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Mobile robot control system
Bugár, Loránt ; Jílek, Tomáš (referee) ; Hynčica, Ondřej (advisor)
Bachelors project is fixated for creating a mobile robot with a real time operating system. The robot control system is based on a microcontroller Arduino with ARM Cortex-m3 processor. The practical part is dealing with resolving the client-server communication with the UDP protocol, also with the identification of the engine from measured data’s by the Simulink and subsequently designing the PI regulator from the identificated data’s. In he last part of the work the focus is giving to solving the communication with I2C bus and using sensors like : accelerometer, ultrasonic sensor, infra sensor, light sensor, hall sensor and usage of a robotic arm. An application is created for controlling the robot and for visualisation of sensor readings..
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Determining motion using accelerometer data
Montilla, Michaela ; Koťová, Markéta (referee) ; Janoušek, Oto (advisor)
The aim of this thesis is to present the topic of acceleration record using accelerometer sensors and to create a program for the transformation of the acceleration data into the position vector. It is a summary of theoretical background of data recording using sensors of acceleration and an overview of the physical relationships between acceleration, velocity and position. The data was recorded by multiple types of sensors. The gist of the algorithm is a mathematical realization of physical relations modifying the conversion of acceleration to the position. The outcome enables to display a dynamic graphic output in 3-D.
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Integration of inertial navigation with global navigation satellite system
Štefanisko, Ivan ; Otava, Lukáš (referee) ; Blaha, Petr (advisor)
This paper deals with study of inertial navigation, global navigation satellite system, and their fusion into the one navigation solution. The first part of the work is to calculate the trajectory from accelerometers and gyroscopes measurements. Navigation equations calculate rotation with quaternions and remove gravity sensed by accelerometers. The equation’s output is in earth centred fixed navigation frame. Then, inertial navigation errors are discussed and focused to the bias correction. Theory about INS/GNSS inte- gration compares different integration architecture. The Kalman filter is used to obtain navigation solution for attitude, velocity and position with advantages of both systems.
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Automatic monitoring of fluid density
Bebej, Rastislav ; Chalupa, Jan (referee) ; Krejčí, Petr (advisor)
This thesis focuses on creating a device capable of monitoring the density of liquids during the fermentation process. The thesis includes the selection of a suitable principle for the measurement of the density of liquids, including the temperature compensation, the selection of suitable components and the design of schematics. Furthermore, the thesis deals with the design of a printed circuit board and wireless data transmission to a computer via Wi-Fi.
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Comparison of data from smartphones, fitness trackers, and specialised devices
Kačníková, Diana ; Smital, Lukáš (referee) ; Němcová, Andrea (advisor)
The focus of this thesis is the comparissement of data from smart phones, fitness bracelets and specialized devices. Thesis includes description of features when using special devices such as smart phone, Axivity AX3 bracelet and Fitbit Alta HR for data recording. Signals were recorded using those devices with different anatomical locations and sampling frequencies. Those data recorded were implemented for three algorithms created for activity classification. Detection accuracy was calculated for each signal recorded. Devices, sampling frequencies and anatomical locations were compared based on the accuracy. Ultimate combination of sampling frequency, anatomical location and suitable device was defined.
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Wireless Bicycle Speedometer
Ročkár, Martin ; Strnadel, Josef (referee) ; Šimek, Václav (advisor)
Main goal of this bachelor thesis is practical design and implementation of a digital wireless cyclocomputer. This document can be divided into two parts, theoretical part which describes history of cyclocomputers, basic principle of cyclocomputer functions, overview of cyclocomputers on today's market, motion sensors and design of hardware. Second part is concerned about practical realisation and implementation of a wireless digital cyclocomputer.
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Intelligent Control Using Hand Gestures
Apjar, Martin ; Hyrš, Martin (referee) ; Šimek, Václav (advisor)
This work deals with a creation of the device suitable for capturing the gestures of the human´s hand, selection of suitable sensors, creation of service software and communication proposal. The device working is based on Arduino board with microprocessor from the company Atmel ATmega32u4. In the first part of the thesis a detailed search of the existing ways of solving the given problem was performed. The following sections are devoted to the design of my solution, the description of the fabrication of the model body and the description of the used materials. Further, the Thesis contains a description of all sensors and scanners and a detailed description of the supplied PCB. At the end we will find the program section where the control and sensor work is disassembled. The result of this work is a hand-held model and firmware.
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Design of autonomous monitoring system elektronics
Heger, Krištof ; Houška, Pavel (referee) ; Hadaš, Zdeněk (advisor)
This master’s thesis deals with the design of autonomous monitoring system electronics which will be used for diagnostics of the electromagnetic vibration generator developed at Brno University of Technology. This generator should be used in a practical application where frequent mechanical shocks are present, for example in vehicle or goods transportation. For such an application, the goal of the monitoring system is to find out whether generator is capable of producing enough electrical energy for smooth operation of wireless sensors used in similar applications. The first part of the thesis consists of the autonomous diagnostics system overview from both commercial and scientific spheres, brief description of the vibration generator used and also a summary of commercially available power management electronics. The next chapters present the detailed description of each functional element of energy harvesting system, the simulation of generator’s behaviour for optimal load in three different model applications and the most important part – design of the autonomous monitoring system. In the end, achieved results are evaluated and it is considered whether the shock-driven generator is suitable for use in a given application.
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Wireless measurement module for vector calibration
Vaca, Pavol ; Klusáček, Stanislav (referee) ; Havránek, Zdeněk (advisor)
Thesis discuss calibration methods for 3D acceleration sensors and implementation of the design of wireless measurement module for vector calibration. In this thesis are described principles of ellipsoid fitting problem and uses of this principles for calibration of accelerometer. Thesis contains short overview of principles used in MEMS accelerometers. Described calibration methods were implemented in Android application. Furthermore, the thesis describes Bluetooth Low Energy wireless technology. This communication technology is used for transferring data from measurement module to smart device. The result of this thesis is Android application for wireless vector calibration of MEMS accelerometer and presentation of practical results of this calibration.
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Data-fusion for Rotation Measurement
Skula, David ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
The goal of this paper is to design and implement a module to determine the rotation around three axes normal to each other. The paper is divided into six parts. The first part deals with the rate sensor - the gyroscope. It is explicated how the gyroscope is used for rotation measurement. The next part of the paper explains the acceleration sensor – the accelerometer, functioning as an inclination sensor. The third part analyses the magnetic field sensor – the magnetometer, functioning as an electronic compass. With each type of sensor, the problems of parasitic influences are discussed. The foregoing parts constitute the basis for the HW of the module design that is explained in the forth parts. It deals especially with components used for processing the sensor signals. The next part is a description of the software of the module. Here, the software of the particular sensors and measurement methods used with them are discussed. The last part describes the software of the control application in the computer. The attention is paid especially to processing data from the sensors and their compensation against parasitic influences.
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