The thesis is dedicated to applications in mobile robotics in the context of the concept of creating a digital twin. The thesis includes the design of a methodical procedure for creating a digital twin for a differential drive mobile robot. It deals with mathematical modelling tasks and experimental identification of robot actuators, followed by the design of control structures for selected control objectives. The thesis also involves the creation of a complex library and educational application for creating and verifying a model of a mobile robot, with validation on the laboratory plant ModBot. Last but not least, the thesis deals with developing an application for monitoring detectors for the ALICE experiment at CERN as part of the project „Experiment ALICE on LHC CERN“.
Archívy autora: Mikuláš Kožlej
PÁNIK, Michal: Realization of Database Applications Interconnected with SCADA and Embedded Systems [Abstract]
The bachelor thesis deals mainly with the issue of data flow control in database information systems interconnected with SCADA and Embedded systems. The aim of this work is to analyze theoretical methods of design database information systems, to design and implement software product DARMA and, at the last to process scripts for visualization and archiving of data in WinCC OA environment. The purpose of DARMA is to provide access to off-line data of ALICE experiment in CERN laboratory and to improve the quality of internal processes and to simplify the work of scientific and technical staff. The thesis also describes how to integrate SCADA visualization tools with Oracle database information systems. Methodical approach for creation of distributed control systems was used at this thesis.
SEDLÁK, Patrik: Digital twin for a modified mechatronic ball-on-surface platform in MATLAB/Simulink environment [Abstract]
This bachelor thesis focuses on the hardware modernization of a ball on plate (BoP) laboratory platform, the design of a digital twin (DT) methodology, the implementation of selected control algorithms, and the development of a computer vision algorithm. The BoP system was identified as two subsystems: the servomotor subsystem parameters were identified using measured data from the physical laboratory model and a chosen linear structure, while the BoP dynamics subsystem, represented by a mathematical model in the form of a nonlinear differential equation, had its coefficient of restitution further identified. By applying the proposed identification methodology, a grey-box BoP model was obtained, which serves as a digital twin for the laboratory BoP model. Based on the resulting BoP model, which represents a DT for the laboratory model, control algorithms were designed based on the linearized model. The proposed PID and optimal state-space control algorithms (LQI/MPC) were verified through simulations in control structures, and the obtained control results using the DT for various objectives were compared with control results obtained using the physical BoP laboratory model. Furthermore, the thesis addresses software tasks within the international collaboration with the ALICE experiment at CERN, specifically the modernization of the AGRANA monitoring application and the design of the DARMA4 information system.
HANC, Erik: Design of Information System for Remote off-line Access to LHC Data within ALICE Experiment in CERN [Abstract]
Master thesis deals with the design and implementation of the software solution for a remote access to LHC data within ALICE experiment at CERN. In the beginning a main task of the project and the research method, that describes the process of realization of information system is defined, followed by the analysis of the current state. On the basis of analysis, new software solution is designed. The Analysis includes a changes realized in the new solution when compared to its previous version. Chapter of the design includes data models and diagrams of the processes, which are the base for the further process of implementation. Design of the solution also includes interconnection of screens of the graphical user interface. Chapter of the technological resources includes databases, programming languages and used architecture, needed for an implementation of the developed web application. By means of diagrams of the proccesses, data flows within information system are displayed. Set of configurations for a request to LHC data and diagnostics of the information system are recorded in the system database. After data quality analysis and observation tests, the new software solution is ready to use. Last part of the thesis describes the created user interface by means of algorithms and description of particular graphical user interfaces.
PÁNIK, Michal: Implementation of an information system for accessing LHC data within the ALICE-CERN experiment [Abstract]
The diploma thesis deals with the implementation of systems for remote data access in cooperation with the international laboratory CERN in Geneva. The first chapters discuss extensions of the DARMA information system for archive management. The main goal of this work is to design and enhance the system with new functionalities and solve known shortcomings, and thus qualitatively increase the potential of the DARMA system in the context of the ALICE DCS detector control system. The final part of the work deals with the analysis of historical data and the design of a system for the anomaly and failure detection in the infrastructure of high voltage channels within the TRD detector.
KOPECKÝ, Martin: Realization of Information Systems for Database Applications Interconnected with SCADA and Embedded Systems – ALICE CERN [Abstract]
This master’s thesis focuses on the analysis, design, and implementation of modifications to the DARMA information system within the scope of the ALICE CERN experiment. The objective of the study is to analyze the currently deployed version of the DARMA IS, modify and remove the limitations of the existing solution, and implement modification requirements from the ACC DSC group leadership. Among these requirements are improved integration with multiple archival databases, providing support for alert selection, generation of statistical reports, and detection of improperly configured archiving datapoints. An analysis of the current state of the DARMA information system was conducted as part of the thesis, and areas that could be improved were identified. Based on a requirements analysis, a new concept of a modular architecture based on application libraries was proposed, and the relevant modifications to the information system’s functionality were made. The modified DARMA information system was experimentally verified in the laboratory conditions of CMMRaPI at KKUI using a data copy from the ALICE CERN experiment. The thesis also includes a manual for adding additional archival databases. As part of the system modification, we expanded the web interface with contextual help to improve the user experience. The modified DARMA system is a modern, efficient, and easily expandable information system that allows for better processing and analysis of data from various archival databases used in the ALICE CERN experiment.
