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Biology-inspired control of a walking robot
Žák, Marek ; Musílek, Petr (referee) ; Ondráček, Tomáš (referee) ; Zbořil, František (advisor)
Mobilní roboti se stávají součástí každodenního života. Jsou konstruováni nejrůznější roboti, kteří dokáží provádět celou řadů různých úkolů nebo se pohybovat i v místech, kam lidé nemohou. Jejich využití lze najít při záchranných operacích nebo při průzkumu těžko dostupných míst na Zemi nebo ve vesmíru. Kráčiví roboti tvoří speciální kategorii mobilních robotů, protože se svými vlastnostmi výrazně odlišují od jiných typů robotů. Dokáží se pohybovat v členitém terénu, překonávat různé překážky a mohou využívat svoje končetiny k manipulaci s okolními předměty. Přestože jsou kráčiví roboti skvěle vybaveni pro pohyb v náročném terénu, jejich běžnějšímu užívání zatím brání řada faktorů. Jejich pohyb je relativně pomalý a energeticky náročný, unesou poměrně málo nákladu a jejich konstrukce je mnohem složitější v porovnání s kolovými nebo pásovými roboty. Kráčiví roboti často disponují desítkami kloubů, a jejich řízení je proto velmi složité. Tato dizertační práce popisuje návrh, konstrukci a řízením nového biologií inspirovaného šestinohého robota WHexaR (z anglického Wheeled Hexapod Robot, kolový šestinohý robot), kterého jsem postavil. Tento robot je schopen energeticky úsporného pohybu ve členitém terénu. Struktura jeho končetin je inspirována stavbou končetiny hmyzu. Robot dokáže přizpůsobit svůj pohyb okolnímu terénu. Speciální trochanterový kloub umožňuje natočení celé končetiny robota rovnoběžně s gravitačním zrychlením, což vede ke snížení spotřeby energie, zvýšení stability robota a schopnosti překonávat strmější svahy. Pro pohyb na rovné terénu je robot vybaven natočitelnými koly, díky kterým se robot může pohybovat vyšší rychlostí s nižší energetickou spotřebou než při pohybu pomocí chůze. Navržený kontrolér robota disponuje řadou reflexů, které byly pozorovány u hmyzu. Tyto reflexy zvyšují efektivitu pohybu robota ve členitém terénu a umožňují mu překonávat různé překážky. Robot byl podroben řadě experimentů, které prokázaly jeho schopnosti pohybu ve členitém a svažitém terénu.
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Design of Swimming Pool cleaning Robot
Frlajz, Tomáš ; John, David (referee) ; Křenek, Ladislav (advisor)
This work focuses on creating a new design for a pool cleaning robot. The main goal is to create an innovative and user-friendly device that meets all the requirements of the job. The intent is for the design to be compact, resistant to external factors, visually attractive, and to support credibility and brand building. The robot's design emphasizes energy savings and increased autonomy during operation. Thanks to innovative solutions, a device has been created that minimizes effort in its use. The result is an energy-efficient robot that operates with a high degree of independence. This work brings together innovative ideas, which can be an inspiration for further development in this field.
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An evaluation of the effectiveness of investments in energy savings
Ondráček, Jan ; Klímová, Lenka (referee) ; Vaňková, Lucie (advisor)
Investments in energy saving of buildings is associated with a reduction in the operating costs, but it is also an effort to improve the quality of the environment. The main impulse are constantly rising energy prices and deteriorating air quality. The diploma thesis deals with the return on investment in thermal insulation of residential houses. The theoretical part describes the different definitions from the field of investments, pricing and energy modifications. In the practical part are considered two apartment buildings, the first insulated, non-insulated second. The next step is quantifying of the investment cost of such insulation designed with the calculation of payback period, net present value and internal rate of return. At the end of the work is the evaluation of the effectiveness of investments.
