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This diploma thesis deals with control the Ball on the wheel system in real time. In the first part there is made mathematical model of system, which is described by state equations. Then the laboratory model of Ball on the wheel system and its parts are described. The laboratory model consists servo drive, servo amplifier, microcontroller with real-time operating system and distance sensors. In the practical part of the thesis there is designed control of system by linear quadratic regulator and its implementation with control peripherals into microcontroller with real-time operating system. Ball on the wheel system is controlled by microcontroller, which sends a commands to servo amplifier by CAN bus.

The master's thesis deals with the design and realization of embedded control system and software of the autonomous mobile robot DACEP. The research section focuses on the selection of sensory equipment. Moreover, the design of the embedded control system and the communication interface between this system and the master PC is described in detail, followed by the design of localization and navigation software that uses ROS framework. The section is written as instructive as possible for the development of robots of similar construction. Finally the development of a graphical interface for robot diagnostics and remote control is depicted.

This thesis deals with design of control unit for pneumatic manipulator. The control unit is connect to PC, where the special designed software is running. This system allows you to easily control the manipulator. Controlling process can be realize directly by user or automatically by program.

Internet of Things (IoT) är ett område under omfattande utveckling, både vad det gäller hårdvara och mjukvara. När det gäller hårdvaruplattformar för IoT enheter finns det platt-formar som är kraftfulla nog att exekvera ett reguljärt OS som t.ex. Linux. Andra hårdvaru-plattformar är inte tillräckligt kraftfulla för att exekvera reguljära OS och för dessa plattformar finns ett behov av resurseffektiva små IoT OS. Dessa resurssnåla OS behöver kunna hantera många av de funktioner som reguljära OS erbjuder, men på ett betydligt mer effektivt sätt.Det har under de senaste åren släppts en uppsjö av olika IoT OS för resurssnåla enheter och därför är syftet med denna rapport en utvärdering av IoT OS för strömsnåla resurssvaga IoT enheter. Utvärdering genomförs på IoT OS:en Contiki, mbed, RIOT och Zephyr. Målet med utvärderingen är att fastställa viktiga egenskaper för ett IoT OS för strömsnåla resurssvaga IoT enheter, och att belysa svårigheter och erfarenheter relaterade till konstruktionsprocessen av en prototyp för IoT enheter. Utvärderingen genomfördes genom att samla in fyra olika typer av data relaterade till IoT OS:en, och sedan utvärdera denna data med hjälp av en kriteriebaserad utvärderingsmetod.Utvärderingen resulterade i en lista av sex viktiga egenskaper för små resurs snåla IoT operativsystem. Dess resultat belyser även svårigheter och erfarenheter som framkommit under byggprocessen av prototyperna baserade på IoT OS:en.Slutsatsen av denna rapport bidrar med erfarenheter från byggning av prototyper IoT OS för resurssnåla enheter, samt ett utvärderingsresultat för IoT OS:en med hänsyn till de sex viktiga IoT OS egenskaperna. / The Internet of Things (IoT) is a large and rapidly expanding area with regards to both hardware platforms and software. When it comes to hardware platforms for the IoT some are more powerful and able to run a traditional OS like Linux, while other platforms are too constraint to do so. To ease the development within the IoT area an appropriate IoT OS is needed for these constrained hardware platforms, which can handle most of the functionality a traditional OS offer.Therefore, we evaluate IoT OSs targeted for low performance battery powered devices. In this thesis Contiki, mbed, RIOT and Zephyr are evaluated. The aim of this evaluation is to determine important IoT OS characteristics for resource constrained devices, and to highlight difficulties and experiences related to the building process of prototypes for such IoT devices.The evaluation of the IoT OSs were conducted on four types of data with regards to several measurable OS characteristics according to a criteria based evaluation method.The evaluation resulted in a list of six IoT OS characteristics important for wireless, resource constrained and battery powered devices. Furthermore the evaluation highlights potential setbacks during the building process of a prototype system for such devices and it also explains what experiences that can be gained.The conclusion of this thesis contributes with experience related to IoT OS prototype construction and also an evaluation result with respect to the six IoT OS characteristics for constraint battery driven devices.

This report deals with the development of a wireless sensor system that measures the environmental energy and predicts if energy harvesting could be possible in different areas. It provides an overview over the hardware used to build this system and gives a detailed description of the software implementation of the system. The hardware part presents the microcontroller and platform that is used, as well as the sensors integrated in the system. The software part explains how the used hardware was put together in a program that controls the different components. It explains the possibility to save captured sensor values on an SD card or send them to a remote receiver with an XBee radio module in real time. Also the inclusion of the mbed software library, which provides a lot of useful applications and functions for the project, is an important part. The final part of the report presents the results, showing how the system works.

The thesis deals with design and realization of communication among autonomous mobile robots and stationary localization stations using Nucleo development boards and a wireless IQRF modules. The theoretical part is focused on characterization of suitable hardware elements and communication technologies. In the practical part, the thesis deals with the description of possible communication schemes, used hardware, developed algorithm, software of individual members and diagnostic tools developed for thesis's purpose. In the last part, attention is paid to testing the resulting solution.

The aim of this work was to describe available elements from quadcopter model, build the model, describe possible autonomous behavior in space and realize chosen algorithm.

This master thesis deals with the development and construction of the inverted pendulum, inspired by the Cubli project. The objective is to develop and design an inverted pendulum, in the shape of one side of the cube balancing at one of its corner and for balancing is used the flywheel. For its design 3D printing is used to the maximum extent and as the electronic parts commonly available components at an affordable price are used. The design of the construction and the components allow the construction of a complete cube, without the need of further development or fundamental changes in the design of the model. For the calculations and the design of the controller the Matlab / Simulink software was used. As the controller algorithm the LQR algorithm is used with added integral feedback, to minimize control error. The 3D models of the single parts are created with FreeCAD software and printed on a 3D Prusa i3 MK2S printer.