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Electronic Subsystem of a Small Mobile Robot
Podolan, Luděk ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The topic of this bachelor thesis is design and construction of a mobile robot with wheeled differential platform. The main goal was to design, implement and test an electronic sub-system for a small mobile robot. Each chapter firstly deals with theoretical aspects of relevant topics and after that describe the process of construction. The thesis shows various ways of construction of the robot with the process of selection of the optimal one. The main controlling part of the robot is the AVR microcontroller placed on the EvB4.3 development board. A simple menu was created on an LCD display for communication between the user and the robot. Battery management is controlled by an analogue to digital converter. The last two chapters focus on encoders and communication between the robot and a proximity sensor. Pictures of the robot are enclosed at the end of the thesis.
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Autonomous mobile robot
Pijáček, Ondřej ; Kopečný, Lukáš (referee) ; Jílek, Tomáš (advisor)
This thesis describes the design and implementation of chassis for autonomous wheeled mobile robot along with a proposal for a suitable control system. To move the robot was necessary to create individual modules for measuring environmental data, its subsequent processing and power management. For the entire robot system capable of rapid interaction, certain tasks are separated and controlled by its own microcontroller. For communication between the modules were chosen and designed SPI bus communication protocol. Thus assembled chassis then communicates over a serial line with higher system from which acquires data indicative of a subsequent procedure. The result is a controlling system communicating between its parts. Part of the design is also defined communications protocol that transmits data on the one hand and also used for fault diagnosis when sending information. Furthermore, there are patterns and specific methods for controlling the individual modules. In conclusion, the thesis described the proposed testing the robot in real conditions, along with the measurement results obtained in the task of autonomous driving.
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THD Analyzer
Ha, Tuan ; Drexler, Petr (referee) ; Mikulka, Jan (advisor)
This thesis deals with design of a THD analyzer for audio frequency. In the interduction, there is a description of methods of THD calculation and realization of THD analyzer. Suitable computing platform must be chosen with capability to process audio data. The expansion board is designed for audio acquisition. Part of this design is complete program that is capable of displaying spectrum and computing THD.
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Adaptive antialiasing frequency filter
Sovadina, Václav ; Murina, Milan (referee) ; Sedláček, Jiří (advisor)
The aim of this project is to become acquainted with the Bessel approximation function and to present the possible connections of the adaptive antialiasing filter. Then, cascade and partition filter realizations are designed and their computer analysis are carried out. Furthermore, the thesis deals with the options of electronic realignment of filters. A common connection of digital potentiometer along with the block diagram of the whole mechanism are described. The next part presents a construction of the analogue part of the filter, measuring of its real characteristics and the control circuit for the analogue part.
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Automated firmware upload of many AVR microcontrollers over SPI bus
Boštík, Jiří ; Lattenberg, Ivo (referee) ; Hanák, Pavel (advisor)
The aim of this work is to construct a circuit for automated programming more microcontrollers Atmel AVR through the SPI bus and to devise and execute demonstration plant that will be able to automate this task, at least partially, therefore, ideally without human intervention, one programmer to load the firmware into more microcontrollers. The theoretical part describes the components that are used in the work, the description of their functionality and usability. For switching between microcontrollers we have a choice of two options. The first option is monitoring of the signal "reset", which is a simpler variant of SPI, or decoding the Atmel instructions. Thanks to the simplicity and practicality of the work will be used to monitoring of the signal of the "reset". For a better understanding in the work described how the whole problem will be work. They will describe each of the steps and for better orientation will be the block diagram too, which represents the most important part of the work. The practical part focuses on the practical testing of the proposed solution. In order to monitor the signal of the "reset" first we have to coordinate asynchronous counter with signal "reset" it to properly reply to a downward edge. Next we bring from the asynchronous counter BCD code with which the decoder switches to each of the microcontrollers using the switching transistors and then they are gradually programmed. Work will be used the programmer AVR Dragon, for which it will be used by the batch file for atprogram.exe, which is a standard part of Atmel Studio 6. In the work will be at least a partial test of the proposed problem to contact layer the field.
