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Indoor Robot - Mechanical Construction and Power Electronics
Maťas, Marek ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
The thesis is divided into several logical units. In the first part is described the topic of mobile robotics, construction, propulsion and control of mobile robots. Other parts are devoted to the design of robot’s mechanical structure, calculating the requirements for the proposed type of engines and drives. Finally, the control electronics for these engines is proposed, along with a program for microcomputer.
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Local Navigation for Outdoor Robot
Skácel, Martin ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
This diploma thesis deals with complete designing and implementation of local navigation of a robot which travels according to set GPS. This work contains a study of contemporary used principles of the sensors which can be used as the components of the robot. There are sensors for measuring the surroundings of the robot and orientation of the robot in the environs. The equipment includes an instructing control unit with the ATmega8 microcontroller. This equipment collects data from the sensors and transfers them to the other systems of the robot. The following part of the thesis deals with the draft of the buses and communication protocols, which are necessary for connection between the sensors and the control unit. The I2C and RS232 buses were chosen as the most suitable. The communication protocol was borrowed from the semester project written by Bc. Michal Sitta. The main task of this control unit is reading out the data which have been measured from connected sensors. The realization of interface between the sensor bus and the major system is another core goal of the control unit. The system for a local navigation is designed with the approach which allows the widest range of extensibility. During the designing of the control unit the future possibility of insertion other sensors was taken into consideration.
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Differential GPS
Madron, Tomáš ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
This master’s thesis is the design of the system of the differential GPS, creation of the software for basic wireless communication between 2 GPS receivers, and practical tests of the designed system. Parameters and characteristics of system were determined and they should inform us better about the appropriateness of the designed system for navigation of a mobile robot in outside conditions.
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Hardware and software for mobile robots
Sárközy, Gabriel ; Skula, David (referee) ; Veselý, Miloš (advisor)
The aim of this work is to modify hardware and software of small mobile robots, so they can be better used in Micromouse and Path Follower challenges. The first part of the project includes debugging and creating of a correct documentation of the existing electric circuits used in the robot called RUBRIK. My work was also to design and realize mechanical, electrical and software upgrades. The second part includes the design and realization of similar modifications of the robot ROBIK. Each robot has an Atmel AVR microcontroller. Robots are programmed in C programming language.
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Outdoor Robot Hardware Design
Sitta, Michal ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
This work starts with slightly more detailed description of Ackerman and differential steering. Next shows parameters of direct-current brush and brush-less motors and gear-boxes uses in robotics. Electro technical part show problems of control direct-current brush motor, design of DC-DC converter with integrated circuit MC34063, reading information about steering angle with potentiometer and speed with optical encoder. In the end of work is shown simple byte oriented communication protocol used between microprocessor and desktop PC.
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Wheeled-drive Robot Control
Sitta, Michal ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
The aim of this thesis is to describe the electronics of autonomus outdoor robot called TIM2. TIM2 is a group project and only a part of the project is presented. First part this work is about chasses common used in robotics. Detailed description of each type of module used is described in this work. There is also described communication protocol. A controllers for front and rear axle are also described. One part of this work is measurement, it contains electronics characteristic of modules and measurement to describe quality of motor controllers. Last part of the document is about communication between modules and impact on the robot functionality in the case of failure of a module. Enclosure provides complete circuit diagrams, printed circuit boards, planting plans, lists of components for all designed modules.
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Teplice, Bílinská st. - roundabout design
Chladný, Miroslav ; Veselý, Miloš (referee) ; Radimský, Michal (advisor)
The aim of my master´s thesis is to design documentation, at the level of study, for roundabout. The area of interest is defined by the crossroad of Lounská, Americká, Bílinská streets and the conection of existing road I/13 . This is the crossroad of local roads, which are functional group C-serving with the serving function. The aim of conversion of existing crossroad on the roundabout is to calm and clarify the traffic in the locality. There are also designed comunications for pedestrians in the locality. The study is solved in two variant of conection to existing road I/13.
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Minidarpa robot - software design
Kopecký, Martin ; Veselý, Miloš (referee) ; Kopečný, Lukáš (advisor)
Robotics is very quickly developping sector. Particulary mobile robots belongs to perspective sector of robotics. In the future mobile robots could help in transportation both people and stuff. But knowledge in this sector help in common life for example parking assistent system or safety distance system. Big benefit from automatic controled vehicles could be saving a lot of human lifes. My bachelor's thesis deals with control system of small competition mobile robot, including hardware and especially software parts of control system.
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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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Hardware and software for mobile robots
Sárközy, Gabriel ; Skula, David (referee) ; Veselý, Miloš (advisor)
The aim of this work is to modify hardware and software of small mobile robots, so they can be better used in Micromouse and Path Follower challenges. The first part of the project includes debugging and creating of a correct documentation of the existing electric circuits used in the robot called RUBRIK. My work was also to design and realize mechanical, electrical and software upgrades. The second part includes the design and realization of similar modifications of the robot ROBIK. Each robot has an Atmel AVR microcontroller. Robots are programmed in C programming language.
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