Control System of Flying Reconnaissance Flying Robot fot Indoor Environment

Práce se zabývá vícerotorovými vrtulníky, známými jako koptery. V první části je proveden přehled exitujících řešení a je vybrána vhodná platforma pro použití jako vzdušného průzkumného prostředku. V další části je vytvořen matematický model kopteru a zjištěny jeho parametry. Na základě tohoto modelu je proveden návrh stavového regulátoru pro řídicí systém. Tento je poté ověřen na vytvořeném modelu a implementován na skutečném kopteru.This work deals with multi-rotor helicopters, known as copters. The first part is a review of existing solutions, and an appropriate platform for use as aerial reconnaissance vehicle is chosen. In the next part a mathematical model of copter is created and its parameters are estimated. Based on this model a state-space controller for control system is designed. This is then tested on the created model and implemented in real copter.

Autonomous Control System for Mobile Platform

Práce se zabývá návrhem a realizací autonomního řídícho systému pro mobilní platformu – autodráhové autíčko - pro soutěž Freescale Race Challenge 2009. Cílem je navrhnout a prakticky realizovat takový řídící systém, který by umožnil autíčku samostatně zajet co nejrychleji neznámou soutěžní trasu. V práci jsou popsány faktory působící při jízdě na autíčko a podle nich je navrhnut optimální způsob jízdy. Jsou zvoleny senzory autíčka, způsob řízení motoru a řídící jednotka. Je vytvořen algoritmus pro mapování profilu tratě a rozpoznávání kol. Dále je popsána praktická realizace systému.This work undertake the design of autonomous control system for mobile platform – slot car – for the Freescale Race Challenge 2009. The aim is to draw and implement control system, which will be able to drive the car trough the previously unknow path in the shortest time. In work is described factors that affect runing the car and draw optimal driving style. Then sensors for the car, type of motor control and control unit are chosen. The algorithms for maping the profile and for lap recognition are developed. Next the realization of the systém are descripted.

Alternativní využití organických odpadů - jejich ko-procesing s uhlím

Samples of brown coal mixed with real organic wastes were gasified in a laboratory model gasification unit, using steam and carbon dioxide for gasification. The co-gasification possibility of brown coal/waste tires mixtures at industrial scale was verified

Vodík - produkt tepelné konverze uhlí

Hydrogen fixed in the coal structure was converted to gaseous form using two-stage pyrolysis. The hydrogen volume in the pyrolytical gas strong increased along with the temperature in the cracking module. There was verified the possibility to obtain hydrogen by thermal decomposition of coal pyrolysis volatile products

Co-pyrolysis coal/waste tyres

Co-pyrolysis of hard coal, scrap tyres and its mixtures in stationary bed. The yields, properties and composition of products were evaluated

The use of mixed waste polymers in thermal treatment with brown coal

Samples of brown coal from Jiří Mine alone and its mixtures with waste plastics were gasified on a laboratory scale. Using a thermal-degratation module, inserted in the stream of volatile products of pyrolysis and gasification, energetic gas with with higher hydrogen content was obtained

Control System of Flying Reconnaissance Flying Robot fot Indoor Environment

This work deals with multi-rotor helicopters, known as copters. The first part is a review of existing solutions, and an appropriate platform for use as aerial reconnaissance vehicle is chosen. In the next part a mathematical model of copter is created and its parameters are estimated. Based on this model a state-space controller for control system is designed. This is then tested on the created model and implemented in real copter

Laboratory model unit for gasification of carbonaceous materials at atmospheric pressure

A laboratory unit for sample gasification up to 40 g of weight with continuous selected gas components analysis is described

Model laboratory unit for solid fuels and organic wastes pyrolysis

Construction of a laboratory unit for solid fuels and organic wastes pyrolysis was described. The dynamics of pyrolysis was demonstrated on degassing curves and charge mass decrease curves