This project is about to create a multi sensor modular platform for robots. That means a platform created with several sensors, actuators and chips that had to be useful for future robot practice or projects. As this project is a platform for future thesis, is required to use standard programming language, creating the control of the sensors so that it could be easily used by other students in the future, although they did not know the inner working of programs in particular. Although this platform can be used for multiple applications, this thesis give special attention on a future project that the mainly purpose is create a robot capable of follow scents, or what is the same, different concentrations of gas. Thus, although the programs that we had to create could be used for various purposes, are specially done thinking of the future use for the creation of this robot tracker of smells. So the main task of this project is to investigate and see how each of the sensors and actuators of our robot works and, in the other hand, learn to program a chip set not only to make it able to receive information from these sensors and send information to the actuators, but create some laws to control our multi sensor modular platform for robots to perform tasks from the acquired information. Basically our robot is able to follow the direction that we want, with a close control loop in the direction using the information acquired from a three axis accelerometer, which allows too knowing the acceleration and consequently velocity and position of our robot. Also the robot is equipped with ultra sound sensors allowing detecting and avoiding obstacles. The smell sensor is implemented for the next versions of this robot.

Στόχος της παρούσας διπλωματικής εργασίας, η οποία εκπονήθηκε στο Εργαστήριο Ηλεκτρομηχανικής Μετατροπής Ενέργειας του τμήματος Ηλεκτρολόγων Μηχανικών και Τεχνολογίας Υπολογιστών της Πολυτεχνικής Σχολής του Πανεπιστημίου Πατρών, είναι η μελέτη και κατασκευή διάταξης για την παλμοδότηση και τον έλεγχο ενός κινητήρα τύπου ultrasonic, χρησιμοποιώντας ψηφιακό μικροελεγκτή ή FPGA. Αρχικά γίνεται μια παρουσίαση των χαρακτηριστικών των πιεζοηλεκτρικών κινητήρων, γίνεται αναφορά στην αρχή λειτουργίας τους και στα ισοδύναμα κυκλώματα που χρησιμοποιούνται για την ανάλυση της λειτουργίας τους. Στη συνέχεια παρουσιάζονται οι ηλεκτρονικοί μετατροπείς ισχύος που χρησιμοποιούνται για τον έλεγχο των κινητήρων αυτού του τύπου και γίνεται θεωρητική ανάλυση του τρόπου λειτουργίας τους και των μεθόδων παλμοδότησής τους και προσομοιώνεται ένας μονοφασικός αντιστροφέας παλμοδοτούμενος με τη μέθοδο ημιτονοειδούς διαμόρφωσης εύρους παλμών. Ακολουθεί μία περιγραφή των χαρακτηριστικών του μικροελεγκτή που χρησιμοποιήθηκε και του κώδικα του προγράμματός του. Στο επόμενο βήμα πραγματοποιείται η μελέτη και η κατασκευή ενός μετατροπέα συντονισμού για τον έλεγχο του κινητήρα, λόγω περιορισμών που τέθηκαν από το κύκλωμα παλμοδότησης και τέλος παρατίθενται παλμογραφήματα και μετρήσεις που προέκυψαν από τα πειράματα που διενεργήθηκαν. / The goal of this diploma thesis is the study and the construction of a converter in order to drive and control an ultrasonic motor, using digital microcontroller or FPGA.

This work deals with design and construction of unstable double wheeled Segway-like vehicle built for human personnel transportation and its smaller scaled clone developed for control algorithms testing. The smaller machine is controlled via Joystick and PC. This work was conducted in team consisting of three students. Individual goals are described in chapter „Stanovení cílů práce“. The beginning of the work deals with researching any similar projects concerned with this topic, especially with sensors and control algorithms used. Further, the work describes the process of choosing used electronics and its parameters. One of the problems faced during the work was the pitch angle of the vehicle base calculation - algorithm of the angle calculation had been designed by students of several world universities. The principle of how it works was studied and then tested by simulations and practically in the following chapters. Further on, the work deals with platform‘s parameter estimation, at first the testing platform made of wood, followed by the final platform made of aluminium. Parameter estimation was realized by using the multifunctional I/O card Humusoft MF 624 for PC. Part of the work deals with the final control algorithm on the dsPIC microcontroller implementation, sensor‘s outputs calculation and calibration algorithm design. Since the vehicle is built for human personnel transportation, implementation of certain safety algorithms was necessary. These algorithms should be able to detect possible fail states and prevent the driver from losing control over the vehicle in order to prevent any injuries.

