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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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Mobile robot control system
Řezníček, Radek ; Kříž, Vlastimil (referee) ; Hynčica, Ondřej (advisor)
This thesis deals with differential drive wheeled mobile robot which is running under a real-time operating system. Introductory part is focused on theoretical description of robot and its original firmware. Practical part deals with creating software and implementation several methods that allow following the line by robot using reflectance sensor array. Significant part of this thesis is focused on design and implementation of communication protocol, based on IEEE 802.15.4 which provides communication between robot and PC. There is also created a PC application that allows to transmit commands to the robot and display information gained from robot.
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Detecting RTOS Runtime Anomalies
Arm, Jakub ; Jalovecký, Rudolf (referee) ; Blecha, Petr (referee) ; Bradáč, Zdeněk (advisor)
Due to higher requirements of computational power and safety, or functional safety ofequipments intended for the use in the industrial domain, embedded systems containing areal-time operating system are still the active area of research. This thesis addresses thehardware-assisted control module that is based on the runtime model-based verificationof a target application. This subsystem is intended to increase the diagnostic coverage,particularly, the detection of the execution errors. After the specification of the architecture,the formal model is defined and implemented into hardware using FPGA technology.This thesis also discuss some other aspects and embodies new approaches in the area ofembedded flow control, e.g. the integration of the design patterns. Using the simulation,the created module was tested using the created scenarios, which follow the real programexecution record. The results suggest that the error detection time is lower than usingstandard techniques, such a watchdog.
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Smart lock device using CAN according to the AUTOSAR
Musil, Tomáš ; Fiedler, Petr (referee) ; Arm, Jakub (advisor)
The aim of this thesis is a creation of lock based on RTOS system according AUTOSAR standard. In the first part of thesis is the acquaintance itself with the standard. After that thesis is concerned with the choice of suitable RTOS and with this linked MCU. In the next point is described the method of creation of individual parts from which is an application created. The last points of the work concern the description of the application itself, functionality and methods of testing.
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Firmware for the Robotic Vehicle
Otava, Lukáš ; Sojka,, Michal (referee) ; Kučera, Pavel (advisor)
This thesis is focused on a firmware for robotic vehicle based on the ARM Cortex-M3 architecture that is running a real-time operating system (RTOS). Theoretical part describes available solutions of embedded RTOS and concrete HW implementation of the robotic vehicle. There is also comparison of the three selected RTOS with their measurements. Result of this thesis is base firmware compounded by a program modules that controls HW parts. There is also a sample PC and firmware application that extends base firmware. This sample application is able to communicate with robotic vehicle, control wheel motion and measure process data.
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Asymmetric Multiprocessing on the ARM Cortex-A9
Riša, Michal ; Košař, Vlastimil (referee) ; Korček, Pavol (advisor)
Asymmetric multiprocessing (AMP) is a way of distributing computer system load toheterogeneous hardware and software environment. This thesis describes the principles of the AMP focusing on the ARM Cortex--A9 processor and Altera Cyclone V hardware platform. Development of a OpenAMP framework based AMP system showing communication among the processor cores, documentation and future work suggestion are the products of this thesis.
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Embedded System with Communication Interface NFC and Wi-Fi
Bugár, Loránt ; Valach, Soběslav (referee) ; Horák, Karel (advisor)
This master’s thesis deals with communication system design via the NFC and Wi-Fi interface. The thesis has two basic goals. The first goal is to create a device that is capable of storing of data and its subsequent transfer via the NFC interface. The second aim is to utilize this device for measuring various physical variables. The IoT technology is employed to fulfill the aforementioned goal. IoT technology is capable of visualizing data in real time and make them accessible via the Internet. The result of this work is an universal device, that contains the most popular communication interfaces, such as I2C, SPI and that is capable of processing measurement data from digital, analogue, and wireless sensors.
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Embedded Web Server Based on Freescale Platform
Šilon, Peter ; Vašíček, Zdeněk (referee) ; Strnadel, Josef (advisor)
Embedded web server (EWS) is a web server that runs on a device with limited computing power and memory. By implementing a web server into embedded device with network connectivity we achieve new way of long distance management and control. Web technologies offer user-friendly GUI, simplicity and low prices. The aim of this project is a design of the EWS using Freescale resources. EWS have to have a slot for memory card, on-board peripheries or interfaces signals attached to connecter to allow connection of external devices. Firmware will be built on one of the freeware TCP/IP implementation for embedded systems.
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