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	Design of a fault-tolerant control system for a self-balancing two-wheel vehicle Matějásko, Michal ; Zouhar, František (oponent) ; Grepl, Robert (vedoucí práce) This thesis deals with the design of a new fault-tolerant control system for a self-balancing two-wheel vehicle of the Segway type. The original vehicle system is subject to a risk analysis of its components. Based on the results, new safety measures are suggested for the system. A new control system topology is designed, consisting of two independent control units, redundant sensors and a voter. Software for the control units integrating fault-detection algorithms and a control outputs switching mechanism has been developed. Two mathematical models of different complexities for the vehicle are presented and then used in HIL testing of the new control system. The whole design of the system was done using Rapid Control Prototyping tools. Úplný záznam
	Single Wheel Vehicle Hanuš, Radek This article briefly describes a design and a construction of a self-balancing vehicle, similar to a skateboard, but only with one wheel located in the centre of the device. The wheel is driven by a motor and embedded electronics to keep the driver upright and move the vehicle accordingly to his tilt, so that the ride will resemble skateboarding, snowboarding or even surfing. Úplný záznam
	Design of a fault-tolerant control system for a self-balancing two-wheel vehicle Matějásko, Michal ; Zouhar, František (oponent) ; Grepl, Robert (vedoucí práce) This thesis deals with the design of a new fault-tolerant control system for a self-balancing two-wheel vehicle of the Segway type. The original vehicle system is subject to a risk analysis of its components. Based on the results, new safety measures are suggested for the system. A new control system topology is designed, consisting of two independent control units, redundant sensors and a voter. Software for the control units integrating fault-detection algorithms and a control outputs switching mechanism has been developed. Two mathematical models of different complexities for the vehicle are presented and then used in HIL testing of the new control system. The whole design of the system was done using Rapid Control Prototyping tools. Úplný záznam

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