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“.

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.

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.

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.

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.

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.

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.

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.

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“