. One chapter is devoted to the integration of the robot to the Cassandra-WPF robotic control system. The third part deals with the identification of the new robot construction and the mathematical model creation. Using the model controllers for stabilization pitch and roll are designed and their functionality is verified on a physical model. The last part of the Thesis is focused on the FreeRTOS implementation and the control application creation.
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Quadcopter design and utilization with the use of Arduino Due
Majer, Dominik ; Olejár, Adam (referee) ; Krajsa, Ondřej (advisor)
This bachelor thesis is about design of usable prototype of quadrocopter using standard RC components, with Arduino Due control unit and gyroscope with MPU6050. Main goal is the fully functional prototype with feature for reduction of barriers collision possibility, using ultrasonic sensors. The first part of thesis is the description of each component and their cooperation. The second part describes final solution, flowchart, source code with problems arisen. Source code is written in programming language Arduino, which is based on Wiring language. Further the brief analysis of autonomous flight of quadrocopter is done, particulary with GPS module and possible brief design of this idea. Finally the analysis of basic options of telemetry transmission, such as GSM module, wi-fi, bluetooth, are analysed.
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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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Quadrocopter - Navigation Unit
Jurajda, David ; Florián, Tomáš (referee) ; Žalud, Luděk (advisor)
This bachelor´s thesis deals with navigation of the experimental flying device called Quadrocopter. It deals especially with navigation in open space by using global navigation satellite system GPS. The opening part of my thesis deals with GPS options and utilization in the Quadrocopter project. The middle part discusses design of the navigation module and the final part deals with data processing and its usage in navigation.
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MultiCopter Design
Picek, Matěj ; Pelikán, Petr (referee) ; Zdařil, Zdeněk (advisor)
In my work, I focused on the design of an electric multicopter for common and advanced users. The main objective was to bring a simple practical solution to the dron, which will correspond to the current functional and aesthetic standards of industrial design in the aircraft industry. Whole concept of the dron is designed to be as user-friendly as possible. Thanks to its simplicity, small dimensions and dron structure, it takes a minimal transport space and is almost instantly ready for use.
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Biometric 2D face recognition from camera system placed on a quadrocopter
Mikundová, Lea ; Mráček, Štěpán (referee) ; Drahanský, Martin (advisor)
This Bc. thesis is devoted to face recognization from camera system placed on a quadrocopter. The teoretical part is about the most used methods for detection and face recognition and their comparison. The next part is about motion capturing from quadrocopter. Practical part of thesis is devoted to implementation of algorithms for face detection and recognization by OpenCV library and evaluation of algorithm in respect to distance and angle of quadrocopter due to captured person.
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Quadcopter design and utilization with the use of Arduino Due
Majer, Dominik ; Olejár, Adam (referee) ; Krajsa, Ondřej (advisor)
This bachelor thesis is about design of usable prototype of quadrocopter using standard RC components, with Arduino Due control unit and gyroscope with MPU6050. Main goal is the fully functional prototype with feature for reduction of barriers collision possibility, using ultrasonic sensors. The first part of thesis is the description of each component and their cooperation. The second part describes final solution, flowchart, source code with problems arisen. Source code is written in programming language Arduino, which is based on Wiring language. Further the brief analysis of autonomous flight of quadrocopter is done, particulary with GPS module and possible brief design of this idea. Finally the analysis of basic options of telemetry transmission, such as GSM module, wi-fi, bluetooth, are analysed.
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Quadrotor altitude stabilization
Ligocki, Adam ; Kříž, Vlastimil (referee) ; Gábrlík, Petr (advisor)
The aim of this thesis is to design and implement a vertical stabilization for drone developed at the Department of Control and Instrumentation of the Faculty of Electrical Engineering and Communication. Work gradually deals with summary of already existing solutions of already existing projects, analysis of individual sensors possible to be applied in this project and evaluate their pros and cons for measuring the flight altitude. It also deals with the mathematical apparatus suitable for processing altitude data and the design and implementation of the controller for the movement of the drone in the vertical axis. The conclusion summarizes the results achieved on real hardware.
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Quadrocopter - Navigation Unit
Jurajda, David ; Florián, Tomáš (referee) ; Žalud, Luděk (advisor)
This bachelor´s thesis deals with navigation of the experimental flying device called Quadrocopter. It deals especially with navigation in open space by using global navigation satellite system GPS. The opening part of my thesis deals with GPS options and utilization in the Quadrocopter project. The middle part discusses design of the navigation module and the final part deals with data processing and its usage in navigation.
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