This work is concerned with creating the control algorithm in microcontroller dsPIC30F6015 for electric brake with BLDC motor which will dynamically load testing BLDC motors. The work also includes programming user interface for controlling and settings parameters the control unit.

This thesis deals with extending the functionality of robotic manipulator. The main objective is the implementation of control algorithms into microcontroller dsPIC. In the first part, realizable modifications on the manipulator are described. Touch end sensors are replaced by touch less Hall sensors. End effector, which is used for writing, is replaced by gripper for moving items. Another section deals with design PCB with microcontroller and it describes the final program. The last part deals with connection intelligent touch display, which is used for controlling the manipulator. Demonstration application is created to show the use of the display and new end effector.

This diploma thesis is a part of HUMMER project. The project deals with three student’s development of two-wheeled unstable vehicle Segway type and its diminished laboratory model. This thesis deals with reviviscence of laboratory model, design of its control and realization of its actuating (a more detailed breakdown of tasks in the project is shown below). At the beginning of the work is presented reviewed study. The first part of study deals with similar models in the world, their construction and way of control. In the next part of reviewed study follows description of a real model and derivation of model basic equations, in the last part of search is given principle of operation of some used sensors. The next step was the selection and design of required electronics. In this capture are described all designed electronic modules and used sensors. There are also given parameters of used batteries and motors. The next task was the estimation of system parameters. The estimation was made by sections, in the capture is in detail described way of measuring data and structuring of estimation model. The penultimate step was design of PID and LQR controller using I/O card MF 624 and their comparing. Following thing was choice of better regulator and its implementation to the microprocessor. The last step was the realization of actuating driving of model by joystick and supreme PC.

The goal of the work is restore a quadruped walking spider-type robot named Jaromír. Part of the work is a body design that is then printed on a 3D printer. Another part is the design and creation of a new control board, which’ll include sensor equipment appropriate for robot operation. Subsequently, the thesis deals with the design of the tactile sensor’s and their fitting on the legs. The final part is implementation of the algorithm for robot control. The goal was to put the model to a state where it could be used for learning and presentations.

Conselho Nacional de Desenvolvimento Científico e Tecnológico / This work presents a contribution to the study of PWM sinusoidal inverters. It is presented some voltage output control techniques highlighting the advantages and disadvantages. One technique using two feedback loops and compensation by proportional integral compensators, besides showing a natural short circuit protection, is implemented and evaluated by studies, simulations and also experimentally. The design of constituent elements, the signal conditioning and the control firmware are shown, besides the mathematical modeling of the transfer functions for the controller. A prototype of a monophasic voltage inverter is assembled and its controller is implemented in a digital signal processor of 16 bits, fixed point, 40 MIPS, a DSPIC33FJ128MC706. The performance of the respective controller is analyzed with experimental results for the inverter supplying a linear and non linear load. / Este trabalho apresenta uma contribuição ao estudo de inversores de tensão PWM senoidais. São apresentadas algumas técnicas de controle da tensão de saída destacando vantagens e desvantagens. Uma técnica baseada em duas malhas de realimentação e compensação por meio de compensadores proporcional integral, além de possuir uma proteção natural contra curto circuito, é implementada e avaliada através de estudos, de simulação e também experimentalmente. O projeto dos elementos constituintes, o condicionamento de sinais e o firmware de controle são mostrados, além da modelagem matemática das funções que regem o controle. É construído um protótipo de um inversor monofásico de tensão cujo controlador digital é implementado em um processador de sinais de 16 bits, ponto fixo, 40 MIPS DSPIC33FJ128MC706. O desempenho do respectivo controlador é analisado através dos resultados experimentais para o inversor com carga linear e não linear. / Mestre em Ciências

This thesis deals with the design and realization of a prototype of non-invasive blood pressure monitor based on the principle of Korotkoff sound detection. The design compares this method of measuring blood pressure with other methods. This design of an automated measuring system, which is controlled by a microprocessor, utilizes the scanning of Korotkoff sounds with an electret microphone placed in the cuff. The microphone signal is then amplified, filtered and adjusted for evaluation. The prototype uses processor-controlled inflation by the compressor and deflation of the cuff by a valve that is open without applied voltage.

This thesis deals with the filter algorithm design, implementing mathematical model to improve algorithm performance. Designed algorithms are implemented in a control unit of the experimental vehicle (filters signal used in the closed-loop controller). The improvement of the position estimation using Kalman Filter is demonstrated on the experimental vehicle. In the next part the design process of algorithm developing for dsPIC microcontroller using Matlab is described.