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THD Analyzer
Ha, Tuan ; Drexler, Petr (referee) ; Mikulka, Jan (advisor)
This thesis deals with design of a THD analyzer for audio frequency. In the interduction, there is a description of methods of THD calculation and realization of THD analyzer. Suitable computing platform must be chosen with capability to process audio data. The expansion board is designed for audio acquisition. Part of this design is complete program that is capable of displaying spectrum and computing THD.
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|
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Autonomous mobile robot
Pijáček, Ondřej ; Kopečný, Lukáš (referee) ; Jílek, Tomáš (advisor)
This thesis describes the design and implementation of chassis for autonomous wheeled mobile robot along with a proposal for a suitable control system. To move the robot was necessary to create individual modules for measuring environmental data, its subsequent processing and power management. For the entire robot system capable of rapid interaction, certain tasks are separated and controlled by its own microcontroller. For communication between the modules were chosen and designed SPI bus communication protocol. Thus assembled chassis then communicates over a serial line with higher system from which acquires data indicative of a subsequent procedure. The result is a controlling system communicating between its parts. Part of the design is also defined communications protocol that transmits data on the one hand and also used for fault diagnosis when sending information. Furthermore, there are patterns and specific methods for controlling the individual modules. In conclusion, the thesis described the proposed testing the robot in real conditions, along with the measurement results obtained in the task of autonomous driving.
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Automated firmware upload of many AVR microcontrollers over SPI bus
Boštík, Jiří ; Lattenberg, Ivo (referee) ; Hanák, Pavel (advisor)
The aim of this work is to construct a circuit for automated programming more microcontrollers Atmel AVR through the SPI bus and to devise and execute demonstration plant that will be able to automate this task, at least partially, therefore, ideally without human intervention, one programmer to load the firmware into more microcontrollers. The theoretical part describes the components that are used in the work, the description of their functionality and usability. For switching between microcontrollers we have a choice of two options. The first option is monitoring of the signal "reset", which is a simpler variant of SPI, or decoding the Atmel instructions. Thanks to the simplicity and practicality of the work will be used to monitoring of the signal of the "reset". For a better understanding in the work described how the whole problem will be work. They will describe each of the steps and for better orientation will be the block diagram too, which represents the most important part of the work. The practical part focuses on the practical testing of the proposed solution. In order to monitor the signal of the "reset" first we have to coordinate asynchronous counter with signal "reset" it to properly reply to a downward edge. Next we bring from the asynchronous counter BCD code with which the decoder switches to each of the microcontrollers using the switching transistors and then they are gradually programmed. Work will be used the programmer AVR Dragon, for which it will be used by the batch file for atprogram.exe, which is a standard part of Atmel Studio 6. In the work will be at least a partial test of the proposed problem to contact layer the field.
|
|
|
Electronic Subsystem of a Small Mobile Robot
Podolan, Luděk ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The topic of this bachelor thesis is design and construction of a mobile robot with wheeled differential platform. The main goal was to design, implement and test an electronic sub-system for a small mobile robot. Each chapter firstly deals with theoretical aspects of relevant topics and after that describe the process of construction. The thesis shows various ways of construction of the robot with the process of selection of the optimal one. The main controlling part of the robot is the AVR microcontroller placed on the EvB4.3 development board. A simple menu was created on an LCD display for communication between the user and the robot. Battery management is controlled by an analogue to digital converter. The last two chapters focus on encoders and communication between the robot and a proximity sensor. Pictures of the robot are enclosed at the end of the thesis.
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|
|
Adaptive antialiasing frequency filter
Sovadina, Václav ; Murina, Milan (referee) ; Sedláček, Jiří (advisor)
The aim of this project is to become acquainted with the Bessel approximation function and to present the possible connections of the adaptive antialiasing filter. Then, cascade and partition filter realizations are designed and their computer analysis are carried out. Furthermore, the thesis deals with the options of electronic realignment of filters. A common connection of digital potentiometer along with the block diagram of the whole mechanism are described. The next part presents a construction of the analogue part of the filter, measuring of its real characteristics and the control circuit for the analogue part.
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