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Design of electronic control unit for rotational inverted pendulum
Sopoušek, Radek ; Appel, Martin (referee) ; Brablc, Martin (advisor)
The scope of this thesis is to create a dynamic model of the pendulum, design the control in inverse position, implement the swing-up task and add a controlled fall to a stable position, design and integrate the hardware with the existing pendulum model and implement the control using a state machine. The reader is introduced to the elements of a real device. A model is analytically constructed to be used for parameter identification and control design. Swing-up control is implemented using the moment method and two energy methods representing single and multiple-swing behavior. In the inverse position, the pendulum is controlled using LQR controller. For controlled fall to stable position, PD controller is used. For control purposes, a developmental microprocessor board was selected and integrated into the existing model with minimal changes to the functionality. The control was performed using a state machine whose robustness to parameter changes was experimentally verified.
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Návrh algoritmu jízdní stability pro laboratorní model vozidla
Šulc, Michael ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This Master's thesis deals with a research study in the area of modelling the dynamics of a four-wheel drive (4WD) and four-wheel steer (4WS) vehicle, including a tyre model together with the design of vehicle stability control algorithms. The work also includes making the necessary modifications to the experimental vehicle, including the design of new control electronics. Based on the proposed dynamic model, the estimation of the necessary vehicle parameters is carried out. On the simulation model, ABS/ASR driving stability algorithms are designed, which are than implemented on the experimental vehicle.
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Development of algorithms state estimation of experimental vehicle
Lamberský, Vojtěch ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This thesis deals with the filter algorithm design, implementing mathematical model to improve algorithm performance. Designed algorithms are implemented in a control unit of the experimental vehicle (filters signal used in the closed-loop controller). The improvement of the position estimation using Kalman Filter is demonstrated on the experimental vehicle. In the next part the design process of algorithm developing for dsPIC microcontroller using Matlab is described.
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Blood pressure monitor
Kučera, Michal ; Musil, Vladislav (referee) ; Šteffan, Pavel (advisor)
This thesis deals with the design and realization of a prototype of non-invasive blood pressure monitor based on the principle of Korotkoff sound detection. The design compares this method of measuring blood pressure with other methods. This design of an automated measuring system, which is controlled by a microprocessor, utilizes the scanning of Korotkoff sounds with an electret microphone placed in the cuff. The microphone signal is then amplified, filtered and adjusted for evaluation. The prototype uses processor-controlled inflation by the compressor and deflation of the cuff by a valve that is open without applied voltage.
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Design of embedded system for control of educational model of rotary pendulum
Jajtner, Jan ; Chalupa, Jan (referee) ; Grepl, Robert (advisor)
The basic aim of this work is to improve existing model of rotational inverted pendulum by adding new mechanical features, implement the control algorithm to dsPIC microcontroller and develop related control electronics thus extending the functionality of current model while making it more compact. The work contains derivation of dynamic equations both by means of analytical methods and multi-body formalism of SimMechanics. These are used to design a state controller stabilizing the pendulum in inverse position. In addition, parameters of the system are being estimated experimentally. Swing-up controller is developed to drive the pendulum to unstable position. Various state estimators are added to controller to improve the control process while comparing their overall performance. The last point is devoted to development of superior state-automaton designed to switch between different regulating modes including fail-detection algorithms providing smooth operation of the model.
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Extending the functionality of educational robotic manipulator
Nejedlík, Tomáš ; Šubrt, Kamil (referee) ; Klimeš, David (advisor)
This thesis deals with extending the functionality of robotic manipulator. The main objective is the implementation of control algorithms into microcontroller dsPIC. In the first part, realizable modifications on the manipulator are described. Touch end sensors are replaced by touch less Hall sensors. End effector, which is used for writing, is replaced by gripper for moving items. Another section deals with design PCB with microcontroller and it describes the final program. The last part deals with connection intelligent touch display, which is used for controlling the manipulator. Demonstration application is created to show the use of the display and new end effector.
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Real-time visualization of magnetic field vectors
Kaplan, Tomáš ; Vejlupek, Josef (referee) ; Matějásko, Michal (advisor)
This thesis deals with the design and realization of a device for a real-time vizualization of magnetic eld vectors. The information about magnetic eld is obtained by magnetic flux density sensors. Outcoming data from sensors are processed in microcontroller and then sent to a personal computer where they are vizualizated. The goal is to visualize the magnetic ux density in meaningul form.
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Photopolymer length variation measurement
Novotný, Jan ; Vejlupek, Josef (referee) ; Matějásko, Michal (advisor)
This thesis deals with development of a special measuring device designed to measure changes in lenght of a photoactuation polymer. The length of a sample of the polymer shortens by tenths of a milimetre by being lit by intensive light. The sample has to be preloaded by force. The data are processed by designed electronics and recorded in a computer in a utility application, developed for this purpose. The thesis is realized in cooperation with the Centre of polymer systems of the Tomas Bata Univerzity in Zlín.
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Semi-solid alloys testing device
Valíček, Václav ; Bastl, Michal (referee) ; Chalupa, Jan (advisor)
This thesis deals with design of semi-sollid alloy testing device. In the beginning, there are briefly introduced possibilities of semi-solid alloy exporation followed by analysis of temperature measurement options, torque measurement options and control of the thermal system. There was build development version of construction and electronics based on results of analysis. The outcomes of this thesis are: design of printed circuit board based on electronics prototype connection, production of mechanical parts for device and realization of user interface in form of touch screen.
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