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Commissioning and expansion of an unfinished three-axis manipulator
Metz, Lukáš ; Králík, Jan (referee) ; Appel, Martin (advisor)
The objective of this theses is the development of the technological components needed for the commissioning of an unfinished three axis manipulator. That includes designing the control electronics, which will be mounted on a custom printed circuit board, development of needed firmware and software, and also the derrivation and implementation of the motor control logic. The fully functional manipulator will then be equiped with a digital microscope and a functioning focusing mechanism, which will provide the device with a possible utilization in laboratory settings.
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A traction drive for an electric bike with motor "Heinzmann"
Němec, Petr ; Huták, Petr (referee) ; Vorel, Pavel (advisor)
This work deals with a proposal and construction of a DC/DC converter for a control of a DC motor Heinzmann. The DC/DC converter will be used in an electric drive for a bicycle. The proposal of the DC/DC converter is designed for such engine power to avoid fully any human force to drive - pedaling. The work includes informations about the used motor, progress of proposal and dimensioning of the converter - power circuit and control electronics.
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Onboard computer for electric scooter
Stříteský, Vladimír ; Burian, František (referee) ; Kříž, Vlastimil (advisor)
The aim of this thesis is clarify construction of onboard computer for electric scooter. There is description of components, from which the electric scooter is built. Within this thesis a computer simulation of accelerating scooter is created. Based on the simulation three possible ways of controlling the electric drive were proposed. Then thesis describe parts from witch control system is composed. Onboard computer and support circuits are described in more detail and explained their functions. Description of the created software is in the final part.
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Sensorless velocity control and positions of d.c. low-power brush motor
Svoboda, Jan ; Hanák, Pavel (referee) ; Prajzner, Václav (advisor)
This bachelor's thesis focuses on sensorless control of low load brushed DC motor that is used in the actuators made by the Honeywell company. The first part provides an introduction into motor control and common used methods of speed and position sensing of brushed DC motor. Sensorless method of sensing described in this work is the detection of commutation pulses from the signal of motor current. These pulses are caused by brushes leaping over the commutator bars. Correct evaluation of commutation pulses can provide the information about velocity and position of the motor. This relatively new method of detection of commutation pulses is investigated and arising problems are demonstrated on measured samples of signal. Suitable methods of signal processing are then proposed. Infallibility of these signal processing methods is then proved on the set of signals measured under circumstances of supply voltage and abrasion. Then it is decided which signal processing method that sensorless control system can use is the best.
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Positional Motion Control by means of 8bit uP
Janda, Petr ; Holý, Miroslav (referee) ; Matoušek, Radomil (advisor)
This thesis deals with positional control of DC motor Icla D065 of company SIG Positec Automation GmbH with aid of CAN-Bus and CANopen protocol. Individual parts describe general principle and standards of CAN-Bus and international normalized higher-level protocol CANopen for systems control. For control this motor was used microcontroller PIC18F4685 from company Microchip and developmental environment MPLAB® IDE. With used C language was made program for MCU control communication with a motor by support of CANopen protocol and its motion control. The result of this thesis will be used in solution of research project Intelligent Systems in Automation.
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Autonomous Control System for Mobile Platform
Kříž, Vlastimil ; Burian, František (referee) ; Žalud, Luděk (advisor)
This work undertake the design of autonomous control system for mobile platform – slot car – for the Freescale Race Challenge 2009. The aim is to draw and implement control system, which will be able to drive the car trough the previously unknow path in the shortest time. In work is described factors that affect runing the car and draw optimal driving style. Then sensors for the car, type of motor control and control unit are chosen. The algorithms for maping the profile and for lap recognition are developed. Next the realization of the systém are descripted.
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Neuro Biomechanical principles in robot-assisted gait training for pediatric patients
Žarković, Dragana ; Šorfová, Monika (advisor) ; Mařík, Ivo (referee) ; Lopot, František (referee)
Title: Neuro Biomechanical principles in robot-assisted gait training for pediatric patients Background: There is a lack of data on how robot-assisted gait training (RAGT) contributes to gait changes in children with cerebral palsy (CP). Methods: This research study investigated efficacy of a 4-week RAGT intervention in twelve ambulatory spastic diparesis children with CP (10.8±2.6 years old; 2 girls and 10 boys; Gross Motor Function Classification System I-III) by using computerized gait analysis (CGA); passive joint range of motion (PROM); selective control assessment of lower limbs evaluation (SCALE), and the six-minute walk test (6MWT). Pre-post RAGT intervention data of children with CP was compared with the normative data curves of typically developing children by cross-correlation, and further statistically evaluated by a Wilcoxon test. Results: Significant pre-post RAGT intervention differences (p<0.05) that indicate more physiological gait comparing to the normative data curves were found. Biceps femoris, rectus femoris, and tibialis anterior decreased activity almost across all gait cycle phases. Medial gastrocnemius decreased activity mainly in terminal stance, mid-swing, and terminal swing phases. Internal hip rotations and foot progress angles decreased almost across all gait cycle...
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Development of Test Batteries for Diagnostics of Motor Laterality Manifestation - Link between Cerebellar Dominance and Hand Performance
Musálek, Martin ; Chytráčková, Jitka (advisor) ; Tichý, Jiří (referee) ; Bryden, Pamela (referee)
The aim of this study is to contribute to the standardization of the new diagnostic tools assessing the motor manifestations of laterality in adults and children aged 8 to 10 years, both in terms of determining the theoretical concept and the selection of appropriate items, and the verification of structural hypotheses concerning the design of acceptable models, including the diagnostic quality of individual parts of the test battery. Moreover in this study we try to suggest new approach in assessing of motor laterality manifestation by means of relationship between cerebellar dominance and hand performance. The first part of this thesis deals with the concept of laterality, its manifestations and meaning in non-living systems and living organisms. As a human characteristic, laterality is manifested in a variety of functional and structural asymmetries. This part also discusses ways of diagnosing motor manifestations of laterality and the issue of cerebellar dominance, including its reflection in the form of asymmetry of the extinction physiological syndrome of upper limbs. The second part focuses on the process of the standardization study, the statistical method of structural equation modelling, and the actual design of test battery construction. The last part of this thesis presents the results...
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Computational Performance Of Arm Cortex M4 Andm7 Microcontroller On Motor Control Application
Otava, Lukáš
The paper is focused on a comparison of three microcontrollers from computational performance point of the view. The comparison is performed on motor control and fault detection algorithm code executed from microcontroller internal FLASH memory. This code contains more complicated mathematical functions. The computational performance is compared according to computational time on STM32F4, STM32F7 and SAM E70 microcontrollers. Another aspects (like core clock frequency, FLASH configuration, cache configuration, etc.) of microcontroller settings are taken into account in experimental results.
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St Microelectronics Bldc Drive Demonstrator Software Pre-Development
Ctibor, Jiri
In this article is presented the own application structure of a BLDC motor control demonstrator. This demonstrator is made for the desirables of R3-PowerUP project advertised by the ST Microelectronics. Therefore, mostly ST devices are used, for example, STM32 microcontroller. The article describes the application structure, used drivers and peripherals. As a result, phase currents and speed estimation from rotary encoder are shown in the form of graphics view of variables obtained directly from the microcontroller.
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