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Modeling and simulation of robust control algorithms for BLDC motors
Smilek, Jan ; Hrbáček, Jan (referee) ; Toman, Jiří (advisor)
This thesis focuses on developing algorithms for brushless AC motor control. First part of the thesis contains derivation of mathematical model and overview of selected sensor and sensorless control methods. Second part introduces simulation model of the motor, developed in Matlab/Simulink environment, with usage of SimPowerSystems toolbox. Following chapter describes realization of control algorithm, utilizing Hall sensors and position estimation. After that, sensorless rotor position estimation module is developed, and its implementation into the model is mentioned. Last chapters deal with development of graphical user interface, meant for changing selected motor and control parameters, and they also summarize and compare achieved results.
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Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
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Application of Augmented Reality: Measurement of Object Dimensions
Karásek, Miroslav ; Beran, Vítězslav (referee) ; Herout, Adam (advisor)
The goal of this diploma thesis is design and implementation of an application for automated measurement of objects in augmented reality. It focuses on automating the entire process, so that the user carries out the fewest number of manual actions. The proposed interface divides the measurement into several steps in which it gives the user instructions to progress to the next stage. The result is an Android application with ARCore technology. Is capable of determining the minimal bounding box of an object of a general shape lying on a horizontal surface. Measure error depends on ambient conditions and is in units of percent.
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Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
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Comparison of Localization Techniques
Skalka, Marek ; Obdržálek, David (advisor) ; Iša, Jiří (referee)
This work compares localization techniques used in mobile robotics. Localization - how to determine one's own position within a space - is one of the fundamental challenges of robotics. The introduction is devoted to a detailed description of localization and to the categorization of localization techniques. In subsequent chapters, category by category, various localization techniques and their variants are described and their strengths and weaknesses are compared. The work successively addresses: probabilistic localization techniques used for inaccurate sensor measurements processing and for providing reliable position estimate; relative localization techniques used for evaluation of relative changes in the robot position; and absolute localization techniques for finding and estimating the absolute position of the robot in the environment.
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Application of Augmented Reality: Measurement of Object Dimensions
Karásek, Miroslav ; Beran, Vítězslav (referee) ; Herout, Adam (advisor)
The goal of this diploma thesis is design and implementation of an application for automated measurement of objects in augmented reality. It focuses on automating the entire process, so that the user carries out the fewest number of manual actions. The proposed interface divides the measurement into several steps in which it gives the user instructions to progress to the next stage. The result is an Android application with ARCore technology. Is capable of determining the minimal bounding box of an object of a general shape lying on a horizontal surface. Measure error depends on ambient conditions and is in units of percent.
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Comparison of Localization Techniques
Skalka, Marek ; Obdržálek, David (advisor) ; Iša, Jiří (referee)
This work compares localization techniques used in mobile robotics. Localization - how to determine one's own position within a space - is one of the fundamental challenges of robotics. The introduction is devoted to a detailed description of localization and to the categorization of localization techniques. In subsequent chapters, category by category, various localization techniques and their variants are described and their strengths and weaknesses are compared. The work successively addresses: probabilistic localization techniques used for inaccurate sensor measurements processing and for providing reliable position estimate; relative localization techniques used for evaluation of relative changes in the robot position; and absolute localization techniques for finding and estimating the absolute position of the robot in the environment.
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Modeling and simulation of robust control algorithms for BLDC motors
Smilek, Jan ; Hrbáček, Jan (referee) ; Toman, Jiří (advisor)
This thesis focuses on developing algorithms for brushless AC motor control. First part of the thesis contains derivation of mathematical model and overview of selected sensor and sensorless control methods. Second part introduces simulation model of the motor, developed in Matlab/Simulink environment, with usage of SimPowerSystems toolbox. Following chapter describes realization of control algorithm, utilizing Hall sensors and position estimation. After that, sensorless rotor position estimation module is developed, and its implementation into the model is mentioned. Last chapters deal with development of graphical user interface, meant for changing selected motor and control parameters, and they also summarize and compare achieved results.
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