|
|
Modeling and simulation of robust control algorithms for BLDC motors
Smilek, Jan ; Hrbáček, Jan (referee) ; Toman, Jiří (advisor)
This thesis focuses on developing algorithms for brushless AC motor control. First part of the thesis contains derivation of mathematical model and overview of selected sensor and sensorless control methods. Second part introduces simulation model of the motor, developed in Matlab/Simulink environment, with usage of SimPowerSystems toolbox. Following chapter describes realization of control algorithm, utilizing Hall sensors and position estimation. After that, sensorless rotor position estimation module is developed, and its implementation into the model is mentioned. Last chapters deal with development of graphical user interface, meant for changing selected motor and control parameters, and they also summarize and compare achieved results.
|
|
|
Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
|
|
|
Localization of Mobile Device in Space
Komár, Michal ; Láník, Aleš (referee) ; Šolony, Marek (advisor)
This thesis focuses on the current localization options of the Android mobile phone platform. It explores the possibilities of locating mobile devices not only with the use of inertial sensors, but also the possibility of localization using integrated video camera. The work describes the measurements done with available inertial sensors, introduces visual localization algorithm and design a system using these two approaches.
|
|
|
Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
|
|
|
Comparison of Localization Techniques
Skalka, Marek ; Obdržálek, David (advisor) ; Iša, Jiří (referee)
This work compares localization techniques used in mobile robotics. Localization - how to determine one's own position within a space - is one of the fundamental challenges of robotics. The introduction is devoted to a detailed description of localization and to the categorization of localization techniques. In subsequent chapters, category by category, various localization techniques and their variants are described and their strengths and weaknesses are compared. The work successively addresses: probabilistic localization techniques used for inaccurate sensor measurements processing and for providing reliable position estimate; relative localization techniques used for evaluation of relative changes in the robot position; and absolute localization techniques for finding and estimating the absolute position of the robot in the environment.
|
|
|
Methods For Simultaneous Self-Localization And Mapping For Depth Cameras
Ligocki, Adam
This work deals with the extension of the existing implementation of RGBD Visual SLAM with additional data source from wheel odometry of robot’s chassis, on which RGBD sensor is located. Each of these two position estimation methods has a different character measurement uncertainty. By combining these methods together we could be able to suppress the disadvantages of both approaches, and in the result we would be able to create more accurate model of the robot’s environment, which was unknown at the beginning of the measurement. Also accuracy of position estimation in created model can be improved.
|
|
|
Comparison of Localization Techniques
Skalka, Marek ; Obdržálek, David (advisor) ; Iša, Jiří (referee)
This work compares localization techniques used in mobile robotics. Localization - how to determine one's own position within a space - is one of the fundamental challenges of robotics. The introduction is devoted to a detailed description of localization and to the categorization of localization techniques. In subsequent chapters, category by category, various localization techniques and their variants are described and their strengths and weaknesses are compared. The work successively addresses: probabilistic localization techniques used for inaccurate sensor measurements processing and for providing reliable position estimate; relative localization techniques used for evaluation of relative changes in the robot position; and absolute localization techniques for finding and estimating the absolute position of the robot in the environment.
|
|
|
Localization of Mobile Device in Space
Komár, Michal ; Láník, Aleš (referee) ; Šolony, Marek (advisor)
This thesis focuses on the current localization options of the Android mobile phone platform. It explores the possibilities of locating mobile devices not only with the use of inertial sensors, but also the possibility of localization using integrated video camera. The work describes the measurements done with available inertial sensors, introduces visual localization algorithm and design a system using these two approaches.
|
|
|
Modeling and simulation of robust control algorithms for BLDC motors
Smilek, Jan ; Hrbáček, Jan (referee) ; Toman, Jiří (advisor)
This thesis focuses on developing algorithms for brushless AC motor control. First part of the thesis contains derivation of mathematical model and overview of selected sensor and sensorless control methods. Second part introduces simulation model of the motor, developed in Matlab/Simulink environment, with usage of SimPowerSystems toolbox. Following chapter describes realization of control algorithm, utilizing Hall sensors and position estimation. After that, sensorless rotor position estimation module is developed, and its implementation into the model is mentioned. Last chapters deal with development of graphical user interface, meant for changing selected motor and control parameters, and they also summarize and compare achieved results.
|
guest ::
