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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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Monitoring of operating data of handling equipment
Fikar, Vratislav ; Vobejda, Lukáš (referee) ; Šedivá, Soňa (advisor)
Master’s thesis deals with the design of monitoring of handling equipment. Measured quantities are the switched-on state of the forklift, the time of active use, monitoring of transported material, and the total traveled distance. For each quantity, several possible sensing methods are outlined followed by a summary of the pros and cons of each method, which served as the basis for selecting the most suitable sensor for sensing the required information. The theoretical part of the thesis outlines the proposals in terms of both theoretical aspects as well as the implementation of the sensors along with proposals for possible mounting on a forklift. The proposed application was built on top of the Workmonitor RKC2.0 development kit, which was first developed for injection molding machine monitoring equipment. The proposed solution further expands the Workmonitor RKC2.0 software with additional features, such as forklift data collection, data processing, and streaming of collected data via WiFi to a local server. The final part then describes the mounting of sensors in the forklift, the final software changes, and the presentation of the collected data.
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Autonomous mobile robot
Pijáček, Ondřej ; Kopečný, Lukáš (referee) ; Jílek, Tomáš (advisor)
This thesis describes the design and implementation of chassis for autonomous wheeled mobile robot along with a proposal for a suitable control system. To move the robot was necessary to create individual modules for measuring environmental data, its subsequent processing and power management. For the entire robot system capable of rapid interaction, certain tasks are separated and controlled by its own microcontroller. For communication between the modules were chosen and designed SPI bus communication protocol. Thus assembled chassis then communicates over a serial line with higher system from which acquires data indicative of a subsequent procedure. The result is a controlling system communicating between its parts. Part of the design is also defined communications protocol that transmits data on the one hand and also used for fault diagnosis when sending information. Furthermore, there are patterns and specific methods for controlling the individual modules. In conclusion, the thesis described the proposed testing the robot in real conditions, along with the measurement results obtained in the task of autonomous driving.
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Current Sensors
Vaculík, Vlastimil ; Červinka, Dalibor (referee) ; Patočka, Miroslav (advisor)
This diploma theisis deals with the theoretical analysis of the known types of current sensors, including for example, current transformers, shunts, and advanced sensors using Hall sensor or Rogowski coil. Subsequently, the rest of the work deals with the issue of current transducers with Hall sensors, without using a ferromagnetic circuit. For optimal currnet measure and overall precision, several possible options are designed and calculated. This includes number of sensing elements and distribution of sensors around the wires. Based on calaculation of magnetic intensity, related 3D charts ale plotted unsing Excel software. These charts illustrate the theoretical calculations of field distribution around conductors for various number of sensor. In the last part, components ale designed for practical implementation and scheme of electrical wiring. According to this scheme there is PCB designed as well. Whole current meter ir practically build and its results are compared with theoretical assumtions that are discussed in conclusion part of this theisis.
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Optimization model of hydropower plant
Kršiak, Oliver ; Novotný, Jan (referee) ; Radil, Lukáš (advisor)
This diploma thesis deals with the creation measuring instruments and program for controlling model hydropower plant intended for laboratory use. The first step is to improve the mechanical performance of the original model of hydroelectric power. The second step is to select a revive measuring instruments for electric values of the plant. The third step is to create a program for displaying electrical parameters and control the plant. The final step was re-measuring the operating characteristics of the generator model hydropower plant.
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Meteorological station system
Čada, Jan ; Balík, Miroslav (referee) ; Lattenberg, Ivo (advisor)
This bachelor thesis deals with the design and implementation of a online meteorological station system, which consists of individual weather stations that communicate via the Internet with the server. The first part of the thesis discusses the principles of measuring major meteorological variables and deals with the selection of suitable sensors for measuring temperature, atmospheric pressure, humidity, wind speed and rainfall. In the practical part, one of the weather stations based on Raspberry Pi Zero microcomputer is designed and realized. As a complement to the measured data, the station includes a camera that captures the view from the site where the meteostation is installed. 3D printing is used to realize most of the mechanical parts, it has the advantage of speed, accuracy and easy reproducibility. For the measurement of temperature, pressure and humidity, a combined sensor BME280 from Bosch is used, which is placed in a small Stevenson screen. The wind speed is measured by a cup anemometer whose rotation is sensed by an integrated Hall sensor. The output pulses are then counted using the PCF8583 circuit, which has an I2C interface for reading the values with a Raspberry Pi microcomputer. Special attention is paid to the construction of a custom calibratable tipping bucket rain gauge with a resolution of 0,5 mm, whose mechanical motion is also sensed by a Hall sensor as in the anemometer. The reading of the data from sensors and sending it to the server is handled by a Python script. For storing and presenting data to users, a custom server solution based on LAMP webserver is implemented, its source codes are written in PHP, HTML, JavaScript and CSS. In addition to the web interface, which displays the data in graphs, the measured data can be also presented to the user via an application for mobile devices based on Android. The application was developed in C# using the Xamarin framework in the Microsoft Visual Studio development environment. Among other things, it implements a widget for quick access to the measured values directly from the home screen. In the final part of the thesis, interesting findings obtained by observing the measured values are mentioned.
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Coilgun
Kovařík, Martin ; Pavlík, Michal (referee) ; Šteffan, Pavel (advisor)
This bachelor’s thesis describes the design and construction of electromagnetic gun for testing projectiles from different ferromagnetic materials with maximal power 19 J. Conventional projectile propulsion mechanisms include the use of compressed air or explosion which places theoretical limits on the maximum muzzle velocity limited by laws of thermodynamics. The electromagnetic coil gun, explores the use of electromagnetism in accelerating projectiles which offers a much higher theoretical limit on muzzle velocity. In addition of an electromagnetic acceleration is possible to regulate output velocity/energy of projectile, and acceleration applied on projectile.
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Battery supplied lawn mower
Picmaus, Jan ; Martiš, Jan (referee) ; Vorel, Pavel (advisor)
The thesis deals with a concept of turning a conventional petrol powered lawn mower to a battery powered solution which is powered by lithium cells. A division to three chapters, comparison, mechanical and electrical, provides fluency of the whole design and further realization. The arrangement of chapters is performed so that the continuity of the thesis is maintained. Calculations of parameters of every motor and transmission with choosing particular devices are just a part of much interesting information which can be found in this thesis. All new components have full documentation except those which were changed during manufacturing. The electrical part explains every part of the schematics in detail. The realization contains difference between preliminary design and further production, manufacturing of the PCB and powering up the motor drives. The last part of the thesis contains temperature measurements of the device at no load.
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