This thesis is focused on the design of a modular belt robot and individual expansion modules, including design of the 3D model of the robot and implementation of the ROS platform at the level of Raspberry Pi computer with the possibility of visualization of individual robot information using a web interface. This thesis also includes the solution of the reworked model named ball and beam, including again design of the 3D model and implementation of the image recognition on the level of Rasberry Pi computer. Finally, this thesis deals with the solution of individual sub-tasks within the CMMRaPI at KKUI and the CERN research organization cooperation, which were solved on individual work trips.
Archív kategorií: Abstrakty
TKÁČIK, Milan: Embedded systems and their implementation within distributed control and monitoring systems [Abstract]
In this thesis I focus on selected applications of embedded systems with emphasis on implementation of communication interfaces. This thesis focuses on the realization of part of ALICE detector control system within CMMRaPI cooperation with the ALICE collaboration at CERN. It deals with the implementation of software applications for the acquisition, processing and aggregation of data within the development of the new DCS system of the ALICE experiment at CERN. The thesis also focuses on the implementation of communication interfaces within the application of the robotic soccer of the MiroSot category and the overall modernization of the ball on the plate model, focusing on hardware development, implementation of communication interfaces and control algorithm design. Last but not least, the thesis deals with the design and implementation of a modular mobile robotic system, focusing on the design of hardware components, implementation of software modules for robot control and control algorithm design for the motion control.
PAZDIČ, Filip: Embedded systems and their implementation within the solution of localization and space mapping tasks in the workplace of mobile robotics [Abstract]
In this thesis we focus on the design of the mobile robotic platform MapBot with omniwheel chassis and the design of an application for simultaneous localization and mapping. Thesis includes design and validation of the methodical procedure for creating a mathematical model based on the mobile robotics platform MapBot. The mathematical model is acquired using experimental and analytical identification of the robotic platform MapBot and consequently is validated against real behavior of this platform. Thesis deals with the implementation of proposed control algorithms on the robotic platform MapBot and also with the design of the simulation library OmniWheel Lib in Simulink for working with designed mathematical model. This thesis deals with the design of the application MapTool for simultaneous localization and mapping in the ROS environment. Part of the thesis includes proposed modification of framework FRED as part of the project „Experiment ALICE on LHC CERN“
VOŠČEK, Dominik: Hybrid models of cyber-physical systems and their application within a distributed control system [Abstract]
The main aim of this thesis is to design a methodology for modeling, analysis and control of hybrid systems in the context of cyber-physical systems and their subsequent implementation into the distributed control system. The thesis deals with selected methods and algorithms for modeling and control of hybrid systems, which were modified to the conditions of the Center of Modern Control Techniques and Industrial Informatics at KKUI FEEI TU and to the tasks within the experiment at ALICE CERN. These methods and algorithms are then validated both on simulation and laboratory model applications. The thesis contains a comprehensive methodology for modeling of hybrid systems, both for discrete-state systems with defined continuous dynamics in each state and for systems with discrete states without defined continuous dynamics. Subsequently, in the analysis of hybrid systems, analysis in open-loop as well as phase portraits are used. After the analysis of hybrid systems, control algorithms for selected hybrid systems are designed, whether in the form of optimal control with the application of metaheuristic algorithms or explicit model predictive control. The next part of the thesis deals with the design of adaptive supervisory control using RBF neural networks for the under-actuated inverted pendulum system with a linear synchronous motor. The methodology and its subsequent verification are elaborated within the thesis in four case studies and two research tasks of the experiment at ALICE CERN. The software output of the thesis is implemented in MATLAB/Simulink using application toolboxes, in C++ language and in WinCC OA.
TKÁČIK, Milan: Methods and tools for the design, modeling, and implementation of distributed control systems for large-scale physical experiment [Abstract]
The presented dissertation deals with the modeling and implementation of distributed control systems in the context of cyber-physical systems. The dissertation is devoted to selected methods for modeling systems with discrete events, specifically to models of hybrid systems in the form of finite-state automata and Petri nets. The main goal of the dissertation is the proposal of a methodology for the modeling and analysis of distributed control systems in terms of throughput and response of communication interfaces and computing processes. The proposed methodology describes the procedure for performing an analysis of existing hardware and software resources within the framework of a distributed control system. Subsequently, it presents the procedure for creating a model of a distributed system composed of a combination of models of finite-state automata and Petri nets. In the last submodule, the methodology presents the possibility of using the created model to determine the throughput and response of the system, which can be used in the design and actual implementation of the distributed control system. The verification of the proposed methodology is demonstrated in three case studies that use the proposed methodology to create a complex subsystem model of the control system of the ALICE experiment at CERN and the application of mobile robotics within the distributed control system in CMCT&II at the DCAI FEEI TU workplace in Košice. Last but not least, the dissertation deals with the implementation of the software modules forming the software output of this dissertation, which are used within the detector control system of the ALICE experiment at CERN.