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Four legged walking robot
Veleba, Tomáš ; Krištůfková Dvorská, Jolana (referee) ; Neužil, Tomáš (advisor)
The diploma paper deal with control problems of a four legged walking robot. They endeavour to establish and partly implement the walking and control algorithms. They are divided into six parts. Individual chassis types and their advantages and drawbacks are analysed in introduction. Next part describes mechanical design of the robot and also all realised electronics facilities. The third part describes in detail sensors that are used by the robot. Following part deals with description of robot's walking. It explains individual walking phases and analyses both static and dynamic stability. Next part contains description of the robot's software facility. The software facility of the control micro-controller and the algorithm that generates walking are explained in this part. It also describes software facility of control application in computer. Exploration of the possibilities for wireless control is carried out in the last part.
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Development of Platform for Three-Rotor Helicopter
Votava, Martin ; Rozman, Jaroslav (referee) ; Hájek, Josef (advisor)
The goal of this master's thesis is design and built of platform for three-rotor helicopter development. The helicopter is also known as tricopter. Theoretical part describes principle of tricopter's flight and stabilization. There is also described basics inertial navigation system and sensors which are required for correct functionality. Practical part is dedicated to development of tricopter's frame, schematics diagram, communication between subsystems and stabilization system development. Flight stablization system is base on ATmega128A an using PID Controller. In the end is described testing of developed platform.
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Two-axis Stabilized Aerial Photography Platform
Vácha, Lukáš ; Hasmanda, Martin (referee) ; Strašil, Ivo (advisor)
This diploma thesis deals with design and realization of control board with controlling program for stabilization platform application. Thesis is splitted in to six parts. In first part of thesis are summarized required parameters and properties of proposed system together with explanation of necessary theoretical basics. In second part of thesis is made analysis of sensors which are designated for sensing necessary magnitudes. Namely then magnetometer, accelerometer, gyroscope. For every sensor is there made analysis of influence caused by parasitic effects. In conclusion of second part is made choice of concrete sensors by choosing sensory module. Third part deals with conception of mechanical solution. Fourth part of thesis deals with design and construction of control board and also with description of circuit functional blocks. This is followed with fifth part which describing program equipment of board with setting up sensory module. In last part of thesis are described conclusions of testing.
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Automatic elevation and azimuth measurement system
Večeřa, Jindřich ; Kasal, Miroslav (referee) ; Záplata, Filip (advisor)
This bachelor´s thesis deals with an automatic elevation and azimuth measurement system, which will be used for antenna positioning. It is realized by using magnetometer and accelerometer. Important part of the system is tilt compensation and calibration for selected location. This system will send data to PC and also display them on LCD display. This project contains theory of measured quantities, method choice, component choice, realization of wiring, PCB design, programming device, testing device and accuracy determination.
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Quadrocopter - Sensory Subsytem
Bradáč, František ; Šolc, František (referee) ; Žalud, Luděk (advisor)
This diploma thesis deals with processing of measured data from inertial navigation system in order these could be used for stabilization. There is general information about aerial vehicles called copters with emphasis on four-rotor construction called quadrocopter at first. Then mathematical model of quadrocopter in state space form is derived, the particular implementation of university developed quadrocopter is described and the design of data processing algorithm is presented with measured results. Finally achieved results are discussed.
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Electronic Compass Based on Three-Axis Magnetometer
Okoun, Petr ; Povalač, Aleš (referee) ; Šebesta, Jiří (advisor)
This semestral thesis deals with development of electronic compass with three-axis magnetometer which eliminates deficiencies of magnetic compass and then the developed device is usable anywhere at Earth's surface around the world. A compass is able to measure the azimuth only if its position is horizontal. Bearing in mind that this condition cannot be satisfied in any case, the solution of compass tilt compensation using accelerometer is part of the project.
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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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Řezníček, Pavel ; Dlugoš, Jozef (referee) ; Zháňal, Lubor (advisor)
This diploma thesis deals with possibility of using a mobile phone to measure vehicle dynamics and determine the accuracy of this measurement. In the research part, it is first mentioned what methods are used to produce sensors for mobile phones. Next, a description of individual sensors that can be used for vehicle dynamics measurement, the principle by which the sensors record measured values and their inaccuracies. The practical part shows with which professional device the accuracy of the mobile phone is compared, how data can be collected from both devices and how the comparison measurement was performed. This section also describes the ways in which the measured data of the mobile phone can be improve for better accuracy, and finally the comparison of the measured values from both devices from different points of view.
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