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Inverted pendulum control
Daněk, Petr ; Němec, Zdeněk (referee) ; Marada, Tomáš (advisor)
This diploma thesis deals with inverse pendulum control. There are described types of inverse pendulums, used power electronics, sensors and their connection to the MF624 control card and to external hardware. Further is described the identification of parameters, including the assembly of a custom algorithm for identification of viscous friction in the pendulum rotary coupling. For identification of moments of inertia are used 3D CAD models, where the thesis describes also use of these models for VRML visualization. The thesis also describes how to build a dynamic model by using Matlab-Simulink and the Simscape-Multibody toolbox. This model is further used in design of the controller using LQR and its simulation testing. The controller is complemented by swing-up algorithm, security elements and MF624 driver interface is designed. The control is tested on a real inverse pendulum assembly and implemented in external hardware.
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Testing platform with 3 dof
Spáčil, Tomáš ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This thesis deals with development and construction of parallel manipulator with three degrees of freedom whose assumption of usage is testing tanks for NH3. In this work we are going to investigate the design of the mechanism in Matlab Simulink. Design of the electronic is introduced and also the control program is developed. The result of the work will be a prototype of manipulator.
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Data glove: VRML visualization and design of electronic circuits
Štěpánek, Jan ; Bezdíček, Milan (referee) ; Grepl, Robert (advisor)
This work deals with designing and assembly of electronics of a data glove and creation of a hand visualization which projects a real-time state of user’s hand. Realization was a team effort of two students. The division of tasks is described in the chapter called Stanovení cílů práce. The beginning of the work is dedicated to a background research in the field of data gloves. Next chapters describe creation of the model of virtual hand. This model‘s task is to project real-time state of user’s hand based on data received from the flexure sensors and MEMS accelerometer. Communication with PC is realized through BlueTooth serial port virtualization. Mathematical model created in Matlab processes data received from the glove and calculates the values of the positions of the individual parts of hand. Matlab also served for development of a graphical user interface which enables the user to utilize the glove.
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Drive Visualization of Four-Wheel Vehicle in Matlab-Simulink
Foriška, Aleš ; Klusáček, Ondřej (referee) ; Zavadinka, Peter (advisor)
This thesis deals with the formation of four-wheel drive vehicle visualization in MATLAB-Simulink. The begining of thesis is dedicated to the theoretical study of the history, production and usage of virtual reality. Next chapters describe the creation of virtual model of the vehicle and scene using SolidWorks, its adjustment in the V-Realm Builder 2.0. and implementing in the Matlab-Simulink environment. Using Matlab-Simulink (a tool of the Virtual Reality Toolbox) vehicle dynamics model was modified and linked with the virtual model, what enables drive visualization of vehicle. At the end of this thesis is applied joystick connection with a dynamic model, the user can interfere with driving during the simulation.
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A Virtual Model of a Technology Process with PLC Control
Hendl, Adam ; Benešl, Tomáš (referee) ; Jirgl, Miroslav (advisor)
This Diploma thesis describes the procedure of setting the parameters of communication blocks and functions in PLC and PC, so that it is possible to remotely control part of the production process. TCP / IP protocol is used for communication between devices. Part of the production technology is represented by the created 3D model, which serves for three-dimensional interpretation of the simulation of the mathematical model of this part of the process. Part of this work is the design of this model and description of its dynamics.
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Rendering and Interacting Objects Displaced in a 3D Landscape
Koza, Tomáš ; Kršek, Přemysl (referee) ; Herout, Adam (advisor)
Goal of this bachelor's thesis was to create a system of powerups for program TankGame. This document contents theoretical base for rendering of objects in 3D scene, it describes algorithms used in rendering of these objects. It also contains overview of rendering process and description of concrete graphical engine used in program TankGame. In the end there is description of concrete implementation of renderable objects (powerups) for program TankGame.
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Realization of a Simulator with Elements of Virtual Reality
Šimčík, Patrik ; Jalovecký, Rudolf (referee) ; Jirgl, Miroslav (advisor)
This work deals with the design and realization of a task with the elements of virtual reality, namely the simulation task for driving a vehicle. As a programming tool, Matlab/Simulink is used. The aim of the thesis is to create a simple simulator for the purposes of measuring the driver's response to standard stimuli and the description and evaluation of the driver-vehicle interaction. The individual chapters describe the VRML language, the Matlab/Simulink 3D Animation Library and cooperation with the blocks in this library. The realization of this work is the description and modification of the 3D model of the vehicle used for this purpose, as well as the description and construction of the dynamic model for driving the vehicle with subsequent implementation in the form of a vehicle simulator in the Matlab/Simulink environment. The conclusion of the work is to verify the functionality of the management simulator with the possibility of data recording.
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Connecting the MATLAB/Simulink Virtual Model to PLC
Zborovský, Vojtěch ; Benešl, Tomáš (referee) ; Jirgl, Miroslav (advisor)
Master’s thesis describes creating of virtual reality in VRML Language with use of VRML Pad editor and VRealm Builder. The thesis consists of the described objects in Simulink 3D Animation Library which are used for 3D Virtual scenes and connection of dynamics from Matlab/Simulink. Dynamics is created in Matlab/Simulink and connected by TCP/IP protocol to system PLC S7-1500. In the PLC is program for control of technology process. Process is visualized by HMI by Siemens AG and supplied by basic setting of connected communication and technology process.
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Interactive Animation Viewer and Editor
Ducháč, Michal ; Seeman, Michal (referee) ; Pečiva, Jan (advisor)
Since the introduction of high end graphical workstations, computer animation has quickly replaced the traditional means of animation. Nowadays computer animation has many applications e.g. video games, motion picture industry, media, weather forecasting and many others. This master thesis discusses various techniques used to created animations using computers. Keyframing, is the most common approach in computer animation. Borrowing its name from the concept of traditional hand animation, the workflow process remained the same. Basic principles of animation using key-frames are explained and an Interactive Animation Editor solution based on keyframing is proposed and the implementation of this editor is described. Editor uses the Kochanek-Bartels interpolation of values between each key-frame.
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