KOŽLEJ, Mikuláš: Design and program implementation of a library of mobile robot models with different types of chassis [Abstract]
This thesis focuses on the modification of the LibMoBot mobile robot model library in the MATLAB/Simulink environment using the Simscape and Simscape Multibody toolboxes. The modification of the mobile robot model library includes the generalization of the robot model with a three-wheeled chassis as well as the extension of the library to incorporate models of robots with articulated and omnidirectional chassis, and a simulation model of the MiroSot differential robot. The library contains algorithms for solving point-to-point control, pose control, and trajectory tracking tasks, which are validated using the models of the LibMoBot library. The results obtained in this thesis are demonstrated through a dedicated application. The thesis also includes a summary of the results achieved from solving subtasks of the ALICE CERN project at TUKE.
KOSKA, Lukáš: Design of a Methodology for Modeling, Analysis and Simulation of Efficient Walking Robotic Systems [Abstract]
This dissertation thesis presents, in both its structure and proposed solution of defined objectives, a comprehensive concept for the design of a methodology for modeling, analysis, simulation and control of walking robots with hybrid dynamics. The first part of the thesis deals with the design and implementation of a methodology which allows to obtain mathematical models of nonlinear robotic systems with hybrid dynamics with the particular focus on bipedal walking robots using modern methods and suitable hybrid system representations. The aim of the proposed modeling methodology is to enable the algorithmic generation of mathematical models for underactuated walking robotic systems with hybrid dynamics based on classical mechanics and hybrid systems theory. Limit cycle analysis and Poincaré maps are subsequently used to verify the accuracy of resulting simulation models of nonlinear robotic systems. The second part of the thesis focuses on the implementation of the results of modeling methodology for robotic systems with hybrid dynamics into the design of a methodology for hybrid walking robot control using classical and intelligent methods in suitable control structures. The designed methodology for the control of hybrid walking robots in selected configurations aims to point out the possibility of algorithmically solving the task of tracking reference trajectories in a feed-forward control structure (FFC) using trajectory planning methods based on partial feedback linearization of underactuated hybrid walking models and the boundary value problem solution. The proposed methodology for modeling and analysis of walking robots, shown in the first part of the thesis, as combined with the proposed control methodology in the second part of the thesis, which focuses on solving the task of trajectory tracking in walking robots, is demonstrated through several case studies based on different configurations of underactuated walking robots, and implemented as a software application called „WalMod“, which allows to verify the accuracy of proposed procedures, specified in the methodologies. The concept of hybrid systems is also used in the thesis to solve one of the research tasks defined in the „ALICE Experiment at the LHC in CERN“, project, which consisted of the design of software modules for the control and monitoring application of the ITS detector electronics. A test facility was built by the research team to enable testing of the proposed applications, developed as part of the ALICE CERN project. The software output of the thesis is implemented in the MATLAB / Simulink / Stateflow environment and in the WinCC OA environment by Siemens. The research objectives of the thesis together with the achieved results are expected to provide a platform for further research in modeling, analysis and control of walking robots with hybrid dynamics in more complex configurations, as well as for teaching subjects dealing with modeling, control and simulation of nonlinear hybrid systems
TKÁČIK, Tomáš: Design and implementation of software modules for the identification, control, and simulation of physical system models within networked control structures [Abstract]
The presented dissertation thesis deals with the modeling and identification of nonlinear dynamical systems of various dynamics. The thesis presents a theoretical analysis of methods, algorithms, and principles for modeling and identification of nonlinear dynamical systems using classical and intelligent methods. The primary goal of the dissertation thesis is the proposal of a complex methodology for modeling and identification of physical systems of various dynamics using classical methods and methodology based on artificial intelligence methods. The proposed methodology based on classical methods combines analytical and experimental identification methods and is verified within two case studies of modeling and identification of the aerodynamic levitation plant and the helicopter educational model. The proposed methodology of experimental identification using artificial intelligence methods is verified within the third case study on the helicopter educational model. Obtained gray-box models and black-box models of physical systems, which represent digital twins of real physical systems, are used for the design and verification of stabilizing control algorithms using MATLAB / Simulink software tools including application Toolboxes. The thesis illustrates the implementation of models of physical systems forming a research and development platform into the DCS network control system in CMCT&II at the DCAI FEEI TU of Košice. In the thesis, an analysis of the distributed control system of the ALICE experiment at CERN and the modification of DCS software modules developed by the CMCT&II is presented. Software modules were developed by CMCT&II as part of the research project The ALICE experiment on LHC at CERN.
TKÁČIK, Milan: Realization of the Part of the DCS with Application of the DIM and OPC Communication Protocols for High Volume Data Acquisition and Processing and Implementation of Communication Protocols to Mobile Robotic Systems [Abstract]
This paper focuses on the implementation of the part of the Detector Control System of the Pixel detector of the ALICE experiment within the cooperation of the Center of Modern Control Techniques and Industrial Informatics with the ALICE collaboration at CERN. It deals with the development of programms for the development workspace for testing the ALFRED communication structure, as well as with the measurement of communication channel throughput using the OPC and DIM protocols. The paper is also focused on the development of a multipurpose measuring board usable within the Detector Control System as well as within demonstrational applications in the teaching of subjects related to automatic control. Last but not least, the paper involves the creation of the ROS communication module for a robotic soccer application.