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Face mask visualization for a robotic head
Pospíchal, Tomáš ; Brablc, Martin (referee) ; Appel, Martin (advisor)
This bachelor thesis deals with face exposure visualisation using backward projection. Image calibration is implemented for correction of distorsion and brightness change caused by curved projection plane. Identification of deformation is done by projected checkerboard patern . For deformation method of Moving Least Squares (MLS) is used. Test tool is designed and projector upgrade for shorther throw distance is implemented.
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Automatic detection of tool fracture in metal sheet punching
Kluz, Jan ; Rajchl, Matej (referee) ; Brablc, Martin (advisor)
This Bachelor thesis deals with the design and subsequent implementation of the realtime fault detection system during the sheet metal punching process with a tool of small dimensions (0.5 × 12 mm). The proposed system is important for significant ease of the operator's work, acceleration of the process of production, as well as saving of the company finance budget. The first part of this thesis deals with the theoretical background of the studied issue. The following part is a brief theoretical introduction to the field of digital signal processing. The next chapter presents methods developed for fault signals detection including speed enhancing and data flow reducing algorithms. The main examined methods were: frequency peaks, frequency bands, autocorrelation, frequency correlation methods and machine learning including deep machine learning. Deep machine learning of the neural network achieved the best results overall. Features from time and frequency domain were used for purposes of creating the classification model using machine learning. The possibility of developing the predictive maintenance system is also described, including research of this area in a modern industry. Subsequently, the achieved results and their evaluation are presented. The end of this thesis is dedicated to the description of the implementation of classification system into realtime form and connecting this system to the punching press computer using Arduino Uno microcontroller and basic signal control electronics. The proposed system has been successfully assembled, tested and put into on-site testing.
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HIL test stand for universal electronic control units
Zouhar, Štěpán ; Musil, Filip (referee) ; Brablc, Martin (advisor)
This diploma thesis is focused on testing of Electronic Control Units, especially functional testing in which hardware and software is verified and also Model in the Loop, Software in the Loop, Processor in the Loop and Hardware in the Loop testing methods. Within practical part of this thesis testing stand for functional test of the ECU was developed and manufactured. It is connected to PC via Input/Output card, testing is controlled by MATLAB script. Whole process of testing is automated from initial upload of testing firmware to tested ECU over all phases of test up to bootloader flashing. Hardware in the Loop test was also created, in which ECU works as controller and DC motor is simulated in real time with PC in MATLAB environment.
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Control of low-cost prosthetic limb using EMG sensors
Šafran, Jindřich ; Brablc, Martin (referee) ; Rajchl, Matej (advisor)
This Bachelor thesis is about the general design, construction and model assembling of the prosthetic arm. Its programming and controlling of the robotic part are also included. The thesis is divided into five chapters. In the first chapter, the anatomy of forearm is analysed and described. Its anatomical structure is the theoretical base on which the final model is designed and constructed. Following, second chapter, comprises the analysis of prosthetic mechanisms according to the historical development up until today. And this chapter also contains the production of the designed forearm-hand-model itself. The third chapter describes the EMG diagnostic method and the process of manufacturing of each compartment of controller device used for controlling the mechanism of the designed model. Next, chapter number four contains gaining and processing of the data from testing of the measuring device. In the last fifth chapter, the programming of the made forearm-hand-model in various development environments is described. All the results and gained knowledge, are evaluated and described in the conclusion of the Bachelor thesis.
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Segway driver parameter estimation and its use for optimizing the control algorithm
Dobossy, Barnabás ; Zouhar, František (referee) ; Brablc, Martin (advisor)
Táto práca sa zaoberá vývojom, testovaním a implementáciou adaptívneho riadiaceho systému pre dvojkolesové samobalancujúce vozidlo. Adaptácia parametrov vozidla sa uskutoční na základe parametrov vodiča. Parametre sústavy sa nemerajú priamo, ale sú odhadované na základe priebehu stavových premenných a odozvy sústavy. Medzi odhadované parametre patrí hmotnosť a poloha ťažiska vodiča. Cieľom práce je zabezpečiť adaptáciu jazdných vlastností vozidla k rôznym vodičom s rôznou hmotnosťou, kvôli zlepšeniu stability vozidla. Táto práca je pokračovaním predchádzajúcich projektov z roku 2011 a 2015.
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Control of Nonlinear Systems using Local Approximation Methods
Brablc, Martin ; Bugeja, Marvin (referee) ; Grepl, Robert (advisor)
Tato práce se zabývá návrhem adaptivního řídícího algortitmu pro konkrétní třídu elektromechanických aktuátorů, založeného na principu dopředného řízení pomocí inverzního dynamického modelu. Adaptibilita řízení spočívá v mechanismu získání inverzního dynamického modelu. Tato práce se zaměřuje na jeho online aproximaci pomocí lokálních aproximačních metod. Výstupem práce je shrnutí analýzy, simulačního testování a reálných experimentů, které testovaly možnosti praktického využití lokálných aproximačních metod pro účely adaptivního řízení v reálném prostředí.
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Design of two-axis linear measuring device for railroad axles pressing
Mlynář, Vojtěch ; Vejlupek, Josef (referee) ; Brablc, Martin (advisor)
The main goal of this bachelor's thesis is the design of the device capable of measuring the distance between railroad wheelset elements during pressing. The research part presents the parameters of the wheelset press and the existing solutions to the problem. Additionally, distance-measuring sensors, motor sizing methods, and sensitivity analysis methods are described. The third chapter outlines the design process, beginning with early conceptions, their analysis, and leading into the final design.
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