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Sensorless position control of solenoid valve
Keprt, Jaroslav ; Janák, Luděk (referee) ; Houška, Pavel (advisor)
This thesis deals with the determination of the position of the solenoid core in real time based on the measured current. The reference position of the current is used for feedback control of the solenoid. For this issue, software tool Matlab/Simulink was used. For current and temperature measurements, PCB circuits were created. The whole project was carried out on the dSPACE platform.
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Design of state space controller for DC motor
Kuklík, Michal ; Vetiška, Jan (referee) ; Kovář, Jiří (advisor)
This thesis deals with the distribution of DC motors and their possibilities of regulation. DC motor MF 112 S from company EM Brno was chosen for the modeling. The thesis describes design of the engine model in the state space. In this thesis is described design of state controller for DC motor. The design is done in Matlab / Simulink.
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Robust Controllers
Dobias, Michal ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
This thesis tries to research the term “robust controllers”. Its aim is to compare the robustness of discrete PID controllers (Discrete Equivalent Continuous Controller, Discrete Impulse Area Invariant, Takahashi, Feed-Forward), adaptive discrete PID controllers (Discrete Impulse Area Invariant, Takahashi, Feed-Forward), optimal controllers (quadratic optimal), and adaptive optimal controllers (quadratic optimal) on chosen transfer functions. Its aim is also to check the influence of A/D and D/A converters. The aims to obtain are demarked at the beginning of the text and also there is an explanation of the term “robustness.” Later on there is a description and an approximation to each of the chosen kinds of controllers and the identification methods used in the thesis (for adaptive controllers the method of recursive least-squares was used). The Kharitonov's Theorem are made on the chosen transfer function. Next there is a description of the methods with which the robustness of the controllers will be tested. The first method is the integral criteria, particular ITAE criterion and quadratic criterion. The second one is the analysis of the generalised circle criterion. Furthermore there are various displays of the results obtained and their corresponding comments. The results obtained are graphically displayed and by means of these schemes the particular types of controllers are compared. All of the simulations and results obtained were acquired through the use of the program MATLAB- Simulink. In the end of the thesis there is an overall evaluation.
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Sensors and motion control for humanoid robot
Chlaň, Jakub ; Křivánek, Václav (referee) ; Najman, Jan (advisor)
The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.
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Analysis of Car Drivers’ Behaviour and Driving Style
Novik, S. ; Mihálik, O.
Driving security remains one of the important issues. Nowadays, various assistance systems are implemented, such as the systems for analysis of control of a car by its driver. To understand the performance of the driver’s control, a program was created to obtain valuable data and relevant characteristics. To obtain the data, we used an internally designed, laboratory-made vehicle driving simulator developed by D. Michalík [2]. Driver data were obtained using a proprietary vehicle driving simulator, and these were evaluated in the MATLAB environment via integral criteria and other calculated parameters, such as reaction delay. Features thus obtained were used as a training set for the machine learning, using LDA and QDA methods (linear and quadratic discriminant analysis). These methods reveal information concerning the importance of features for the task of driver’s identity prediction based solely on the driving actions.
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Reproducible Partial-Load Experiments in Workload Colocation Analysis
Podzimek, Andrej ; Bulej, Lubomír (advisor) ; Pena, Tomás Fernández (referee) ; van Hoorn, André (referee)
Hardware concurrency is common in all contemporary computer systems. Efficient use of hardware resources requires parallel processing and sharing of hardware by multiple workloads. Striking a balance between the conflicting goals of keeping servers highly utilized and maintaining a predictable performance level requires an informed choice of performance isolation techniques. Despite a broad choice of resource isolation mechanisms in operating systems, such as pinning of workloads to disjoint sets of processors, little is known about their effects on overall system performance and power consumption, especially under partial load conditions common in practice. Performance and performance interference under partial processor load is analyzed only after the fact, based on historical data, rather than proactively tested. This dissertation contributes a systematic approach to experimental analysis of application performance under partial processor load and in workload colocation scenarios. We first present a software tool set called Showstopper, capable of achieving and sustaining a variety of partial processor load conditions. Based on arbitrary pre-existing computationally intensive workloads, Showstopper replays processor load traces using feedback control mechanisms to maintain the desired load. As opposed to...
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Motion Control Of An Aileron
Kotrlý, Michal
This article covers a Bachelor’s thesis with an aim to design, assemble and test an electromechanical model of an aileron that would verify used control algorithms. Mainly those that mitigate force fight between actuators and reduce mechanical stress affecting lifespan of the aileron. Algorithms are implemented in a PLC which supplies power to actuators / sensors and controls the position and movement of the aileron.
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Sensors and motion control for humanoid robot
Chlaň, Jakub ; Křivánek, Václav (referee) ; Najman, Jan (advisor)
The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.
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Reproducible Partial-Load Experiments in Workload Colocation Analysis
Podzimek, Andrej ; Bulej, Lubomír (advisor) ; Pena, Tomás Fernández (referee) ; van Hoorn, André (referee)
Hardware concurrency is common in all contemporary computer systems. Efficient use of hardware resources requires parallel processing and sharing of hardware by multiple workloads. Striking a balance between the conflicting goals of keeping servers highly utilized and maintaining a predictable performance level requires an informed choice of performance isolation techniques. Despite a broad choice of resource isolation mechanisms in operating systems, such as pinning of workloads to disjoint sets of processors, little is known about their effects on overall system performance and power consumption, especially under partial load conditions common in practice. Performance and performance interference under partial processor load is analyzed only after the fact, based on historical data, rather than proactively tested. This dissertation contributes a systematic approach to experimental analysis of application performance under partial processor load and in workload colocation scenarios. We first present a software tool set called Showstopper, capable of achieving and sustaining a variety of partial processor load conditions. Based on arbitrary pre-existing computationally intensive workloads, Showstopper replays processor load traces using feedback control mechanisms to maintain the desired load. As opposed to...
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Punch Press Simulator
Královec, Jiří ; Bureš, Tomáš (advisor) ; Obdržálek, David (referee)
This work tries to remedy the practical part of teaching development of software for real-time systems. It does so by creation of a platform on which students can practically learn aspects of development of software for real-time systems. % (feedback control, low level programming). The resulting platform consists of a plant, a visualizer and a controller. The plant represents an industrial machine, the visualizer displays the current state of the plant. The controller drives the plant. Students learn by developing a program for the controller. The resulting platform is realized as a hardware-in-the-loop simulation -- the controller's processor and devices are real hardware, and the plant is a simulated device. The platform has a low cost, low space requirements and it is not easily breakable. Powered by TCPDF (www.tcpdf.org)
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