Jiri Kotzian

User perspective adaptation enhancement using autonomous mobile devices

The need for devices with the ability to detect toxic gases, trapped people and to multifunction has increased. Dangerous places and armed conflicts have increased the demand for remote and autonomous devices. We propose a concept of two such devices with the ability to comfortably and remotely control such devices and even with an autonomous control in remote areas inside the buildings. The localization by WiFi is used to locate a position where the GPS signal is not well presented. The ability to locate a mobile device by a wireless network is a well known possibility. The current problem is precise indoor localization where WiFi signal from the building infrastructure is not strong enough to obtain right position.

Path planning and tracking for robots based on cubic hermite splines in real-time

This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are mentioned. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints. A Feedback and feedforward controller is used to control the motion on the calculated trajectory. The paper concludes with a comparison of the trajectory computed by simulation and the trajectory measured on the real robot.

Motion control for robots based on cubic Hermite splines in real-time

Abstract This paper deals with the path planning and path tracking using the cubic Hermite splines in real-time control of wheeled robots. The first part describes problems of motion control in real-time. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are also covered. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints and minimum driving time. Feedback and feedforward controllers are used to control the motion on the calculated trajectory. The paper concludes with experimental results of the presented solution of robot control. The results of the proposed method after online trajectory adjustment and recomputation are presented.

Wireless transceiver for control of mobile embedded devices

This article deals with the control of mobile embedded devices via wireless transceiver. The only way how to control the mobile devices such as robots, is to use a wireless data transfer. The possible wireless transceiver solution using the nRF24L01 transceiver by Nordic Semiconductor, which works in license-free worldwide 2.4 GHz ISM frequency band, is presented. Overview of this chip is included at the beginning of this article. The main part of this article deals with the design of a communication protocol. Then some optimizations of this protocol to improve its performance and determinism are discussed. In the last part, the results of measurement of some data transfer characteristics are presented.

Architecture and Design of Mobile Telemetry System for Ambient Assisted Living

Mobile systems for ambient assisted living are of growing importance in present world. This article describes architecture and design of such system including it’s logical partitioning into functional blocks and placement of these blocks. Although full description of discussed system is beyond scope of this paper, description of processed biomedical and other data is provided as well as implementation details including types of used parts, cooperation of these parts, intraction of system with user and used communication protocol.

FLYSYS – FLIGHT EMBEDDED CONTROL SYSTEM FOR ULTRA-LIGHT AIRPLANE

Abstract This paper presents the design of an embedded control and monitoring system for small sport and ultra-light airplanes. The focus is on the systems structure and a description of module architecture. The project is aimed at reducing the number of accidents. There are a lot of ultra-light airplanes with no measurement units in the Czech Republic. A low cost flight control and monitoring system is the best solution. Ultra-light airplane is a very nice example of a mechatronic design and its realization.

Robotic Arm Controlled by CAN Bus

Abstract This paper describes control of L601-KT robotic arm via embedded microcontroller and industrial bus. This application is composed from two nodes connected to CAN Bus. First node control desired position of whole robotic arm or servo-drives separately. Node subsequently sends these positions to robotic arm via CAN bus. Second node serves as robotic arm CAN bus interface. Node receives CAN Bus messages, calculates the positions for PWM values from desired positions, and sets appropriate servo-drive to desired position.