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Detached house in Lhotka u Ostravy
Bartek, Čeněk ; Jelínková, Barbora (referee) ; Ostrý, Milan (advisor)
Bachelor´s thesis is focused on new detached house in Lhotka u Ostravy. The detached house is designed as a seperate double floored house with no basement with regular rectangular shape and gable roof. The house is designed as a brick building of sand-lime blocks with contact thermal insulation system of mineral wool. The supporting structure of the roof are wooden trusses and roofing is fibre cement and colour of slate. The ceiling in the building is a monolithic reinforced concrete. Foundation walls are made of blocks of shuttering. The facade of the building is white in combination with tiles of imitation brickwork. Beside the house is located the garage for two cars with a store. The building is designed for family of four inhabitants and the house is determined for permanent housing. The detached house is designed with energy efficiency and low demand for heating. The detached house is designed on plot no. 175/7 in Lhotka u Ostravy. The plot borders with streets Televizní and Na Palouku. Access road to the house is from street Na Palouku. This work includes the preparation and study work, situational design, architectural and structural design, structural design solutions, fire safety solutions, essay of building physics calculations and engineering schemes of technical equipment.
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System of autonomous management of the greenhouse complex
Zíka, Radim ; Benešl, Tomáš (referee) ; Bradáč, Zdeněk (advisor)
Master‘s thesis deals with a design of greenhouse control system using IoT technologies. The aim of this work is to design a control system block diagram and to design system’s hardware parts. Theoretical part of the thesis focuses on greenhouse systems characterisitcs, survey of greenhouse systems available on the market, survey of suitable sensors and on the basic theory of low power system design. Further in the practical part the designed concept of the control system is described along with selected hardware, the process of hardware design, the printed board design and the design of its control software. The last part of the thesis is focused on cloud platforms, their literary research and more detailed specification of used ThingsBoard platform.
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System of autonomous management of the greenhouse complex
Zíka, Radim ; Benešl, Tomáš (referee) ; Bradáč, Zdeněk (advisor)
Master‘s thesis deals with a design of greenhouse control system using IoT technologies. The aim of this work is to design a control system block diagram and to design system’s hardware parts. Theoretical part of the thesis focuses on greenhouse systems characterisitcs, survey of greenhouse systems available on the market, survey of suitable sensors and on the basic theory of low power system design. Further in the practical part the designed concept of the control system is described along with selected hardware, the process of hardware design, the printed board design and the design of its control software. The last part of the thesis is focused on cloud platforms, their literary research and more detailed specification of used ThingsBoard platform.
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Detached house in Lhotka u Ostravy
Bartek, Čeněk ; Jelínková, Barbora (referee) ; Ostrý, Milan (advisor)
Bachelor´s thesis is focused on new detached house in Lhotka u Ostravy. The detached house is designed as a seperate double floored house with no basement with regular rectangular shape and gable roof. The house is designed as a brick building of sand-lime blocks with contact thermal insulation system of mineral wool. The supporting structure of the roof are wooden trusses and roofing is fibre cement and colour of slate. The ceiling in the building is a monolithic reinforced concrete. Foundation walls are made of blocks of shuttering. The facade of the building is white in combination with tiles of imitation brickwork. Beside the house is located the garage for two cars with a store. The building is designed for family of four inhabitants and the house is determined for permanent housing. The detached house is designed with energy efficiency and low demand for heating. The detached house is designed on plot no. 175/7 in Lhotka u Ostravy. The plot borders with streets Televizní and Na Palouku. Access road to the house is from street Na Palouku. This work includes the preparation and study work, situational design, architectural and structural design, structural design solutions, fire safety solutions, essay of building physics calculations and engineering schemes of technical equipment.
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An evaluation of the effectiveness of investments in energy savings
Ondráček, Jan ; Klímová, Lenka (referee) ; Vaňková, Lucie (advisor)
Investments in energy saving of buildings is associated with a reduction in the operating costs, but it is also an effort to improve the quality of the environment. The main impulse are constantly rising energy prices and deteriorating air quality. The diploma thesis deals with the return on investment in thermal insulation of residential houses. The theoretical part describes the different definitions from the field of investments, pricing and energy modifications. In the practical part are considered two apartment buildings, the first insulated, non-insulated second. The next step is quantifying of the investment cost of such insulation designed with the calculation of payback period, net present value and internal rate of return. At the end of the work is the evaluation of the effectiveness of investments.
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