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Mobile robot control system
Bugár, Loránt ; Jílek, Tomáš (referee) ; Hynčica, Ondřej (advisor)
Bachelors project is fixated for creating a mobile robot with a real time operating system. The robot control system is based on a microcontroller Arduino with ARM Cortex-m3 processor. The practical part is dealing with resolving the client-server communication with the UDP protocol, also with the identification of the engine from measured data’s by the Simulink and subsequently designing the PI regulator from the identificated data’s. In he last part of the work the focus is giving to solving the communication with I2C bus and using sensors like : accelerometer, ultrasonic sensor, infra sensor, light sensor, hall sensor and usage of a robotic arm. An application is created for controlling the robot and for visualisation of sensor readings..
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Smart water pump for water container
Janík, Vladimír ; Lattenberg, Ivo (referee) ; Caha, Tomáš (advisor)
This thesis deals with the implementation of a system for measuring the amount of water in the tank using a 12V water pump. The whole system is controlled by the ESP32 microcontroller. The introduction deals with the theoretical analysis of various principles of measuring the level of liquids. The next part deals with the procedure of the construction of the measuring device and its theoretical analysis. The last part of the work deals with the control of the pump and the individual functions that provide this control. The ultrasonic distance sensor AJ-SR04M was chosen for the implementation of the device. The volume of water in the tank is calculated from its data. The ESP32 microcontroller provides system control via a web interface. The whole system was implemented and tested to measure the volume of water and its pumping in the IBC container.
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Practical verification of EMAT transducer parameters
Zlámal, Michal ; Havránek, Zdeněk (referee) ; Beneš, Petr (advisor)
The challenge is familiar with EMAT transducers, their basic characteristics and principles of operation. Inclusion of the theoretical knowledge acquired in Semester work 1 is based on the practical measurement of the frequency characteristics of transmitting and receiving part of laboratory made EMAT transducers. Based on the measured results should be followed by an improved design of sensor to achieve higher sensitivity with the appropriate shape of frequency response. For generating of exciting signal is expected to use LabVIEW programme environment. For credible results of the measurements in a broad range is needed to make broadband power amplifier for the transmitting and low-noise broadband amplifier for receiving part of EMAT transducer.
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Altitude control of flying robot
Palacký, Tomáš ; Šembera, Jaroslav (referee) ; Baránek, Radek (advisor)
This bachelor’s thesis deals firstly with design and construction of a device for testing of altitude control algorithms of a flying robot. Secondly with creating and testing of an altitude control algorithm in order to apply findings while creating a copter control system. Provided is a selection and analysis of used hardware and software components – microcontroller AVR ATmega, ultrasonic sensor, motor controller and also communication interfaces IC, USART and SPI. Also design and realization of electrical wiring, circuit board and mechanical structure is being described here. The next section includes creation of software for microcontroller and PC application. The altitude control algorithm is developed using a simulation, furthermore tested and tuned for desired behavior.
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Ultrasonic field of level sensors measurement
Hlavatý, Radek ; Fialka, Jiří (referee) ; Beneš, Petr (advisor)
The paper deals with the description of the ultrasonic field around the piezoelectric sensors. The theoretical part serves as an overview for the understanding the ultrasound problematics. More closely studied is the phenomenon of ultrasound wave attenuation. At the end of the theoretical part, three different methods of field measuring were selected and described. The practical part of this work is a more detailed description of the whole measuring system available in the Continental laboratory, that has been put into operation. The system uses a reflection method to measure the ultrasonic field. Automated way of data processing in the form of a script in Python and a macro in Excel was designed. Uncertainties were determined by the test measurements, so was the repeatability of the measured results, that correspond to the physical theory.
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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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Stereometric ultrasonic distance sensor
Nguyen, Thuc Tuyen ; Marada, Tomáš (referee) ; Zuth, Daniel (advisor)
This bachelor thesis deals with designing and realizing a sensory system for detecting the presence of targets and its location. Target is located by two parameters: the distance and the view angle from sensory system. This system is set up by two ultrasonic distance sensors SRF02, driven by microcontroller Atmega128, using I2C communication protocol. The placement of the two ultrasonic distance sensors is optimized by using mathematical model, it enables the system to perform optimum accuracy and be able to observe the largest area possible. The measurement results then will be shown on LCD display module or they can be saved and used as input parameters for other tasks.
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Reverberation Reduction in Transformer-Less Ultrasonic Sensors for Parking Applications
Ledvina, Jan ; Husák, Miroslav (referee) ; Štork, Milan (referee) ; Horský, Pavel (advisor)
Parkovací asistenty jsou dnes běžnou výbavou moderního automobilu. Tato funkce přímo závisí na schopnostech použitých ultrazvukových snímačů. Schopnost měřit krátké vzdálenosti bývá u těchto snímačů omezena reverberacemi (dozvukem). Tyto reverberace jsou nežádoucí jev a tato práce se zabývá možnostmi, jak je potlačit. Záměrně je hledáno řešení pro nově vznikající beztransformátorové snímače. Pro potlačení reverberací je zapotřebí použití tlumících obvodu. V této práci se probírají zejména elektrické tlumící obvody a metody. Na základě rozboru teorie tlumících metod bylo zjištěno, že praktická realizace bude vyžadovat kombinaci více metod. Kombinace sekvence nelineárního tlumení a lineárního tlumení s automaticky doladěným tlumicím obvodem se jevila jako nejlepší volba. Automatické dolaďování zajištuje spolehlivě nastavení tlumícího obvodu bez ohledu na rozptyl obvodových parametrů. Navržený koncept byl rovněž obvodově realizován a vlastnosti tlumících metod byly potvrzeny.
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Bioloid Comprehensive Kit
Hujík, Miloš ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
The goal of this paper is to suggest suitable senzoric subsystem of mobile robot. There are being analyzed robotic kits of different manufacturers. Their advantages and disadvantages in the theoretical way are being explained in this part and also their opportunities of use in the practical way. In the following parts the work is focused on senzoric subsystems of other manufacturers and again are desribed their advantages and disadvantages. On the last part there is shown own concept of senzoric subsystem. HW and SW implementation is described and there are shown testing data of the conception.
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