The diploma thesis deals with the design of a single-wheel mobile robot, which is able to jump and collect samples weighing 2 Kg. The first part is devoted to the review of single-wheel robots. A brief analysis of single-wheel motion and a brief overview of jumping mechanism follow up. The second part describes problem analysis and five design variants. Using the multicriteria analysis, the variants were evaluated, and the optimal variant was chosen. The third partm is dedicated to the dynamic calculations and the mechanical design of the robot itself. The last part is devoted to economic evaluation and discussion with possible continuation in developing. The complete drawing documentation of the robot is included in this work.

This study deals with tilt sensors. Besides others methods, accelerometers and gyroscopes are also convenient to solve this problem. Tilt sensors which are described in this thesis are working with capacitive, piezoresistive and thermal method. Capacitive accelerometers from producer Analog Devices, STmicro and Freescale, piezoresistive accelerometers from producer Panasonic Matsushita and gyroscope ADXRS300 are tested by practical measurement. Parameters of these accelerometers are found and they are compared with parameters from producer. Measurement reliability in this study is analysed as well. This thesis is divided in chapters theoretically describing principles of particular accelerometers and the chapters containing measured data evaluation.

This diploma thesis deals with design and realization of control board with controlling program for stabilization platform application. Thesis is splitted in to six parts. In first part of thesis are summarized required parameters and properties of proposed system together with explanation of necessary theoretical basics. In second part of thesis is made analysis of sensors which are designated for sensing necessary magnitudes. Namely then magnetometer, accelerometer, gyroscope. For every sensor is there made analysis of influence caused by parasitic effects. In conclusion of second part is made choice of concrete sensors by choosing sensory module. Third part deals with conception of mechanical solution. Fourth part of thesis deals with design and construction of control board and also with description of circuit functional blocks. This is followed with fifth part which describing program equipment of board with setting up sensory module. In last part of thesis are described conclusions of testing.

The aim of this master’s thesis is to describe the basic measurement methods of micro-electromechanical inertial sensor, their physical principles and errors. Measurement of inertial sensors is very important for the parameterization of their errors and their subsequent mathematical model by which it is possible to minimize the measurement error impact on inertial navigation. The practical part is dedicated to create automated measurement setup for measurement stability of the offset. Hardware and software from National Instruments is used in measurement chain. The work is next focused on measuring seven inertial sensors based on three different physical principles. In addition to creating measurement setup, we also defined three inertial sensor parameters, describing theoretical behavior of the sensor output.

This thesis analyses the use of an accelerometer commonly present in a mobile device for the measuring of vibration in a vehicle. Such measurements are used to map the quality of the road surface. The signal from the accelerometer and the current travelling speed of the vehicle are evaluated according to a threshold function. This function allows for a determination of whether the signal reported by the device signifies a pot-hole or another type of defect on the road surface. If the defect is determined to pose a threat to a vehicle travelling at higher speeds, then this fact is saved into the memory of the device. The second part of this thesis deals with the design of an internet and a mobile application, which is able to collect all measured data processes using cluster analysis and then shares the results with other participating devices. Tha practical results is that a map of road surface defect is thus created, which is then displayed to road users. This thesis deals with theory of mobile device sensors, including signal processing, as well as the design creation of the internet and mobile application.

This diploma thesis presents theoretical information regarding MEMS gyroscopes their parameters and designs. The description of measurement chain be used for testing of MEMS gyroscopes in Honeywell International s.r.o. is presented. Special focus is devoted to: the Polytec MSA-500 system, the Standa goniometers and their controller, Peltier cell and its driver. The practical part of this thesis contains the description of the thermal control system and also the description of the developed “Measurement system” in the LabVIEW software which is used for controlling the goniometers position and the Peltier cell. The system is able to fully control two goniometer stages, align the surface of tested MEMS device to orthogonal position with respect to the Polytec MSA-500 measurement head and also control the temperature of the tested device. The last part of this thesis presents the tests of the MEMS gyroscope parameters with special focus to the MEMS gyroscope angle random walk and the bias dependence on the vacuum quality of the structure environment.

This thesis deals with a design of 9DOF module for the evaluation of orientation in space. The thesis includes a theoretical description of sensors, mathematical apparatus for rotating and the Kalman filter. The practical part deals with the design of hardware, firmware and software, whereby the mathematical formulas set out in the theoretical part are applied. In the last part a testing of the created module is presented.

This thesis is focused on the design and realisation of inertial navigation unit INS. The unit is capable to measure, store and send data to a PC in real-time for a later offline processing. The first part of the thesis introduces the reader with the basic principles of accelerometers, gyroscopes and MEMS sensors. An introduction to coordinate systems and measuring errors is also included. The second and third part of the thesis deals with the analysis of the solution and the implementation of the INS unit. The fourth part of the document is dedicated to the software for the INS unit. This thesis concludes with explanation how the gathered data are processed.

This diploma thesis deals with the acquisition and classification of movement using accelerometer and gyroscope data. The theoretical part contains biomechanics of movement, sensors used in the motion analysis and customization options and classification of measured data. A description of the components of the acquisition system, its implementation and placement on the body of the measured person are introduced in this work as well. To verify the functionality of the device, measured data was compared with the data measured by mobile application Sense-it. Classification of motion was inplemented by two methods in the Matlab software environment. The first one uses a vector of three parameters, the other classifies the movement by the absolute value of the difference in signal deflections.

Among the elderly, falling represents a major threat to the individual health, and is considered as a major source of morbidity and mortality. In Sweden alone, three elderly are lost each day in accidents related to falling. The elderly who survive the fall are likely to be suffering from decreased quality of life. As the percentage of elderly increase in the population worldwide, the need for preventive methods and tools will grow drastically in order to deal with the increasing health-care costs. This report is the result of a conceptual study where an algorithm for individualized motion monitoring and pre-impact fall detection is developed. The algorithm learns the normal state of the wearer in order to detect anomalous events such as a fall. Furthermore, this report presents the requirements and issues related to the implementation of such a system. The result of the study is presented as a comparison between the individualized system and a more generalized fall detection system. The conclusion is that the presented type of algorithm is capable of learning the user behaviour and is able to detect a fall before the user impacts the ground, with a mean lead time of 301ms. / Bland äldre är risken för att drabbas av fallrelaterade skador överhängande, ofta med svåra fysiska skador och psykiska effekter som följd. Med en ökande andel äldre i befolkningsmängden beräknas även samhällets kostnad för vård att stiga. Genom aktiva samt preventiva åtgärder kan graden av personligt lidande och fallre- laterade samhällskostnader reduceras. Denna rapport är resultatet av en konceptuell studie där en algoritm för aktiv, individanpassad falldetektion utvecklats. Algoritmen lär sig användarens normala rörelsemönster och skall därefter särskilja dessa från onormala rörelsemönster. Rapporten beskriver de krav och frågeställningar som är relevanta för utvecklingen av ett sådant system. Vidare presenteras resultatet av studien i form av en jämförelse mellan ett individanpassat och generellt system. Resultatet av studien visar att algoritmen kan lära sig användarens vanliga rörelsemönster och därefer särskilja dessa från ett fall, i medelvärde 301ms innan användaren träffar marken.