Mobile robot in smart house

Zadáním této práce je prozkoumat trh a vybrat vhodný autonomní robot pro spolupráci s inteligentním domem. Součástí práce je rešerše schopností inteligentních domů v oblasti senzorických systému, možnosti zpracování získaných dat a jejich následné využití autonomními roboty. Součástí práce je implementace ovládání robotu ve vývojovém prostředí Microsoft Robotics Studio (C#) a jeho simulace pomocí simulátoru Visual Simulation Environment. V práci je navrženo a realizováno komunikační rozhraní mezi robotem a inteligentním domem a komunikační rozhraní mezi robotem a uživatelem. Rozhraní robotu nabízí přímé ovládání a automatické navádění robotu v rámci inteligentního domu. Aplikace je vybavena pro navigaci a pohyb v dynamickém prostředí inteligentního domu. Robot je schopný registrovat nové překážky a pracovat s nimi.Aim of this thesis is to search the market for suitable autonomous robot to be used by smart house. The research in this work is partly done on the range of abilities of smart houses in matter of sensor systems, ability of data processing and their use by mobile robots. The output of this thesis is robotics application written using Microsoft Robotics Developer Studio (C#) and simulated using Visual Simulation Environment. Main feature of this robotic application is the interface between robot and smart house, and robot and user. This interface enables employer to directly control robot's movement or to use automated pathfinding. The robot is able to navigate in dynamic environment and to register, interact and eventually forget temporary obstacles.

Charge Transport and Storage in a Supercapacitor Structure

Práce se zabývá studiem superkondenzátorů (SC). Výstupem je detailní studie principů přenosu náboje ve struktuře SC, ukládání energie a nový náhradní model SC, který je založen na fyzikálních zákonitostech a principech SC. Dále byl vytvořen matematický model SC, který popisuje chování náboje v jeho aktivní vrstvě. SC byly testovány metodami umělého stárnutí. Závislosti poklesu parametrů SC vlivem různých metodik stárnutí jsou v práci shrnuty.Supercapacitor (SC), or electric double-layer capacitor, represents electrical energy device, which offers high power density, short charging time, high number of charging cycles, and long-life duration. This device is of particular interest in fast energy-storage applications, where highly dynamic charging and discharging profiles are required. Detailed study and modeling of the electrical charge transport and its storage is the output of this thesis. Processes, which occur during charging and discharging, are studied and their correlation to fading of SC's parameters is assessed. The noticeable differences between measured results and the simple SC model are: 1) the nonlinear rise and fall of SC’s voltage, and 2) the change in voltage after the charging and discharging stops. Charge redistribution during SC charging and relaxation are important. New model of SC is proposed. Electric charge stored in SC appears to be divided into two sections. One could be attributed to the Helmholtz capacitance and the other to the diffuse capacitance. The equivalent circuit model contains time dependent resistance RD(t) between Helmholtz and diffuse capacitances. While the SC ages, all parameters of equivalent circuit model change. The change of Helmholtz capacitance may be described most accurately by a pure exponential function. Total capacitance in relation to the number of energy cycling aging cycles n or the time of cycling t follows an exponential stretched law. From experiments it follows, that the greatest influence on SC’s degradation has the amount of transferred energy. The degradation due to induced Joule’s heat only has impact after 2000 hours of continuous energy cycling. The time constant D of the diffusion process is responsible for the speed of diffusion capacitance filling. The decrease of diffusion process time constant is faster for 75% discontinuous energy cycling than it is for 75% continuous energy cycling method. The dependence of aging on SC’s equivalent series resistance parameter remains the same for both continuous and discontinuous energy cycling. It obeys the quadratic relation. The difference is that the quadratic component is of the order of magnitude smaller for 75% discontinuous energy cycling than it is for 75% continuous energy cycling. The dependence of equivalent circuit model parameters on ambient temperature before and after aging by discontinuous energy cycling is explored. The value of total capacitance CT increases linearly with temperature. This is also true for aged samples. The slope for new samples is about 3 times higher than for aged one. Helmholtz capacitance of SC CapXX 2.75V/2.4F is constant in temperature range 22 °C to 65 °C, with the value of Helmholtz capacitance CH = 2.78 F for new samples and 2.07 F for aged ones. At temperature range below 22 °C Helmholtz capacitance decreases about 0.5 F due to the aging. The calendar life tests are devised to simulate SC under light work load at differing ambient temperatures. Temperatures used are from -35 °C up to 65 °C. This experiment is devised to prove, that the increased temperature accelerates the electrochemical reactions, which are responsible for SC’s total capacitance degradation.

Robotic Soccer in RDS

Tato práce je zaměřena na tvorbu rešerše robotických simulátorů, vhodných pro simulaci hry robotický fotbal. Dále je v ní zvolen simulátor Microsoft Robotics Developer studio a v něm implementován algoritmus pro ovládání diferencielně řízeného rabota pomocí vektorových polí.The aim of this thesis is to create a list of robotic simulators suitable for simulating robotic soccer. Simulation environment included in Microsoft Robotic Developer Studio is also used to implement the vector field path planning algorithm for robotic soccer.

Lead-Acid Battery Evaluation Based On Opencircuit Voltage Fluctuation Measurement

The state of charge and the state of health are two crucial parameters of batteries. Current state of the art methods of their estimation include some as simple as measuring open circuit voltage, all the way to fuzzy logic estimation and constant online battery overview. Some main problems of such methods are either the length of single parameter evaluation cycle, or their inherent inaccuracy due to limitations in battery manufacture precision. This article proposes novel method of the lead-acid battery state of the health estimation, based on open circuit noise measurement. It reports the nature of changes in low frequency noise spectral density, that occur after catastrophic self-discharge failure or avalanche voltage drop in lead-acid batteries

Tantalum Capacitor As A Mis Structure: Transport Characteristics Temperature Dependencies

Temperature dependencies of a leakage current in normal mode are explained on the basis of a model, in which the solid state tantalum capacitor is considered as a metal-insulatorsemiconductor (MIS) heterostructure. The measurement was performed in temperature range from 105 to 155°C. Ohmic conductivity increases exponentially with increasing temperature with activation energy 0.94 eV. Tunneling voltage parameter and tunneling energy barrier decreases with increasing temperature, reaching values 0.45 to 0.26 eV

Supercapacitor Parameters Dependence on Charging Duration

Supercapacitor (SC) parameters dependence on charging time is analyzed for Nesscap 2.7V / 10F. Charging was performed using constant current in the range from 0.5 A to 5 A. Reciprocal capacitance (C-1) was calculated. It linearly decreases with applied charge. During SC charging, the effective distance of charges on electrode-electrolyte interface decreases, due to the charge distribution being altered by mobile ions inside electric field. Ions are at first moving by drift, and then by diffusion processes. Effective thickness of electrolyte negative charge is determined from reciprocal capacitance. The effective thickness varies between 2.6 nm and 2.1 nm

Charge Redistribution and Restoring voltage of Supercapacitors

Electric charge in supercapacitor is stored on electrodes as well as inside its electrolyte. Charges on electrodes create Helmholtz double layer which is formed immediately with time constant in the order of seconds, while the storage of charge in electrolyte takes time in the order of hundreds of seconds. When the charged supercapacitor is briefly short-circuited, the charge on electrodes is discharged, however the charge in electrolyte remains mostly unchanged. The charge stored in electrolyte is redistributed by diffusion to the electrodes, until the charge on electrodes form electric field which acts against the charge concentration gradient and equilibrium state occursfor charge-carrier exchange at electrode/electrolyte interface. Supercapacitor capacitance value depends on the voltage of its terminals; with increasing voltage total capacitance increases